Package handling device comprising a package gripping head with suction nozzles

Abstract

The invention relates to a package handling device (1) for packages (2) comprising a movable gripping head (5) equipped with a plurality of suction nozzles (7), each terminating in a suction cup (8) designed to grasp a package from above by suction. Each suction nozzle includes an air circulation duct (11) and a vacuum pump (12) disposed within the air circulation duct, said vacuum pump being in fluidic connection with the air circulation duct and the suction cup. The handling device according to the invention also includes an air injection device (13) designed to inject air into the air circulation ducts so that the vacuum pump creates a vacuum in the suction cups. Fig. 7

Description

Title of the invention: Package handling device comprising a package gripping head with suction nozzles technical field

[0001] The invention relates to the field of parcel sorting carried out in parcel sorting centers and logistics facilities. More particularly, the invention relates to a parcel handling device comprising a movable gripping head equipped with a plurality of suction nozzles, each ending in a suction cup designed to grasp a parcel from above by suction. Previous technique

[0002] Most parcel sorting centers are equipped with automated parcel handling devices designed to pick up parcels one by one from a pile of parcels stored in bulk and to move them onto a sorting conveyor which then feeds sorting outlets according to a certain sorting indication affixed to the parcels.

[0003] Document US2020 / 0262069 describes in this regard a handling device comprising a movable gripping head equipped with a plurality of suction nozzles each ending in a suction cup.

[0004] The gripping head is designed here to move over the bulk of parcels and to position itself directly above the parcel to be grasped.

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

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

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

[0008] This poor sealing creates air leaks which increase the risk of the package falling during its movement by the gripping head.

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

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

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

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

[0013] The present invention aims to address the aforementioned problems by proposing a less bulky and more efficient package suction handling device.

[0014] The present invention therefore relates to a parcel handling device comprising a movable gripping head equipped with a plurality of suction nozzles each ending in a suction cup designed to grasp a parcel from above by suction, characterized in that each suction nozzle comprises an air circulation duct and a vacuum pump disposed in the air circulation duct, said vacuum pump being in fluidic connection with the air circulation duct and the suction cup, and in that the handling device comprises an air injection device designed to inject air into the air circulation ducts so that the vacuum pump creates a vacuum in the suction cups.

[0015] The idea behind the invention is to have a suction mechanism capable of creating a vacuum as close as possible to the gripping surface of the package so as to optimize suction efficiency by limiting air friction between the suction cup and the vacuum pump and by reducing the time required to create a vacuum in the suction cup.

[0016] The more efficient the suction, the less air will need to be sucked in to grasp the package.

[0017] It is therefore understood that the device according to the invention will be less noisy and less expensive in terms of operation.

[0018] In addition, thanks to the improvement in suction efficiency, the pipes used for supplying air to the suction nozzles can have a reduced diameter so as to facilitate the movement of the gripping head.

[0019] The handling device according to the invention may also have the following characteristics:

[0020] - the handling device includes a parameterized control unit to control the air injection device so as to inject air into the suction nozzles independently of each other;

[0021] - the vacuum pump extends in line with the suction cup so as to form an air intake duct which extends substantially longitudinally upwards;

[0022] - the air circulation duct has a substantially sinusoidal shape and comprises an air intake section that extends substantially vertically towards the vent and which is connected to the injection device, an intermediate section which runs up along the air inlet section and extends the air inlet section in the direction of air flow, and an air exhaust section (21) which runs down along the air inlet section and extends the intermediate section in the direction of air flow, and in that the vacuum pump is disposed in the intermediate section;

[0023] - the air inlet section includes an upward-facing air inlet orifice and the air exhaust section includes a downward-facing air outlet;

[0024] - the air circulation duct has a substantially U-shaped form and comprises section air inlet which extends substantially vertically towards the suction cup and which is connected to the injection device, an intermediate section which runs up along the air inlet section and which extends the air inlet section in the direction of air flow, and an air exhaust section which extends longitudinally from the intermediate section in the direction of air flow, and in that the vacuum pump is disposed in the intermediate section;

[0025] - the air inlet section includes an upward-facing air inlet orifice and the air exhaust section includes an upward-facing air outlet;

[0026] - the gripping head comprises a first group of two suction nozzles and a second group of four suction nozzles, the first group being separated from the second group by a camera;

[0027] - each suction nozzle includes a silencer arranged in the section air exhaust designed to reduce the noise of the air ejected by the suction nozzle;

[0028] - the vacuum pump is a venturi system. Brief description of the drawings

[0029] The present invention will be better understood and other advantages will become apparent upon reading the detailed description of an embodiment taken by way of non-limiting example and illustrated by the accompanying drawings, in which:

[0030] Fig. 1 is a schematic representation of a handling device according to the invention in a parcel sorting installation.

[0031] Fig. 2 is a schematic representation of a sinusoidal-shaped suction nozzle according to the invention seen in profile with the air inlet section and the intermediate section in transparency.

[0032] Fig. 3 is a schematic representation of a sinusoidal-shaped suction nozzle according to the invention with another profile, with the intermediate inlet section and the air exhaust section in transparency.

[0033] Fig. 4 is a very schematic representation of a U-shaped suction nozzle according to the invention seen in profile.

[0034] Fig. 5 is a schematic representation of a gripping head seen from below according to the invention.

[0035] Fig. 6 is a schematic representation of a gripping head according to the invention connected to solenoid valves of the injection device.

[0036] Fig. 7 is a schematic representation of a gripping head seen from above according to the invention.

[0037] Fig. 8 is a schematic representation of a suction cup according to the invention seen from below. Detailed description of the invention

[0038] The parcel handling device 1 for parcels 2 according to the invention, represented in [Fig.1], is particularly well suited for use in parcel sorting centers and logistics centers.

[0039] By way of example, the handling device 1 according to the invention can in particular be used to pick up one by one the packages 2 which are stored in bulk on a feed conveyor 3, move them and place them on a sorting conveyor 4.

[0040] As shown in Figures 1, 5 and 6, the handling device according to the invention comprises a gripping head 5 mounted at the downstream end of a movable arm 6. The movable arm 6 is designed to move the gripping head 5 laterally and / or vertically above the feed conveyor 3 and the packages 2 to be grasped.

[0041] The gripping head 5 comprises suction nozzles 7, each ending in a suction cup 8 designed to grip a package 2 by suction. It should be understood here that the suction cups 8 extend vertically downwards so that the gripping head is able to grasp a package from above. The suction cups 8 may also be in the form of bellows-type suction cups 9 capable of withstanding a certain amount of crushing to increase the seal between the package 2 and the suction cup 8. The bellows-type suction cups 9 may also include a stiffening ring 10, visible in [Fig. 8], at a downstream end of the suction cup 8, defining an inner perimeter of the suction cup intended to limit obstructions of the suction cup 8 when it is crushed upon contact with a package 2.

[0042] Each suction nozzle 5 also includes an air circulation duct 11 and a vacuum pump 12 disposed in the air circulation duct 11.

[0043] The air supply to the circulation ducts 11 is provided here by means of an air injection device 13 connected to the gripping nozzles 5 by air supply pipes 14. The injection device 13 according to the invention is designed here to inject air into the air circulation ducts 11 in the direction of airflow represented by the arrows Fl in Figures 4 and 7, so that each vacuum pump 12 creates a vacuum in a suction cup 8.

[0044] The vacuum pump 12 according to the invention is specifically arranged to be in fluidic connection with the air circulation duct 11 and the suction cup 8.

[0045] More particularly, the vacuum pump 12 may, for example, extend in line with the suction cup 8 so as to form an air suction duct which extends substantially longitudinally upwards.

[0046] This arrangement makes it possible in particular to optimize the efficiency of air suction by limiting the friction of the air on the walls of the air circulation duct 11.

[0047] In the example shown in figures 2, 3 and 4, the vacuum pump 12 according to the invention is of the venturi type and includes an elongated body 13 which extends in the air circulation duct 11 from the suction cup 8.

[0048] The venturi body includes openings 14 creating a fluidic connection between the suction cup 8 and the air circulation duct 11.

[0049] These openings 14 thus make it possible to create a vacuum of air in the venturi and the suction cup 8, following the direction of air circulation represented by the arrow F2 in [Fig.4] and 7, when the air circulates in the air circulation duct 11.

[0050] The handling device 1 according to the invention is also designed to optimize the use of the suction nozzles 7, particularly in the event of air leaks.

[0051] The handling device 1 comprises a control unit 15 configured to control the air injection device 13 and thus selectively inject air into the air circulation ducts 11 of the suction nozzles 7 at a specific flow rate. For example, the injection device 13 may include solenoid valves 16, each designed to supply an air circulation duct 11. The control unit 15 may, for example, be configured to receive digital data concerning the size and irregularities of the gripping surface of the package 2 to be grasped, so as to control the injection device 13, in this case the solenoid valves 16, and thus selectively supply one or more suction nozzles 7.

[0052] Pressure sensors can also be installed in the suction nozzles 7 so as to detect the presence of air leakage at the time of package capture and to transmit in real time digital data representative of this pressure to the control unit 15 which in turn controls the flow of air injected into the relevant suction nozzle 5.

[0053] Thanks to the individual supply of the suction nozzles 7 by the air injection device 13, it is possible to equip the gripping head 5 with a desired number of suction nozzles 7.

[0054] The suction nozzles 7 thus each form a modular block which can be mounted / dismounted on the gripping head 5 and connected to the injection device 13.

[0055] Thanks to this modularity, the gripping head 5 will, for example, be able to include Suction nozzles 7 are distributed in two groups. The first group consists of two suction nozzles 7 and the second group consists of four suction nozzles 7. The first group is separated from the second group by a certain spacing that allows for the addition of equipment such as a camera 17, lights 18, and sensors useful for the proper functioning of the package handling 2. The separation of the two groups of suction nozzles 7 also allows for the handling of packages 2 of varying sizes by specifically feeding either the group of two suction nozzles 7, the group of four nozzles 7, or both groups simultaneously.

[0056] Also, in order to reduce the size of the handling device 1 and without losing suction efficiency, the air circulation duct 11 will, for example, have a substantially sinusoidal shape. In this case, the circulation duct 11 will comprise an air inlet section 19 which extends substantially vertically towards the suction cup 8 and is connected to the injection device 13, an intermediate section 20 which runs upwards along the air inlet section 19 and extends the air inlet section 19 in the direction of airflow, and an air exhaust section 21 which runs downwards along the air inlet section 19 and extends the intermediate section 20 in the direction of airflow. The air intake section 19 will then include an upward-facing air inlet orifice, while the air exhaust section 21 will have a downward-facing air outlet orifice.An elbow 22 may also be provided at the air outlet orifice so as not to eject the air injected by the injection device 13 towards the package 2 to be grasped. The elbow 22, shown in [Fig. 3], is oriented along an axis A2 which defines an angle α with respect to the vertical axis A1 and here allows the ejected airflow to be significantly deflected. The angle α will be greater than 0° and less than 90° and preferably between 15° and 45°.

[0057] Alternatively, the air circulation duct 11 may have a substantially U-shaped form, with an air inlet section 19' extending substantially vertically towards the suction cup 8 and connected to the injection device 13, an intermediate section 20' running upwards along the air inlet section 19' and extending the air inlet section 19' in the direction of airflow, and an air exhaust section 21' extending longitudinally upwards from the intermediate section 20' in the direction of airflow. The air inlet section 19' will here include an upward-facing air inlet orifice, while the air exhaust section 21' will include an upward-facing air outlet orifice. The air injected into the circulation duct 11 is therefore ejected upwards, avoiding hindering the handling of package 2 and limiting noise pollution.

[0058] Whether in the U-shaped or sinusoidal circulation duct 11, the vacuum pump 12 will be disposed either in the air inlet section 19, 19' or in the intermediate section 20, 20' of the circulation duct 11. Preferably and as re shown in figures 2, 3 and 4, the vacuum pump 12 is arranged in the intermediate section 20.

[0059] Each suction nozzle 5 may also include a silencer 23, arranged in the air exhaust section 21, 21', and designed to reduce the noise of the air ejected by the suction nozzle 7.

[0060] It is understood of course that the fluidic connection between the different sections of the air circulation duct 11 is made using angled sections.

Claims

Demands

1. Package handling device (1) for packages (2) comprising a movable gripping head (5) equipped with a plurality of suction nozzles (7) each terminating in a suction cup (8) designed to grasp a package from above by suction, each suction nozzle comprising an air circulation duct (11) and a vacuum pump (12) disposed in the air circulation duct, said vacuum pump being in fluidic connection with the air circulation duct and the suction cup, the handling device comprising an air injection device (13) designed to inject air into the air circulation ducts so that the vacuum pump creates a vacuum in the suction cups, characterized in that each air circulation duct comprises an air inlet section (19, 19') which extends substantially vertically towards the suction cup and which is connected to the injection device, an intermediate section (20,20') which runs up along the air inlet section and extends the air inlet section in the direction of air flow, and an air exhaust section (21, 21') which extends the intermediate section in the direction of air flow, either by running up along the air inlet section so that the air flow duct has a substantially U-shaped shape or by running down along the air inlet section so that the air flow duct has a substantially sinusoidal shape, and in that the vacuum pump is disposed in the intermediate section.

2. Package handling device according to claim 1, characterized in that the handling device comprises a control unit (15) parameterized to control the air injection device so as to inject air into the suction nozzles independently of each other.

3. Device according to any one of claims 1 or 2, characterized in that the vacuum pump extends in line with the suction cup so as to form an air suction duct which extends substantially longitudinally upwards.

4. A parcel handling device according to any one of claims 1 to 3, characterized in that the air inlet section comprises an upward-facing air inlet orifice and the air outlet section comprises a downward-facing air outlet orifice as the air outlet section descends along the inlet section of air.

5. Parcel handling device according to any one of claims 1 to 3, characterized in that the air inlet section comprises an upward-facing air inlet orifice and the air exhaust section comprises an upward-facing air outlet orifice when the air exhaust section moves up along the air inlet section.

6. Parcel handling device according to any one of the preceding claims, characterized in that the gripping head comprises a first group of two suction nozzles and a second group of four suction nozzles, the first group being separated from the second group by a camera (17).

7. Parcel handling device according to any one of the preceding claims, characterized in that each suction nozzle includes a silencer device (23) arranged in the air exhaust section designed to reduce the noise of the air ejected by the suction nozzle.

8. Parcel handling device according to any one of the preceding claims, characterized in that the vacuum pump is a venturi system.

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