Palletizing installation

Abstract

The present invention relates to an installation (1) for palletizing products (2), said installation (1) having a zone (10) for picking up said products (2), two zones (11, 12) for depositing products (2) on pallets (110, 120), said installation comprising a work station (3) located between the two deposit zones (11, 12), characterized in that the installation (1) comprises a separating wall (4) provided movable between at least two positions, a first position between said work station (3) and the first deposit zone (11) and a second position between said work station (3) and the second deposit zone (12), so as to alternately separate one of the two deposit zones (11, 12) from said work station (3). The invention also relates to a method for palletizing products. Figure for abstract: Fig. 1

Description

Title of the invention: Palletizing installation

[0001] The present invention relates to the field of palletizing products in an industrial line.

[0002] It relates more particularly to a robotic palletizing installation having two depositing zones, that is to say two distinct palletizing zones. In the context of the invention, each of the zones is isolated alternately in order to allow an operator to access the depositing zone which is then secured. It also relates to a palletizing method comprising a step consisting of isolating and therefore securing a palletizing zone in order to allow the palletizing of the other zone to start and / or continue.

[0003] In this type of installation, a workstation generally comprises a robot which picks up products in a picking area in order to place them in one or other drop-off area. In other words, a robot picks up products to stack them on a pallet, positioned on a drop-off area. It is essential to restrict access to the installation even while the workstation is in operation, in order to guarantee the safety of the operators present.

[0004] State of the art: In this type of installation, closed enclosures with doors are usually used. The operator must then stop the workstation before coming to collect the finished pallet, loaded with products.

[0005] Solutions are known from the prior art for securing access to the installation, in particular through the use of sensors, such as motion detectors, or sensors for detecting the height of products on a pallet. There are also solutions that favor autonomous pallet removal. The operator then does not need to access the installation.

[0006] Technical background: Document FR2987774 proposes a solution aimed at blocking access to the installation when it is in operation, the installation itself being entirely secured by an enclosure. If the door of the enclosure opens, a signal is transmitted to the sensor, and the robot stops all work.

[0007] Document US 10843340 describes a system of detection sensors, which trigger the slowing down and / or stopping of the palletizing robot if an operator is located near the latter.

[0008] Summary of the invention: The solutions proposed in the prior art are only slightly satisfactory because the installation must slow down, or even stop in order to allow the operator to move around the environment of the work robot to collect the finished pallet. This then leads to production losses at the line level. industrial. There is therefore a need for a secure and more productive palletizing installation, in which the workstation can continue to operate even when an operator is nearby, for example when picking up the finished pallet or when returning an empty pallet to one of the drop-off areas.

[0009] To this end, the invention relates to an installation for palletizing products, said installation having a zone for picking up said products, two zones for depositing products on pallets, said installation comprising a work station located between the two deposit zones. The installation is characterized in that it comprises a separating wall provided to be movable between at least two positions, a first position between said work station and the first depositing zone and a second position between said work station and the second depositing zone, so as to alternately separate one of the two depositing zones from said work station.

[0010] According to a possible variant, the installation comprises an enclosure surrounding together the gripping zone, the work station and the depositing zones, said enclosure having an inlet for each depositing zone and an opening for supplying the gripping zone.

[0011] In embodiments, the workstation of the installation comprises a robot provided with a gripping means, said gripping means gripping the products in said gripping zone and unloading them into one of the depositing zones.

[0012] According to a possible characteristic, the workstation comprises a structure having a lower face, an upper face and two side faces, the robot being fixed directly or indirectly to said structure and the separation wall being movable along said structure.

[0013] Advantageously, the structure is configured to accommodate the robot in a folded position and comprises guide rails of the partition wall, said rails extending along the upper face of said structure above the robot and along the side faces so that, when said robot is in the folded position, said partition wall can move along said rails between the first and second positions.

[0014] In embodiments, the installation comprises detection means for determining the filling level of a pallet and enabling the triggering of the withdrawal of the robot within the structure and the movement of the separation wall from one position to another.

[0015] According to another possible characteristic, the installation comprises safety sensors which detect the presence of the partition wall in the first and in the second position.

[0016] In embodiments, the partition wall is a curtain.

[0017] According to a possible variant, the curtain comprises slats.

[0018] Advantageously, the curtain comprises at least one transparent slat.

[0019] The invention also relates to a palletizing method for an installation having a gripping zone and two depositing zones, method comprising the following steps on the one hand, gripping, at a gripping zone, products to be palletized by a work station and, on the other hand, unloading said products onto a pallet. The palletizing method is characterized in that it comprises a step of moving a partition wall of a first depositing zone when a first pallet located in said first zone reaches a predetermined filling level, in order to allow the depositing of products onto a second pallet located in a second depositing zone.

[0020] Advantageously, the step of gripping and unloading the products is carried out by a gripping means of a robot of said workstation. Thus, in embodiments, the palletizing method comprises the following steps: on the one hand, gripping by a gripping means of a robot, at a gripping zone, of products to be palletized and, on the other hand, unloading of said products onto a pallet.

[0021] According to a possible variant, the palletization of the second zone only starts when a signal is triggered concerning the correct position of the separation wall.

[0022] The invention also relates to the palletizing installation implementing the method.

[0023] Brief description of the figures: The invention will be better understood thanks to the description below, which is based on possible embodiments, explained in an illustrative and in no way limiting manner, with reference to the appended figures, in which: - [Fig.l] schematically represents a perspective view of a first embodiment of a palletizing installation;

[0024] - [Fig.2] schematically represents a simplified perspective view of the first of embodiment, in particular highlighting different areas and faces of said installation;

[0025] - [Fig.3] schematically represents a perspective view of a second mode of the construction of a palletizing installation, showing in particular an enclosure partially surrounding two deposit areas with their respective entrances;

[0026] - [Fig.4] schematically represents an elevation view of the installation of palletization, showing in particular palletization in progress;

[0027] - [Fig.5] schematically represents a simplified view according to a vertical section of an embodiment of the palletizing installation, showing in particular the separation wall in a first position;

[0028] - [Fig.6] schematically represents a view similar to [Fig.5], showing in particular the dividing wall being moved along a path extending above;

[0029] - [Fig.7] schematically represents a view similar to [Fig.6], showing in particular the partition wall in a second position; and

[0030] - [Fig.8] schematically represents a view similar to [Fig.7], with the wall of separation in said second position, showing in particular the robotic arm in a deployed position.

[0031] Detailed description of the invention: In the remainder of the description, elements having an identical structure or similar functions will be designated by the same reference.

[0032] The invention therefore relates to an installation 1 for palletizing products 2. The products 2 can be of different types: containers, cans, closed cardboard boxes, open crates, trays, etc. The products 2 can be presented individually or in batch form.

[0033] [Fig. 1] schematically shows a perspective view of the palletizing installation 1 according to a first embodiment. As visible in [Fig. 2], the installation 1 has a pick-up zone 10 for the products 2 and two deposit zones 11, 12 for said products 2. The products 2 arrive in the pick-up zone 10, for example via a supply conveyor 9. They are then processed via a work station 3, said work station 3 being located between the two deposit zones 11, 12. In this way, the work station 3 can deposit the products 2 on a pallet 110, 120 located in one of the deposit zones 11, 12. The work station 3 therefore carries out the actions of loading, grasping the products 2 and unloading said products 2 onto a pallet 110, 120. As visible in [Fig.l]; the installation comprises a movable separation wall 4, making it possible to alternately secure a deposit zone 11, 12. The work station 3 can first fill a first pallet 110, in a first deposit zone 11 then, once said first pallet 110 is filled, or when it has reached the desired filling level, deposit the products 2 on a second pallet 120 located in a second deposit zone 12. The work station 3 can also constitute pallets 110, 120 loaded with different products 2, the safety wall 4 then moving from one position to the other.

[0034] The invention aims to secure a drop-off zone 11, 12. This allows an operator who is in the secure drop-off zone to have no possible physical interaction with the work station 3. Thus, it is no longer necessary to prohibit access to the installation while said work station 3 is in operation. In order to allow the securing of the drop-off zone 11, 12 not served by the work station work 3, the installation comprises a separating wall 4, movable between at least two positions. The separating wall 4 moves between a first position, between the work station 3 and the first depositing zone 11, and a second position, between said work station 3 and the second depositing zone 12. Thus, the wall 4 will alternately separate one of the two depositing zones 11, 12 from the work station 3. An operator can then come and carry out actions in the isolated depositing zone 11, 12, even while the work station 3 is in operation, that is to say while said work station 3 is unloading products 2 into the other depositing zone. The separating wall 4 can be made of any material, for example plastic. Said wall 4 can be flexible or rigid. Preferably, its material has tear resistance.

[0035] According to one embodiment, the separation wall 4 is a curtain 40. According to an additional characteristic, the curtain 40 comprises slats 400. In this embodiment, the slats 400 are horizontal and have a large length 401. The ends 402 of said slats 400 are inserted into slides formed by the rails 300 of the structure 30, so as to move from a first to a second position. According to yet another characteristic, the curtain 40 comprises at least one transparent slat 410.

[0036] In [Fig. 1], the separating wall 4 is in a first position, to isolate the first depositing zone 11 from the work station 3. The separating wall 4 therefore allows the securing of the first depositing zone 11 and the latter is accessible by an operator. In the embodiment illustrated in [Fig.l], the separating wall 4 takes the form of a curtain 40 made up of slats 400. In particular, the curtain 40 comprises two transparent slats 410.

[0037] According to yet another possible characteristic, the workstation 3 comprises a structure 30. The structure 30 is illustrated in detail in [Fig.2] and forms a gantry around and above said workstation 3. The structure 30 has a lower face 31, an upper face 32 and two lateral faces 33 and 34. The lower face 31 preferably corresponds to the footprint of the workstation 3. In embodiments where the workstation 3 comprises a robot 6, the lower face 31 corresponds to a base on which the base 60 of said robot 6 will be fixed. In particular, the base 60 of said robot 6 can be fixed directly or indirectly to the structure 30. The lateral faces 33, 34 correspond respectively to the faces forming an opening on the deposit zones 11, 12 and therefore access to the pallets 110, 120 via the work station 3. In this embodiment, the separation wall 4 closes alternately one of the two lateral faces 33, 34 of the structure 30 in order to isolate the work station 3 from the corresponding deposit zone 11, 12. According to a possible additional characteristic, and as visible in [Fig. 3], the structure 30 comprises guide rails 300. Said rails 300 extend along the lateral faces 33, 34 and the upper face 32. They then form slides, or even a movement path for the separation wall 4. In other words, the wall 4 will move from a first to a second position by circulating along the rails 300. It is understood that the workstation 3 may comprise a structure 30, even in the absence of a robot 6. In the same way, the structure 30 may comprise guide rails 300 also in cases where the workstation 3 does not comprise a robot 6. According to a possible additional feature, the palletizing installation 1 comprises an enclosure 5. As illustrated in [Fig. 3], the enclosure 5 surrounds together the picking zone 10, the work station 3 and the depositing zones 11, 12. Each depositing zone 11, 12 then has an entrance 50, 51. The entrance may comprise, optionally, not shown, a closing means such as a door or a sliding panel. This additional closing means is nevertheless not obligatory, the wall 4 allowing complete securing of the depositing zone 11, 12 with respect to the work station 3. In fact, the products 2 to be palletized are processed by said work station 3, which is physically isolated from the deposit area 11, 12 which is not in use. The deposit area 11, 12 which is not being palletized is called an accessible area; it presents no danger to the operator who can access it freely. The deposit area 11,12 which is being palletized forms a work area with the picking area 10 and the work station 3. According to another characteristic, the enclosure 5 also comprises an opening 52 in order to allow the supply of the gripping zone 10 with products 2. In particular, as illustrated in [Fig.4], it may be an opening 52 arranged for the passage of one end of a supply conveyor 9. According to another embodiment, as visible in [Fig.3], the workstation 3 comprises a robot 6. The robot 6 comprises a gripping means 61 which carries out the operations of loading and unloading the products 2.

[0038] The robot 6 is therefore responsible for gripping the products 2 in the gripping zone 10, then unloading them into one of the two depositing zones 11, 12. The robot 6 and in particular the gripping means 61, therefore move between the different zones, from a gripping zone to a depositing zone, in the work zone, from loading to unloading. It is essential to protect the operators present from this robot 6. To do this, the robot 6 comprises a base 60, said base 60 being located at the level of the work station 3, as visible in [Fig.5] in particular. In this way, the wall 4 allows a physical separation of the base 60 of the robot 6 from the work station 3 of the depositing zone 11, 12 which is not being palletized and which must therefore be accessible to an operator. The robot 6, which is then an integral part of the work station 3, can evolve into a work zone to process the products 2, while the depositing zone 11, 12 which is not being palletized is physically protected from said robot 6. In other words, the separating wall 4 makes it possible to completely isolate a depositing zone 11, 12, the operator then being able to intervene there in complete safety. Indeed, when the separating wall 4 is in the first or second position, the robot 6 and its gripping means 61 move exclusively within the work zone, formed by the work station 3, the gripping zone 10 and the depositing zone 11, 12 during palletization. The separating wall 4 prevents the robot 6 and / or its gripping means 61 from entering, even partially, the unused depositing zone 11, 12, called the accessible zone. This allows the operator to access it safely.

[0039] According to an additional characteristic, the palletizing installation 1 comprises a single separation wall 4.

[0040] [Fig. 4] shows an elevational view of the palletizing installation. In particular, it can be seen that the work station 3, by means of a robot 6, is carrying out the palletizing of the second pallet 120, in the second depositing zone 12. In this possible embodiment, the products 2 are brought onto a supply conveyor 9 into a gripping zone 10 via an opening 52. Said products 2 are then gripped by a robot 6, then deposited on said second pallet 120. The first pallet 110, which is located in the first depositing zone 11, is loaded with products 2, and its filling is complete. It can be seen that the separating wall 4 is located in its first position, between the first depositing zone 11 and the work station 3.Said first pallet 110 is then safely accessible, and an operator can come and collect said pallet 110 from a first drop-off zone 11 while the work station 3 is in operation in a second drop-off zone 12.

[0041] The path of movement of the safety wall 4 is illustrated in Figures 5 to 7. In [Fig. 5], the safety wall 4 closes the lateral face 33 of the structure 30. In [Fig. 6], the wall 4 circulates via the upper face 32 to arrive in [Fig. 7] in the second position, according to which said wall 4 closes the lateral face 34 of the structure 30. The work station 3 is separated alternately from the first depositing zone 11 then from the second drop-off zone 12. It is understood that the direction of movement of the wall 4 is then reversed. The first position of the partition wall 4 can correspond to a closure of the lateral face 33 as well as the lateral face 34. Conversely, the second position of the partition wall 4 can correspond to a closure of the lateral face 34 as well as the lateral face 33.

[0042] According to one embodiment, and in order to optimize the dimensions of the structure 30 of said workstation 3, the separating wall 4 moves from one position to the other when the robot 6 is folded. In this configuration, visible in Figures 5 to 7, the robot 6 and its gripping means 61 fold under the upper face 32, in order to allow the passage of the separating wall 4, then the robot 6 and its gripping means 61 deploy when the wall 4 has passed the upper face 32, preferably when the separating wall 4 has completed its movement circuit. Said wall 4 is then in a position such that it separates the pallet whose filling is finished and therefore the deposit zone which is not or no longer in the process of being palletized from the work station 3. This embodiment is particularly advantageous because it makes it possible to reduce the height of the structure 30 and to reduce the dimensions of the separation wall 4.

[0043] According to an additional characteristic, the dimensions of the separating wall 4 correspond to the dimensions of a lateral face 33, 34, the two lateral faces 33, 34 being symmetrically opposite. This allows in particular the work station 3 not to be constrained by the presence of the wall 4 when it processes the products 2. According to another variant, the dimensions of the separating wall 4 are substantially greater than the dimensions of the lateral faces 33, 34. The width of said separating wall 4 being determined by the width of the structure 30 and the lateral faces 33, 34, its length may however be greater than the height of said faces 33, 34. For example, the length of the wall 4 may be greater by five to ten percent of the height of the lateral faces 33, 34. [Fig.8] schematically represents a view similar to [Fig.7], with the partition wall 4 in the second position, between the work station 3 and the second deposit zone 12, showing the gripping means 61 of the robot 6 in the deployed position.

[0044] According to another possible characteristic, illustrated in [Fig. 8], the installation 1 comprises detection means 7. The detection means 7 are connected to a central control unit 13, here shown mobile, and make it possible to determine the filling rate of a pallet 110, 120. In the embodiment illustrated in [Fig. 8], the detection means 7 are visual means of the camera type. When the desired filling rate of a pallet 110, 120 is reached, a signal will be emitted. This may for example be an audible or visual signal. It may also be a message transmitted to an operator via a mobile device, such as a cell phone for example. The operator being informed that the filling of the pallet 110, 120 is complete, he can then manually trigger the movement of the separation wall 4 in order to secure access to the depositing zone 11, 12. In certain embodiments, and in particular in the case where the work station 3 comprises a robot 6, the operator can also manually trigger the folding of the robot 6 and its gripping means 61 under the upper face 32 of the structure 30, in order to allow the movement of the wall 4 from a first to the second position. According to an additional characteristic, the signal emitted by the detection means 7 is transmitted to a central control unit 13 which will then automatically trigger the movement of the separation wall 4. In the case where the robot 6 must fold back under the upper face 32 of the structure, the automatic or manual triggering of the change in position of the wall 4 causes the immediate folding of said robot 6 and its gripping means 61 then the movement of the separation wall 4. These actions can be managed automatically by the central control unit 13. As seen in [Fig.l], or in [Fig.3], the central control unit 13 can be located directly at the workstation 3. It can also be located remotely, as seen in [Fig.8]. In addition, the central unit 13 can be fixed or mobile.

[0045] According to a possible additional characteristic, the installation 1 comprises a set of safety sensors 8. This embodiment is illustrated in [Fig.8]. The safety sensors 8 make it possible to detect the presence of the separation wall 4 at least in the first and second positions. Thus, in this embodiment, the workstation 3 remains stationary until the wall 4 has reached the desired position. If necessary, the robot 6 and its gripping means 61 can then be deployed. The safety sensors 8 can also be connected to the central control unit 13.

[0046] According to another variant, the installation 1 comprises presence sensors, not shown, to detect the presence of an operator near a depositing area during palletization. These sensors are called “anti-intrusion” sensors. In this case, the signal is transmitted directly to the operator by audio or visual means, or to the central control unit 13, which will then trigger the stopping of the workstation 3. Audible and / or visual signals may be associated with this stopping, as well as automatic notifications on an operator's mobile device.

[0047] The invention also relates to a palletizing method for an installation 1 having a gripping zone 10 and two depositing zones 11, 12. The method comprises at least one step of gripping on a gripping zone 10 products 2 to be palletized and a step of unloading said products 2 onto a deposit area 11, 12, by a work station 3.

[0048] The method is characterized in that it comprises a step of securing a first depositing zone 11 by means of a separating wall 4 when a first pallet 110 located in said depositing zone 11 reaches a desired filling level, in order to allow the depositing of products 2 on a second pallet 120 located in a second depositing zone 12. In other words, the method comprises a step which makes it possible to guarantee secure access to a deposit area 11, 12 on which a work station 3 no longer has to intervene. The work station 3 can continue processing the products 2 in the other deposit area. The work station 3 then forms a work area with the picking area 10 and the deposit area 11, 12 being palletized, while the first deposit area is secure and therefore accessible.

[0049] According to an additional characteristic, the palletization of the second depositing zone 12 only starts when a signal is triggered concerning the correct position of the partition wall 4. This may be a manual or automatic signal, triggered by safety sensors 8. For example, it may be a safety sensor 8 of the contact sensor type, which will therefore generate a signal when the partition wall 4 reaches its position. In other words, when the safety sensor 8 emits a signal confirming that the partition wall 4 is in the correct position, the control unit 13 confirms that an operator can search for a pallet 110, 120 in the then secured zone 11, 12. We will now describe the palletizing sequences implemented by such a method when the work station 3 comprises a robot 6 equipped with a gripping means 61. In this case, the method comprises at least one step of gripping on a gripping zone 10 products 2 to be palletized by a gripping means 61 of a robot 6, said robot 6 forming part of a work station 3. First of all, the gripping means 61 of the robot 6 grasps the products 2 in the gripping zone 10. Then, said gripping means 61 deposits said products 2 in a first depositing zone 11. In this case, the separating wall 4 is located between the work station 3 and the second depositing zone 12. This first step is illustrated in [Fig.8], in which the robot 6 is seen in the deployed position. Then, when the pallet 110 located in the first depositing zone 11 is full, or when it has reached the desired filling level, the robot 6 and its gripping means 61 fold back under the upper face 32 of the structure 30. The movement of the wall 4 is then initiated. The wall 4 moves from its first to its second position, passing above the robot 6, via the upper face 32 of the structure 30. When said wall 4 reaches its second position, between the work station 3 and the first depositing zone 11, the robot 6 and its gripping means 61 are deployed. The gripping means 6 then grasps the products 2 in the gripping zone 10 and places them on a pallet 120 in the second depositing zone 12. An operator can pick up pallet 11 in the first drop-off zone 11, which is safely accessible.

[0050] The palletizing installation 1 according to the invention and its associated method therefore allow complete and total securing of the installation, while optimizing the working time and therefore the efficiency of the work station 3. Furthermore, the proposed solution is extremely compact and low cost.

Claims

Claims

1. Installation (1) for palletizing products (2), said installation (1) having a zone (10) for picking up said products (2), two zones (11, 12) for depositing products (2) on pallets (110, 120), said installation comprising a work station (3), characterized in that the work station (3) is located between the two deposit zones (11, 12) and in that the installation (1) comprises a separating wall (4) provided movable between at least two positions, a first position between said work station (3) and the first deposit zone (11) and a second position between said work station (3) and the second deposit zone (12), so as to alternately separate one of the two deposit zones (11, 12) from said work station (3).

2. Installation (1) according to claim 1, characterized in that the installation (1) comprises an enclosure (5) surrounding together the gripping zone (10), the work station (3) and the depositing zones (11, 12), said enclosure (5) having an inlet (50, 51) for each depositing zone (11, 12) and an opening (52) for supplying the gripping zone (10).

3. Installation (1) according to claim 1 or 2, characterized in that said work station (3) comprises a robot (6) provided with a gripping means (61), said gripping means (61) gripping the products (2) in said gripping zone (10) and unloading them into one of the depositing zones (11, 12).

4. Installation (1) according to claim 3, characterized in that the workstation (3) comprises a structure (30) having a lower face (31), an upper face (32) and two lateral faces (33, 34), the robot (6) being fixed directly or indirectly to said structure (30) and the separating wall (4) being movable along said structure (30).

5. Installation according to claim 4, characterized in that the structure (30) is configured to accommodate the robot (6) in a folded position and comprises rails (300) for guiding the partition wall (4), said rails (300) extending along the upper face (32) of said structure (30) above the robot (6) and along the lateral faces (33, 34) so ​​that, when said robot (6) is in the folded position, said partition wall (4) can move along said rails (300) between the first and second positions.

6. Installation according to one of claims 3 to 5, characterized in that it comprises detection means (7) for determining the filling level of a pallet (110, 120) and allowing the triggering of the withdrawal of the robot (6) within the structure (30) and the movement of the separation wall (4) from one position to another.

7. Installation (1) according to any one of the preceding claims, characterized in that it comprises safety sensors (8) which detect the presence of the separating wall (4) in the first and in the second position.

8. Installation according to any one of the preceding claims, characterized in that the separating wall (4) is a curtain (40).

9. Installation according to claim 8, characterized in that the curtain (40) comprises slats (400).

10. Installation (1) according to claim 8 or 9, characterized in that the curtain (40) comprises at least one transparent slat (410).

11. Palletizing method for an installation (1) according to claims 1 to 10, method comprising the following steps on the one hand, gripping, at a gripping zone (10), products (2) to be palletized by a work station (3) and, on the other hand, unloading said products (2) onto a pallet (110, 120) method characterized in that it comprises a step of moving a wall (4) separating a first depositing zone (11) when a first pallet (110) located in said first zone (11) reaches a predetermined filling level, in order to allow the depositing of products (2) onto a second pallet (120) located in a second depositing zone (12).

12. Palletizing method according to claim 11, characterized in that the step of gripping and unloading the products (2) is carried out by a gripping means (61) of a robot (6) of said work station (3).

13. Method according to claim 11 or 12, characterized in that the palletization of the second zone (12) only starts when a signal is triggered concerning the correct position of the partition wall (4).

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