Control device with pushing element

Abstract

Control device (1) for checking that a folded sidewall (4) of a folding crate (3) is locked, comprising holding means (5) for holding a bottom (31) of the folding crate (3), comprising a pushing element (6) which is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side (41) of the folded sidewall (4), and comprising detection means for detecting whether the folded sidewall (4) is locked, wherein the pushing element (6) and the holding means (5) when holding the folding crate (3) are mutually movably arranged according to a height direction (H), between a closest position and a farthest position, such that in an inner position and the closest position the pushing element (6) is rotatably arranged to push against the inner side (41) of the folded sidewall (4) according to an outward direction of rotation, opposite to the inward direction of rotation, to lock the folded sidewall (4).

Description

[0001] This invention relates to a control device for verifying, in a process of opening a folding crate in which folding sidewalls are folded up from a bottom of the folding crate and locked, that at least a first folded sidewall of the folding crate is locked, comprising holding means for holding the bottom of the folding crate, comprising at least a first pushing element, which is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side of the first folded sidewall, and comprising detection means for detecting whether the first folded sidewall is locked. In addition, the present invention also relates to a folding crate opener for opening a folding crate, a method for verifying by means of an aforementioned control device that a folded sidewall of a folding crate is locked, and a method for opening a folding crate using a folding crate opener.

[0002] Such folding crates can be, for example, plastic folding crates, but can also be, for example, cardboard boxes or the like. These folding crates usually have a rectangular shape with two long sidewalls and two short sidewalls. These sidewalls can be easily folded out and folded in. To open such a folding crate, usually the long sidewalls are unfolded first and then the short sidewalls are unfolded, although this can also be done in reverse if necessary. To lock the folding crates in the unfolded position, the folding crates have locking means, such as, for example, a click system, which locks the short sidewalls to the long sidewalls.

[0003] Such control devices are already known in the process of opening folding crates, such as, for example, when opened by a folding crate opener, to check whether the sidewalls of the folding crate have been successfully folded up by the folding crate opener.

[0004] A first example of this is given in EP1637455A2. The present disclosure describes a folding crate opener with a control device wherein the control device includes pushing elements, implemented as measuring arms, provided to each push against the outer side of a sidewall of the folding crate with a limited force to detect whether the sidewalls are locked. If the sidewalls are successfully locked, the pushing elements will encounter resistance from these sidewalls while pushing and the sidewalls will remain locked in the folded position. However, if not, the sidewalls will be rotated back to the closed position by the pushing elements. Here, the control device is provided with a reed contact to verify that the pushing elements encounter resistance from the sidewalls and thus that the sidewalls of the folding crate are properly locked.

[0005] Another known example of a control device for a folding crate opener is described in EP1935790A1. Herein, the control device includes rods provided to push against the outer side of sidewalls of a folding crate, and wherein thus similar to EP1637455A2 the sidewalls will be pushed inward if the sidewalls are not successfully locked. The control device is hereby further provided with a photocell to verify whether the sidewalls are moved, which has a similar function to the reed contact from EP1637455A2.

[0006] An alternative example is given in NL1025167C where hinged pressure fingers are used to control the locking of the sidewalls of a folding crate. Again, the control device is provided with a reed contact, as in EP1637455A2.

[0007] In all known control devices, when a non-locked folding crate is detected, this non-locked folding crate is removed from the flow of supplied folding crates to manually check whether or not the folding crate is defective and whether the sidewalls can still be folded.

[0008] The object of the invention is to provide an alternative compact control device in which it is possible to greatly reduce the number of folding crates that must be taken separately for manual processing.

[0009] This purpose is achieved by providing a control device for verifying, in a process of opening a folding crate in which folding sidewalls are folded up from a bottom of the folding crate and locked, that at least a first folded sidewall of the folding crate is locked, comprising holding means for holding the bottom of the folding crate, comprising at least a first pushing element, which is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side of the first folded sidewall, and comprising detection means for detecting whether the first folded sidewall is locked, wherein the first pushing element and the holding means when holding the folding crate are mutually movably arranged according to a height direction between a closest position with a first mutual distance, wherein the first pushing element is provided to push against the first folded sidewall when rotating and a farthest position, with a second mutual distance, which is greater than the first mutual distance, wherein the first pushing element is provided to be rotatable in this farthest position beyond the first folded sidewall between the outer position on the outer side of the first folded sidewall and an inner position on an inner side of the first folded sidewall, so that in the inner position and the closest position, the first pushing element is rotatably arranged to push against the inner side of the first folded sidewall according to an outward direction of rotation opposite to the inward direction of rotation to lock the first folded sidewall.

[0010] Because the first pushing element is hereby also provided to rotate according to an outward direction of rotation, opposite to the inward direction of rotation, and push against the inner side of the folded sidewall, it is possible to have locking and checking performed by the same pushing element in the control device. Thus, after the verification has shown that a folding crate is not successfully locked with a pushing element, it is possible to still try to lock the folding crate with this same pushing element. This eliminates the need to isolate each unlocked folding crate from the control device. The mutual movability of the first pushing element and the holding means according to the height direction also makes it possible to keep the design of the control device very compact, and to be able to adapt the control device to different height dimensions of a folding crate so that the control device can be used for different types of folding crates.

[0011] Preferably, the control device further comprises suction means and / or blowing means, which are provided to suction and / or blow away dirt at the level of locking means of the folding crate for locking the first folded sidewall, so that obstacles such as sand or dust can be removed between these locking means of the folding crate before the control device attempts to lock the folding crate by pushing the first pushing element against the inner side of the first folded sidewall to lock the first folded sidewall.

[0012] Further, the control device is preferably provided for holding the bottom of the folding crate, such that this bottom is arranged at the bottom of the folding crate. The sidewalls are then folded upward. Thereby, the first pushing element is then provided to push from the top of the folding crate so held against the first folded sidewall.

[0013] Alternatively, the control device may also be provided to hold the folding crate upside down with the holding means, with the bottom lined up at the top of the folding crate. The sidewalls are then folded down. The first pushing element is then provided to push from the bottom of the folding crate so held against the first folded sidewall of the folding crate. In such an implementation form of a control device, it is possible, for example, for the sidewalls to fall open downward under the influence of gravity in order to fold them up.

[0014] Preferably, the control device further comprises driving means for driving the mutual displacement of the first pushing element and the holding means. These driving means preferably comprise a servo motor, but may alternatively comprise a pneumatic motor or the like. Preferably, the control device further comprises a vertical axis guide for guiding the mutual displacement of the first pushing element and the holding means, which may be implemented, for example, with one or more guide profiles and one or more guide elements.

[0015] The rotatability of the first pushing element according to the inward direction of rotation and / or the outward direction of rotation is preferably limited to a maximum rotation angle less than 180°. By limiting the maximum rotation angle, possible collisions between the first pushing element and other elements of the control device are avoided and the control device can be made more compact.

[0016] Further, the control device preferably comprises driving means for driving the rotation of the first pushing element.

[0017] These driving means are provided in a preferred embodiment for driving the rotation of the first pushing element with a first driving force according to the inward direction of rotation and provided for driving the rotation of the first pushing element with a second driving force according to the outward direction of rotation, wherein the second driving force is greater than the first driving force.

[0018] The driving means preferably comprise a servo motor. The control of such a servomotor can be easily modified to realize the aforementioned divergent first driving force and second driving force. This control can also be easily adjusted depending on different types of folding crates where the sidewalls have a different weight and / or are made of a different material. Of course, alternative driving means are possible, such as the use of pneumatic motors or the like.

[0019] Preferably, the control device comprises a control system for controlling the driving means for moving the first pushing element and / or the holding means according to a method described hereinafter.

[0020] In the case where the control device comprises a servomotor as the driving means for rotating a pushing element, the servomotor preferably comprises an encoder that is part of the detection means. Using such an encoder, it is easy to determine how much resistance the first pushing element experiences when rotating against the first folded sidewall of the folding crate. Alternatively, it is also possible to use other detection means, such as a photocell or a reed contact or the like.

[0021] The control device is further preferably provided for checking whether at least a second folded sidewall of the folding crate, opposite the first folded sidewall, is locked, and for this purpose preferably comprises at least a second pushing element, wherein the second pushing element is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side of the second folded sidewall, to detect whether the second folded sidewall is locked, wherein the second pushing element and the holding means when holding the folding crate are mutually movably arranged according to a height direction, between a closest position with a first mutual distance, wherein the second pushing element is provided to push against the second folded sidewall when rotating and a farthest position, with a second mutual distance, which is greater than the first mutual distance, and wherein the second pushing element is provided to be rotatable in this farthest position beyond the first folded sidewall between the outer position on the outer side of the second folded sidewall and an inner position on an inner side of the second folded sidewall, so that in the inner position and the closest position, the second pushing element is rotatably arranged to push against the inner side of the second folded sidewall according to an outward direction of rotation opposite to the inward direction of rotation to lock the second folded sidewall. Thereby, the inward direction of rotation of the second pushing element will be opposite to the inward direction of rotation of the first pushing element and correspond to the outward direction of rotation of the first pushing element. Thereby, the outward direction of rotation of the second pushing element will be opposite to the outward direction of rotation of the first pushing element and correspond to the inward direction of rotation of the first pushing element.

[0022] Preferably, the first pushing element and the second pushing element are arranged according to a width direction mutually movable between a closest position with a first mutual distance and a farthest position with a second mutual distance, which is greater than the first mutual distance. Here, the distance between the first pushing element and the second pushing element can be adjusted so that the control device can be adjusted to the distance between the first folded sidewall and the second folded sidewall of the folding crate. This allows folding crates of different sizes to be controlled in the control device.

[0023] Preferably, the control device further comprises driving means for driving the mutual displacement of the first pushing element and the second pushing element. These driving means preferably comprise a servo motor, pneumatic motor or the like. Preferably, the control device further comprises a first horizontal axis guide for guiding the mutual displacement of the first pushing element and the second pushing element, which may be implemented, for example, with one or more guide profiles and one or more guide elements.

[0024] Preferably, the control device comprises a frame, wherein the frame and the holding means are mutually movable according to the height direction, and wherein the first pushing element and the second pushing element are connected to the frame, such that the first pushing element and the second pushing element are each movable with respect to the holding means by mutually moving the frame and the holding means.

[0025] Preferably, the control device further comprises corresponding driving means for driving the mutual displacement of the frame and holding means. These driving means preferably comprise a servo motor, but may alternatively comprise a pneumatic motor or the like. Preferably, the control device further comprises a vertical axis guide for guiding the mutual displacement of the frame and the holding means, which may be implemented, for example, with one or more guide profiles and one or more guide elements. Furthermore, the control device preferably comprises a compressed air cylinder provided to compensate for the weight of the frame, so that the mutual displacement of the frame and holding means can take place more easily.

[0026] Preferably, for each folded sidewall, the control device comprises a pair of said pushing elements both provided to push against the inner side and the outer side of the same folded sidewall of the folding crate. More preferably, the control device comprises a pair of first pushing elements provided for pushing against the inner and outer sides of the first folded sidewall of the folding crate, and a pair of second pushing elements provided for pushing against the inner and outer sides of the second folded sidewall of the folding crate, opposite the first folded sidewall. The pair of first pushing elements and the pair of second pushing elements are preferably arranged mutually movable according to the width direction. Preferably, each pair of pushing elements is further connected to the aforementioned frame.

[0027] A pair of first pushing elements may be arranged in specific embodiments according to a longitudinal direction, transverse to the height direction and transverse to the width direction, mutually movable. Analogously, a pair of second pushing elements may be arranged according to a longitudinal direction, transverse to the height direction and transverse to the width direction, mutually movable. This allows folding crates of different sizes to be controlled in the control device.

[0028] Preferably, the control device hereby comprises driving means for driving the mutual displacement of the pair of first pushing elements according to the longitudinal direction. Analogously, the control device preferably comprises driving means for driving the mutual displacement of the pair of second pushing elements according to the longitudinal direction. These driving means preferably comprise a servo motor, pneumatic motor or the like. Preferably, the control device hereby further comprises a second horizontal axis guide for guiding the mutual displacement of said pair of pushing elements such as, for example, which may be implemented, for example, with one or more guide profiles and one or more guide elements. More preferably, each pair of pushing elements is hereby arranged mutually movable according to the longitudinal direction.

[0029] Preferably, a driving means for driving the rotation of the corresponding pushing element is provided per first pushing element and / or per second pushing element. Alternatively, in a less preferred embodiment, a common driving means is provided per pair of pushing elements for driving the rotation of this pair of pushing elements.

[0030] Preferably, the folding crate opener comprises identification means for detecting identification features of a folding crate. These identification means preferably comprise a camera system so that, for example, the shape and dimensions of a folding crate can be recognized, but may alternatively or additionally comprise a sensor or a chip reader or the like. A folding crate may also optionally be provided with an added identification feature such as, for example, a sticker with a barcode, an identification chip, a custom perforation or the like, which can be recognized by an identification means.

[0031] The object of the invention is additionally achieved by providing a folding crate opener for opening a folding crate, comprising a gripping device for folding up at least a first folding sidewall from a bottom of the folding crate and comprising at least a first pushing element which is rotatably arranged to push, according to an outward direction of rotation, against the inner side of the first folded sidewall to lock the first folded sidewall, wherein the first pushing element is part of a control device as previously described, which is part of the folding crate opener.

[0032] Because this first pushing element can be used both for locking the folded sidewall and for checking the locking of the folded sidewall, it is possible to make the combination of a folding crate opener with a control device more compact than in already known devices. This also increases throughput capacity.

[0033] The gripper device is preferably implemented as a gripper device as described in WO2023 / 089474A1, but may alternatively be implemented differently as described for example in EP1935790A1, EP1052087A2, US2008127613A1 or EP2181841A1 for folding the short sidewalls of folding crates.

[0034] Preferably, the gripper device is provided for folding up a first pair of opposite sidewalls from the bottom of the folding crate, and the folding crate opener further comprises a second gripper device for folding up a second pair of opposite sidewalls, different from the first pair of opposite sidewalls, from the bottom of the folding crate.

[0035] Examples for such a second gripper device are described and illustrated, for example, in EP1935790A1, EP1052087A2, US2008127613A1 or EP2181841A1 for folding the long sidewalls of folding crates.

[0036] In addition, the object of the invention is also achieved by providing a method for verifying, in a process of opening a folding crate wherein folding sidewalls are folded up from a bottom of the folding crate and locked, by means of a control device, that at least a first folded sidewall of the folding crate is locked wherein the bottom of the folding crate is held with holding means of the control device, and wherein at least a first pushing element of the control device is rotated from an outer position according to an inward direction of rotation to push against an outer side of the first folded sidewall, and detecting with detection means whether the first folded sidewall is locked, wherein the control device is a control device according to the invention as previously described and wherein when, upon detection, it is detected that the first folded sidewall is not locked, sequentially: a. the first pushing element and the holding means are mutually moved from the closest position to the farthest position according to the height direction; b. the first pushing element is rotated from the outer position to the inner position; c. the first pushing element and the holding means are mutually moved back from the farthest position to the closest position according to the height direction; and d. the first pushing element is rotated according to the outward direction of rotation to push against the inner side of the first folded sidewall to lock the first folded sidewall.

[0037] Detecting whether the folded sidewall is locked is done using detection means, as described earlier.

[0038] Preferably, for carrying out the steps of a method according to the present invention, the first pushing element and possibly the holding means are controlled using a control system mentioned above.

[0039] When the folding crate opener comprises identification means, the preferred method comprises detecting the identification features using the identification means prior to receiving the folding crate in the folding crate opener.

[0040] Thereby, it is then preferably provided in step a to mutually move the first pushing element and the holding means according to the height direction based on the detected identification features.

[0041] If the folding crate opener comprises multiple pushing elements that are mutually movable, then additionally the method may comprise mutually moving these multiple pushing elements based on the detected identification features. More specifically, thereby, for example, a first and a second pushing element may be mutually moved and / or a pair of first pushing elements may be mutually moved and / or a pair of second pushing elements may be mutually moved. The mutual movement of the multiple pushing elements preferably takes place both in the width direction and in the longitudinal direction.

[0042] By mutually moving the first pushing element and holding means and / or multiple pushing elements based on the detected identification features, it is possible to better adapt the folding crate opener to the type of folding crate. Because the folding crate opener comprises these identification means, it is possible to create a particularly compact folding crate opener.

[0043] After the first pushing element is rotated according to the outward direction of rotation to push against the inner side of the first folded sidewall to lock the first folded sidewall, preferably, the first pushing element of the control device is again rotated from an outer position according to an inward direction of rotation to push against an outer side of the first folded sidewall to detect whether the folded sidewall is locked, by sequentially: e. mutually moving the first pushing element and holding means according to the height direction from the closest position to the farthest position; f. rotating the first pushing element from the inner position to the outer position; g. mutually moving the first pushing element and holding means back from the farthest position to the closest position according to the height direction; and h. rotating the first pushing element according to the inward direction of rotation to push against the outer side of the first folded sidewall to detect whether the first folded sidewall is locked.

[0044] In case the detection in step h detects that the first folded sidewall is still not locked, steps a-h are repeated as previously described. Preferably, these steps are not repeated more than a maximum number of times, and the folding crate is isolated after the last repetition. When the driving means are controlled by a named control system, this is preferably provided for this purpose with a limitation, which is provided to isolate a folding crate after a maximum number of control attempts. Indeed, it may happen that a folding crate is still not successfully locked by the control device, for example, because the locking means are defective or because locking of the sidewalls of the folding crate is prevented by an obstacle such as dirt. Because the limitation allows only a maximum number of attempts for retrying locking inside the control device, a blockage of the control device is avoided. If this maximum number of attempts is exceeded, the folding crate will be isolated by the control system. Preferably, the maximum number of control attempts is adjustable in such a control system. By setting this maximum number of attempts, a balance can be struck between the number of folding crates to be segregated and the throughput capacity of the control facility. With a higher maximum number of attempts, fewer folding crates will need to be segregated, but correspondingly the throughput capacity also becomes lower.

[0045] Preferably, a method according to the invention also comprises exporting a first folding crate from the control device and introducing a second folding crate into the control device. Thereby, preferably prior to exporting the first folding crate and entering the second folding crate, the first pushing element and the holding means are mutually moved from the closest to the farthest position according to the height direction.

[0046] When the control device comprises multiple pushing elements, the method preferably comprises rotating each pushing element and mutually moving each pushing element and the holding means accordingly. Preferably, each pair of pushing elements pushing against a common sidewall of the folding crate is rotated with identical rotations. When the control device comprises a frame, the method preferably comprises mutually moving the frame, to which the multiple pushing elements are attached, and the holding means.

[0047] Finally, the object of the invention is also achieved by providing a method for opening a folding crate by means of a folding crate opener, wherein at least a first folding sidewall is folded up from a bottom of the folding crate by a gripping device of the folding crate opener and wherein according to an outward direction of rotation is pushed against the inner side of the first folding sidewall by a first pushing element of the folding crate opener, which is rotatably arranged, to lock the first folded sidewall, wherein the folding crate opener is a folding crate opener as previously described, wherein sequentially, after receiving the folding crate in the folding crate opener: a. the first pushing element and the holding means are mutually moved from the farthest position to the closest position according to the height direction; b. the first pushing element is rotated according to the outward direction of rotation to push against the inner side of the first folded sidewall to lock the first folded sidewall. c. the first pushing element and the holding means are mutually moved from the closest position to the farthest position according to the height direction; d. the first pushing element is rotated from the inner position to the outer position; e. the first pushing element and the holding means are moved back from the farthest position to the closest position according to the height direction; and f. it is checked that the first folded sidewall of the folding crate is locked using the control device.

[0048] Preferably, step f of the present method is performed as previously described in the method for, in a process of opening a folding crate in which folding sidewalls of a bottom of the folding crate are folded up and locked, checking by means of a control device whether a folded sidewall of the folding crate is locked. Preferably, the method also comprises outputting a first folding crate from the folding crate opener and feeding a second folding crate into the folding crate opener. Thereby, preferably prior to the execution of the first folding crate and the introduction of the second folding crate, the pushing element and holding means are mutually moved from the closest to the farthest position according to the height direction.

[0049] When the control device of the folding crate opener comprises multiple pushing elements, the method of operation preferably comprises rotating each pushing element and mutually moving each pushing element and the holding means. When the control device of the folding crate opener comprises a frame, the method for doing so preferably comprises mutually moving the holding means and the frame, to which the multiple pushing elements are attached.

[0050] This invention will now be explained in more detail on the basis of the following detailed description of some preferred embodiments of a control device with pushing element according to this invention, a folding crate opener according to this invention and methods of operation according to this invention. The intention of this description is exclusively providing elucidating examples and indicating further benefits and particulars of this invention, and should by no means be interpreted as a limitation of the scope of the invention or the patent rights claimed in the claims.

[0051] In this detailed description, reference numerals are used to refer to the appended drawings, in which: Figure 1 an embodiment of a folding crate opener according to the invention with a partially omitted housing and with a closed folding crate inserted therein is shown in perspective; Figure 2 the folding crate opener from Figure 1 without housing with a closed folding crate is shown in perspective; Figure 3 the part of the folding crate opener from Figure 2 is shown in perspective, with the sidewalls of the folding crate fitted herein folded up; Figure 4 an embodiment of a control device according to the invention with a folding crate is shown in perspective; Figure 5 the control device from Figure 4 with a lower folding crate is shown in perspective; Figure 6 the control device from Figure 4 with a narrower folding crate is shown in perspective; Figure 7 the control device and folding crate from Figure 4 are shown in perspective, with the pushing elements pushing against sidewalls of the folding crate; and in Figures 8-15 in perspective in various steps is shown a method for checking whether a folded sidewall of the folding crate is locked using a control device according to the invention; Figure 16 the control device with folding crate from Figure 7 is shown in view; Figure 17 the control device with folding crate from Figure 7 is shown in view, with the pushing elements and holding means mutually moved in height direction to a larger spacing; Figure 18 the control device from Figure 7 without a folding crate is shown in view; Figure 19 the control device from Figure 7 without a folding crate is shown in view, with the pushing elements mutually moved in width direction to a closest position.

[0052] The figures show a specific embodiment of a control device (1) according to the invention. Such a control device (1) is used in a process for opening a folding crate (3) in which folding sidewalls (4a, 4b, 4c, 4d) are folded up from a bottom (31) of the folding crate (3) and locked. This folding crate (3) may comprise a plastic folding crate or a cardboard box or the like. This checking device (1) is used for checking that folded sidewall (4a, 4b) of the folding crate (3) are locked, and comprises, as shown in the figures, holding means (5) for holding the bottom (31) of the folding crate (3) and comprises four pushing elements (6a, 6b), wherein each pushing element (6a, 6b) is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side (41) of the folded sidewall (4a, 4b) to be inspected, to detect whether said folded sidewalls (4a, 4b) are locked. Figures 11 and 12 show how a pushing element (6a) pushes against an outer side (41) of a folded sidewall (4a) for this purpose.

[0053] Thereby, each pushing element (6a, 6b) and the holding means (5) when holding the folding crate (3) are mutually movably arranged according to a height direction (H), between a closest position with a first mutual distance (A1), whereby each pushing element (6a, 6b) is provided to push against a corresponding folded sidewall (4a, 4b) when rotating, and a farthest position, with a second mutual distance (A2), which is greater than the first mutual distance (A1), where each pushing element (6a, 6b) is provided to be rotatable in the farthest position beyond the corresponding folded sidewall (4a, 4b) between an outer position on the outer side (41) of the folded sidewall (4a, 4b) and an inner position on an inner side (42) of the folded sidewall (4a, 4b), so that in the inner position and the closest position, each pushing element (6a, 6b) is rotatably arranged to push against the inner side (41) of the corresponding folded sidewall (4a, 4b) according to an outward direction of rotation, opposite to the inward direction of rotation, to lock the folded sidewall (4a, 4b).

[0054] The control device (1) may additionally comprise suction means and / or blowing means provided for suctioning and / or blowing away dirt at the level of locking means of a folding crate (3), so that obstacles such as sand or dust can be removed from between these locking means of the folding crate (3) before the control device (1) re-locks the folding crate (3). Such suction and / or blowing devices are not shown in the illustrated implementations.

[0055] The illustrated control device (1) comprises, as visible in the figures, a frame (8), wherein each pushing element (6a, 6b) is connected to the frame (8) so that the frame (8) and the holding means (5) are mutually movable according to the height direction (H). More specifically, in the illustrated embodiment, each pushing element (6a, 6b) is movable with respect to the holding means (5) by mutual displacement between the frame (8) and the holding means (5).

[0056] Figures 16 and 17 show how the frame (8) and the holding means (5) are mutually movable according to the height direction (H) in order to move the pushing elements (6a, 6b) between the closest position with a first mutual distance (A1) and the farthest position with a second mutual distance (A2). Figures 8-15 show that a pushing element (6a, 6b) is moved further away from the bottom (31) beyond the sidewalls (4a, 4b) of the folding crate (3) by this mutual displacement so that it can rotate freely between the outer position (Figures 11-15) and the inner position (Figures 8-10). In addition, this mutual displacement allows to control folding crates (3) of different sizes in the control device (1), as can be seen by comparing Figure 5 with Figure 4. For the smaller folding crate (3) in Figure 5, the mutual distance between the holding means (5) and the pushing elements (6a, 6b) is made smaller than for a larger folding crate (3) as shown in Figure 4. The rotatability of each pushing element (6a, 6b) according to the inward direction of rotation and / or the outward direction of rotation is preferably limited to a maximum rotation angle less than 180°.

[0057] As shown in Figure 3, the holding means (5) hold the folding crate (3) in the illustrated embodiment at the bottom which causes the sidewalls (4a, 4b, 4c, 4c) to open upwards so that the pushing elements (6a, 6b) at the top of the control device (1) can push against the corresponding folded sidewalls (4a, 6b) of the folding crate (3). Alternatively, it could also be possible for the holding means (5) to hold the folding crate (3) upside down, causing the sidewalls (4a, 4b, 4c, 4d) to open downward and the pushing elements (6a, 6b) to push from the bottom against the corresponding folded sidewalls (4a, 4b) of the folding crate (3).

[0058] The control device (1) is further provided with driving means for driving the mutual displacement of the frame (8) and the holding means (5). These driving means comprise a servomotor (13), but may alternatively comprise a pneumatic motor or the like. Furthermore, the control device (1) also comprises a compressed air cylinder (9) provided to compensate for the weight of the frame (8) so that the mutual displacement of the frame (8) and the holding means (5) can take place more easily. The control device (1) further comprises a vertical axis guide (11a, 11b) for guiding the mutual displacement of the frame (8) and the holding means (5), wherein a guide element (11b) is guided at the frame (8) with respect to a guide profile (11a).

[0059] The control device shown (1) comprises four pushing elements (6a, b). It comprises a first pair of pushing elements (6a) provided for pushing against the inner side (42) and outer side (41) of a first folded sidewall (4a) of the folding crate (3), and a second pair of pushing elements (6b) provided for pushing against the inner side (42) and outer side (41) of a second folded sidewall (4b) of the folding crate (3), opposite the first folded sidewall (4). The first pair of pushing elements (6a) and the second pair of pushing elements (6b) are particularly well identified in Figure 7. The first pair of pushing elements (6a) and the second pair of pushing elements (6b) are arranged according to a width direction (B) mutually movable between a closest position with a first mutual distance (B1) and a farthest position with a second mutual distance (B2), which is greater than the first mutual distance (B1), as also shown in Figures 18 and 19. This allows folding crates (3) of different sizes to be controlled in the control device (1). For example, by comparing Figure 6 with Figure 4, you can see how the pushing elements (6a, 6b) are much closer together in the case of a narrower folding crate (3). The control device (1) further comprises a first horizontal axis guide (12) for guiding the mutual displacement of the pushing elements (6) in the width direction (B), wherein each pushing element (6a, 6b) has a guide element movably attached to a guide profile (12) of the frame (8), as shown in the figures. For this purpose, the control device (1) may optionally comprise driving means for driving the mutual displacement of the first pair of pushing elements (6a) and the second pair of pushing elements (6b). These driving means may comprise a servomotor, but may alternatively comprise a pneumatic motor or the like.

[0060] As shown on the figures, each pushing element (6a, 6b) comprises a driving means for driving the rotation of this pushing element (6a, 6b). These driving means comprise a servomotor (7), but may alternatively comprise a pneumatic motor or the like. With a servomotor (7), it is easier to drive the pushing element (6a, 6b) with a first drive force according to the inward direction of rotation and with a second drive force according to the outward direction of rotation, the second drive force being greater than the first drive force. This control can also be easily adjusted depending on different types of folding crates (3) where the sidewalls (4a, 4b) have a different weight and / or are made of a different material. Alternatively, in a less preferred embodiment, each pair of pushing elements (6a, 6b) comprises one or more common driving means (7) for driving the rotation of this pair of pushing elements (6a, 6b).

[0061] Furthermore, the control device (1) comprises detection means for detecting whether the folded sidewall (4) is locked. In the illustrated embodiment wherein the driving means (7) for driving the rotation of each pushing element (6) comprises a servomotor, the servomotor (7) preferably comprises an encoder that is part of the detection means. Such an encoder can easily be used to determine how much resistance a pushing element (6a, 6b) experiences when rotating against an unfolded sidewall (4a, 4b) of a folding crate (3). Alternatively, it is also possible to use other detection means, such as a photocell or a reed contact or the like.

[0062] In alternative embodiments, at least a pair of pushing elements (6a, 6b) may be arranged mutually movable according to the longitudinal direction. Preferably, the control device (1) herein comprises driving means for driving the mutual displacement of said pair of pushing elements (6a, 6b) according to a longitudinal direction, transverse to the width direction (B) and transverse to the height direction (H). These driving means preferably comprise a servo motor, pneumatic motor or the like. Preferably, the control device (1) for this purpose further comprises a second horizontal axis guide for guiding the mutual displacement of said pair of pushing elements (6a, 6b). More preferably, each pair of pushing elements (6a, 6b) is hereby mutually movably arranged according to the longitudinal direction.

[0063] Figures 1 to 3 further show an embodiment of a folding crate opener (2) for opening a folding crate (3). This folding crate opener (2) comprises a first gripper device (10a) for folding up a first pair of opposite sidewalls (4a-b) from the bottom (31) of the folding crate (3), and a second gripper device (10b) for folding up a second pair of opposite sidewalls (4c, 4d), different from the first pair of opposite sidewalls (4a, 4b), from the bottom (31) of the folding crate (3). The folding crate opener (2) further comprises pushing elements (6a, 5b) rotatably arranged to push, according to an outward direction of rotation, against the inner side (42) of a corresponding folded sidewall (4a, 4b) to lock the folded sidewall (4a, 4b), the pushing elements (6a, 6b) being part of a control device (1) as previously described. This forms a combination of a folding crate opener (2) with a control device (1).

[0064] In alternative embodiments of a control device (1) in which the folding crate opener (2) does not comprise pushing elements (6a, 6b) that are part of the control device (1), the control device (1) may be part of a production device, in which this production device further comprises a folding crate opener (2) that may be, for example, elaborated according to the described prior state of the art.

[0065] The first gripper device (10a), which opens the first pair of opposing sidewalls (4a, b) from the bottom (31) of the folding crate (3), is elaborated as a gripper device (10a) according to WO2023 / 089474A1 in ge illustrated embodiment. The second gripper device (10b), which opens the second pair of opposite sidewalls (4c, d) of the bottom (31) of the folding crate (3), comprises several small grippers and may be elaborated, for example, as described and / or illustrated in EP1935790A1, EP1052087A2, US2008127613A1 or EP2181841A1. The second gripper device (10b) is provided for folding up the sidewalls (4c, 4d) that extend mainly according to the feeding direction in which the folding crates are fed into the control device first. The first gripper device (10a) is provided to, after these sidewalls (4c, 4d) are folded up according to the feeding direction, fold up the further sidewalls (4a, 4b) that extend mainly transverse to this feeding direction, after which they can be locked to the already folded sidewalls (4c, 4b) according to the feeding direction.

[0066] The folding crate opener (2) further comprises identification means for detecting identification features of a folding crate (3). These identification means, which are not shown in the figures, preferably comprise a camera system so that, for example, the shape and dimensions of a folding crate (3) can be recognized, but may alternatively or additionally comprise a sensor or a chip reader or the like. A folding crate (3) may optionally also be provided with an added identification feature such as, for example, a sticker with a barcode, an identification chip, a custom perforation or the like that can be recognized by an identification mean.

[0067] The control device (1) and / or the folding crate opener (2) is further preferably covered by a housing, as partially shown in Figure 1.

[0068] In addition, Figures 8-15 show a method for verifying, in a process of opening a folding crate (3) wherein folding sidewalls (4a, 4b, 4c, 4d) are folded up from a bottom (31) of the folding crate (3) and locked, using the control device (1) that a folded sidewall (4a) of the folding crate (3) is locked, wherein the bottom (31) of the folding crate (3) is held with the holding means (5) of the control device (1) and at least one pushing element (6a, 6b) of the control device (1) is rotated from an outer position according to the inward direction of rotation to push against the outer side (41) of a corresponding folded sidewall (4a, 4b) and detected whether the folded sidewall (4a, 4b) is locked. Detection of whether the folded sidewall (4a, 4b) is locked when pushing the pushing element (6a, 4b) may, as in the embodiment shown, be by detection means, including an encoder, but this may also alternatively be detected visually.

[0069] When, upon detection, it is detected that the folded sidewall (4a, 4b) is not locked, sequentially: a. the pushing element (6a, 4b) and the holding means (5) are mutually moved according to the height direction (H) from the closest position to the farthest position; b. the pushing element (6a, 6b) is rotated from the outer position to the inner position; c. the pushing element (6a, 6b) and the holding means (5) are mutually moved according to the height direction (H) back from the farthest position to the closest position; and d. the pushing element (6a, 6b) is rotated according to the outward direction of rotation to push against the inner side (41) of the folded sidewall (4) to lock the folded sidewall (4).

[0070] Figures 8 and 9 more specifically show steps c and d of this method, respectively. In this embodiment, the method further comprises rotating each pushing element (6a, 6b) and mutually moving each pushing element (6a, 6b) and the holding means (5). Since each pushing element (6a, 6b) is connected to the frame (8), this method comprises the mutual moving of the frame (8), to which the multiple pushing elements (6a, 6b) are attached, and the holding means (5). Preferably, each pair of pushing elements (6a, 6b) is rotated with identical rotations.

[0071] After the pushing element (6a, 6b) is rotated according to an outward direction of rotation to push against the inner side (42) of the corresponding folded sidewall (4a, 4b) to lock the folded sidewall (4a, 4b), preferably this pushing element (6a, 6b) of the control device (1) is rotated from an outer position according to an inward direction of rotation to push against an outer side (41) of the folded sidewall (4a, 4b) to detect whether the folded sidewall (4a, 4b) is locked, by successively: e. mutually moving the pushing element (6a, 6b) and the holding means (5) from the closest position to the farthest position according to the height direction (H); f. rotating the pushing element (6a, 6b) from the inner position to the outer position; g. mutually moving the pushing element (6a, 6b) and the holding means (5) back from the farthest position to the closest position according to the height direction (H); and h. rotating the pushing element (6a, 6b) according to the inward direction of rotation to push against the outer side (41) of the folded sidewall (4a, 4b) to detect whether the folded sidewall (4a, 4b) is locked.

[0072] Figures 10 through 12 show these steps (e-h) for a folding crate (3) where the folded sidewall (4a) is successfully locked. Figures 13 through 15 show these steps (e-h) for a folding crate (3) where the folded sidewall (4a) is not successfully locked.

[0073] In case the detection in step h detects that the folded sidewall (4a) is still not locked, as shown in Figure 15, steps a-h are repeated as previously described. Preferably, these steps are not repeated more than a maximum number of times, and the folding crate (3) is isolated after the last repetition.

[0074] Preferably, the method also comprises outputting a first folding crate (3) from the control device (1) and feeding a second folding crate (3) into the control device (1) according to a named feeding direction, this for example with known feeding means. Thereby, preferably prior to outputting the first folding crate (3) and feeding the second folding crate (3), the pushing elements (6a, 6b) and the holding means (5) are mutually moved from the closest to the farthest position according to the height direction (H).

[0075] In addition, a method for opening a folding crate (3) using the folding crate opener (2) is also illustrated, wherein a folding sidewall (4a, 4b) of a bottom (31) of the folding crate (3) is flipped open by one of the gripping devices (10a) of the folding crate opener (4a, 4b) and wherein according to the outward direction of rotation is pushed against the inner side (42) of the folded sidewall (4) by at least one pushing element (6a, 6b) of the folding crate opener (2) rotatably arranged to lock the folded sidewall (4a, 4b), wherein successively, after receiving the folding crate (3) in the folding crate opener (2): a. the pushing element (6a, 6b) and the holding means (5) are mutually moved from the farthest position to the closest position according to the height direction (H); b. the pushing element (6a, 6b) is rotated according to the outward direction of rotation to push against the inner side (42) of the corresponding folded sidewall (4a, 4b) to lock the folded sidewall (4a, 6b). c. the pushing element (6a, 6b) and the holding means (5) are mutually moved from the closest position to the farthest position according to the height direction (H); d. the pushing element (6a, 6b) is rotated from the inner position to the outer position; e. the pushing element (6a, 6b) and the holding means (5) are moved back from the farthest position to the closest position according to the height direction (H); and f. it is checked that the folded sidewall (4a, 4b) of the folding crate (3) is locked using the control device (1).

[0076] In the specific implementation form shown on the figures, steps a-b are performed identically to the steps shown in Figures 8 and 9, and in addition, steps c-e are performed identically to the steps shown in Figures 10-11 and 13-14. In alternative implementations, these steps may be performed differently. Step f of this method is carried out in this embodiment as previously described in the method for verifying, in a process of opening a folding crate (3) in which folding sidewalls (4) are folded up from a bottom (31) of the folding crate (3) and locked, by means of a control device (1) that a folded sidewall (4) of the folding crate (3) is locked. Preferably, the method also comprises outputting a first folding crate (3) from the folding crate opener (2) and feeding a second folding crate (3) into the folding crate opener (2), according to a named feeding direction, this for example with known feeding means. Thereby, preferably prior to outputting the first folding crate (3) and feeding the second folding crate (3), the pushing element (6a, 6b) and the holding means (5) are mutually moved from the closest to the farthest position according to the height direction (H).

[0077] The method further comprises rotating each pushing element (6a, 6b) and mutually moving each pushing element (6a, 6b) and the holding means (5). Since each pushing element (6a, 6b) is connected to the frame (8), this method comprises the mutual moving of the frame (8), to which the multiple pushing elements (6a, 6b) are attached, and the holding means (5). Preferably, each pair of pushing elements (6a, 6b) is rotated with identical rotations.

[0078] The method further comprises prior to receiving the folding crate (3) in the folding crate opener (2) detecting the identification features using the identification means, and mutually moving the multiple pushing elements (6a, 6b) based on the detected identification features. The mutual movement of the multiple pushing elements (6a, 6b) preferably takes place both in the width direction (B) and in the longitudinal direction.

Claims

1. Control device (1) for verifying, in a process of opening a folding crate (3) in which folding sidewalls (4a, 4b, 4c, 4d) are folded up from a bottom (31) of the folding crate (3) and locked, that at least a first folded sidewall (4a) of the folding crate (3) is locked, comprising holding means (5) for holding the bottom (31) of the folding crate (3), comprising at least a first pushing element (6a) which is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side (41) of the first folded sidewall (4a), and comprising detection means for detecting whether the first folded sidewall (4a) is locked, characterized in that the first pushing element (6a) and the holding means (5) when holding the folding crate (3) are mutually movably arranged according to a height direction (H) between a closest position with a first mutual distance (A1), wherein the first pushing element (6a) is provided to push against the first folded sidewall (4) when rotating and a farthest position, with a second mutual distance (A2), which is greater than the first mutual distance (A1), wherein the first pushing element (6a) is provided to be rotatable in this farthest position beyond the first folded sidewall (4a) between the outer position on the outer side (41) of the first folded sidewall (4a) and an inner position on an inner side (42) of the first folded sidewall (4a), so that in the inner position and the closest position, the first pushing element (6a) is rotatably arranged to push against the inner side (41) of the first folded sidewall (4) according to an outward direction of rotation, opposite to the inward direction of rotation, to lock the first folded sidewall (4a).

2. Control device (1) according to claim 1, characterized in that the control device (1) comprises driving means (7) for driving the rotation of the first pushing element (6a).

3. Control device (1) according to claim 2, characterized in that the driving means (7) are provided for driving the rotation of the first pushing element (6a) with a first driving force according to the inward direction of rotation, and are provided for driving the rotation of the first pushing element (6a) with a second driving force according to the outward direction of rotation, the second driving force being greater than the first driving force.

4. Control device (1) according to claim 2 or 3, characterized in that the driving means (7) comprises a servomotor, which comprises an encoder, which is part of the detection means.

5. Control device (1) according to any one of the preceding claims, characterized in that the control device (1) is provided for checking whether at least a second folded sidewall (4b) of the folding crate (3), opposite the first folded sidewall, is locked and for this purpose comprises at least a second pushing element (6b), wherein the second pushing element (6b) is rotatably arranged from an outer position according to an inward direction of rotation to push against an outer side (41) of the second folded sidewall (4b), to detect whether the second folded sidewall (4b) is locked, wherein the second pushing element (6b) and the holding means (5) when holding the folding crate (3) are mutually movably arranged according to a height direction (H), between a closest position with a first mutual distance (A1) wherein the second pushing element (6b) is provided to push against the second folded sidewall (4b) when rotating, and a farthest position, with a second mutual distance (A2), which is greater than the first mutual distance (A1), and wherein the second pushing element (6b) is provided to be rotatable in this farthest position beyond the first folded sidewall (4b) between the outer position on the outer side (41) of the second folded sidewall (4b) and an inner position on an inner side (42) of the second folded sidewall (4b), so that in the inner position and the closest position, the second pushing element (6b) is rotatably arranged to push against the inner side (42) of the second folded sidewall (4) according to an outward direction of rotation opposite to the inward direction of rotation to lock the second folded sidewall (4b).

6. Control device (1) according to claim 5, characterized in that the first pushing element (6a) and the second pushing element (6b) are arranged according to a width direction (B) mutually movable between a closest position with a first mutual distance (B1) and a farthest position with a second mutual distance (B2), which is greater than the first mutual distance (B1).

7. Control device (1) according to claim 5 or 6, characterized in that the control device (1) comprises a frame (8), wherein the frame (8) and the holding means (5) are mutually movable according to the height direction (H), and that the first pushing element (6a) and the second pushing element (6b) are connected to the frame (8) so that the first pushing element (6a) and the second pushing element (6b) are each movable with respect to the holding means (5) by mutually moving the frame (8) and the holding means (5).

8. Control device (1) according to any of the preceding claims, characterized in that the folding crate opener (2) comprises identification means for detecting identification features of a folding crate (3).

9. Folding crate opener (2) for opening a folding crate (3), comprising a gripping device (10a) for folding up at least a first folding sidewall (4a) from a bottom (31) of the folding crate (3), and comprising at least a first pushing element (6a) which is rotatably arranged to push according to an outward direction of rotation against the inner side (42) of the first folded sidewall (4a) to lock the first folded sidewall (4a), characterized in that the first pushing element (6a) is part of a control device (1) according to one of the preceding claims, wherein the control device (1) is part of the folding crate opener (2).

10. Folding crate opener (2) according to claim 9, characterized in that the gripper device (10a) is provided for folding up a first pair of opposing sidewalls (4a, 4b) from the bottom of the folding crate, and that the folding crate opener (2) comprises a second gripper device (10b), for folding up a second pair of opposing sidewalls (4c, 4d), different from the first pair of opposing sidewalls (4a, 4b) from the bottom of the folding crate (3).

11. Method for verifying, in a process of opening a folding crate (3), wherein folding sidewalls (4a, 4b, 4c, 4d) are folded up from a bottom (31) of the folding crate (3) and locked, by means of a control device (1) that at least a first folded sidewall (4) of the folding crate (3) is locked, wherein the bottom (31) of the folding crate (3) is held with holding means (5) of the control device (1), and wherein at least a first pushing element (6a) of the control device (1) is rotated from an outer position according to an inward direction of rotation to push against an outer side (41) of the first folded sidewall (4a), and detecting with detection means whether the first folded sidewall (4a) is locked, characterized in that the control device (1) is a control device (1) according to one of the claims 1 through 8 and that when, upon detection, it is detected that the first folded sidewall (4a) is not locked, sequentially: a. the first pushing element (6a) and the holding means (5) are mutually moved from the closest position to the farthest position according to the height direction (H); b. the first pushing element (6a) is rotated from the outer position to the inner position; c. the first pushing element (6a) and the holding means (5) are mutually moved back from the farthest position to the closest position according to the height direction (H); and d. the first pushing element (6a) is rotated according to the outward direction of rotation to push against the inner side (42) of the first folded sidewall (4a) to lock the first folded sidewall (4a).

12. Method according to claim 11, characterized in that the control device (1) is a control device (1) according to claim 8, that the method prior to receiving the folding crate (3) at the control device (1) comprises detecting the identification features using the identification means.

13. Method according to claim 12, characterized in that in step a the first pushing element (6a) and the holding means (5) are mutually moved according to the height direction (H) based on the detected identification features.

14. Method according to claim 12 or 13, characterized in that the control device (1) is a control device (1) according to claim 5 and that the method comprises mutually moving the first pushing element (6a) and the second pushing element (6b) based on the detected identification features.

15. Method for opening a folding crate (3) by means of a folding crate opener (2) wherein at least a first folding sidewall (4a) is folded up from a bottom (31) of the folding crate (3) by the gripping device (10) of the folding crate opener (2) and wherein according to an outward direction of rotation is pushed against the inner side (42) of the first folded sidewall (4a) by at least a first pushing element (6a) of the folding crate opener (2), which is rotatably arranged, to lock the first folded sidewall (4a), characterized in that the folding crate opener (2) is a folding crate opener (2) according to one of the claims 9 through 10, and that sequentially, after receiving the folding crate (3) in the folding crate opener (2): a. the first pushing element (6a) and the holding means are mutually moved from the farthest position to the closest position according to the height direction (H); b. the first pushing element (6a) is rotated according to the outward direction of rotation to push against the inner side (42) of the first folded sidewall (4a) to lock the first folded sidewall (4a); c. the first pushing element (6a) and the holding means (5) are mutually moved from the closest position to the farthest position according to the height direction (H); d. the first pushing element (6a) is rotated from the inner position to the outer position; e. the first pushing element (6a) and the holding means (5) are moved back from the farthest position to the closest position according to the height direction (H); and f. it is checked that the first folded sidewall (4a) of the folding crate (3) is locked using the control device (1) with a procedure according to one of the claims 11 through 14.

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