Device for handling packages with a package gripper head with suction nozzles

Description

Technical field

[0001] The invention relates to the field of parcel sorting carried out in parcel sorting centers and logistics facilities. The invention relates more particularly to a parcel handling device comprising a movable gripping head equipped with a plurality of suction nozzles each terminated by a suction cup designed to grip a parcel by suction from above. Prior art

[0002] Parcel sorting centers are mostly equipped with automated parcel handling devices designed to retrieve parcels one by one from a stack of loosely stored parcels and move them onto a sorting conveyor which then feeds sorting outlets according to a certain sorting indication affixed to the parcels.

[0003] Documents US2020 / 0262069, US2021179366, GB2594758 and FR2924373 describe in this regard a handling device comprising a mobile gripping head equipped with a plurality of suction nozzles each ending in a suction cup.

[0004] In the context of parcel sorting, the gripping head is generally designed to move above the bulk of parcels and position itself directly above the parcel to be gripped.

[0005] The gripping head is then moved downwards so that the suction cups of the suction nozzles come into contact with the package to be gripped from above.

[0006] However, it happens that some suction cups are unable to create a sufficient seal with the surface of the package during suction, despite the suction cups' ability to deform to best fit the shape of the gripping surface of the package.

[0007] This usually happens when the package to be picked up is partially covered by another package in the bulk of packages or because it does not have a sufficiently flat gripping surface.

[0008] This poor seal creates air leaks which increase the risk of the package falling when it is moved by the gripping head.

[0009] In the case of significant leaks, some packages may not even be seized from the bulk of packages.

[0010] The packages are then evacuated onto a rejection conveyor to be put back into circulation for a new attempt at capture by the handling device, thereby increasing sorting time and operating costs.

[0011] To overcome this problem, current handling devices offer more powerful suction systems capable of filling air leaks by increasing suction power.

[0012] This type of handling device is, however, very bulky, noisy and difficult to handle at the gripping head due to the large diameter of the air suction pipes connected to the suction nozzles. Statement of the invention

[0013] The present invention aims to address the aforementioned problems by proposing a handling device that is less bulky and more efficient in sucking up packages.

[0014] The present invention therefore relates to a package handling device comprising a movable gripping head equipped with a plurality of suction nozzles each terminated by a suction cup designed to grip a package by suction from above, each suction nozzle comprising an air circulation duct and a vacuum pump arranged in the air circulation duct, said vacuum pump being in fluid connection with the air circulation duct and the suction cup, the handling device comprising an air injection device designed to inject air into the air circulation ducts so that the vacuum pump creates a vacuum in the suction cups, characterized in that each air circulation duct comprises an air inlet section which extends substantially vertically towards the suction cup and which is connected to the air injection device,an intermediate section which extends substantially from the suction cup and which extends the air inlet section in the direction of air circulation and an air exhaust section which extends the intermediate section in the direction of air circulation and in that the vacuum pump is arranged in the intermediate section.,

[0015] According to the invention, the handling device further comprises a control unit configured to control the air injection device so as to inject air into the suction nozzles independently of each other.

[0016] The idea behind the invention is to have a suction mechanism capable of creating a vacuum as close as possible to the gripping surface of the package so as to optimize suction efficiency by limiting air friction between the suction cup and the vacuum pump and by reducing the time required to create a vacuum in the suction cup.

[0017] The more efficient the suction, the less air will be needed to capture the package.

[0018] It is therefore understood that the device according to the invention will be less noisy and less expensive in terms of operation.

[0019] In addition, thanks to the improvement in suction efficiency, the pipes used for supplying air to the suction nozzles can have a reduced diameter so as to facilitate the movement of the gripping head.

[0020] The handling device according to the invention may also have the following characteristics: the vacuum pump extends in the extension of the suction cup so as to form an air suction duct which extends substantially longitudinally upwards; the air exhaust section (21) descends substantially along the air inlet section towards the suction cup; the air inlet section comprises an air inlet orifice facing upwards and the air exhaust section comprises an air outlet orifice facing downwards; the air exhaust section longitudinally extends the intermediate section in the direction of air circulation; the air inlet section comprises an air inlet orifice facing upwards and the air exhaust section comprises an air outlet orifice facing upwards; the gripping head comprises a first group of two suction nozzles and a second group of four suction nozzles, the first group being separated from the second group by a camera;each suction nozzle includes a silencer device arranged in the air exhaust section designed to reduce the noise of the air ejected from the suction nozzle; the vacuum pump is a venturi system. ; Brief description of the drawings

[0021] The present invention will be better understood and other advantages will appear on reading the detailed description of an embodiment taken as a non-limiting example and illustrated by the appended drawings, in which: There [ Fig. 1 ] is a schematic representation of a handling device according to the invention in a parcel sorting installation. The [ Fig.2 ] is a schematic representation of a sinusoidal-shaped suction nozzle according to the invention seen in profile with the air inlet section and the intermediate section in transparency. The [ Fig.3] is a schematic representation of a sinusoidal-shaped suction nozzle according to the invention according to another profile with the intermediate inlet section and the air exhaust section in transparency. [Fig. 4] is a very schematic representation of a U-shaped suction nozzle according to the invention seen in profile. [ Fig.5 ] is a schematic representation of a gripping head seen from below according to the invention. The [ Fig.6 ] is a schematic representation of a gripping head according to the invention connected to solenoid valves of the injection device. The [ Fig.7 ] is a schematic representation of a gripping head seen from above according to the invention. The [ Fig.8 ] is a schematic representation of a suction cup according to the invention seen from below. Detailed description of the invention

[0022] The handling device 1 for packages 2 according to the invention, represented in [ Fig. 1], is particularly well suited for use in parcel sorting centers and logistics centers.

[0023] By way of example, the handling device 1 according to the invention can in particular be used to pick up one by one the packages 2 which are stored in bulk on a feed conveyor 3, move them and place them on a sorting conveyor 4.

[0024] As represented in figures 1 , 5 and 6 , the handling device according to the invention comprises a gripping head 5 mounted at the downstream end of a movable arm 6. The movable arm 6 is designed to move the gripping head 5 laterally and / or vertically above the feed conveyor 3 and the packages 2 to be gripped.

[0025] The gripping head 5, for its part, comprises suction nozzles 7, each terminated by a suction cup 8 designed to grip a package 2 by suction. It should be understood here that the suction cups 8 extend vertically downwards so that the gripping head is able to grip a package from above. The suction cups 8 can also be in the form of suction cups 8 with bellows 9 able to withstand a certain crushing to increase the seal between the package 2 and the suction cup 8. The suction cups 8 with bellows 9 can also comprise a stiffening ring 10, visible in [ Fig.8 ], at a downstream end of the suction cup 8 delimiting an internal perimeter of the suction cup intended to limit obstructions of the suction cup 8 when the latter is crushed in contact with a package 2.

[0026] Each suction nozzle 5 also comprises an air circulation duct 11 and a vacuum pump 12 disposed in the air circulation duct 11.

[0027] The air supply to the circulation ducts 11 is carried out here by means of an air injection device 13 connected to the gripping nozzles 5 by air supply pipes 14. The injection device 13 according to the invention is here designed to inject air into the air circulation ducts 11 in the direction of air circulation represented by the arrows F1 in figures 4 And 7, so that each vacuum pump 12 creates a vacuum in a suction cup 8. Each air circulation duct comprises an air inlet section 19, 19' which extends substantially vertically towards the suction cup and which is connected to the air injection device, an intermediate section 20, 20' which extends substantially from the suction cup and which extends the air inlet section in the direction of air circulation and an air exhaust section 21, 21' which extends the intermediate section in the direction of air circulation and in that the vacuum pump is arranged in the intermediate section.

[0028] More precisely, the intermediate section 20, 20' will be able to rise substantially along the air inlet section.

[0029] Advantageously, the vacuum pump may, for example, be arranged in the intermediate section 20, 20', after the suction cup relative to the direction of air circulation.

[0030] Overall, when the air flow is injected into the air circulation duct 11, the air flow moves longitudinally in the air inlet section 19, 19' towards the suction cup, here downwards since the suction cup is arranged at the lower end of the air circulation duct, then moves in the intermediate section 20, 20' substantially in the opposite direction away from the suction cup, here upwards.

[0031] The vacuum pump 12 according to the invention is specifically arranged to be in fluid connection with the air circulation duct 11 and the suction cup 8.

[0032] More particularly, the vacuum pump 12 may, for example, extend in the extension of the suction cup 8 so as to form an air suction duct which extends substantially longitudinally upwards.

[0033] This arrangement makes it possible in particular to optimize the efficiency of air suction by limiting the friction of the air on the walls of the air circulation duct 11.

[0034] In the example shown on the figures 2 , 3 and 4 , the vacuum pump 12 according to the invention is of the venturi type and comprises an elongated body 13 which extends into the air circulation duct 11 from the suction cup 8.

[0035] The body of the venturi comprises openings 14 creating a fluid connection between the suction cup 8 and the air circulation duct 11.

[0036] These openings 14 thus make it possible to create an air depression in the venturi and the suction cup 8, following the direction of air circulation represented by the arrow F2 in [ Fig.4 ] And 7 , when air flows through the air circulation duct 11.

[0037] The handling device 1 according to the invention is also designed to optimize the use of the suction nozzles 7, particularly in the event of air leaks.

[0038] The handling device 1 comprises for this purpose a control-command unit 15 configured to control the air injection device 13 and thus inject air into the suction nozzles 7 independently of each other, selectively and at a certain flow rate. For example, the injection device 13 will comprise, for example, solenoid valves 16, each designed to supply an air circulation duct 11. The control-command unit 15 will be configured, for example, to receive digital data concerning the size and irregularities of the gripping surface of the package 2 to be gripped so as to control in return the injection device 13, here the solenoid valves 16, and thus selectively supply one or more suction nozzles 7.

[0039] Pressure sensors can also be installed in the suction nozzles 7 so as to detect the presence of an air leak at the time of gripping the package and to transmit in real time digital data representative of this pressure to the control unit 15 which in return controls the flow of air injected into the suction nozzle 5 concerned.

[0040] By individually supplying the suction nozzles 7 by the air injection device 13, it is possible to equip the gripping head 5 with a desired number of suction nozzles 7.

[0041] The suction nozzles 7 thus each form a modular block which can be mounted / dismounted on the gripping head 5 and connected to the injection device 13.

[0042] Thanks to this modularity, the gripping head 5 may for example comprise suction nozzles 7 divided into two groups. A first group of two suction nozzles 7 and a second group of four suction nozzles 7, the first group being separated from the second group according to a certain spacing allowing the addition of equipment such as a camera 17, lighting 18 and sensors useful for the proper operation of the gripping of the parcels 2. The separation of the two groups of suction nozzles 7 also allows the gripping of more or less voluminous parcels 2 by specifically supplying either the group of two suction nozzles 7, or the group of four nozzles 7 or both groups at the same time.

[0043] Also, in order to reduce the size of the handling device 1 and without losing suction efficiency, the air circulation duct 11 will comprise an air inlet section 19 which extends substantially vertically towards the suction cup 8 and which is connected to the injection device 13, an intermediate section 20 which rises along the air inlet section 19 and which extends the air inlet section 19 in the direction of air circulation, and an air exhaust section 21 which descends along the air inlet section 19 and which extends the intermediate section 20 in the direction of air circulation. The air inlet section 19 will then comprise an air inlet orifice facing upwards while the air exhaust section 21 will have an air outlet orifice facing downwards. The air circulation duct 11 may in this case, for example, take a substantially sinusoidal shape.An elbow 22 may also be provided at the air outlet orifice so as not to eject the air injected by the injection device 13 in the direction of the package 2 to be gripped. The elbow 22, shown in [. Fig.3 ], is oriented along an axis A2 which defines an angle α relative to the vertical axis A1 and here allows the ejected air flow to be significantly deflected. The angle α will be greater than 0° and less than 90° and preferably between 15° and 45°.

[0044] Alternatively, the air circulation duct 11 may comprise an air inlet section 19' which extends substantially vertically towards the suction cup 8 and which is connected to the injection device 13, an intermediate section 20' which rises along the air inlet section 19' and which extends the air inlet section 19' in the direction of air circulation, and an air exhaust section 21' which extends longitudinally upwards the intermediate section 20' in the direction of air circulation. The air inlet section 19' will here comprise an air inlet orifice facing upwards while the air exhaust section 21' will comprise an air outlet orifice facing upwards. The air injected into the circulation duct 11 is therefore here ejected upwards, avoiding hindering the gripping of the package 2 and limiting noise pollution. The air circulation duct 11 may in this case, for example, take a substantially U-shaped form.Whether in the U-shaped or sinusoidal circulation duct 11, the vacuum pump 12 will be arranged either in the air inlet section 19, 19' or in the intermediate section 20, 20' of the circulation duct 11. Preferably and as shown in the . figures 2 , 3 and 4 , the vacuum pump 12 is arranged in the intermediate section 20.

[0045] Each suction nozzle 5 may also comprise a silencer device 23, arranged in the air exhaust section 21, 21', and designed to reduce the noise of the air ejected by the suction nozzle 7.

[0046] It is understood of course that the fluid connection between the different sections of the air circulation duct 11 is made using bent sections.

Claims

1. Device for handling (1) parcels (2), comprising a movable gripping head (5) equipped with a plurality of suction nozzles (7), each terminated by a suction pad (8) designed to take hold of a parcel from above by suction, each suction nozzle comprising an air circulation duct (11) and a vacuum pump (12) disposed in the air circulation duct, said vacuum pump being in fluidic connection with the air circulation duct and the suction pad, the handling device comprising an air injection device (13) designed to inject air into the air circulation ducts, in such a way that the vacuum pump creates a vacuum in the suction pads, each air circulation duct comprising an air inlet section (19; 19') which extends substantially vertically to the suction pad and which is connected to the air injection device, an intermediate section (20; 20') which extends substantially from the suction pad and which extends the air inlet section in the direction of circulation of air and an air emission section (21; 21') which extends the intermediate section in the direction of circulation of air and in that the vacuum pump is disposed in the intermediate section, characterised in that the handling device comprises a command and control unit (15) configured to control the air injection device so as to inject air into the suction nozzles, independently from one another.

2. Device for handling parcels according to claim 1, characterised in that the vacuum pump extends into the extension of the suction pad so as to form an air suction duct which extends substantially longitudinally upwards.

3. Device for handling parcels according to any one of claims 1 to 2, characterised in that the air emission section (21) descends substantially along the air inlet section to the suction pad.

4. Device for handling parcels according to claim 3, characterised in that the air inlet section comprises an air inlet orifice oriented upwards and the air emission section comprises an air outlet orifice oriented downwards.

5. Device for handling parcels according to any one of claims 1 to 2, characterised in that the air emission section (21') extends longitudinally the intermediate section in the direction of circulation of air.

6. Device for handling parcels according to claim 5, characterised in that the air inlet section comprises an air inlet orifice oriented upwards and the air emission section comprises an air outlet orifice oriented upwards.

7. Device for handling parcels according to any one of the preceding claims, characterised in that the gripping head comprises a first group of two suction nozzles, and a second group of four suction nozzles, the first group being separated from the second group by a camera (17).

8. Device for handling parcels according to any one of the preceding claims, characterised in that each suction nozzle comprises a silent device (23) arranged in the air emission section designed to reduce noise from the air ejected by the suction nozzle.

9. Device for handling parcels according to any one of the preceding claims, characterised in that the vacuum pump is a Venturi system.