Apparatus and method for denesting objects from a stack of objects

Abstract

The invention relates to a denesting apparatus for denesting objects from a stack of objects. The apparatus comprises at least one object support being displaceable between a lowermost position of the object support and an uppermost position of the object support, the uppermost position of the object support being in a position below an object outlet of the support rack. The apparatus also comprises a denesting device for separating the uppermost object from the remaining objects in the stack of objects, the denesting device capable of providing a displacement of the uppermost object upwards and away from the remaining objects. The invention also relates to methods of denesting objects, either by means of displaceable support brackets only or by means of suction cups in cooperation with displaceable support brackets.

Description

[0001] APPARATUS AND METHOD FOR DENESTING OBJECTS FROM A STACK OF OBJECTS FIELD OF THE INVENTION The invention relates to denesting of closely stacked objects from a denesting apparatus. Often, denesting is performed by a denesting element having one or more suction cups for abutting an object, and by activation of vacuum to the suction cups, attaching an object, such as a tray, from the stack of objects to the suction cups. The invention further relates to method for denesting of stacked objects from a denesting apparatus. BACKGROUND OF THE INVENTION Many types of products such as vegetables, meat products and prefabricated meals are packed in objects, which have a cavity with an edge. The objects may be trays, bowls or cups. The objects are shaped for packing, transporting and storing in space-saving nested stacks to the site, where the products to be contained are filled into the objects. The stack of nested objects is loaded into a denesting apparatus. The denesting apparatus may be positioned over a conveyor belt, which transports the objects from the nested stack, after having been denested from the stack, to a conveyor and a filling station where the food product or other product is filled into the cavity of the objects. The filled object may subsequently be sealed by application of a lid or other sealing device, and further processed as needed, e.g., heat treated, labelled etc. To achieve high speed filling and subsequent processing, the objects must be denested reliably and at a high rate of speed from the nested stack in the denesting apparatus. Satisfactory denesting, especially of cardboard trays, is difficult to obtain, because the objects may be stacked very closely due to the shape of the objects and / or due to the material, which the objects are made of and because of gaps between edges of especially cardboard trays being uneven. Satisfactory denesting is denesting only one object at the time, denesting fast and denesting where no interruption of denesting is needed for loading trays into the denesting apparatus. Shapes of the objects may be rectangular, triangular or other polygonal shape, with more or less rounded corners, or round, oval, or any shape along a circumference of the objects. Materials of the objects may especially be cardboard, bamboo, wooden veneer or other fibrous and / or cellulose-based material, which when manufactured into an object like a tray may have shapes and / or dimensions resulting in more or less friction between the objects in a stack of objects, making it difficult denesting the objects from the stack of objects, such as cavities of trays mutually joined in a stack. Alternatively, the object may be made from plastic such as polypropylene, PET, APET, CPET, HICEPET, OPS, or may be made from metal such as aluminium or any other material used and manufactured into a three-dimensional object, made from a thin sheet. Rapid and precise timing of denesting of an object from a nested stack is difficult to obtain because of vacuum forces and frictional forces holding the object to the stack. Especially objects of cardboard having a cavity such as trays, bowls or cups, mutually nested by cavities of the objects inserted into each other, are very irregularly nested. Failure of denesting the object from the nested stack of objects on time in a rapid and precise manner may result in intermediate stop of subsequent processing lines. A denesting apparatus, which provides rapid and precise denesting of the objects mentioned, is difficult to construct, because the apparatus must support the stack of objects while at the same time releasing an object of the stack. To achieve denesting more rapidly and at a greater precision of only the intended number of objects at a time, conventional denesting apparatuses have utilised various mechanisms for denesting of the objects. If gravity forces of upper objects positioned in the stack are applied to a lowermost object to be denested, denesting may be difficult. Therefore, a stack of objects is often tilted at an angle to vertical, to reduce gravity forces on the lowermost object to be denested. US 2007 / 104,564 A1 discloses an automatic feeder for feeding of small trays to equipment for subsequent processing. The automatic feeder includes a piston with a suction cup on a distal end. The suction cup may contact and extract, via a vacuum, trays disposed in a compartment disposed in front of the piston. The compartment may include a frame with rods projecting perpendicularly and at least one backstop to inhibit movement of the trays. A vacuum breaking means may be disposed between the piston and the frame, such that during extension of the piston a vacuum is generated to hold a tray. When the piston is retracted, the tray is pulled from the compartment, partially deforming corners of the tray which releases the tray from backstop(s) of the frame. The small tray falls down by gravity and is taken by a ramp to a conveyor to equipment for subsequent processing. The trays are extracted from the bottom of the stack and the tray being extracted deform when extracted from the stack through the backstop. FR 2 673 612 A discloses a de-stacking apparatus with a magazine at a de-stacking post, open at its upper end and capable of receiving, vertically, a stack of trays. The de- stacking apparatus also discloses a suction cup for manipulating trays capable of seizing the trays one by one at the top of the stack, via the top of the magazine, of lifting them and of displacing them in order to deposit them away from the magazine. An elevator means is provided for raising the stack of trays in the magazine until the top of the stack reaches the upper end thereof, enabling extracting of the trays. The trays are positioned bottom down in the stack of trays and when being de-stacked from the stack. SUMMARY OF THE INVENTION It is an object of the present invention to enable denesting of objects from a stack of objects, where the stack of objects contains stacked objects, which unintentionally may be mutually attached to each other due to vacuum forces and / or frictional forces between the objects. It is also an object of the present invention to enable denesting of objects from a stack of objects, where the stack of objects is stacked with varying extensions of gaps between the objects, seen along a longitudinal extension of the stack. The object of the invention is obtained by a denesting apparatus, comprising - a support rack for supporting, in lateral directions, a stack of objects when placed in the denesting apparatus, and at least one object support for supporting, in a downwards direction, the stack of objects when placed in the support rack, - the at least one object support being displaceable between a lowermost position of the object support and an uppermost position of the object support, the uppermost position of the object support being in a position below an object exit of the support rack, - the object exit being positioned above the object support, the object exit allowing an uppermost object of the stack of objects to displace outside the support rack when the uppermost object is displaced upwards and away from remaining objects, - a denesting device for separating the uppermost object from the remaining objects in the stack of objects, the denesting device capable of providing a displacement of the uppermost object upwards and away from the remaining objects. Denesting of objects from a stack of objects by denesting an uppermost object in an upwards direction, instead of a denesting a lowermost object in a downwards direction, has the advantage that there is no load on the object to be denested from other objects in the stack of objects. Even vertical denesting is possible to perform, limiting the space needed for the denesting apparatus along a process line for handling the objects. According to one possible embodiment, the denesting apparatus comprises - a displaceable auxiliary object support and a displaceable primary object support, each object support being displaceable along a longitudinal extension of the support rack between an uppermost position and a lowermost position of each of the auxiliary object holder and primary object holder, respectively, and - the auxiliary object support having at least one auxiliary object holder, the at least one object holder having a forward position and rearward position, obliquely to, preferably perpendicular to, the longitudinal extension of the support rack, and - when the at least one primary object holder of the primary object support is below a position of the at least one object holder of the auxiliary object support, the at least one auxiliary object holder is intended for displacing from the forward position to the rearward position, - so that objects (1) supported by the at least one auxiliary object holder (11) of the auxiliary object support (8) fall by gravity onto objects (1) supported by the at least one primary object holder (10) of the primary object support (6) and subsequent to have fallen, the objects (1) shift from being supported by the auxiliary object support (8) to being supported by the primary object support (6). Loading new trays to be denested by a auxiliary tray support and a primary tray support taking over from each other when needed, and the auxiliary tray support and the primary tray support being arranged along the same possibly vertical longitudinal direction has the advantage of objects to be denested always being available without having to stop the denesting process. The auxiliary tray support and the primary tray support being arranged along the same possibly vertical longitudinal direction has the advantage limiting the space needed for the denesting apparatus along a process line for handling the objects. According to a possible embodiment of the invention, the denesting apparatus comprises - a plate provided at top of the support rack, the plate provided with a tray exit through which trays exit the support rack when denesting from the remainder of trays in the stack of trays, - at plurality of tray resistors attached to a bottom side or a top side of the plate, each of the plurality of tray resistors having a tip extending into the exit in the plate, and the tips of the tray resistor defining a perimeter, -a length of the perimeter defined by the tip of the plurality of tray resistors being smaller than a length of an outer perimeter defined by an edge of the objects to be denested, so that a resistance is established for the trays exiting the exit. Tray resistors provided at an outlet of the support rack have the advantage that an uppermost tray is more reliably denested from the remaining trays in the stack of trays. The tray resistors provide a resistance towards the uppermost tray displacing through an exit of the support rack, in a manner where the tray resistors interact with a gap between an uppermost tray and a neighbouring tray in of the stack of trays. According to another possible embodiment, the denesting apparatus comprises - at least one support bracket positioned above the stack of objects, so that when a stack of objects is provided in the apparatus and is displaced upwards, the at least one support bracket is capable of displacing from a lowered position and a raised position, - the at least one support bracket when in the raised position, allowing the uppermost object to displace away from the stack of objects, through the object exit to outside the support rack, and subsequent hereto the at least one support bracket displacing from the raised position to the lowered position, - the at least one support bracket when in the lowered position preventing the uppermost object, when having passed the at least one support bracket and to the outside of the support rack, from passing from outside the support rack, back through the object exit and back onto the stack of objects. One or more support brackets for supporting the uppermost object after having been denested has the advantage of supporting the object a short period of time between being denested and being further displaced for further handling. Consequently, the actual process of denesting does not need to encompass also displacing the object for further handling, thereby limiting time needed for the actual denesting process. According to yet another possible embodiment, the denesting apparatus comprises - at least one suction cup being displaceable towards the stack of objects and away from the stack of objects, when a stack of objects is provided in the apparatus, the displacement of the at least one suction cup towards the stack of objects being a displacement towards an uppermost object in the stack of objects, - the at least one suction cup, when a stack of objects are provided in the apparatus, intended for displacing towards and abutting to the uppermost object in the stack of objects and attaching to the uppermost object of the stack of objects by activation of vacuum to the at least one suction cup, and - the at least one suction cup, when having attached to the uppermost object of the stack of objects, intended for displacing the uppermost object upwards away from the stack of objects, through the object exit and to outside the support rack. One or more suction cups for denesting the uppermost object from the stack of objects is a reliable means of denesting only one object from the stack of objects. However, depending on the geometrical shape of the objects and the material from which the objects are made, denesting by means of suction cups may risk denesting of more than only one object. Combined use of suction cups and tray resistors will limit this risk. According to a preferred embodiment, the denesting apparatus comprises an object reversing unit for reversing an orientation of an object having been denested, the object having a cavity with an outside bottom surface and a bottom inside surface, where reversing of the orientation being reversing the object from a bottom outside surface upwards orientation of the object to a bottom outside surface downwards orientation of the object, the object reversing unit positioned subsequent to the object exit of the support rack. A reversing unit is needed, when the objects being denested are positioned upside- down, that is, objects having a cavity with a cavity inside surface and a cavity outside surface, and where the objects are denested with the cavity outside surface facing upwards. The reversing unit reverse the denested objects to a cavity outside surface facing downwards so that the cavity of the objects can be filled with, e.g., a foodstuff. According to a denesting apparatus comprising at least one support bracket, - the at last one support bracket are in the lowered position, when an object is not being displaced through the object exit, and the support brackets being in the raised position, when an object is being displaced through the object exit, and - the support brackets are intended for supporting an object after the object having been displaced through the object exit by means of the at least one suction cup during activation of vacuum to the suction cup, and after the object having been released from the at least one suction cup when vacuum to the at least one suction cup is deactivated. Combined use of suction cups and tray resistors will limit the risk of denesting of more than only one object, which may occur when denesting by use of suction cups. Possibly, each of the objects to be denested, such as trays, bowls or cups, have a cavity for filling goods, such as foodstuff, into the objects, the cavity having an inner bottom surface of the cavity and an outer bottom surface of the cavity, and where each of the objects, when positioned in the support rack, have the outer bottom surface of the cavity of each of the objects facing the denesting device and have the inner bottom surface of each of the objects facing the tray support supporting the stack of objects. Objects to be denested having the cavity outside surface facing upwards when being denested has the advantage of the cavity inside surface not risking being contaminated by anything non-wanted accidently dropping into the cavity. Also, if one or more suction cups are used for denesting objects, having the cavity outside surface facing upwards when being denested has the advantage of the cavity inside surface not risking being contaminated by anything non-wanted accidently being present on the suction cups. According to a possible embodiment, the denesting apparatus comprises a chute, the chute having an inlet and an outlet, the chute inlet being positioned proximate to the object exit of the support rack and the chute exit being positioned distant from the object exit of the support rack compared to the position of the chute inlet, and the chute intended for supporting an uppermost object of the stack of objects, subsequent to the uppermost object having been denested from the stack of objects and subsequent to the uppermost object having been supported by the support brackets, and where the uppermost object after having been denested from the stack of objects and after having been supported by the support brackets is intended for being displaced from the support brackets to the chute inlet by one of the following means: gravity or an actuator. A chute positioned subsequent of the position of denesting and the inlet of the chute being positioned immediately after the position of the one or more support brackets has the advantage of the denested object, supported on the one or more support brackets, may be displaced, by gravity or by an actuator, directly and easily onto the chute. According to a possible embodiment, the denesting apparatus comprises - the object reversing unit consists in a carrousel, the carrousel having an inlet and an outlet, the carrousel inlet being positioned proximate to the object exit of the support rack, and the carrousel exit being positioned distant from the object exit of the support rack compared to the position of the carrousel inlet, - wherein the carrousel has at least one support intended for supporting an uppermost object of the stack of objects subsequent to the object having been denested from the stack of objects and subsequent to the object having been displaced from the denesting device, - the object having a cavity with a cavity inside bottom surface and a cavity outside bottom surface, and the carrousel intended for displacing the denested object, from a position with the cavity bottom outside surface facing upwards to a position with the cavity bottom outside surface facing downwards. A carrousel provided as an object reversing unit is a fast, reliable and easy means for reversing the objects having been denested with a cavity outside surface facing upwards. The carrousel is displaced by an axle of the carrousel being driven by an actuator. A rotational movement of the object is possibly faster than a longitudinal movement of the object, when needing to reverse the object to a bottom-down position. According to another possible embodiment, the denesting apparatus comprises - the object reversing unit consists in a carrousel, the carrousel having an inlet and an outlet, the carrousel inlet being positioned proximate to the chute exit, and the carrousel exit being positioned distant from the chute exit compared to the position of the carrousel inlet, - wherein the carrousel has at least one support intended for supporting an uppermost object of the stack of objects subsequent to the object having been denested from the stack of objects and subsequent to the object having been displaced from the denesting device, - the object having a cavity with a cavity inside bottom surface and a cavity outside bottom surface, and the carrousel intended for displacing the denested object, from a position with the cavity bottom outside surface facing upwards to a position with the cavity bottom outside surface facing downwards. An inlet to the carrousel may be positioned immediately after the position of denesting, if a chute or other handling means are not provided after the denesting position. If a chute or other handling means are provided after the denesting position, the inlet of the carrousel is positioned after an outlet of such handling means, like an outlet of a chute. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a photograph of a stack of objects to be denested in a denesting apparatus, Fig. 2 is one perspective view of one preferred embodiment of an apparatus according to the invention with a stack of objects to be denested, Fig. 3 is a plane view of the one preferred embodiment of the apparatus according to the invention with a stack of objects to be denested, Fig. 4 is another perspective view of the one preferred embodiment of the apparatus according to the invention, mounted obliquely and in a frame, Fig. 5 is a plane view of an alternative embodiment of an apparatus according to the invention with a stack of objects to be denested, Fig. 6A-6C are drawings of a possible embodiment of an exit for objects being denested, the exit having a plurality of tray resistors, and Fig. 7 is a sketch drawing of the preferred embodiment of an apparatus according to the invention with an object reversing unit. DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION Fig. 1 shows a small stack of objects 1 being mutually nested and intended for being denested in a denesting apparatus. The objects 1 are trays, positioned bottom-up. The trays are basically rectangular, with rounded corners, with a length of approximately 190 mm and a width of approximately 120 mm. The trays are made from a thin sheet of cardboard, are having a cavity (not shown) with an outer surface 2 and an inner surface (not shown). The cavity has a depth of approximately 30 mm. The photograph shows that the trays, when mutually nested, have gaps 3 between edges of the trays, and that the gaps 3 vary in size between neighbouring trays. Even the size of one gap between neighbouring trays differs along the perimeter of the neighbouring trays. This is especially visible comparing the right-side corners of the nested trays with the left side corner of the nested trays. At the right-side corner, the sizes of gaps between the nested trays differ much between relatively large and relatively small. At the left side corner, the sizes of gaps between the nested trays differ much less than at the right-side corner. Such cardboard trays or trays made from other material are difficult denesting compared to, as example plastic trays, where gaps often between the trays are much more even, both between each of the trays and along the perimeter of neighbouring plastic trays. Due to physical properties such as a material from which the objects are made, geometry of the objects and thickness of sheet from which the objects are made, objects made from cardboard, bamboo, wooden veneer or other fibrous and / or cellulose material tend to be more difficult denesting compared to, as example, trays, bowls or cups made of plastic. Fig. 2 and Fig. 3 show a denesting apparatus for denesting objects from a stack of objects. In the drawings, the stack of objects is a stack of trays 1, to be denested from each other. In Fig. 2 and Fig. 3, a stack of trays 1 is positioned vertically. Fig. 4 shows the same denesting apparatus as in Fig. 2 and Fig. 3, however, mounted in a support frame and mounted obliquely compared to a vertical mounting, so that a longitudinal extension of the stack of tray 1 also are oblique compared to vertical. Mounting the denesting apparatus obliquely so that the extension of stack of trays is oblique benefits from using gravity for further handling of trays after having been denested such as displacing a denested tray 1 along a chute described with reference to Fig. 7. Other objects than trays 1 are possible denesting. The objects may be made of various materials such as plastic, metal, paper and with a square, a round, a triangular, an elliptical or any other shape when seen from above. Examples of such objects are food and beverage trays, bowls or cups, possibly with lids hinged to the food tray, known as clamshell trays, or lids for any such food and beverage trays, bowls and cups. The objects may also be trays, bowls or cups not intended for food or beverages, which objects are stacked and nested during manufacturing and / or during transport and / or during storing, and which objects are to be denested before use for a specific purpose. The apparatus has a support rack for supporting the trays 1 in a lateral direction. In the embodiment shown, the support rack is constituted by a plurality of rods 4 extending longitudinally along a longitudinal direction A of the stacks of trays 1. A tray exit E (see Fig. 6A) is provided, through which tray exit E the trays 1 are displaced to outside the support rack. In the embodiment shown, the exit E is provided in a plate 5 at top of the rods 4 constituting the support rack for the stack of trays 1. A primary tray support 6 is provided, supporting lower trays 1 to be denested. the primary tray support 6 is displaceable upwards and downwards along the longitudinal direction A of the stack of trays 1, by means of a primary actuator 7, such as a pneumatic cylinder, a mechanical spindle or any other actuator suited for displacing the primary tray support 6 upwards and downwards along the direction A. An auxiliary tray support 8 is provided, supporting upper trays 1 being denested. The auxiliary tray support 8 is displaceable upwards and downwards along the longitudinal direction A of the stack of trays 1, by means of an auxiliary actuator 9, such as a pneumatic cylinder, a mechanical spindle or any other actuator suited for displacing the auxiliary tray support 8 upwards and downwards along the direction A. The auxiliary tray support 8 is provided with plane plates constituting auxiliary tray holders 11, supporting a lowermost tray of the upper trays 1 being denested. The auxiliary tray holders 11 are displaceable laterally and obliquely to, preferably perpendicular to, the longitudinal direction A of the stack of trays 1, by means of auxiliary tray holder actuators 12 such as pneumatic cylinders, a mechanical spindle, an electrically operated servomotor or any other actuator suited for displacing the auxiliary tray holders 11 laterally to the direction A. In the figures, the laterally operating auxiliary tray holders 11 are shown in a forward position, supporting the upper trays 1, by supporting the lowermost tray of the upper trays 1, and the lowermost tray supporting the other upper trays 1. The primary tray support 6 is provided with a plane plate constituting a primary tray holder 10 and extending underneath the lower trays. The primary tray holder 10 has a width at a middle extension of the primary tray holder 10, said width being smaller than a mutual lateral distance between the auxiliary tray holders 11 of the auxiliary tray support 8, when the trays holders 10 are in a forward position. Thereby, space underneath the lowermost tray in the upper trays 1 is available for the primary tray holder 10 supporting the lower trays 1 to be denested at the same time as the auxiliary tray holders 11 support upper trays 1. The feature of the width of the primary tray holder 10 being smaller than a mutual lateral distance between the auxiliary tray holders 11 is important when the primary tray holder 10 and the primary tray support 6 are to take over supporting an entire stack of trays, both the lower trays 1 to be denested and the upper trays 1 being denested. The process of the primary tray holder 10 and the primary tray support 6 taking over supporting the entire stack of trays, that is, both the lower trays 1 and the upper trays 1, is explained in the description below. When the upper trays 1 being denested, supported by the auxiliary tray holders 11, is almost empty of trays 1, because of almost all trays 1 of the upper trays 1has been denested, new trays 1 must be provided. It is not possible from above, through the tray exit E, to load new trays 1 to the upper trays 1. It may be possible, from a lateral side of the support rack, to load new trays 1 to the upper trays 1, but loading new trays to the upper trays 1 requires the denesting process to be interrupted, which is not desirable. Preferably, new trays 1 is provided by the primary tray support 6 with new trays 1 being the lower trays 1, supported by the primary tray holder 10, being displaced upwards towards the upper trays, supported by the auxiliary tray holders 11. The new trays 1, that is, the lower trays 1 to be denested, supported by the primary tray holder 10, are displaced upwards into a position where an uppermost tray 1 of the lower trays 1 to be denested is in immediate vicinity of and below a lowermost tray of the upper trays 1 being denested, supported by the auxiliary tray holders 11. When the uppermost tray of the lower trays 1 is in a position in immediate vicinity of and below the lowermost tray of the upper trays 1, the auxiliary tray holder actuators 12 displace the auxiliary tray holders 11 rearwards. The remaining trays 1 of the upper trays 1 is then no more supported by the auxiliary tray holders 11, and the upper trays 1 fall onto the lower trays 1. The now previous upper trays 1 and the now previous lower trays 1 now constitute one new stack of trays 1 being denested, supported by the primary tray holder 10. Subsequently, he primary tray support 6 displaces upwards, stepwise and continuously, as uppermost trays 1 of the combined stack of trays 1is stepwise and continuously denested. The auxiliary tray holder actuators 12 displacing the auxiliary tray holders 11 rearwards, and the remaining trays 1 of the upper trays 1 falling onto the lower trays 1 is preferably performed within a period of time between denesting of an uppermost tray of the upper trays 1, while still supported by the auxiliary tray holders 11, and denesting of a uppermost tray 1 of the new combined stack of trays 1 , all trays in the combined stack of trays 1 now supported by the primary tray holder 10. Interruption of denesting of trays 1 is thereby avoided. When the combined stack of trays 1 has as many trays 1 denested that the combined stack of trays 1 is about to empty, the primary tray holder 10must be in a position above a lowermost position of the auxiliary tray holders 11 of auxiliary tray support 8. The auxiliary tray support 8 is in a position, or is displaced to a position, where the auxiliary tray holders 11 are in a position underneath the lowermost tray in the combined stack of trays 1supported by the primary tray holder 10. When the auxiliary tray holders 11are in position underneath the lowermost tray in the stack of trays 1 on the primary tray holders 10, the auxiliary tray holder actuators 12 displace the auxiliary tray holders 11 forwards. The primary tray support 6 is then displaced to a position, where the primary tray holder 10 is in a position underneath the auxiliary tray holders 11. When the primary tray holder 10 passes the auxiliary tray holders 11, the stack of trays 1 shifts from being supported by the primary tray holder 10 to being supported by the auxiliary tray holders 11. . The auxiliary tray support 8 is now ready to displace the stack of trays 1 being denested upwards stepwise and continuously as trays 1 are denested from the stack of trays 1 now supported by the auxiliary tray holders 11. From the point of time where the stack of trays 1 shift to being supported by the auxiliary tray holders 11, the primary tray support 6 is displaced downwards for loading new trays 1 onto the auxiliary tray holder 10. The new trays 1 become a still new stack of trays 1 to be denested, when the stack of trays 1 being denested is about to empty. When the stack of trays 1 being denested is about to empty of trays 1, the still new stack of trays 1 is provided from the primary tray support 6, which, as mentioned above, in advance has been loaded with new trays 1 to be denested. The process of providing new trays 1 to be denested from the primary tray support 6 is repeated as described further up. The top of the support rack is provided with a plate 5 with a hole constituting an exit E through which the trays 1 being denested are displaced. When either the auxiliary tray support 8 or the primary tray support 6, depending on which of the tray supports 6,8 are supporting the stack of trays 1 to be denested, is displaced upwards, the uppermost tray is displaced towards the tray exit E. Above the tray exit E, a denesting device 13 is provided for denesting the uppermost tray of the stack of trays 1 from the remaining trays 1 in the stack of trays 1 to be denested. A first chute 14 is provided in to the exit E from the support rack of the denesting device and intended for subsequent handling of the denested uppermost tray. In the embodiment shown in Fig. 2-4, a denesting device 13 in the form of a suction unit is provided. The suction unit comprises two suction cups 15 connected to a vacuum source (not shown). The two suction cups 15 are attached to a suction cup actuator 16 capable of displacing the suction cups 15 towards the present stack of trays 1 to be denested and away from the stack of trays 1 to be denested. The suction cup actuator 16 is attached to a frame (see Fig. 4), which the denesting apparatus also is attached to. More than two suction cups 15, or just one suction cup 15, may be provided, depending on the size, the weight and the geometrical shape of the trays 1 or other objects to be denested. Two support brackets 17 are provided above the tray exit E. The support brackets 17 are shaped as longitudinal braces, being parallel and positioned on opposite sides of the trays 1 being denested. In the embodiment shown, the tray exit E is a space between the support brackets 17. Each of the support brackets 17 are mounted on a pivot axle 18, which is mounted to the support rack, and the support brackets 17 are pivotable around the axle between a lowered position and a raised position in relation to the stack of trays 1. Preferably, the support brackets 17 are biased towards the lower position by a spring or other biasing element. In the lowered position of the support brackets 17, a mutual distance between the support brackets 17 is smaller than a width of the trays 1. In the raised position of the support brackets 17, a mutual distance between the support brackets 17 is the same as, or larger than, the width of the trays 1. When an uppermost tray is displaced through the tray exit E, opposite edges of the uppermost tray is displaced along the support brackets 17. When the opposite edges of the uppermost tray pass along the support brackets 17, the support brackets 17 pivot from the lowered position to the raised position, because of the width of the tray being larger than the mutual distance between the support brackets 17. Subsequent to the opposite edges of the uppermost tray having passed along the support brackets 17, the support brackets 17 pivot back to the lowered position, preferably assisted by a biasing force such as a spring biasing the support brackets 17 towards the lowered position. In the embodiment shown, the support brackets are pivotably hinged on a pivot axle and are preferably biased towards the lowered position by a spring (not shown). In an alternative embodiment, the support brackets are one or more fixed support brackets, and where the object, such as a tray, is squeezed, by being slightly elastically bended, when passing the one or more support brackets. In still an alternative embedment, the one or more support brackets may be displaced by means of an actuator, such a pneumatic cylinder or a an electrically operated servomotor, between a forward position, preventing an object to pass, and a rearwards position, allowing an object to pass. Denesting of the uppermost tray from the auxiliary stack of trays 1 is preferably performed as described in the following: The suction cups 15 are displaced downwards past the support brackets 17, towards and into abutment with the uppermost tray. Vacuum is activated to the suction cups 15 and the uppermost tray is thereby attached to the suction cups 15. Subsequently, the suction cups 15 are displaced upwards away from the stack of trays 1, thereby denesting the uppermost tray from the remaining trays 1 in the present stack of trays 1 to be denested and displacing the uppermost tray past the support brackets 17. Subsequently, the now former uppermost tray is released from the suction cups 15 by deactivating the vacuum. The former uppermost tray falls downwards onto the support brackets 17 now positioned in a lower position underneath the suction cups 15. Denesting of the uppermost tray from the present stack of trays 1 to be denested may alternatively be performed as described in the following: When the auxiliary tray support 8 is displaced upwards, the uppermost tray is displaced through the tray exit E. Subsequently, one or more suction cups 15 are displaced downwards, past the support brackets 17 and towards and into abutment with the uppermost tray. In the drawing, two suction cups 15 are shown. Vacuum is activated to the suction cups 15 and the uppermost tray is thereby attached to the suction cups 15. Subsequently, the suction cups 15 are displaced upwards away from the stack of trays 1, thereby denesting the uppermost tray from the remaining trays 1 in the present stack of trays 1 to be denested. Subsequently, the now former uppermost tray is released from the suction cups 15 by deactivating the vacuum and the former uppermost tray falls downwards onto support brackets 17 now positioned in a lower position underneath the suction cups 15. When the support brackets 17 are in the lowered position, the tray having been denested from the remaining trays 1 and now being a former uppermost tray of the stack of trays 1, and after having been released from the suction cups 15, is supported by the support brackets 17. Subsequently, the former uppermost tray can be handled in any manner suited for subsequent use, e.g., displaced to a conveyor belt. Fig. 4 shows an alternative embodiment of a denesting apparatus according to the invention. The only difference to the preferred embodiment shown in Fig. 2-4 is that the suction cups 15 and the suction cup actuator 16 are excluded. All other parts of the denesting apparatus, including the support brackets 17, are the same as the elements described with reference to Fig. 2-4. The description with reference to Fig. 2-4 of the elements being the same between the preferred embodiment shown and described with reference to Fig. 2-4 and the alternative embodiment are hereby enclosed as description also with reference to Fig. 5. In the alternative embodiment shown in Fig. 5, the uppermost tray is denested from the remaining trays 1 merely by being displaced through the tray exit E at the top of the support rack, and the uppermost tray being denested from the stack of trays 1 by the support brackets 17 pivoting to the lower position when the uppermost tray has been displaced through the exit E, the support brackets 17 in the lower position thereby dividing the uppermost tray from the subsequent tray in the stack of tray 1. In the embodiments shown in the figures, a first chute 14 is provided in prolongation of the support brackets 17. The chute is intended for displacing, by means of gravity, the denested tray to subsequent handling or use of the tray. The tray is displaced to the chute subsequent to the tray having been denested and subsequent to the tray having been supported on the support racks. When the tray is supported by the support brackets 17, gravity displaces the tray from the support brackets 17 to the first chute 14. Other than gravity displacing the tray from the support brackets 17 to the first chute 14, a displacement actuator may push the tray form the support brackets 17 onto the first chute 14. Any such displacement actuator may, as example, be a pneumatically driven cylinder, a mechanically driven spindle or an electrically driven servomotor. In both the preferred embodiment described with reference to Fig. 2-4 and the alternative embodiment described with reference to Fig. 4, the uppermost tray is denested from the remaining trays 1 by the uppermost tray passing the tray exit E and subsequent passing the support brackets 17, thereby pivoting the support brackets 17 from the lowered position to the raised position. In the alternative embodiment shown in Fig. 5, the support brackets 17, the uppermost tray is denested from the remaining trays 1 by the uppermost tray passing the tray exit E and subsequently passing the support brackets 17, thereby pivoting the support brackets 17 from the lowered position to the raised position. When the uppermost trays 1 has passed the support brackets 17, the support brackets 17 pivot back to the lowered position, and the uppermost tray of the stack of trays 1 to be denested is subsequently supported by the support brackets 17. The uppermost tray is hereby denested from the remaining trays 1. In the preferred embodiment shown in Fig. 2-4, the suction cups 15 are displaced, by the actuator, towards the uppermost tray before the uppermost trays 1 is displaced past the support brackets 17. When passing the support brackets 17, thereby pivoting the support brackets 17 from the lowered position to the raised position. When the uppermost trays 1 has passed the support brackets 17, the support brackets 17 pivot back to the lowered position, the uppermost tray is then released from the suction cups 15. The uppermost tray then falls, by gravity, onto the support brackets 17 and is then supported by the support brackets 17. Use of suction cups 15 for displacing the denesting the uppermost tray from the remaining trays 1 and for displacing the former uppermost tray past the support brackets 17 has the advantage of possibly providing a more reliable and safer denesting and displacement of the uppermost tray. Other means than suction cups 15 may be provided for denesting and displacing the uppermost tray, depending on the size, the weight and the geometrical shape of the trays 1 or other objects to be denested. As example, as an alternative to one or more suctions cups 15, gripping arms may be displaced, also by an actuator, towards the stack of trays 1 or other objects, and may displace to a position underneath an edge or other part of the uppermost object, and may subsequently displace the uppermost object away from the remaining trays 1, through the tray exit E and to outside the support rack. Fig. 6A-6C shows the plate 5 with the exit E at top of the rack support. A bottom surface of the plate 5 has a plurality of tray resistors 19 attached, the tray resistors 19 intended for holding back a tray 1 in the stack of trays, said tray being held back neighbouring the uppermost tray. The tray resistors 19 extend along a bottom surface of the plate 5 provided with the exit E, and the tray resistors 19 extend so that a tip of the tray resistors 19 extend into the exit E, the tips of the trays resistors 19 defining an interior perimeter. The interior perimeter defined by the tips of the tray resistors 19 have a length being a smaller than a length of an outer perimeter of an edge of the trays. The length of the inner perimeter defined by the tips of the tray resistors 19 being smaller than the length of the outer perimeter of the edge of the trays 1 results in a resistance towards a tray passing the exit E. Each of the tray resistors 19 may be adjusted so that the tip of each of the tray resistor 19 extend more or less into the exit E. Thereby, the magnitude of resistance towards a tray passing the exit E may be adjusted. The more the tips of the tray resistors 19 extend into the exit E, the more a resistance is established towards a tray 1 passing the exit E. When the stack of trays is displaced upwards towards the exit E, and when the uppermost tray reaches and abuts the trays resistors 19, the uppermost tray is forced past the tray resistors 19, overcoming the resistance provided by the tray resistors 19. When the uppermost tray has passed the tray resistors 19, the uppermost tray is separated from a neighbouring tray underneath the uppermost tray. The tray resistors 19 thereby ensure that not more than one tray 1 at the time is passed through the exit E. In the embodiment shown, many tray resistors 19 are provided on the bottom surface of the plate 5 with the exit E. In alternative embodiments more or fewer tray resistors 19 are provided, depending on the size and the geometrical shape of the objects to be denested and / or depending on the material from which the objects to be denested are made of. More tray resistors 19 may be needed, the longer the length of the outer perimeter of the objects and / or the more irregular the shape of the outer perimeter of the objects is and / or the more resistance towards passing the exit E is needed. In the embodiment shown, the tray resistors 19 are provided on the bottom surface of the plate 5 with the exit E. In an alternative embodiment, the tray resistors 15 are provided on a top surface of the plate 5. In such embodiment, any support brackets can be omitted, and the tray resistors 19 on the top surface of the plate 5 constitute the support for the uppermost tray after having been denested from the stack of trays. As described with reference to Fig. 2 and Fig. 3, the support brackets 17 are pivotable around a pivot axle 18. Fig. 6A and Fig. 6C also show in more detail the support brackets 17 In the embodiment shown, two support brackets 17 are shown, and each of the support brackets are linear. Such support brackets are well suited for substantially rectangular shaped trays. Other numbers of support brackets than two and other shapes of the support brackets than linear may be provided for trays having other shapes than rectangular. Also, for trays having another shape than rectangular, possibly round or oval, for trays having another size than described with reference to Fig. 1 and / or for trays being made of another material than in the present example, the support brackets may be fixed, not being pivotable between a lowermost and an uppermost position. Fig. 7 shows in more detail the denesting function of the present invention as shown in the embodiment of Fig. 2-4. The description related to Fig. 7 will also be used for describing in more detail the function of the embodiment shown in Fig. 2-4. Fig. 7 is a drawing showing, schematically, the preferred embodiment of the denesting apparatus also shown and described with reference to Fig. 2-4. Additional to the denesting apparatus shown and described with reference to Fig. 2-4, the denesting apparatus shown in Fig. 6 has additional elements described in the following. The drawing shows the denesting apparatus in a situation, where an uppermost tray 1 has been denested by being attached to, and being displaced upwards, by the suction cups 15 and has been released from the suction cups 15, and has fallen onto the support brackets 17. Now the denested tray 1 is being passed on to further handling. Subsequently to being supported by the support brackets 17, the tray displaces downwards, by gravity, to an inlet 20 of the first chute 14. The first chute 14 has an outlet 21. In a position before the chute outlet 21, a first stop 22 is provided. The first stop 22 is operated by a stop actuator 23 and is displaceable between a downwards stop position, as shown, and an upwards pass position. The first stop 22 is activated between the two positions by the stop actuator 23. In the downwards stop position of the first stop 22, the tray 1 is prevented from passing the first stop 22. In the upwards pass position of the first stop 22, the tray 1 is allowed passing the first stop 22, down the first chute 14 to the chute outlet 21. The first stop 22 ensures that a tray 1 is not passed to a carrousel inlet 25 until space for the tray 1 is available in a carrousel 24. Subsequent to the chute outlet 21, a carrousel 24 is provided. The carrousel 24 is intended for reversing an orientation of the tray 1, from an upside-down position to an upside-up position with a cavity of the tray 1 facing upwards, ready for being filled. The carrousel 24 has a carrousel inlet 25 allowing a tray 1 on the chute 14 to enter the carrousel 24, and a carrousel outlet 26 allowing a reversed tray 1 to exit the carrousel 24. Inside the carrousel, supports 27 are provided for supporting one or more trays 1, when trays 1 are entering the inlet 25 and are being reversed in the carrousel 24. At the carrousel outlet 26, an second chute 28 is provided for guiding reversed trays 1 to subsequent handling. In the embodiment shown, the trays 1 having been reversed in the carrousel 24 are displaced from the carrousel outlet 26 to an inlet 29 of the second chute 28, are passed along the second chute 28 to an outlet 30 of the second chute 28 and to a conveyor 31 being part of already established equipment for further handling of the trays. In a position before the outlet 30 of the second chute 28, a second stop 32 is provided. The second stop 32 is operated by a stop actuator 33 and is displaceable between a downwards stop position, as shown, and an upwards pass position. The second stop 32 is activated between the two positions by the stop actuator 33. In the downwards stop position of the second stop 32, the tray 1 is prevented from passing the second stop 32. In the upwards pass position of the second stop 32, the tray 1 is allowed passing the second stop 32, along the second chute 28 to the chute outlet 30 and to the conveyor 31. The second stop 32 ensures that a tray 1 is not passed to the conveyor 31 until space for the tray 1 is available on the conveyor 31. The trays 1 are handled by being displaced, as example, to a filling station for filling goods into the trays 1. At selected positions along the first chute 14 and inside the carrousel 24 and along the second chute 28 and the conveyor 31, various sensors 34 are provided for controlling the stops 22,32 between the downwards stop position and the upwards pass position, ensuring that trays 1 are not displaced from one position to another subsequent position, until space is available for each tray being displaced. One or more sensors 34 of the carrousel 24 may control starting and stopping of the carrousel 24. In the embodiment shown, the stops 22,32 and the stop actuators 23,33 are positioned above the chutes 14,28. Alternatively, the stops 22,32 and the stop actuators 23,33 may be positioned underneath the chutes 14,28 and the stops 22,32 passes and operates through holes or grooves provided in the chutes 14,28.

[0002] LIST OF REFERENCES 1 - Tray 2 - Outer surface of tray 3 - Gap between edges of tray 4 - Rods constituting support rack 5 - Plate at top of support rack 6 - Primary tray support 7 - Primary tray support actuator 8 - Auxiliary tray support 9 - Auxiliary tray support actuator 10 - Primary tray holder 11 - Auxiliary tray holder 12 - Auxiliary tray holder actuator 13 - Denesting device 14 - First chute for trays 15 - Suction cup 16 - Suction cup actuator 17 - Support bracket 18 - Pivot axle for support bracket 19 - Tray resistor 20 - First chute inlet 21 - First chute outlet 22 - First tray stop 23 - First tray stop actuator 24 - Carousel for tray reversing 25 - Carousel inlet 26 - Carousel outlet 27 - Carousel tray support 28 - Second chute 29 - Second chute inlet 30 - Second chute outlet 31 - Conveyor for tray 32 - Second tray stop 33 - Second tray stop actuator 34 - Sensor A - Longitudinal direction E - Exit of support rack

Claims

CLAIMS 1. A denesting apparatus for denesting objects (1) from a stack of objects (1), the denesting apparatus comprising: - a support rack (4) for supporting, in lateral directions, a stack of objects (1) when placed in the denesting apparatus, and at least one object support (6,8) for supporting, in a downwards direction, the stack of objects (1) when placed in the support rack (4), - the at least one object support (6,8) being displaceable between a lowermost position of the object support (6,8) and an uppermost position of the object support (6,8), the uppermost position of the object support (6,8) being in a position below an object exit (E) of the support rack (4), - the object exit (E) being positioned above the at least one object support (6,8), the object exit (E) allowing an uppermost object of the stack of objects (1) to displace outside the support rack (4) when the uppermost object is displaced upwards and away from remaining objects in the stack of objects (1), - a denesting device (13,15,17) for separating the uppermost object from the remaining objects in the stack of objects (1), the denesting device (13,15,17) capable of providing a displacement of the uppermost object upwards and away from the remaining objects (1).

2. A denesting apparatus according to claim 1, the denesting apparatus comprising - a displaceable primary object support (6) and a displaceable auxiliary object support (8), each object support (6,8) being displaceable along a longitudinal extension (A) of the stack of objects (1) between an uppermost position and a lowermost position of each of the auxiliary object support (8) and primary object support (6), respectively, and - the primary object support (6) having at least one primary object holder (10), and the auxiliary object support (8) having at least one auxiliary object holder (11), the at least one object holder (11) of the auxiliary object support (8) having a forward position and rearward position, obliquely to the longitudinal extension (A) of the stack of objects (1), - when the at least one primary object holder (10) of the primary object support (6) is below a position of the at least one auxiliary object holder (11) of the auxiliary object support (8), the at least one auxiliary object holder (11) is intended for displacing from the forward position to the rearward position, - so that objects (1) supported by the at least one auxiliary object holder (11) of the auxiliary object support (8) fall by gravity onto objects (1) supported by the at least one primary object holder (10) of the primary object support (6) and subsequent to have fallen, the objects (1) shift from being supported by the auxiliary object support (8) to being supported by the primary object support (6).

3. A denesting apparatus according to claim 1 or 2, the denesting apparatus comprising - a plate provided at top of the support rack (4), the plate (5) provided with a tray exit (E) through which trays exit the support rack (4) when denesting from the remainder of trays in the stack of trays (1), - at plurality of tray resistors (19) attached to a bottom side or a top side of the plate, each of the plurality of tray resistors (19) having a tip extending into the exit (E) in the plate, and the tips of the tray resistor defining a perimeter, - a length of the perimeter defined by the tip of the plurality of tray resistors (19) being smaller than a length of an outer perimeter defined by an edge of the objects to e denested, so that a resistance is established for the trays exiting the exit (E).

4. A denesting apparatus according to any of the preceding claims, the denesting apparatus comprising - at least one support bracket (17) positioned above the stack of objects (1), so that when a stack of objects (1) is provided in the apparatus and is displaced upwards, the at least one support bracket (17) is capable of displacing from a forwards or lowered position and a rearward or raised position, - the at least one support bracket (17) when in the rearwards or raised position, allowing the uppermost object (1) to displace away from the stack of objects (1), through the object exit (E) to outside the support rack (4), and subsequent hereto the at least one support bracket (17) displacing from the raised or rearwards position to the lowered or forwards position, - the at least one support bracket (17) when in the lowered or forwards position preventing the uppermost object, when having passed the at least one support bracket (17) and to the outside of the support rack (4), from passing from outside the support rack (4), back through the object exit (E) and back onto the stack of objects (1).

5. A denesting apparatus according to any of the preceding claims, the denesting apparatus comprising - at least one suction cup (15) being displaceable towards the stack of objects (1) and away from the stack of objects (1), when a stack of objects (1) is provided in the apparatus, the displacement of the at least one suction cup (15) towards the stack of objects (1) being a displacement towards an uppermost object (1) in the stack of objects (1), - the at least one suction cup (15), when a stack of objects (1) are provided in the apparatus, intended for displacing towards and abutting to the uppermost object in thestack of objects (1) and attaching to the uppermost object of the stack of objects (1) by activation of vacuum to the at least one suction cup (15), and - the at least one suction cup (15), when having attached to the uppermost object of the stack of objects (1), intended for displacing the uppermost object upwards away from the stack of objects (1), through the object exit (E) and to outside the support rack (4).

6. A denesting apparatus according to any of the preceding claims, the denesting apparatus comprising an object reversing unit (24) for reversing an orientation of an object (1) having been denested, the object (1) having a cavity with an outside bottom surface (2) and a bottom inside surface, where reversing of the orientation being reversing the object from a bottom outside surface (2) upwards orientation of the object (1) to a bottom outside surface (2) downwards orientation of the object, the object reversing unit (24) positioned subsequent to the object exit (E).

7. A denesting apparatus according to any of claims 4-6, - where the at last one support bracket (17) is in the lowered or forward position, when an object is not being displaced through the object exit (E), and the at least one support bracket (17) being in the raised or rearward position, when an object is being displaced through the object exit (E), and - where the at least one support bracket (17) is intended for supporting an object after the object having been displaced through the object exit (E) by means of the at least one suction cup (15) during activation of vacuum to the at least one suction cup (15), and after the object having been released from the at least one suction cup (15) when vacuum to the at least one suction cup (15) is deactivated.

8. A denesting apparatus according to any of the preceding claims, where each of the objects (1) to be denested have a cavity for filling goods into the objects (1), the cavity having an inner bottom surface of the cavity and an outer bottom surface (2) of the cavity, and where each of the objects (1), when positioned in the support rack (4), have the outer bottom surface (2) of the cavity of each of the objects (1) facing the denesting device (13) and have the inner bottom surface of each of the objects (1) facing the tray support (6,8) supporting the stack of objects (1).

9. A denesting apparatus according to any of the preceding claims, where the denesting apparatus comprises a first chute (14), the first chute (14) having an inlet (20) and an outlet (21), the chute inlet (20) being positioned proximate to the object exit (E) of the support rack (4) and the chute outlet (21) being positioned distant from the object exit (E) of the support rack (4) compared to the position of the chute inlet (20), and thechute intended for supporting an uppermost object of the stack of objects (1), subsequent to the uppermost object having been denested from the stack of objects (1) and subsequent to the uppermost object having been supported by the at least one support bracket (17), and where the uppermost object after having been denested from the stack of objects (1) and after having been supported by the at least one support bracket (17) is intended for being displaced from the at least one support bracket (17) to the chute inlet (17) by one of the flowing means: gravity or an actuator.

10. A denesting apparatus according to any of the preceding claims, - where the object reversing unit (24) consists in a carrousel, the carrousel (24) having a carrousel inlet (25) and a carrousel outlet (26), the carrousel (24) inlet being positioned proximate to the object exit (E) of the support rack (4), and the carrousel outlet (26) being positioned distant from the object exit (E) of the support rack (4) compared to the position of the carrousel inlet (25), - wherein the carrousel (24) has at least one object support (27) intended for supporting an uppermost object (1) of the stack of objects (1) subsequent to the object (1) having been denested from the stack of objects (1) and subsequent to the object (1) having been displaced from the denesting device (13), - the object (1) having a cavity with a cavity inside bottom surface and a cavity outside bottom surface, and the carrousel (24) intended for displacing the denested object (1), from a position with the cavity bottom outside surface facing upwards to a position with the cavity bottom outside surface facing downwards.

11. A denesting apparatus according to any of claims 1-9, - the object reversing unit (24) consists in a carrousel, the carrousel (24) having a carrousel inlet (25) and a carrousel outlet (26), the carrousel (24) inlet being positioned proximate to the chute outlet (21), and the carrousel outlet (26) being positioned distant from the chute outlet (21) compared to the position of the carrousel inlet (25), - wherein the carrousel (24) has at least one support intended for supporting an uppermost object of the stack of objects (1) subsequent to the object (1) having been denested from the stack of objects (1) and subsequent to the object (1) having been displaced from the denesting device, - the object (1) having a cavity with a cavity inside bottom surface and a cavity outside bottom surface, and the carrousel (24) intended for displacing the denested object (1), from a position with the cavity bottom outside surface facing upwards to a position with the cavity bottom outside surface facing downwards.

12. Method for denesting objects (1) from a stack of objects (1) placed in a denesting apparatus according to any of claims 1-11, the method comprising the steps of: - providing a stack of objects (1) in a support rack (4) of the denesting apparatus, each of the object having a cavity with a cavity inside bottom surface and a cavity outside bottom surface, - supporting a lowermost object of the stack of objects (1) by an object support (6,8) displaceable along the support rack (4) and so that the cavity outside surface of each object faces upwards, - providing at least one support bracket (17) displaceable between a lowered or forwards position, in which lowered or forwards position an object cannot pass the at least one support bracket (17), and a raised or rearwards position, in which raised or rearwards position an object can pass the at least one support bracket (17), - displacing the object support (6,8), thereby displacing the stack of objects (1) towards an object exit (E) of the support rack (4) so that an uppermost object of the stack of objects (1) is positioned below the object exit (E), - displacing the stack of objects (1) upwards so that the uppermost object passes the at least one support bracket (17), the at least one support bracket (17) displacing from the lowered or forwards position to the raised or rearwards position, displacement actuated by one of the following means: the uppermost object or an actuator, - subsequent to having displaced the uppermost object past the at least one support bracket (17), the at least one support bracket (17) displacing from the raised or rearwards position to the lowered or forwards position, displacement actuated by one of the following means: gravity, a biasing element or an actuator.

13. Method for denesting objects (1) from a stack of objects (1) placed in a denesting apparatus according to any of claims 1-11, the method comprising the steps of: - providing a stack of objects (1) in a support rack (4) of the denesting apparatus, each of the object having a cavity with a cavity inside bottom surface and a cavity outside bottom surface, - supporting a lowermost object of the stack of objects (1) by an object support (6,8) displaceable along the support rack (4) and so that the cavity outside bottom surface of each object faces upwards, - displacing the object support (6,8), thereby displacing the stack of objects (1) towards an object exit (E) of the support rack (4) so that an uppermost object of the stack of objects (1) is positioned below the object exit (E), - providing at least one suction cup (15), displaceable downwards towards and upwards away from the stack of objects (1) in the support rack (4), and displacing the suctioncup (15) downwards towards the stack of objects (1), abutting the suction cup (15) to a cavity outside bottom surface of an uppermost object of the stack of objects (1), - activating a vacuum to the at least one suction cup (15), thereby attaching the uppermost object to the at least one suction cup (15), displacing the at least one suction cup (15) upwards and away from the stack of objects (1), the uppermost object of the stack of objects (1) thereby separating from and thereby denesting from the stack of objects (1), and - deactivating the vacuum to the at least one suction cup (15), thereby detaching the denested uppermost object from the at least one suction cup (15), and the denested uppermost object thereby displacing, by gravity, onto the at least one support bracket (17) and being supported by the at least one support bracket (17).

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