Cardboard case forming gripper, associated robotic arm and associated cardboard case 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 in line with the support plate (2); and a controllable locking device for blocking 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: Cardboard box forming gripper, associated robotic arm and associated cardboard 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 matter, 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 at two opposite sides of the deposited product due to the space taken up by the two gripper jaws, which means that the boxed products can move in the box during the subsequent transport and handling phases due to the clearance existing 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 systems (but not robotic, i.e. without a robotic arm) consisting of several conveyors and several actuators that allow cartons to be taken from an integrated reserve, opened and then topped with an open carton onto a stack of products. However, these existing systems have the following disadvantages:

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

[0005] - during fully automated operation, since the system does not does not have a robotic arm, making it a complex machine with many actuators to open the boxes, thus the risks of collision and breakdown are high. In addition, this system tolerates little variability in box sizes and requires boxes with specific shapes or material hardness.

[0006] Finally, robotic machines are also known which make it possible to form cardboard boxes by removing flat-folded cardboard boxes from a reserve. However, these existing robotic machines have the main disadvantage of being expensive for the sole function of forming cardboard boxes, another robotic machine having to be used for filling the formed cardboard box. For example, such an existing robotic machine may take the form of a system of a robotic arm for forming a cardboard box, the gripper of which has suction cups and a movable flap for gripping a flat cardboard box in a first position of the movable flap and then forming the cardboard box in a second position of the movable flap corresponding to a 90° pivoting of the movable flap relative to the first position. However, this type of existing gripper does not guarantee the perpendicularity of the movable flap during the movement of the formed cardboard box, such that maintaining the cardboard box in the open position during its translation is not reliable.

[0007] The present invention aims to resolve the drawbacks of the prior art by proposing a cardboard box forming gripper which allows, by means of a locking device, once the movable flap is moved into the second position, to block the angular position of the movable flap in the second position in order to ensure that the cardboard box is maintained while it is being moved by the gripper.

[0008] The present invention therefore relates to a gripper for forming a cardboard box, configured to be carried and actuated by a robotic arm, characterized in that said gripper comprises: a support plate whose rear face is configured to be carried by the end of the robotic arm and whose front face carries at least two first pneumatic suction cups; a movable flap connected for rotation to one of the lateral edges of the support plate along an axis of rotation and whose front face 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 so that the gripper is configured to grip,using the pneumatic suction cups, a cardboard box folded flat, and a second position in which the movable flap is in line with the support plate with the at least two first pneumatic suction cups and the at least one second pneumatic suction cup which form a gripping corner, the passage from the first position to the second position, after gripping the cardboard box folded flat in the first position so that one of the inter-side wall fold lines of the cardboard box is opposite the axis of rotation, causing the gripped cardboard box to be formed; 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 grip a flat cardboard box in the first position of the movable flap (for example suction using the pneumatic suction cups), then, when the movable flap pivots into the second position (at right angles to the support plate) under the action of the rotating device while the pneumatic suction cups continue to suck the cardboard, the cardboard box is immediately formed having a square or rectangular cross-section.

[0010] The locking device is then actuated to ensure that the perpendicularity is maintained during the movement, by the robotic arm, of the formed cardboard box. The locking device thus makes it possible to ensure that the cardboard box is kept in the open position during the translation of the box by the robotic arm.

[0011] The presence of the locking device on the gripper also makes it possible to reduce the size of the gripper compared to existing systems. Indeed, without a locking device, a greater force is required, therefore a larger / bigger rotation device (such as a jack), and therefore a larger and wider support plate and movable flap, all of which have a weight that is not always compatible with the size of the cartons, especially for small cartons. On the contrary, the presence of the locking device on the gripper makes it possible to use a rotation device (such as a jack) with a lower force (the carton opposing a low resistance force), thus making it possible to reduce the size of the assembly, which is favorable for small cartons.

[0012] In the case of large cartons, the inertia of the carton tends to bring it back flat and counter the force of the rotating device once the cardboard box has been formed. Actuation of the locking device then ensures perpendicularity between the movable flap and the support plate and thus ensures the forming of the cardboard box with a square or rectangular cross-section, even in the case where the gripper is small compared to the cardboard box being gripped.

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

[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° then 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 corner (an angle of 90° then being formed between the movable flap and the support plate).

[0015] According to a particular characteristic 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 shutter is in the second position (i.e., forming the gripping corner with the support plate), the auxiliary cylinder can be actuated by the robotic arm so that the free end of its piston serves as a stop to prevent the pivoting of the movable shutter, thus ensuring perpendicularity between the movable shutter and the support plate.

[0017] According to a particular characteristic 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 cardboard box forming gripper as described above and configured to actuate said cardboard box forming gripper.

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

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

[0021] - remove a cardboard box placed flat in a reserve using the pneumatic suction cups gripper mechanisms in the first position of the movable flap,

[0022] - pivot 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 "styling tunnel" 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 restoring force of the cardboard which causes it to deform and return to flat.

[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 carry out its formation, then to cover the stack of products with the formed cardboard box, two opposite lower flaps of the formed cardboard box then penetrating respectively into the two transverse slots of the conveyor.

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

[0026] Compared to a two-arm robotic system (i.e., one robotic arm for case forming and one robotic arm for case filling), this cardboard case 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 packaged, no clearance is present 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 within the box during 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 capping the stack of products with the cardboard box, the passage through them of the lower flaps of the cardboard box, so that, after capping, the entire stack of products is located between the side walls of the formed cardboard box.

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

[0031] Thus, once the stack of products is topped 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 of the box closing system then allows the lower flaps of the cardboard box to be folded down and an adhesive strip to be placed on them to keep them closed.

[0033] According to a particular characteristic of the invention, the device for forming and filling a cardboard box according to the first embodiment further comprises a system for closing the upper part of the box configured, after the closing of the lower part of the cardboard box by the system for closing the lower part of the box, to fold down the four upper flaps of the cardboard box and then to tape the upper part of the cardboard box.

[0034] The upper part of the box closing system thus makes it possible to fold down the upper flaps of the cardboard box and to place an adhesive strip 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 for:

[0036] - remove a cardboard box placed flat in a reserve using the pneumatic suction cups gripper mechanisms in the first position of the movable flap,

[0037] - pivoting 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 “styling tunnel” with a square or rectangular cross-section,

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

[0039] - cap the stack of products using the cap tunnel thus created and possibly with the help of a guide to hold the walls of the covering tunnel thus formed;

[0040] - move the assembly thus constituted by the stack surrounded by the covering tunnel cardboard to the lower body closing system then the upper body closing system, and

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

[0042] The present invention further relates to a device for forming and filling a cardboard box according to a second embodiment, comprising a first robotic arm as described above, a lower box part closing system, a conveyor and a second robotic arm carrying at its end a gripper; in which the first robotic arm is configured to grasp a flat-folded cardboard box and carry out its forming, to move the formed cardboard box onto the lower box part closing system so that the latter folds down the four lower flaps of the cardboard box and then tapes the lower part of the cardboard box, then to position the cardboard box on the conveyor;and wherein the second robotic arm is configured, once the cardboard box is positioned on the conveyor by the first robotic arm, to pick up one or more products using its gripper, and then to deposit the picked 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 to the system of closing the bottom of the box in order to close the bottom of the cardboard box, then position the cardboard box 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 box.

[0044] Compared with the first embodiment, this cardboard box forming and filling device according to the second embodiment is faster due to the motion decomposition. Therefore, 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 not sufficient for the desired application.

[0045] Advantageously, while the cardboard box is being filled using the second robotic arm, the first robotic arm still holds the cardboard box using the pneumatic suction cups of its gripper.

[0046] According to a particular characteristic of the invention, the gripper of the second robotic arm comprises a gripper comprising two vertical and parallel gripper branches and a first actuating cylinder configured to bring the two gripper branches closer to or further apart from each other; wherein, for each of the two gripper branches, a movable flap is rotatably mounted on the lower part of said gripper branch 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(s) gripped by the gripper rest on the two movable flaps.

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

[0048] According to a particular characteristic of the invention, the device for forming and filling a cardboard box according to the second embodiment further comprises a system for closing the upper part of the box configured, after the filling of the cardboard box by the second robotic arm and the movement of the filled cardboard box by the conveyor to the system for closing the upper part of the box, to fold down the four upper flaps of the cardboard box and then to tape the upper part of the cardboard box.

[0049] The upper part of the box closing system thus makes it possible to fold down the upper flaps of the cardboard box and to place an adhesive strip on them to keep them closed, so as to obtain a filled and com- completely closed.

[0050] According to a particular characteristic 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 stored flat-folded cardboard boxes as the cardboard box forming gripper picks them up.

[0051] Thus, the cardboard reserve system constitutes a dynamic cardboard reserve in which flat-folded cardboards can be stored on the edge, the at least one pusher making it possible to push the set of stored cardboards towards an output end of the cardboard reserve system at which the robotic arm carrying the cardboard box forming gripper can pick up the cardboards to carry out their box forming.

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

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

[0054] In these drawings:

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

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

[0057] [Fig.3] is a front perspective view of the cardboard 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 cardboard 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 for cardboard box according to a first embodiment of the present invention;

[0060] [Fig.6] is a perspective view of a forming and filling device for 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, it can be seen that there is shown a cardboard box forming gripper 1 according to the present invention.

[0064] The cardboard box forming gripper 1 according to the present invention comprises a support plate 2 and a movable flap 3 rotatably 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 parallel by means of four bolt-nut assemblies 2c.

[0066] A fixing plate 5 is fixed on the rear face of the rear plate 2b by means of four rods 6. Said fixing plate 5 is configured to be fixed to the end of a robotic arm, such as a six-axis robotic arm, to allow the displacement 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 2a and rear 2b plates of the support plate 2.

[0068] The rear face of the rear plate 2b carries 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 parallel 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 shutter 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 shutter 3.

[0072] The rear face of the rear part 3b carries 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 jack 13

[0075] one of which 13a of the two ends is rotatably connected to the rear face of the rear plate 2b of the support plate 2 and the other 13b of the two ends is rotatably 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 shutter 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° then 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 grip, by suction using the pneumatic suction cups 8 and 11, a flat-folded cardboard box.

[0077] In this first position, a stop block 15 carried by the rear part 3b of the movable flap 3 comes into abutment 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 jack 13, the movable flap 3 pivots to come in line with the support plate 2 (an angle of 90° then 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 corner.

[0079] Thus, after gripping a 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 rotation axis 4, pivoting the movable flap 3 from the first position to the second position causes the gripped cardboard box to be formed with a square or rectangular cross-section (i.e., right angles formed at each of the four inter-side wall fold lines of the cardboard box).

[0080] The gripper 1 further comprises, 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 so 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 arcuate shape is complementary to the cross-section of the piston 17b, such that once the piston 17b is deployed, the latter fits into the recess 19a of the stop 19 and thus prevents any pivoting of the movable flap 3 relative to the support plate 2, thus ensuring perpendicularity between the movable flap 3 and the support plate 2 and therefore the forming of the cardboard box during its movement by the robotic arm.

[0083] Referring to [Fig.5], it can be seen that there is shown a device for forming and filling a cardboard box 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 comprises a cardboard reserve system 22 storing, on the 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 using its cardboard box forming gripper 1.

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

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

[0088] The second roller part 25b of the conveyor 25 has two transverse slots 26 between which a filling zone is defined 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 reserve system 22 (in the first position of the movable flap 3) and then form the gripped cardboard box 28 (by pivoting the movable flap 3 into the second position) in order to create a covering 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 the subsequent movement of the cardboard box 28.

[0090] The robotic arm 21 can then come and cap the stack of products 27 in a fitted manner with the cardboard box 28 formed in a capping tunnel, two opposite lower flaps 28a of the formed cardboard box 28 then penetrating respectively into the two transverse slots 26 of the conveyor 25 so that, after capping, the assembly of the stack of products 27 is found between the side walls of the formed cardboard box 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 comprises a lower box part closing system 29 configured, after the stack of products 27 has been covered by the formed cardboard box 28 and then the cardboard box 28 in which the stack of products 27 is located 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.

[0093] A first part 29a of the lower part closing system of the box 29 makes it possible, in association with the last rollers of the second part 25b of the conveyor 25 downstream of the filling zone, 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] Then, a second part 29b of the lower part closing system of the box 29, consisting of two rods moving away from each other, makes it possible to close the two other lower flaps 28a of the cardboard box 28.

[0095] A third part 29c of the lower part closure system of the box 29 finally makes it possible to apply an adhesive strip 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 comprises a box top closure system 30 configured, following the closure of 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 tape 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 subsequent handling operations such as labeling, palletizing, etc.

[0098] Referring to Figures 6 and 7, it can be seen that there is shown a cardboard box forming and filling device 31 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. 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 box lower part closing system 29, a first conveyor 32, a second conveyor 35, a second robotic arm 33 carrying at its end a gripper 34 (which will be described in more detail in [Fig. 8]), and a box upper part 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 makes it possible, by means of its gripper 1, to grip a flat-folded cardboard box 23 in the cardboard reserve system 22 by ensuring that one of the inter-side wall fold lines 23a of the flat-folded cardboard box 23 is opposite the rotation axis 4 of the gripper 1. The first robotic arm 21 then makes it possible to actuate the cylinder 13 of the gripper 1 for forming the cardboard box 28 into a tunnel with a square or rectangular cross-section.

[0103] The first part 29a of the lower part closing system of the box 29, consisting of a strip having a curved end, makes it possible to close two opposite lower flaps of the cardboard box 28 gripped and formed by the gripper 1. In practice, after forming the cardboard box 28, 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, 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 which move away from each other, which closes the other two 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 portion 35a on which products 36 (such as books or magazines) are deposited, followed by a second belt portion 35b receiving the products 36 coming from the first belt portion 35a, followed by a third belt portion 35c on which the products 36 can be deposited by the second robotic arm 33 (using its gripper 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, 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 then allows the filled cardboard box 28 to be moved towards the upper part closing system 30 so that the latter folds down the four upper flaps of the cardboard box 28 and then wraps the upper part of the cardboard box 28.

[0108] If we refer to [Fig.8], we can see that the gripper 34 of the second robotic arm 33 according to the second embodiment is represented there.

[0109] The gripper 34 comprises two vertical and parallel gripper branches 35a and 35b, which are connected in the upper part to a first actuating cylinder 36 controllable by the second robotic arm 33 to bring the two gripper branches 35a and 35b closer to or apart from each other so as to grip / release one or more products 36.

[0110] Furthermore, the gripper 34 comprises, in the upper part, a fixing plate 37 allowing it to be fixed to the end of the second robotic arm 33.

[0111] For each of the two gripper branches 35a and 35b, a movable flap 38 is rotatably mounted on the lower part of said gripper branch 35a or 35b and is actuable 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 hold the last book at the bottom of the stack, given that the gripper branches 35a and 35b pinch the stack on the sides.

[0112] It is understood that the particular embodiments which have just been described have been given for informational and non-limiting purposes, 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.

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