Carton box forming gripper, associated robotic arm and associated carton box forming and filling devices

Abstract

Cardboard box forming gripper, associated robotic arm and associated cardboard box forming and filling devices. The present invention relates to a cardboard box forming gripper (1) comprising: a support plate (2) carrying at least two first pneumatic suction cups (8); a movable flap (3) rotatably connected to the support plate (2) and carrying at least one second pneumatic suction cup (11); a device for rotating the movable flap (3) relative to the support plate (2) between a first position in which the support plate (2) and the movable flap (3) are aligned and a second position in which the movable flap (3) is parallel to the support plate (2); and a controllable locking device for locking the angular position of the movable flap (3) in the second position. Figure to be published with the abstract: Figure 3

Description

Title of the invention: Carton box forming gripper, associated robotic arm and associated carton box forming and filling devices

[0001] The present invention relates to the field of automatic cardboard box filling systems, and relates in particular to a cardboard box forming gripper, to a robotic arm carrying such a gripper, and to two associated cardboard box forming and filling devices.

[0002] For the automatic filling of a cardboard box with goods, such as packages or stacks of printed material, it is known to use a robotic arm system equipped with a gripper to grasp the goods and move them inside the cardboard box. However, the gripper of this existing system has the disadvantage of leaving empty space on two opposite sides of the deposited product due to the space occupied by the two gripper jaws. This means that the boxed products can move within the box during subsequent transport and handling phases due to the existing play between the products and the vertical walls of the box, and can therefore be damaged during transport.

[0003] There are also semi-automatic or fully automated (but non-robotic, i.e., without a robotic arm) systems consisting of several conveyors and actuators that allow cartons to be taken from an integrated reservoir, opened, and then a stack of products to be topped with an open carton. However, these existing systems have the following drawbacks:

[0004] - during semi-automatic operation, the operator must open the carton and to manually comb the stack of products, making it a semi-machine for performing the operation; and

[0005] - during fully automated operation, given that the system does not Because it lacks a robotic arm, it's a complex machine with many actuators for opening cartons, increasing the risk of collisions and malfunctions. Furthermore, this system has limited tolerance for variations in carton sizes and requires specific carton shapes or material hardness.

[0006] Finally, robotic machines are also known that can form cardboard boxes by removing flat-folded cardboard from a stockpile. However, these existing robotic machines have the major drawback of being expensive for the sole function of forming cardboard boxes, as another robotic machine must be used to fill the formed cardboard box. For example, such an existing robotic machine could take the form of a system A robotic arm for forming cardboard boxes has a gripper equipped with suction cups and a movable flap. This flap allows the arm to grasp a flat cardboard box in a first position and then form the box in a second position, corresponding to a 90° rotation of the flap relative to the first position. However, this type of gripper cannot guarantee the perpendicularity of the movable flap during the movement of the formed cardboard box, meaning that holding the box in the open position during its translation is unreliable.

[0007] The present invention aims to resolve the drawbacks of the prior art by proposing a carton box forming gripper which allows, by means of a locking device, once the movable flap is moved into the second position, to lock the angular position of the movable flap in the second position in order to guarantee the maintenance of the carton box forming during its movement by the gripper.

[0008] The present invention therefore relates to a carton box forming gripper, configured to be carried and operated by a robotic arm, characterized in that said gripper comprises: a support plate the rear face of which is configured to be carried by the end of the robotic arm and the front face of which carries at least two first pneumatic suction cups; a movable flap rotationally connected to one of the lateral edges of the support plate along an axis of rotation and the front face of which carries at least one second pneumatic suction cup; and a device for rotating the movable flap relative to the support plate along the axis of rotation between a first position in which the support plate and the movable flap are aligned and the at least two first pneumatic suction cups and the at least one second pneumatic suction cup are arranged on the same side of the same plane such that the gripper is configured to grasp,using pneumatic suction cups, a flat-folded cardboard box, and a second position in which the movable flap is aligned with the support plate with at least the first two pneumatic suction cups and at least one second pneumatic suction cup forming a gripping wedge, the transition from the first position to the second position, after gripping the flat-folded cardboard box in the first position so that one of the inter-side wall fold lines of the cardboard box is opposite the axis of rotation, resulting in the shaping of the gripped cardboard box; said gripper further comprising: a locking device controllable, once the movable flap is moved into the second position by the rotation device, to lock the angular position of the movable flap in the second position.

[0009] Thus, the gripper according to the present invention can be actuated by the robotic arm to grasp a flat carton in the first position of the movable flap (by as suction using pneumatic suction cups), then, when the movable flap pivots into the second position (at a right angle to the support plate) under the action of the rotation device while the pneumatic suction cups continue to suction the cardboard, the cardboard box is immediately formed with a square or rectangular cross-section.

[0010] The locking device is then actuated to ensure that the perpendicularity is maintained during the movement of the formed cardboard box by the robotic arm. The locking device thus ensures that the cardboard box remains reliably held in the open position during its translation by the robotic arm.

[0011] The presence of the locking device on the gripper also allows for a reduction in the gripper's size compared to existing systems. Without a locking device, greater force is required, necessitating a larger / heavier rotation device (such as a cylinder), and therefore a larger and wider support plate and movable flap. All of this adds weight that is not always compatible with the size of the cartons, particularly small cartons. Conversely, the presence of the locking device on the gripper allows the use of a rotation device (such as a cylinder) with less force (since the carton offers little resistance), thus reducing the overall size, which is advantageous for small cartons.

[0012] In the case of large cartons, the carton's inertia tends to flatten it and counteract the force of the rotation device once the cardboard box is formed. Activating the locking device then ensures perpendicularity between the movable flap and the support plate, thus guaranteeing the formation of the cardboard box with a square or rectangular cross-section, even when the gripper is small relative to the gripped cardboard box.

[0013] According to a particular feature of the invention, the device for rotating the movable flap relative to the support plate along the axis of rotation is a cylinder, one of whose two ends is connected to the rear face of the support plate and the other of whose two ends is connected to the rear face of the movable flap, the first position corresponding to the retracted position of the cylinder and the second position corresponding to the deployed position of the cylinder.

[0014] Thus, the cylinder can be controlled by the robotic arm so that, in the retracted position of the cylinder, the movable flap and the support plate are aligned (an angle of 180° being formed between the movable flap and the support plate), and, in the deployed position of the cylinder, the movable flap and the support plate form a gripping wedge (an angle of 90° being formed between the movable flap and the support plate).

[0015] According to a particular feature of the invention, the locking device is an auxiliary cylinder whose cylinder is fixed on the rear face of one of the support plate and the movable flap, and whose free end of the piston is configured to cooperate with the rear face of the other of the support plate and the movable flap when said auxiliary cylinder is actuated.

[0016] Thus, when the movable flap is in the second position (i.e., forming the gripping wedge with the support plate), the auxiliary cylinder can be actuated by the robotic arm so that the free end of its piston acts as a stop to prevent the movable flap from pivoting, thus ensuring perpendicularity between the movable flap and the support plate.

[0017] According to a particular feature of the invention, the auxiliary cylinder is fixed on the rear face of the support plate so that the axis of the piston of the auxiliary cylinder is parallel to the axis of rotation of the movable flap, said piston being configured, in its deployed position, to come into contact with a stop provided at the rear of the movable flap, so as to block the angular position of the movable flap.

[0018] The present invention also relates to a robotic arm carrying at its end a carton box forming gripper as described above and configured to actuate said carton box forming gripper.

[0019] The robotic arm can, for example, be a six-axis robotic arm such as a FANUC® M-type robot or equivalent.

[0020] The robotic arm carrying and controlling the carton box forming gripper according to the present invention can thus be used to:

[0021] - to remove a cardboard box placed flat in a storage area using pneumatic suction cups gripper characteristics in the first position of the movable flap,

[0022] - rotate the movable flap of the gripper into the second position in order to form the vertical walls of the cardboard box to create a sort of "tunnel-like" structure with a square or rectangular cross-section, and

[0023] - actuate the locking device on the gripper in order to maintain the geometry of the cardboard box despite the natural self-supporting force of cardboard which causes it to deform and return to a flat state.

[0024] The present invention further relates to a device for forming and filling cardboard boxes according to a first embodiment, comprising a robotic arm as described above and a conveyor having two transverse slots between which a filling zone is defined, the robotic arm being configured, when a stack of products is present on the filling zone of the conveyor, to grasp a cardboard box folded flat and to perform its forming, then to come and cap the stack of products with the formed cardboard box, two opposing lower flaps of the formed cardboard box then entering respectively into the two transverse slots of the conveyor.

[0025] Thus, the robotic arm carrying the gripper according to the present invention allows the cardboard box to be formed and then the stack of products (such as a stack of papers, magazines or books) to be directly covered by the cardboard box formed.

[0026] Compared to a two-arm robotic system (namely, one robotic arm for box forming and one robotic arm for box filling), this cardboard box forming and filling device according to the first embodiment with a single robotic arm is slower but more economical to produce.

[0027] Since the cardboard box is directly fitted onto the stack of products to be packed, there is no play in the filled cardboard box between the vertical walls of the box and the products, so that the size of the cardboard box can be reduced, and so that the boxed products cannot move in the box during the subsequent transport and handling phases.

[0028] Thus, the cardboard box forming and filling device according to the first embodiment makes it possible to carry out the box forming operation and the box filling operation with a single robotic arm.

[0029] The two transverse slots of the conveyor allow, when the stack of products is capped by the cardboard box, the lower flaps of the cardboard box to pass through them, so that, after capping, the entire stack of products is between the side walls of the cardboard box formed.

[0030] According to a particular feature of the invention, the cardboard box forming and filling device according to the first embodiment further comprises a bottom box closing system configured, after the stack of products has been capped by the cardboard box and the cardboard box has been moved by the robotic arm towards the bottom box closing system, to fold down the four lower flaps of the cardboard box and then to wrap the bottom part of the cardboard box.

[0031] Thus, once the stack of products is covered by the cardboard box, the robotic arm moves the filled cardboard box on the conveyor towards the lower part of the box closing system.

[0032] The lower part closure system of the crate then allows the lower flaps of the cardboard crate to be folded down and an adhesive strip to be placed on them to keep them closed.

[0033] According to a particular feature of the invention, the cardboard box forming and filling device according to the first embodiment further comprises a top box closure system configured, after the bottom part of the cardboard box has been closed by the bottom box closure system, to fold down the four top flaps of the cardboard box and then to wrap the top part of the cardboard box.

[0034] The top part closure system of the box thus allows the top flaps of the cardboard box to be folded down and an adhesive strip to be placed on them to keep them closed, so as to obtain a filled and completely closed cardboard box.

[0035] The robotic arm of the cardboard box forming and filling device according to the first embodiment can thus be used to:

[0036] - to remove a cardboard box placed flat in a storage area using pneumatic suction cups gripper characteristics in the first position of the movable flap,

[0037] - rotate the movable flap of the gripper into the second position in order to form the vertical walls of the cardboard box to create a kind of "tunnel-like" structure with a square or rectangular cross-section,

[0038] - actuate the locking device on the gripper in order to maintain the The geometry of the cardboard box, despite the natural springback force of the cardboard which causes it to deform before the stacking phase,

[0039] - style the stack of products using the styling tunnel thus created and possibly with the help of a guide to maintain the walls of the capped tunnel thus formed;

[0040] - move the assembly thus formed by the stack surrounded by the cardboard tunnel covering to the lower crate locking system and then the upper crate locking system, and

[0041] - transmit the product crate thus closed and adjusted to the strict edges of the products to an external conveyor for further handling operations such as labelling, palletizing, etc.

[0042] The present invention further relates to a device for forming and filling cardboard boxes according to a second embodiment, comprising a first robotic arm as described above, a system for closing the lower part of the box, a conveyor and a second robotic arm carrying at its end a gripper with a clamp; in which the first robotic arm is configured to grasp a cardboard box folded flat and perform its forming, to move the formed cardboard box onto the system for closing the lower part of the box so that the latter folds down the four lower flaps of the cardboard box and then wraps the lower part of the cardboard box, and then to position the cardboard box on the conveyor;and in which the second robotic arm is configured, once the cardboard box is positioned on the conveyor by the first robotic arm, to grasp one or more products using its gripper, and then to place the grasped product(s) inside the cardboard box.

[0043] Thus, with this cardboard box forming and filling device according to the second embodiment of the invention, the first robotic arm is used to form the cardboard box, move the formed cardboard box towards the system of the lower part of the crate is closed to seal the bottom of the cardboard crate, then the cardboard crate is positioned on the conveyor, while, for reasons of constant speed, the second robotic arm is used to pick up products (such as books or magazines) using its gripper and then place them in the cardboard crate.

[0044] Compared to the first embodiment, this cardboard box forming and filling device according to the second embodiment is faster due to the decomposition of motion. Consequently, this two-arm robotic device according to the second embodiment can be used when the filling speed of the single-arm robotic device according to the first embodiment is insufficient for the desired application.

[0045] Advantageously, during the filling of the cardboard box using the second robotic arm, the first robotic arm always holds the cardboard box using the pneumatic suction cups of its gripper.

[0046] According to a particular feature of the invention, the gripper of the second robotic arm comprises a gripper having two vertical and parallel gripper arms and a first actuating cylinder configured to bring the two gripper arms closer together or further apart; in which, for each of the two gripper arms, a movable flap is mounted for rotation on the lower part of said gripper arm and is actuable by means of a second actuating cylinder, such that, when the two movable flaps are actuated to be in a horizontal position inside the gripper, the product or products gripped by the gripper rest on the two movable flaps.

[0047] Thus, when the two lower flaps of the gripper of the second robotic arm are in the horizontal position, they allow the gripper to retain the product. For example, when the product gripped is a stack of books, these two flaps allow the bottom book to be retained, especially if it is thin, since the gripper grips the stack from the sides.

[0048] According to a particular feature of the invention, the cardboard box forming and filling device according to the second embodiment further comprises a top box closing system configured, after the cardboard box has been filled by the second robotic arm and the filled cardboard box has been moved by the conveyor to the top box closing system, to fold down the four upper flaps of the cardboard box and then to wrap the top of the cardboard box.

[0049] The top closure system of the box thus allows the upper flaps of the cardboard box to be folded down and an adhesive strip to be placed on them to keep them closed, so as to obtain a filled and complete cardboard box. Completely closed.

[0050] According to a particular feature of the invention, the cardboard box forming and filling device according to the first or second embodiment further comprises a cardboard reserve system configured to store a set of flat-folded cardboard boxes, said reserve system comprising at least one pusher configured to push the set of flat-folded cardboard boxes stored as the cardboard box forming gripper picks them up.

[0051] Thus, the carton reserve system constitutes a dynamic carton reserve in which flat-folded cartons can be stored on their edge, at least one pusher allowing the set of stored cartons to be pushed towards an exit end of the carton reserve system at which the robotic arm carrying the carton box forming gripper can pick up the cartons to carry out their box forming.

[0052] Advantageously, the length and width formats of the carton storage system are adjustable so as to allow the storage of different carton sizes.

[0053] To better illustrate the object of the present invention, we will describe below, by way of illustration and not limitation, preferred embodiments, with reference to the attached drawings.

[0054] On these drawings:

[0055] [Fig. 1] is a rear perspective view of a case-forming gripper in carton according to the present invention, in the first position of its movable flap;

[0056] [Fig.2] is a front perspective view of the carton box forming gripper according to the present invention, in the first position of its movable flap;

[0057] [Fig.3] is a front perspective view of the carton box forming gripper according to the present invention, in the second position of its movable flap;

[0058] [Fig.4] is a rear perspective view of the carton box forming gripper according to the present invention, in the second position of its movable flap;

[0059] [Fig.5] is a perspective view of a forming and filling device cardboard box according to a first embodiment of the present invention;

[0060] [Fig.6] is a perspective view of a forming and filling device cardboard box according to a second embodiment of the present invention;

[0061] [Fig.7] is another perspective view of the cardboard box forming and filling device according to the second embodiment of the present invention; and

[0062] [Fig.8] is a perspective view of the gripper of the second robotic arm of the cardboard box forming and filling device according to the second embodiment of the present invention.

[0063] Referring to Figures 1 to 4, one can see that a carton box forming gripper 1 according to the present invention is shown there.

[0064] The carton box forming gripper 1 according to the present invention comprises a support plate 2 and a movable flap 3 rotationally connected to one of the lateral edges of the support plate 2 along a vertical axis of rotation 4.

[0065] The support plate 2 consists of a front plate 2a and a rear plate 2b connected to each other in a parallel manner by means of four bolt-nut assemblies 2c.

[0066] A mounting plate 5 is fixed to the rear face of the rear plate 2b by means of four rods 6. Said mounting plate 5 is configured to be fixed to the end of a robotic arm, such as a six-axis robotic arm, to allow the movement in space of the gripper 1 by the robotic arm.

[0067] The front face of the front plate 2a has four circular holes 7 from which emerge four first pneumatic suction cups 8 mounted between the front plates 2a and rear plates 2b of the support plate 2.

[0068] The rear face of the rear plate 2b has four pneumatic connectors 9 respectively connected to the first four pneumatic suction cups 8 and allowing the pneumatic connection of the first four pneumatic suction cups 8 to the robotic arm.

[0069] It should be noted that the support plate 2 could also carry any number of pneumatic suction cups 8 greater than or equal to two, without departing from the scope of the present invention.

[0070] The movable flap 3 consists of a front part 3a and a rear part 3b connected to each other in a parallel manner by means of two bolt-nut assemblies 3c, said rear part 3b being connected in rotation to the rear plate 2b of the support plate 2 by means of the rotation axis 4.

[0071] The front face of the front part 3a of the movable flap 3 has a circular hole 10 from which emerges a second pneumatic suction cup 11 mounted between the front 3a and rear 3b parts of the movable flap 3.

[0072] The rear face of the rear part 3b has a pneumatic connector 12 connected to the second pneumatic suction cup 11 and allowing the pneumatic connection of the second pneumatic suction cup 11 to the robotic arm.

[0073] It should be noted that the movable flap 3 could also carry any number of pneumatic suction cups 11, without departing from the scope of the present invention.

[0074] The gripper 1 further comprises, as a device for rotating the movable flap 3 relative to the support plate 2 along the axis of rotation 4, a cylinder 13

[0075] one end 13a of which is rotationally connected to the rear face of the rear plate 2b of the support plate 2 and the other end 13b of which is rotationally connected to the rear face of the rear part 3b of the movable flap 3 by means of of a pivot part 14 fixed on the rear part 3b of the movable flap 3.

[0076] As shown in Figures 1 and 2, in a first position of the movable flap 3 corresponding to the retracted position of the cylinder 13, the support plate 2 and the movable flap 3 are aligned (an angle of 180° being formed between the movable flap 3 and the support plate 2), and the first four pneumatic suction cups 8 and the second pneumatic suction cup 11 are arranged on the same side of the same plane so that the gripper 1 can grasp, by suction using the pneumatic suction cups 8 and 11, a cardboard box folded flat.

[0077] In this first position, a stop block 15 carried by the rear part 3b of the movable flap 3 comes against a stop block 16 carried by the rear plate 2b of the support plate 2.

[0078] Furthermore, as shown in Figures 3 and 4, in a second position of the movable flap 3 corresponding to the deployed position of the cylinder 13, the movable flap 3 pivots to come to the right of the support plate 2 (an angle of 90° being formed between the movable flap 3 and the support plate 2), the first four pneumatic suction cups 8 and the second pneumatic suction cup 11 then forming a gripping wedge.

[0079] Thus, after gripping a cardboard box folded flat in the first position so that one of the inter-lateral wall fold lines of the cardboard box is opposite the axis of rotation 4, pivoting the movable flap 3 from the first position to the second position results in the gripping cardboard box being formed with a square or rectangular cross-section (i.e., right angles formed at each of the four inter-lateral wall fold lines of the cardboard box).

[0080] The gripper 1 further includes, as a locking device, an auxiliary cylinder 17 whose cylinder 17a is fixed to the rear plate 2b of the support plate 2 by means of a bracket 18, so that the axis of the piston 17b of the auxiliary cylinder 17 is parallel to the axis of rotation 4 of the movable flap 3.

[0081] Once the movable flap 3 is moved into the second position by the cylinder 13, the robotic arm can actuate the auxiliary cylinder 17 so as to deploy its piston 17b in such a way that the free end of the piston 17b (visible in [Fig.4]) comes into contact with a stop 19 extending from the rear part 3b of the movable flap 3, which makes it possible to lock the angular position of the movable flap 3 in the second position.

[0082] Advantageously, the free end of the stop 19 has a recess 19a whose arched shape is complementary to the cross-section of the piston 17b, so that once the piston 17b is deployed, the latter fits into the recess 19a of the stop 19 and thus prevent any pivoting of the movable flap 3 relative to the support plate 2, thereby ensuring the perpendicularity between the movable flap 3 and the support plate 2 and thus the forming of the cardboard box during its movement by the robotic arm.

[0083] If we refer to [Fig.5], we can see that it represents a device for forming and filling cardboard boxes 20 according to a first embodiment of the present invention.

[0084] The cardboard box forming and filling device 20 according to the first embodiment comprises a robotic arm 21, such as a six-axis robotic arm, arranged on a pedestal 21a and carrying at its end a cardboard box forming gripper 1 according to the present invention, said gripper 1 being actuated by the robotic arm 21.

[0085] The cardboard box forming and filling device 20 according to the first embodiment further includes a cardboard reserve system 22 storing, on its edge, a set of flat-folded cardboard boxes 23, said reserve system 22 comprising two pushers 24 mounted on two rails 24a arranged on either side of the set of flat-folded cardboard boxes 23 and configured to push the set of flat-folded cardboard boxes 23 as the robotic arm 21 picks them up with its cardboard box forming gripper 1.

[0086] Advantageously, the length and width formats of the carton reserve system 22 are adjustable so as to allow the storage of different carton sizes.

[0087] The cardboard box forming and filling device 20 according to the first embodiment further includes a conveyor 25 comprising a first belt part 25a from which stacks of products (such as stacks of books, printed matter or sheets) arrive, and a second roller part 25b receiving the stacks of products from the first belt part 25a of the conveyor 25.

[0088] The second roller part 25b of the conveyor 25 has two transverse slots 26 between which is defined a filling zone on which a stack of products 27 to be packaged is present.

[0089] The robotic arm 1 can thus, using the pneumatic suction cups 8 and 11 of its gripper 1, grasp a flat-folded cardboard box 23 in the cardboard storage system 22 (in the first position of the movable flap 3) and then form the grasped cardboard box 28 (by pivoting the movable flap 3 into the second position) to create a cap tunnel having a square or rectangular cross-section. The robotic arm 21 can then actuate the auxiliary cylinder 17 of the gripper 1 to ensure the forming of the cardboard box 28 during its subsequent movement.

[0090] The robotic arm 21 can then precisely position the stack of products 27 with the tunnel-shaped cardboard box 28, two opposing lower flaps 28a of the tunnel-shaped cardboard box 28 then entering respectively into the two transverse slots 26 of the conveyor 25 so that, after positioning, the entire of the stack of products 27 is found between the side walls of the cardboard box formed 28.

[0091] The cardboard box forming and filling device 20 according to the first embodiment thus makes it possible to carry out the box forming operation and the box filling operation with a single robotic arm 21.

[0092] The cardboard box forming and filling device 20 according to the first embodiment further includes a bottom part closure system 29 configured, after the stack of products 27 is capped by the formed cardboard box 28 and then the movement, by the robotic arm 21, of the cardboard box 28 in which the stack of products 27 is located towards the bottom part closure system 29, to fold down the four lower flaps 28a of the cardboard box 28 and then to wrap the bottom part of the cardboard box 28.

[0093] A first part 29a of the lower part closure system of the box 29 allows, in association with the last rollers of the second part 25b of the conveyor 25 downstream of the filling area, to close the two lower flaps 28a of the cardboard box 28 which are transverse to the direction of movement of the conveyor 25.

[0094] Next, a second part 29b of the lower part closure system of the crate 29, consisting of two rods moving apart from each other, allows the two other lower flaps 28a of the cardboard crate 28 to be closed.

[0095] A third part 29c of the lower part closure system of the box 29 finally allows an adhesive strip to be applied to the lower part of the cardboard box 28 so as to close its bottom.

[0096] The cardboard box forming and filling device 20 according to the first embodiment further includes a top box closure system 30 configured, following the closure of the bottom part of the cardboard box 28 by the bottom box closure system 29, to fold down the four top flaps 28b of the cardboard box 28 and then to wrap the top part of the cardboard box 28, thus making it possible to obtain a filled and completely closed cardboard box 28.

[0097] Subsequently, the cardboard box 28, thus closed and adjusted to the strict edges of the stack of products 27, can be transmitted to an external conveyor for further handling operations such as labeling, palletizing, etc.

[0098] Referring to Figures 6 and 7, one can see that a device for forming and filling a cardboard box 31 is shown according to a second embodiment of the present invention.

[0099] The common elements between the first embodiment of the invention in [Fig. 5] and this second embodiment of the invention bear the same number of reference, and will not be described in more detail here when they are of identical structures.

[0100] The cardboard box forming and filling device 31 according to the second embodiment comprises a first robotic arm 21 (identical to that of [Fig.5]) carrying the box forming gripper 1 according to the present invention, a cardboard reserve system 22 (identical to that of [Fig.5]), a lower box closing system 29, a first conveyor 32, a second conveyor 35, a second robotic arm 33 carrying at its end a gripper with a clamp 34 (which will be described in more detail in [Fig.8]), and an upper box closing system 30 (identical to that of [Fig.5]).

[0101] The second robotic arm 33 is a six-axis robotic arm mounted on a pedestal 33a.

[0102] The first robotic arm 21, by means of its gripper 1, grasps a flat-folded cardboard box 23 in the cardboard storage system 22 by ensuring that one of the inter-side wall fold lines 23a of the flat-folded cardboard box 23 is aligned with the rotation axis 4 of the gripper 1. The first robotic arm 21 then actuates the actuator 13 of the gripper 1 to form the cardboard box 28 into a tunnel with a square or rectangular cross-section.

[0103] The first part 29a of the lower part closure system of the box 29, consisting of a strip with a curved end, closes two opposite lower flaps of the cardboard box 28 gripped and formed by the gripper 1. In practice, after the cardboard box 28 has been formed, the first robotic arm 21 closes one of the lower flaps of the cardboard box 28 by placing it on the flat part of the first part 29a, and then closes the opposite lower flap by sliding the cardboard box 28 towards the curved end of the first part 29a. Subsequently, the first robotic arm 21 moves the cardboard box 28 along the first part 29a to the second part 29b, consisting of two rods that move apart, which closes the two other lower flaps of the cardboard box 28.Finally, the first robotic arm 21 moves the cardboard box 28 onto the third part 29c which applies an adhesive strip to the lower part of the cardboard box 28.

[0104] Once the bottom of the cardboard box 28 is closed, the first robotic arm 21 can position the cardboard box 28 on the first belt conveyor 32 and then continue to hold the cardboard box 28 by means of its pneumatic suction cups 8 and 11.

[0105] The second conveyor 35 consists of a first belt section 35a onto which products 36 (such as books or magazines) are deposited, followed by a second belt section 35b receiving the products 36 from the first belt section 35a, followed by a third belt section 35c onto which the products 36 can be deposited by the second robotic arm 33 (using its gripper with clamp 34) from the second belt part 35b, said third belt part 35c allowing the juxtaposition of two products 36.

[0106] The second robotic arm 33 allows, once the cardboard box 28 is positioned on the first conveyor 32 by the first robotic arm 21, to grasp, using its gripper 34, the two juxtaposed products 36 present on the third belt part 35c of the second conveyor 35, and then to place these two grasped products 36 inside the cardboard box 28.

[0107] Once the cardboard box 28 is filled with products 36 by the second robotic arm 33, the first robotic arm 21 releases the cardboard box 28, then the first conveyor 32 moves the filled cardboard box 28 towards the top box closing system 30 so that the latter folds down the four top flaps of the cardboard box 28 and then wraps the top of the cardboard box 28.

[0108] Referring to [Fig.8], we can see that it represents the gripper 34 of the second robotic arm 33 according to the second embodiment.

[0109] The gripper 34 has two vertical and parallel gripper arms 35a and 35b, which are connected at the top to a first actuating cylinder 36 controllable by the second robotic arm 33 to bring the two gripper arms 35a and 35b closer together or further apart so as to grasp / release one or more products 36.

[0110] In addition, the gripper with a clamp 34 has, in its upper part, a mounting plate 37 allowing it to be fixed to the end of the second robotic arm 33.

[0111] For each of the two gripper arms 35a and 35b, a movable flap 38 is rotatably mounted on the lower part of said gripper arm 35a or 35b and is actuated by means of a second actuating cylinder 39 controlled by the second robotic arm 33, such that, when the two movable flaps 38 are actuated to be in a horizontal position inside the gripper, the product(s) gripped 36 by the gripper can rest on these two movable flaps 38. For example, when the product 36 gripped by the gripper is a stack of books, these two flaps 38 make it possible to retain the last book at the bottom of the stack, given that the gripper arms 35a and 35b grip the stack on the sides.

[0112] It is understood that the particular embodiments which have just been described have been given by way of indication and not limitation, and that modifications may be made without departing from the present invention.

Claims

Claims

1. Cardboard box forming gripper (1), configured to be carried and actuated by a robotic arm (21), characterized in that said gripper (1) comprises: - a support plate (2) whose rear face is configured to be carried by the end of the robotic arm (21) and whose front face carries at least two first pneumatic suction cups (8); - a movable flap (3) connected for rotation to one of the lateral edges of the support plate (2) along an axis of rotation (4) and the front face of which carries at least one second pneumatic suction cup (11); and - a device for rotating the movable flap (3) relative to the support plate (2) along the axis of rotation (4) between a first position in which the support plate (2) and the movable flap (3) are aligned and the at least two first pneumatic suction cups (8) and the at least one second pneumatic suction cup (11) are arranged on the same side of the same plane such that the gripper (1) is configured to grip, using the pneumatic suction cups (8, 11), a flat-folded cardboard box (23), and a second position in which the movable flap (3) is in line with the support plate (2) with the at least two first pneumatic suction cups (8) and the at least one second pneumatic suction cup (11) forming a gripping corner, the transition from the first position to the second position,after gripping the flat-folded cardboard box (23) in the first position so that one of the inter-side wall fold lines of the cardboard box is opposite the rotation axis (4), causing the gripped cardboard box (28) to be formed;, said gripper (1) further comprising: - a controllable locking device, once the movable shutter (3) is moved into the second position by the rotation device, to lock the angular position of the movable shutter (3) in the second position.

2. Gripper (1) according to claim 1, characterized in that the device for rotating the movable flap (3) relative to the support plate (2) along the axis of rotation (4) is a jack (13) one (13a) of the two ends of which is connected to the rear face of the support plate (2) and the other (13b) of the two ends of which is connected to the rear face of the movable flap (3), the first position corresponding to the retracted position of the cylinder (13) and the second position corresponding to the deployed position of the cylinder (13).

3. Gripper (1) according to claim 1 or 2, characterized in that the locking device is an auxiliary cylinder (17) whose cylinder (17a) is fixed on the rear face of one of the support plate (2) and the movable flap (3), and whose free end of the piston (17b) is configured to cooperate with the rear face of the other of the support plate (2) and the movable flap (3) when said auxiliary cylinder (17) is actuated.

4. Gripper (1) according to claim 3, characterized in that the auxiliary cylinder (17) is fixed on the rear face of the support plate (2) so that the axis of the piston (17b) of the auxiliary cylinder (17) is parallel to the axis of rotation (4) of the movable flap (3), said piston (17b) being configured, in its deployed position, to come into contact with a stop (19) provided at the rear of the movable flap (3), so as to block the angular position of the movable flap (3).

5. Robotic arm (21) carrying at its end a cardboard box forming gripper (1) according to one of claims 1 to 4 and configured to actuate said cardboard box forming gripper (1).

6. A device for forming and filling a cardboard box (20), comprising a robotic arm (21) according to claim 5 and a conveyor (25) having two transverse slots (26) between which a filling zone is defined, the robotic arm (21) being configured, when a stack of products (27) is present on the filling zone of the conveyor (25), to pick up a flat-folded cardboard box (23) and form it, then to cover the stack of products (27) with the formed cardboard box (28), two opposing lower flaps (28a) of the formed cardboard box (28) then penetrating respectively into the two transverse slots (26) of the conveyor (25).

7. Device for forming and filling a cardboard box (20) according to claim 6, characterized in that it further comprises a lower box part closing system (29) configured, after the stack of products (27) has been covered by the cardboard box (28) and the cardboard box (28) has been moved by the robotic arm (21) towards the lower box part closing system (29), to fold down the four lower flaps (28a) of the cardboard box (28) and then to wrap the lower part of the cardboard box (28).

8. Device for forming and filling a cardboard box (20) according to claim 7, characterized in that it further comprises a box top closure system (30) configured, after closing the bottom part of the cardboard box (28) by the box bottom closure system (29), to fold down the four top flaps (28b) of the cardboard box (28) and then to wrap the top part of the cardboard box (28).

9. A cardboard box forming and filling device (31), comprising a first robotic arm (21) according to claim 5, a box bottom closure system (29), a conveyor (32) and a second robotic arm (33) carrying at its end a gripper (34); wherein the first robotic arm (21) is configured to grip a flat-folded cardboard box (23) and form it, to move the formed cardboard box (28) onto the box bottom closure system (29) so that the latter folds down the four lower flaps (28a) of the cardboard box (28) and then wraps the lower part of the cardboard box (28), and then to position the cardboard box (28) on the conveyor (32);and wherein the second robotic arm (33) is configured, once the cardboard box (28) is positioned on the conveyor (32) by the first robotic arm (21), to pick up one or more products (36) using its gripper (34), and then to deposit the picked up product(s) (36) inside the cardboard box (28).;

10. Cardboard box forming and filling device (31) according to claim 9, characterized in that the gripper (34) of the second robotic arm (33) comprises a gripper having two vertical and parallel gripper branches (35a, 35b) and a first actuating cylinder (36) configured to bring the two gripper branches (35a, 35b) closer to or further apart from each other, wherein, for each of the two gripper branches (35a, 35b), a movable flap (38) is rotatably mounted on the lower part of said gripper branch (35a, 35b) and is actuable by means of a second actuating cylinder (39), such that, when the two movable flaps (38) are actuated to be in a horizontal position inside the gripper, the product(s) (36) gripped by the gripper rest on the two mobile shutters (38).

11. Device for forming and filling a cardboard box (31) according to claim 9 or 10, characterized in that it further comprises a box top closure system (30) configured, after the filling of the cardboard box (28) by the second robotic arm (33) and the movement of the filled cardboard box (28) by the conveyor (32) to the box top closure system (30), to fold down the four upper flaps (28b) of the cardboard box (28) and then to tape the upper part of the cardboard box (28).

12. Cardboard box forming and filling device (20; 31) according to one of claims 6 to 11, characterized in that it further comprises a cardboard reserve system (22) configured to store a set of flat-folded cardboard boxes (23), said reserve system (22) comprising at least one pusher (24) configured to push the set of flat-folded cardboard boxes (23) stored as the cardboard box forming gripper (1) picks them up.

Images