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 comprises a gripping head (3) by suction of a plurality of eggs (E), which comprises the implementation of the following steps: a) Gripping a plurality of said eggs (E); c) Depositing said honeycomb plate (111) on a storage surface (30) such as a pallet; characterized by the fact that: - in said step a), not only is a plurality of eggs (E) gripped, but also said honeycomb plate (111) is gripped while keeping the eggs (E) secured to said gripping head (3), which is then implemented firstly in said step c), said honeycomb plate being empty, then secondly in said step b), then the following steps: d) Repetition of the previous 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 placed 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 interlayer honeycomb plate on the already formed stack of egg-filled honeycomb plates (111); g) If necessary, repeating the preceding steps until a prescribed height of egg-filled honeycomb plates (111) is reached. Figure for abstract: Figure 4;

Description

Title of the invention: Method for handling eggs, gripping head and robot for its implementation [0001 ] GENERAL TECHNICAL FIELD

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

[0003] Documents EP 2500152 and EP2161227 disclose techniques which enable 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 recipes for cakes or other food preparations containing eggs, it is common to supply the companies concerned with eggs already packaged in blister 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 honeycomb sheets from the boxes, a subsequent improvement consists of placing the honeycomb sheets filled with eggs directly on the pallets, with the installation of interlayer sheets in order to guarantee the stability of the stack thus produced.

[0007] Honeycomb panels and interlayer panels have long been made from molded cellulose. This is a material that is easy to shape, relatively strong and lightweight.

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

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

[0010] They are however partially openwork, in particular at the bottom of the egg receiving cells and at the top of the blocks which 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 cells by means of six-by-six depositing fingers, or by a mechanical arm which has a head for gripping eggs by suction and depositing these eggs in empty plastic cell trays.

[0013] In parallel, another machine is controlled to remove 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 is generally satisfactory, but it requires different devices. In addition, it is perfectible in the sense that time could probably be saved on the different stages of egg handling.

[0015] Furthermore and secondarily, it is noted that the plastic honeycomb plates, which are stacked on top of each other before receiving eggs, have a tendency to "cling" to each other, this being due in particular to the generally truncated shape of the cells and the edges of the numerous openings that they contain which constitute as many potential "cling points".

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

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

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

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

[0020] In addition, using a single piece of equipment allows you to work faster, which has a positive impact on the number of eggs processed per hour.

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

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

[0023] - immediately after gripping said empty honeycomb plate, the following is carried out: the extraction of an additional underlying empty honeycomb plate;

[0024] - we proceed 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 suction gripping head for implementing the method described above.

[0026] This head, which is provided with a plurality of suction cups distributed in 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 one another, which are movable between two extreme positions, namely an inactive or retracted position, and an active position. Said hook-shaped ends protrude below said suction cups, the ends of said rods with hook-shaped ends protruding below the lowest point of said suction cups.

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

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

[0029] - said rods with hook-shaped ends extend within said bidi network mental, between neighboring suction cups;

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

[0031] - it comprises means for extracting an empty honeycomb plate;

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

[0033] - it comprises at least two pairs of mobile fingers forming shaped hooks to grip an interlayer plate.

[0034] Finally, a last aspect of the invention relates to a robot which is provided with a gripping head conforming to one or other of the characteristics listed above. DESCRIPTION OF THE FIGURES

[0035] Other characteristics and advantages of the invention will appear from the description which will now be given, with reference to the appended drawings, which represent, for informational but non-limiting purposes, a possible embodiment.

[0036] In these drawings:

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

[0038] [Fig.2] is an enlarged view of a portion of [Fig.l];

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

[0040] [Fig.4] is an enlarged view of a portion of [Fig.l];

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

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

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

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

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

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

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

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

[0049] [Fig. 13] is a side view of a subassembly of the head of the preceding figures, according to a vertical sectional plane, represented in the 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, according to a vertical section plane, shown in the active position, and of an openwork honeycomb plate filled with eggs;

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

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

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

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

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

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

[0057] Robot equipped with a head for gripping a plurality of eggs by depression: Designates a multi-axis robotic arm whose movements are managed by computer means (programmable automaton).

[0058] Head for gripping a plurality of eggs by suction: designates a device which is shaped to take a set of eggs by suction (depression) and thus keep them attached to the head as long as the depression is not interrupted.

[0059] Perforated honeycomb plate: means 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 openings at least at the top of the studs on the upper face.

[0060] Intermediate plate: designates a large plate, preferably but not necessarily in the same material as the openwork honeycomb plates, which is openwork and which is intended to cover juxtaposed stacks of the same height of openwork honeycomb plates filled with eggs, this plate comprising reliefs complementary- elements of the cells and the blocks of the honeycomb plates.

[0061] EXAMPLE OF INSTALLATION FOR IMPLEMENTING THE METHOD

[0062] The method 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 movements of the various means of this installation are managed by a programmable automaton.

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

[0065] This is a conveyor whose moving belt advances step by step, so that, following the collection 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], it can be seen that the moving belt of the conveyor 10 comprises, in the direction of its width, six cells 100. Assuming that thirty eggs E are taken in one go 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 formed of a robotic arm in two sections 20 and 21, this robot being multi-axis.

[0068] As is clearly visible in all of Figures 1 to 6, the free end 210 of the second section 21 of the robot arm 2 is equipped with a head 3 for gripping a plurality of eggs by depression. This head 3 will be discussed in more detail in the following description.

[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, it could be a surface 30 other than a pallet, such as for example the bottom of a storage box.

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

[0072] In [Fig.7] a perforated and honeycombed plate 111 is partially shown from above, which is filled with eggs E.

[0073] This plate is advantageously made of plastic. Its cells are re referenced 112, while its studs bear the reference 113. Such a plate 111 has openings 114 at least at the top of the studs 113. These openings 114 here have a circular shape. In the example shown, the plate 111 has additional openings 115 formed in the wall of the cells 112 and studs 113. Their function is to contribute to the lightening and ease of cleaning of the plate. GRIPPING 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 clearly 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 FIGS. 8, 9 and 10.

[0078] A foot 302 projects above the upper face 300 and is fixed there by any means known to those skilled in the art. This foot comprises two parallel and perforated flanges 303 joined at their top by a plate 304 which forms an acute angle with the plate 30. It is on this plate 304 that the free end 210 of the section 21 of the robot 2 is fixed 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 crossed right through by pairs of small tubes 306 which are used for the wedging of specific equipment carried by the head 3 and which will be described later.

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

[0082] The distribution shown here, however, corresponds to that of the cells included in a cell plate 111 such as that described previously.

[0083] The holes 307 each serve for the passage of a tube 40 connected to a suction cup 4 which extends perpendicular to the plate 30, below the latter. We are therefore dealing with a matrix of thirty suction cups 4. The tubes 40 are connected in pairs or in fours to an air source not shown, shaped to generate within the suction cups a sufficient depression to allow thirty eggs E to be collected simultaneously, 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 honeycomb 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 formed 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 examining 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 has been referenced by the letter P. Each flange 50 is provided with means F for fixing to the plate 3, of the bolt type or equivalent.

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

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

[0091] The rod 523 of this jack has at its free end a return part 524 on which is articulated a connecting rod 53 which is constantly returned to its rest position shown 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 sheaths 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 jack 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 jack 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 therefore 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 sub-assemblies 5 are positioned on the head 3 in such a way that the four sheaths 51 which they comprise materialize the angles of a regular quadrilateral, in this case a square, which are exactly superimposed on four studs 113 of the plate 111.

[0098] The sheaths 51 and correlatively 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 controlling the jack 52 and bringing the sleeves 51 vertically above 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 grip and move it, as illustrated in [Fig. 13].

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

[0101] This subassembly 6 comprises two pallets 60 arranged opposite one another, along the transverse edges of the plate 30. Each pallet comprises two parallel wings 600, movable around an axis 601 housed under the plate 3. One of the wings 600 comprises a branch 602 which projects upwards and which is secured to the free end of the rod 604 of a jack 603, which is secured to the foot 302 of the head 3.

[0102] On the internal face of the pallets 60, that is to say on their facing faces, the presence of projections in the form of points 61 is noted.

[0103] Thus, by simultaneously actuating the two jacks 603, the pallets 60 can be controlled on demand 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 latter position and as shown in [Fig. 16], the pallets 60 are sized and shaped so that the point-shaped projections 61 are housed in the opposite edges of an additional empty honeycomb plate 111 attached to the egg-receiving plate E.

[0105] Finally, the head 30 comprises 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 two by two.

[0107] As shown in [Fig.9], the two shafts 70 are made integral with each other 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 shafts 70 is secured to a jack 704 via a return rod 705 which extends through a notch formed in the plate.

[0109] By actuating this jack 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 intermediate plate 130, as illustrated in figures 17 and 18. PROCESS

[0110] As indicated previously, the invention relates in particular to a method of handling eggs which makes use of a robot which comprises a head for gripping by depression of a plurality of eggs.

[0111] This method can be implemented by means of the installation 1 which was described previously.

[0112] Such a method comprises a first step of gripping, by gripping 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, the gripping head 3 not only grips a plurality of eggs E, but also grips a perforated honeycomb plate 111, while keeping the eggs E secured 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. This is done with a single gripping head which, on the one hand, comprises means for gripping the eggs (in this case the suction cups 4) and means for gripping an empty honeycomb plate (in this case the subassemblies 5).

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

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

[0119] This step is advantageously implemented by making use of the subassembly 6 described above and more particularly the pallets 60 and their point-shaped 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 plate 111 previously removed on a storage surface such as a pallet and then, immediately after, the eggs E in the cells of the plate 111. This step is illustrated in [Fig. 5]. There is no risk of breakage of the eggs due to the proximity between them and the plate 111.

[0122] The preceding steps are repeated until the entire surface of the palettel2 is covered with egg-filled honeycomb plates 111.

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

[0124] A subsequent step consists of removing an openwork interlayer plate 130 from the stack shown in [Fig.6], then placing it on the stack of egg-filled honeycomb plates already formed.

[0125] This is preferably implemented through the use of the subassembly 7 of the gripping head, the fingers 701 of which form hooks 702 and interfere with the edges of the openings of the intermediate plate 130, thus allowing it to be picked up and moved.

[0126] Thus, the same head 3 makes it possible to implement an additional function, which is particularly advantageous in terms of time and money.

[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); c) Depositing said perforated honeycomb plate (111) on a storage surface (30) such as a pallet;characterized by the fact that, following step a), a step b) is implemented according to which an empty perforated honeycomb plate (111) is gripped via said gripping head (3) while keeping said eggs (E) secured to this head, then step c) is implemented while said perforated honeycomb plate (111) is empty and then the plurality (E) of eggs are deposited on this plate (111), and the following steps are implemented: d) Repetition of the preceding steps until the entire storage surface (30) is covered with juxtaposed perforated honeycomb plates (111) filled with eggs; e) Repeating the preceding steps, said perforated egg-filled honeycomb plates (111) being deposited on the underlying layer of perforated egg-filled honeycomb plates (111), until a prescribed number of stacked egg-filled honeycomb plates is reached;f) Placement of an openwork interposed honeycomb plate (130) on the stack of openwork honeycomb plates (111) filled with eggs already formed; g) If necessary, repetition of the previous steps until a prescribed height of openwork honeycomb plates (111) filled with eggs is reached.;

2. Method according to claim 1, characterized in that immediately after gripping said empty perforated honeycomb plate (111), an additional underlying empty perforated 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, and 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), characterized in that said rods (57) with hook-shaped ends (570) extend within said two-dimensional network, between neighboring suction cups (4).

5. Head (3) according to claim 4, 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).

6. Head (3) according to one of claims 4 or 5, characterized in that it comprises means (6) for extracting an empty honeycomb plate.

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

8. 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).

9. Robot (2) equipped with at least one gripping head (3) according to one of claims 4 to 8.

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