Egg handling method, gripping head and robot for its implementation

Abstract

The invention relates in particular to a method for handling eggs (E) which uses a robot (2) which includes a suction-gripping head (3) for a plurality of eggs (E), which includes the implementation of the following steps: a) Gripping a plurality of said eggs (E); b) Depositing said plurality of eggs (E) onto an empty honeycomb tray (111); c) Depositing said honeycomb tray (111) onto a storage surface (30) such as a pallet;characterized by the fact that: - at said step a), not only is a plurality of eggs (E) grasped, but also said cell plate (111) is grasped while keeping the eggs (E) attached to said grasping head (3), which is then implemented firstly in said step c), said cell plate being empty, then secondly in said step b), then the following steps: d) Repetition of the preceding steps until the entire storage surface (30) is covered with cell plates (111) filled with juxtaposed eggs; e) Repetition of the preceding steps, said cell plates (111) filled with eggs being placed on the underlying layer of cell plates (111), until a prescribed number of stacked cell plates filled with eggs is reached; f) Placement of an intermediate perforated honeycomb plate on the stack of honeycomb plates (111) already formed and filled with eggs;(g) If necessary, repeat the preceding steps until a prescribed height of egg-filled egg trays (111) is reached. Figure for the abbreviation: Figure 4;

Description

Title of the invention: Method for handling eggs, gripping head and robot for its implementation

[0001] GENERAL TECHNICAL DOMAIN

[0002] The present invention relates to the field of egg handling, and more particularly to their handling and placement in alveolar trays, and then to the transfer of the trays loaded with these eggs onto a storage surface such as a pallet. STATE OF THE ART

[0003] We know from documents EP 2500152 and EP2161227 of techniques which allow the handling of fragile objects such as eggs which are packaged in boxes containing for example 6 or 12 eggs.

[0004] Particularly in the food industry where large quantities of eggs are used, for example in cake recipes or other food preparations containing eggs, it is common to supply the companies concerned with eggs already packaged in egg trays, which are designed to contain at least 30 eggs per tray.

[0005] Until recently, these egg-filled trays were packaged in cardboard boxes, which were distributed on a support such as a wooden pallet.

[0006] Since packaging in boxes requires tedious operations of removing the egg trays from them, a further improvement consists of placing the egg trays filled with eggs directly onto the pallets, with the placement of interleaving plates to ensure the stability of the stack thus created.

[0007] Honeycomb panels and interleaving panels have long been manufactured from molded cellulose. This material is easy to shape, relatively strong and lightweight.

[0008] However, when eggs break, the viscous substance they contain soaks into the cellulose. The plates must then be discarded since their mechanical performance is affected and the high sanitary requirements in the food sector are no longer met.

[0009] This is one of the reasons why it has been proposed to use honeycomb panels and interlayer panels made of plastic. These panels have essentially the same appearance as cellulose panels.

[0010] However, they are partially perforated, particularly at the bottom of the egg-receiving cells and at the top of the studs that separate the neighboring cells, which allows these plates to be washed when they are soiled.

[0011] It is easy to understand that such plates can be reused many times. times.

[0012] Furthermore, in order to increase the rate of egg packaging, it is common to use machines which place them in trays by means of depositing fingers six by six, or by a mechanical arm which includes an egg-gripping head by suction and depositing these eggs in empty plastic trays.

[0013] In parallel, another machine is driven to pick up the top plate from a stack of empty honeycomb plates, yet another machine stacks the full honeycomb plates and yet another machine places the stack on a storage surface such as a pallet.

[0014] Such a technique generally gives satisfactory results, but it requires different equipment. Furthermore, it can be improved in that time could likely be saved on the various stages of egg handling.

[0015] Furthermore and secondarily, it is observed that the honeycomb plastic trays, which are stacked on top of each other before receiving eggs, tend to "stick" to each other, this coming in particular from the generally truncated conical shape of the cells and the edges of the many openings they contain which constitute so many potential "sticking points".

[0016] The present invention therefore aims to propose a technique that makes it possible to overcome these difficulties. PRESENTATION OF THE INVENTION

[0017] Thus, a first aspect of the invention relates to a method of handling eggs which uses a robot which includes a suction gripping head for a plurality of eggs, a method which includes the implementation of the following steps: a. Gripping, by said gripping head, of a plurality of said eggs; b. Depositing the said plurality of eggs on an empty perforated tray; c. Depositing said honeycomb plate on a storage surface such as a palette;

[0018] characterized by the fact that, in said step a), via said gripping head, not only is a plurality of eggs grasped, but also said empty perforated alveolar plate is grasped while keeping the eggs attached to said gripping head, which is implemented subsequently and firstly, said step c), said alveolar plate being empty, then, secondly, said step b), then the following steps: a. Repeat the previous steps until the entire storage surface is covered with egg trays filled with juxtaposed eggs; b. Repetition of the preceding steps, with the said egg-filled egg trays being placed on the underlying layer of egg-filled egg trays, until a prescribed number of stacked egg-filled egg trays is reached; c. Placement of an intermediate perforated honeycomb plate on the stack of honeycomb plates already formed and filled with eggs; d. If necessary, repeat the previous steps until a prescribed height of egg-filled egg trays is reached.

[0019] Thanks to these characteristics, it is no longer necessary to use several machines to implement the aforementioned operations, which represents a substantial saving.

[0020] In addition, using only one piece of equipment allows us to work faster, which has a favorable impact on the number of eggs processed per hour.

[0021] Finally, in terms of cleaning and maintenance, it is obviously more economical to use a single machine.

[0022] According to other advantageous and non-limiting features of this process, taken alone or according to a technically compatible combination of at least two of them:

[0023] - immediately after grasping said empty alveolar plate, the procedure is to the extraction of an additional underlying empty alveolar plaque;

[0024] - the process is carried out by expelling said underlying additional plate into a direction generally perpendicular to the plane in which it is contained;

[0025] Another aspect relates to a gripping head for gripping, by suction, for the implementation of the method described above.

[0026] This head, which is provided with a plurality of suction cups distributed according to a two-dimensional network, is essentially characterized by the fact that said head is also provided with at least one pair of rods with hook-shaped ends, arranged opposite each other, which are movable between two extreme positions, namely an inactive or retracted position, and an active position. The hook-shaped ends protrude below the suction cups, the ends of the hook-shaped rods protruding below the lowest point of the suction cups.

[0027] Such a head has the same advantages as those presented above.

[0028] According to other advantageous and non-limiting features of this gripping head, taken alone or in a technically compatible combination of at least two of them:

[0029] - said hook-ended rods extend within said bidi network mensional, between neighboring suction cups;

[0030] - it comprises four fingers with hook-shaped ends which are distributed at four angles of a fictitious square which has the same center of symmetry as that of said two-dimensional network of suction cups;

[0031] - it includes means for extracting an empty alveolar plate;

[0032] - said extraction means comprise pallets having projections in pointed shape;

[0033] - it comprises at least two pairs of movable fingers forming shaped hooks to achieve the gripping of an intercalated plate.

[0034] Finally, a last aspect of the invention relates to a robot equipped with a gripping head conforming to one or more of the characteristics listed above. DESCRIPTION OF FIGURES

[0035] Other features and advantages of the invention will become apparent from the description which will now be given, with reference to the attached drawings, which represent, by way of example but not limitation, one possible embodiment.

[0036] On these drawings:

[0037] [Fig. 1] is a perspective diagram intended to illustrate a step of the process according to the invention;

[0038] [Fig.2] is an enlarged view of part of [Fig.1];

[0039] [Fig.3] is a perspective diagram intended to illustrate another step of the process according to the invention;

[0040] [Fig.4] is an enlarged view of part of [Fig.1];

[0041] [Fig.5] is a perspective diagram intended to illustrate another step of the process according to the invention;

[0042] [Fig.6] is a perspective diagram intended to illustrate another step of the process according to the invention;

[0043] [Fig.7] is a partial top view of a perforated honeycomb plate filled with eggs;

[0044] [Fig.8] is a perspective view of a possible embodiment of the head of grasping a robot suitable for implementing the process mentioned above, it being specified that this head is represented with eggs attached to its suction cups;

[0045] [Fig.9] is a view from below of the head of the [Fig.8], shown without the eggs;

[0046] [Fig. 10] is a top view of the head of the [Fig.8];

[0047] [Fig. 11] is a side view, along a vertical cutting plane, of a subset of the head of the previous figures, shown in an inactive position;

[0048] [Fig. 12] is a side view of a subset, along a vertical cutting plane, of the head of the preceding figures, shown in active position;

[0049] [Fig. 13] is a side view of a subset of the head of the preceding figures, according to a vertical section plane, shown in active position, and of an empty perforated honeycomb plate, this view being intended to illustrate how the subassembly cooperates with the plate;

[0050] [Fig. 14] is a side view of the subassembly of the preceding figure, along a vertical cutting plane, shown in active position, and of a perforated honeycomb plate filled with eggs;

[0051] [Fig. 15] is a perspective view of two additional subassemblies which equip the head, one being intended for the downward extraction of an additional empty alveolar plate attached to the alveolar plate filled with eggs;

[0052] [Fig. 16] is a side view of the head of the preceding figures, cooperating with eggs and shown grasping two alveolar plates, this figure being more particularly intended to show how one "gets rid" of the unnecessary underlying alveolar plate;

[0053] [Fig. 17] is a side view of the head of the preceding figures and of an intercalated plate, intended to illustrate how they cooperate;

[0054] [Fig. 18] is a view analogous to the previous one, but in perspective. DETAILED DESCRIPTION OF THE INVENTION DEFINITIONS

[0055] Throughout this application, including the claims, the terms and expressions detailed below have the following definitions:

[0056] Cell conveyor: refers to a conveyor whose moving belt is formed or includes cells for receiving an egg;

[0057] Robot equipped with a vacuum gripping head for a plurality of eggs: Refers to a multi-axis robotic arm whose movements are managed by computer means (programmable logic controller).

[0058] Egg suction head for grasping a plurality of eggs: designates a device which is shaped to pick up by suction (suction) a set of eggs and thus hold them together with the head as long as the depression is not interrupted.

[0059] Perforated honeycomb plate: refers to a plate made of plastic or other material, which has on its two opposite faces a series of cells separated by ridges or studs, which are arranged in such a way that each stud on one of the faces corresponds to a cell on the opposite face, this plate having minimal openings at the top of the studs on the upper face.

[0060] Interlayer plate: refers to a large plate, preferably but not necessarily made of the same material as the perforated honeycomb plates, which is perforated and intended to cover juxtaposed stacks of the same height of perforated honeycomb plates filled with eggs, this plate having complementary reliefs. comments on the alveoli and the studs of alveolar plates.

[0061] EXAMPLE OF INSTALLATION FOR IMPLEMENTING THE PROCESS

[0062] The process according to the invention can be implemented within an installation 1 such as that which is partially represented in the attached figures 1 to 6.

[0063] Preferably, the operation and movement of the various means of this installation are managed by a programmable logic controller.

[0064] As shown more particularly in [Fig.1], this installation 1 is equipped with a conveyor 10, the moving belt of which is formed or includes alveoli 100 for receiving an egg E.

[0065] This is a conveyor whose moving belt advances step by step, so that, following the removal of a predetermined number of eggs E by the robot 2 which will be described later, this belt moves over a sufficient distance so that the end 101 of its upper strand is again filled with eggs, and thus easily accessible to the robot 2.

[0066] Thus, for example, referring to [Fig.2], we see that the moving belt of the conveyor 10 has, in its width direction, six cells 100. Assuming that thirty eggs E are taken at one time from their cells 100, then the belt of the conveyor 10 will move by a step equal to the equivalent length occupied by the thirty eggs taken previously.

[0067] In the immediate vicinity of the downstream end of the conveyor 10 is arranged a robot 2 consisting of a robotic arm in two sections 20 and 21, this robot being multi-axis.

[0068] As can be clearly seen in Figures 1 to 6, the free end 210 of the second section 21 of the robot arm 2 is equipped with a suction-gripping head 3 for a plurality of eggs. This head 3 will be described in more detail below.

[0069] In the immediate vicinity of the conveyor 10 and as shown in [Fig.3], the installation 1 is equipped with a support 11 of a stack 110 of perforated and empty honeycomb plates 111.

[0070] Still in the immediate vicinity of the conveyor 10 and the support 11, a storage surface 30 is arranged, which here consists of a pallet. In other embodiments not illustrated in the drawings, the surface 30 could be something other than a pallet, such as, for example, the bottom of a storage crate.

[0071] Consultation of [Fig.6] shows that the installation 1 also includes a stack 13 of intermediate plates 130 which will be discussed later in the description.

[0072] Figure 7 shows a partially top-view view of a perforated and perforated alveolar plate 111, which is filled with eggs E.

[0073] This plate is advantageously made of plastic. Its cells are re The plates are labeled 112, while their studs are labeled 113. Such a plate 111 has openings 114 at a minimum at the top of the studs 113. These openings 114 are circular in shape. In the example shown, the plate 111 has additional openings 115 formed in the walls of the cells 112 and studs 113. Their function is to contribute to the plate's lightness and ease of cleaning. GRIPPER HEAD

[0074] Figures 8 and following illustrate an example of a possible embodiment of the gripping head 3 which was mentioned above.

[0075] A detailed description is given below.

[0076] This head is particularly well visible in its entirety in [Fig.8].

[0077] It comprises a plate 30 of generally rectangular shape, the upper and lower faces of which are respectively referenced 300 and 301. The longitudinal axis of this plate 30 is represented by the arrow x in figures 8, 9 and 10.

[0078] A foot 302 projects above the upper face 300 and is attached thereby any means known to those skilled in the art. This foot comprises two parallel, perforated flanges 303 joined at their apex by a plate 304 which forms an acute angle with the platform 30. It is on this plate 304 that the free end 210 of the section 21 of the robot 2 is attached by any means known to those skilled in the art.

[0079] Stiffening spacers 305 are fixed to the flanges 303.

[0080] Furthermore, the flanges 303 are traversed through and through by pairs of small tubes 306 which serve to secure specific equipment carried by the head 3 and which will be described later.

[0081] The plate 3 has a set of circular holes 307, of which there are thirty. These holes are regularly distributed according to a two-dimensional grid, namely six holes in the longitudinal direction and five holes in the transverse direction. Of course, this distribution could be reversed.

[0082] The distribution represented here corresponds however to that of the alveoli which comprise an alveolated plate 111 such as that described previously.

[0083] The holes 307 each serve as a passage for a tube 40 connected to a suction cup 4 which extends perpendicularly below the plate 30. We are therefore dealing with an array of thirty suction cups 4. The tubes 40 are connected in pairs or in groups of four to an air source (not shown), shaped to generate within the suction cups a vacuum sufficient to allow the simultaneous collection of thirty eggs E, as is well known.

[0084] As is particularly visible in [Fig.8], 10 and 11 to 13, the head 3 is equipped with two identical sub-assemblies 5 for picking up an empty alveolar plate 111.

[0085] Under these conditions, only one of these subsets will be described below.

[0086] Each of these subassemblies 5 is engaged in a longitudinal slot 308 provided in the plate 3. These slots are distributed on either side of the flanges 305 and extend between the two outermost longitudinal rows of the holes 307.

[0087] On examination of figures 11 to 13, it is noted that the subassembly 5 comprises two flanges 50 perpendicular to the plate 3, which pass through the aforementioned light 308.

[0088] In [Fig. 11], the plane in which the plate 3 extends is referenced by the letter P. Each flange 50 is provided with means of fixing F to the plate 3, of the bolt type or equivalent.

[0089] The flanges 50 meet in their lower part located below the plate 3 to form two sleeves 51 with a free frustoconical end and open 510. It will be noted that this opening is directed not along the axis of the sleeves, but transversely, the two openings facing each other.

[0090] A cylinder 52, for example of the pneumatic type, is mounted in the upper part of the subassembly 5. The body 520 of this cylinder passes through a bracket 521 whose parallel wings 522 are articulated relative to the flanges 50.

[0091] The rod 523 of this cylinder has at its free end a return piece 524 on which is articulated a connecting rod 53 which is constantly returned to its rest position represented in [Fig. 11] by a return spring 54.

[0092] The connecting rod 53 is itself articulated relative to two additional connecting rods 55 and 56.

[0093] Finally, on the free ends of the connecting rods 56 are articulated two rods 57 whose end has the shape of a hook 570.

[0094] The rods are engaged in the sleeves 51 so that their hook-shaped end 570 is positioned opposite the open free end 510.

[0095] By comparing figures 11 and 12, it can be seen ([Fig. 11]) that when the cylinder 52 is not stressed, the hook-shaped ends 570 are retracted and housed entirely in the sleeves 51.

[0096] On the contrary, as soon as the cylinder is stressed, it causes the aforementioned connecting rods to move, so that the rods tilt slightly and bring the hook-shaped ends 570 outside the sleeves 51, and thus available to interfere with an empty honeycomb plate 111, as will be seen later in the description.

[0097] Thus and as shown in [Fig. 13], the subassemblies 5 are positioned on the head 3 so that the four sleeves 51 which they comprise materialize the angles of a regular quadrilateral, in this case a square, which overlap exactly with four studs 113 of the plate 111.

[0098] The sleeves 51 and, correspondingly, the rods 57 are dimensioned in such a way as to protrude below the plane in which the lower end of the suction cups is contained. This is particularly visible in figures 14 and 16.

[0099] Thus, by piloting the cylinder 52 and bringing the sleeves 51 to the vertical position of the plate 111, it is possible, thanks to the rods 57 and their hook-shaped end 570, to engage in the openings 114 of the plate and thus proceed to grasp and move it, as illustrated in [Fig. 13].

[0100] The head 3 is equipped with another sub-assembly, referenced 6 and notably visible in figures 14 to 16, which can be described as a sub-assembly for extracting an empty honeycomb plate.

[0101] This subassembly 6 comprises two pallets 60 arranged opposite each other, along the transverse edges of the platform 30. Each pallet has two parallel wings 600, movable about an axis 601 housed under the platform 3. One of the wings 600 has a branch 602 which projects upwards and which is fixed to the free end of the rod 604 of a cylinder 603, which is fixed to the foot 302 of the head 3.

[0102] We note on the inner face of the pallets 60, that is to say on their opposite faces, the presence of a projection in the form of points 61.

[0103] Thus, by simultaneously actuating the two cylinders 603, it is possible to control on demand the pallets 60 in such a way that they are moved away from the plate 30 in a position practically parallel to the latter (see [Fig. 14]), or arranged practically perpendicular to the plate 30 (see [Fig. 16]).

[0104] In this last position and as shown in [Fig. 16], the pallets 60 are dimensioned and shaped so that the pointed projections 61 fit into the opposite edges of an additional empty alveolar plate 111 attached to the plate receiving eggs E.

[0105] Finally, the head 30 includes a third sub-assembly 7, notably visible in figures 8 and 15.

[0106] It comprises two parallel shafts 70 fixed transversely under the plate 30, between two transverse rows of suction cups 4. These shafts have opposite free ends 700 which extend slightly beyond the plate 30. It is noted that fingers 701 forming hooks 702 are wedged on these ends 700. The hooks 702 are arranged opposite each other in pairs.

[0107] As shown in [Fig.9], the two shafts 70 are made to be joined together by a connecting rod 703, so that a rotational movement imparted to one of the shafts is transmitted to the other.

[0108] One of these trees 70 is secured to a cylinder 704 via a connecting rod 705 which extends through a notch formed in the plate.

[0109] By actuating this cylinder 704, it is possible to control the position of the fingers 701 forming hooks 702, so as to make them occupy either an inactive position (see [Fig. 14]) in which they extend substantially parallel to the plate 30, i.e. an active position, by pivoting at 90°, in which these fingers are available to pick up an intercalary plate 130, as illustrated in figures 17 and 18. PROCESS

[0110] As previously stated, the invention relates in particular to a method of handling eggs which uses a robot which includes a suction gripping head for a plurality of eggs.

[0111] This process can be implemented using the installation 1 which has been described previously.

[0112] Such a method includes a first step of grasping, by grasping head 3, a plurality of eggs.

[0113] This step is implemented via the head 3 and more particularly its suction cups 4, as illustrated in figures 1 and 2.

[0114] According to the invention, via the gripping head 3, not only is a plurality of eggs E gripped, but also a perforated alveolar plate 111 gripped, while keeping the eggs E attached to the head 3. This is made possible by actuating the subassemblies 5, as explained previously.

[0115] This step is illustrated in figures 3 and 4, as well as 13 and 14.

[0116] This step therefore differs from the technique used until now, in which it was necessary to use two different tools. Here, we operate with a single gripping head which, on the one hand, includes means for gripping the eggs (in this case the suction cups 4) and means for gripping an empty honeycomb plate (in this case the sub-assemblies 5).

[0117] Advantageously, but not necessarily, immediately after the step just described, an additional empty underlying cell plate is extracted. Indeed, due to the openwork configuration of the cell plates 111 and the generally frustoconical shape of their cells and studs, there is a significant risk that an additional underlying plate of the stack 110 may remain attached to the plate 111 intended to receive the eggs.

[0118] However, in such a hypothesis, despite the thinness of an individual plate, this can have repercussions on a stack of plates filled with eggs, with significant risks to its stability.

[0119] This step is advantageously implemented by using the subassembly 6 described above and more particularly the pallets 60 and their pointed projections 61 which interfere with the underlying plate and expel it downwards.

[0120] This step being implemented while the head 3 is still directly above the stack 110 of plates 111, the expelled plate falls back onto the stack and returns to its initial position.

[0121] A subsequent step consists of placing the previously removed tray 111 onto a storage surface such as a pallet and then, immediately afterwards, placing the eggs E into the cells of the tray 111. This step is illustrated in [Fig. 5]. There is no risk of the eggs breaking due to their proximity to the tray 111.

[0122] The preceding steps are repeated until the entire surface of the palletl2 is covered with egg-filled alveolar plates 111.

[0123] The previous steps are then repeated by placing the egg-filled alveolar plates on the underlying layer of plates, until a prescribed number of stacked plates is reached.

[0124] A subsequent step consists of taking an openwork interlayer plate 130 from the stack shown in [Fig.6], and then placing it on the stack of alveolar plates filled with eggs already formed.

[0125] This is preferably implemented through the use of sub-assembly 7 of the gripping head, whose fingers 701 forming hooks 702 interfere with the edges of the openings of the intercalated plate 130, thus allowing its removal and movement.

[0126] Thus, the same head 3 allows for the implementation of an additional function, which is particularly advantageous in terms of time and cost.

[0127] If necessary, the steps described above are repeated until a prescribed height is reached.

Claims

Claims

1. Method for handling eggs (E) which uses a robot (2) which comprises a gripping head (3) by suction of a plurality of eggs (E), method which comprises the implementation of the following steps: a) Gripping, by said gripping head (3), of a plurality of said eggs (E); b) Depositing said plurality of eggs (E) on an empty perforated honeycomb plate (111); c) Depositing said honeycomb plate (111) on a storage surface (30) such as a pallet;characterized in that, in said step a), one proceeds, via said gripping head (3), not only to the gripping of a plurality of eggs (E), but also to the gripping of said empty perforated honeycomb plate (111) while keeping the eggs integral (E) with said gripping head (3), which is implemented subsequently and firstly, said step c), said honeycomb plate being empty, then, secondly, said step b), then the following steps: d) Repetition of the preceding steps until the entire storage surface (30) is covered with honeycomb plates (111) filled with juxtaposed eggs; e) Repeating the preceding steps, said egg-filled honeycomb plates (111) being deposited on the underlying layer of egg-filled honeycomb plates (111), until a prescribed number of stacked egg-filled honeycomb plates is reached;f) Placing an openwork interposed honeycomb plate (130) on the stack of honeycomb plates (111) filled with eggs already formed; g) If necessary, repeating the previous steps until a prescribed height of honeycomb plates (111) filled with eggs is reached.;

2. Method according to claim 1, characterized in that immediately after gripping said empty honeycomb plate (111), an additional underlying empty honeycomb plate (111) is extracted.

3. Method according to claim 2, characterized in that the procedure is carried out by expelling said underlying additional plate (111) in a direction generally perpendicular to the plane in which it is contained.

4. Head (3) for gripping (E), by suction, a plurality of eggs (E), for implementing the method according to claim 1, said head (3) being provided with a plurality of suction cups (4) distributed according to a two-dimensional network, characterized in that said head (3) is also provided with at least one pair of rods (57) with hook-shaped ends (570), arranged opposite one another, which are movable between two extreme positions, namely an inactive or retracted position, and an active position in which said hook-shaped ends (570) protrude below said suction cups (4).

5. Head (3) according to claim 4, characterized in that said rods (57) with hook-shaped ends (570) extend within said two-dimensional network, between neighboring suction cups (4).

6. Head (3) according to one of claims 4 or 5, characterized in that it comprises four fingers (57) with hook-shaped ends (570) which are distributed at the four corners of a fictitious square which has the same center of symmetry as that of said two-dimensional network of suction cups (4).

7. Head (3) according to one of claims 4 to 6, characterized in that it comprises means (6) for extracting an empty honeycomb plate.

8. Head (3) according to claim 7, characterized in that said extraction means (6) comprise pallets (60) having point-shaped projections (61).

9. Head according to one of claims 4 to 7, characterized in that it comprises at least two pairs of movable fingers (701) forming hooks (702) shaped to grip an intermediate plate (130).

10. Robot (2) equipped with at least one gripping head (3) according to one of claims 4 to 9.

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