Device for gripping a layer of product

Abstract

The invention relates to a gripping device (1) suitable for gripping a layer of products, comprising a horizontal suction plate (3) connected to a pump device, having a vacuum opening (30) and arranged to come into contact with the layer of products by displacing the gripping device using a robot, and flexible lateral skirts (4) forming a band surrounding the suction plate (3), the skirt (4) being configured to move from a rest position at a distance from the layer of products to a working position in contact with the layer of products and with the suction plate, the latter being movable vertically relative to the skirt (4) to adapt the vacuum volume to the height of the layer of products to be gripped by the gripper.

Description

[Technical field]

[0001] The present invention belongs to the technical field of devices and systems applicable in the field of logistics.

[0002] In particular, the invention relates to a gripping device that can be attached to a palletizing or depalletizing robot for gripping layers of products. [Background technology]

[0003] In this field there exist palletizing or depalletizing systems which implement robots for depositing or removing layers of products, in particular by clamping or gripping or suction from below.

[0004] Existing solutions are generally only adapted to specific products and lack efficiency. In particular, some solutions have a movable gripper plate in a vacuum chamber, but the volume of the chamber is not adapted to the height of the object, making the vacuum ineffective. Others also systematically require mechanical clamps on the sides, which are not suitable for fragile objects.

[0005] Some solutions use systems to support the grasped object from below, but these systems are often large in overall size. Summary of the Invention [Problem to be solved by the invention]

[0006] The object of the present invention is to provide a gripping device suitable for mounting on a palletizing robot, which allows at least part of the abovementioned problems to be solved. [Means for solving the problem]

[0007] For this purpose, the invention relates to a gripping device attached to a palletizing or depalletizing robot for gripping a set of products arranged in the form of at least one layer on a container, said gripping device comprising: - a suction plate with a side forming a bearing surface and a lower surface forming a substantially horizontal plane with respect to the ground when the gripping device is attached to the robot, said suction plate being connected to the first pump device, having a vacuum opening and arranged such that its lower surface is brought into contact with the layer of product by displacement of the gripping device; a side skirt of flexible material forming a strip surrounding said side of the suction plate; The present invention relates to a gripping device comprising a chassis mounted on a

[0008] According to the invention, the skirt is configured to be moved from a rest position at a distance from the layer of product to a working position in which it is in contact with the layer of product and with the bearing surface of the suction plate and forms a closed vacuum volume in plane (P) above and to the side of the layer of product, the suction plate being movable vertically relative to the skirt to adapt the vacuum volume to the height of the layer of product gripped by the gripper.

[0009] Adapting the vacuum volume to the object reduces leakage and maximizes the vacuum effect, allowing for better retention of the object.

[0010] Vacuum holding is suitable for all types of objects, especially the most fragile objects that cannot be held by mechanical clamps, such as secondary packaging of dairy products.

[0011] Optionally, the vacuum volume can be adapted to the properties of the product.

[0012] The robot may be an articulated, Cartesian, or any other system suitable for palletizing or depalletizing capable of supporting a gripper according to the present invention.

[0013] The products may be of different types, for example cardboard boxes, dairy products, or any other product from the food industry that is likely to be transported on a pallet.

[0014] Advantageously, the suction plate can be provided with side openings in its contour for gluing the side skirt to its bearing surface by suction in the working position, which allows a better sealing of the vacuum volume.

[0015] Advantageously, the gripping device also comprises a clamping device which can be actuated to contact and / or clamp the layer of product, thereby ensuring or improving the retention of the product, in particular rigid products.

[0016] Depending on the nature of the product, the clamping device can clamp the product when it is rigid or simply in contact to facilitate holding by the vacuum.

[0017] According to one exemplary embodiment, the clamping device comprises four expandable bars forming a rectangle that reduces in surface area when the clamping device is actuated into contact with the layer of product, which helps to delimit the vacuum space and increases the efficiency of product retention.

[0018] According to one exemplary embodiment, the skirt comprises four rectangular webs, each located on one side of a rectangle defined by the stretch bar and having a length similar to the maximum length of the stretch bar located on the same side of the rectangle, and each having an underside partially attached to the same side.

[0019] This makes it more suitable for varying the size of the layers of the product, thus facilitating maintenance and extending the life of the skirt.

[0020] Advantageously, an accumulator device can be disposed between each pair of adjacent stretch bars, said accumulator device being configured to receive an excess portion of each of the two webs attached to said pair of stretch bars when the clamping device is actuated into contact with the layer of product.

[0021] The storage device may have a height at least similar to the height of the web.

[0022] This provides a proper seal and improves the effectiveness of the vacuum, plus increases the life of the skirt by preventing the excess web from folding or creasing.

[0023] Advantageously, the gripping device may also include a tray for supporting the layer of products, horizontally movable between a support position located below the layer of products and a storage position remote from the products, the products being held, for example, by vacuum and secured from below by the tray to prevent the product or products from falling.

[0024] Advantageously, the support tray can be formed by a number of panels hinged to one another and can be deployed beneath the products in the support position and stored in the storage position, this arrangement reduces the dead space and the size of the system, resulting in a more compact gripper.

[0025] Advantageously, the tray can be formed from two identical parts, each arranged on one side of the base of the chassis, this arrangement in two parts further reducing the overall size of the gripping device.

[0026] Advantageously, the suction plate may also comprise a suction opening connected to a second pump device and configured to suck up product when the suction plate is in contact with the layer of product.

[0027] The suction opening, which is different from the vacuum opening, can be connected, for example, to a vacuum pump that can provide a high flow rate and allow for a strong suction of the product from above.

[0028] The suction openings may, for example, open into individual suction cups located at the lower end of the suction plate or into the foam plate.

[0029] Advantageously, the gripping device may include at least one detector for detecting contact between the suction plate and the product.

[0030] The invention also relates to a palletizing or depalletizing system comprising a robot having a gripping device as described above.

[0031] Further characteristics and advantages of the invention will become apparent from the following description, taken in conjunction with the accompanying drawings, given as a non-limiting example of the invention, in which: [Brief description of the drawings]

[0032] [Figure 1] FIG. 1 is an overall view of an example of a gripper according to the present invention. [Diagram 2] FIG. 2 is an exploded view of the gripper of FIG. [Diagram 3] FIG. 2 is a bottom view of the gripper of FIG. 1. [Figure 4] FIG. 13 is a bottom perspective view showing the support plate in a retracted position. [Diagram 5] FIG. 2 is a bottom perspective view of an example two-part support tray in an open position. [Figure 6] FIG. 2 is a perspective bottom view of an accumulation device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Unless otherwise specified, identical elements appearing in different figures will have a single reference number.

[0034] Fig. 1 shows a schematic diagram of an exemplary embodiment of a gripper 1 according to the invention. Fig. 2 shows an exploded view of the gripper 1 of Fig. 1.

[0035] The gripper 1 can be mounted on an articulated or Cartesian robot.

[0036] According to the illustrated exemplary embodiment, the gripper 1 comprises a chassis 2 with a rectangular base 21 and supports 22, 23, 24, 25 rising from the base 21. A system of crossed bridges 26, 27 can be attached to the upper ends of the supports 22, 23, 24, 25. The suction plate 3 is connected to said system of bridges by mechanisms allowing a vertical displacement of the suction plate relative to the chassis. Such mechanisms are known per se and will not be detailed here.

[0037] In the exemplary embodiment, the suction plate 3 is connected to two turbine pumps via tubes 33 , 34 and comprises a downward opening 30 and a side opening 31 .

[0038] Advantageously, the suction plate 3 can also be provided with suction openings 32, visible in figure 3. These suction openings are connected to a vacuum pump 35 so that the product can be sucked directly from above when the suction plate comes into contact with the layer of product and the vacuum is activated. This is particularly useful for products with a normal top surface that can be sucked up.

[0039] In the exemplary embodiment shown, the underside 38 comprises a foam plate 39 into which the suction openings 32 open, through which objects can be suctioned.

[0040] According to another exemplary embodiment, not shown, the suction openings open into individual suction cups.

[0041] As shown in FIG. 2, side skirts 4 of flexible material form strips around the sides of the suction plate 3 .

[0042] According to the exemplary embodiment shown in Figures 2 and 6, the skirt 4 comprises four rectangular webs 41, 42, 43, 44. The underside of each web is partially attached to an expansion bar 61, 62, 63, 64 of the clamping device 6 arranged on the base 21 of the chassis. The attachment is made to the part of the expansion bar that remains fixed. The webs are not attached to the slides 71, 72. As shown in Figure 3, the clamping device 6 is in a configuration in which the expansion bars 61, 62, 63, 64 have their maximum length.

[0043] In the exemplary embodiment shown in Figures 1 and 3, the top and other sides are also attached by known means so that each web maintains a rectangular shape.

[0044] 1 and 6, an accumulator 7 is disposed between each pair of adjacent stretch bars 61, 62. The accumulator 7 is configured to receive an excess portion of each of the two webs 41, 42 attached to the pair of stretch bars 61, 62 when the clamping device is actuated into contact with the layer of product.

[0045] Figures 4 and 5 show an optional tray 5, 5' for supporting the layer of product in a support position deployed below the layer of product.

[0046] According to the illustrated example, the support tray is formed from two parts with a number of panels 51, 52, 53, 51', 52', 53' each hinged to one another and can be deployed beneath the product in the support position and stored in the storage position as in FIG. 4.

[0047] To load one or more layers of products using a gripping device 1 according to the invention, the following steps are carried out by a palletizing / depalletizing system comprising the device 1: The robot carrying the gripping device 1 displaces the same towards the pallet on which the products are loaded.

[0048] With the suction plate 3 in a lower position on the base 21 of the chassis, the device 1 is displaced until contact is made between the lower surface of the plate 3 and the upper surface of the product, and the 3D camera 9 can be used to center the gripper during this descent. The contact can be detected by an infrared detector located at the bottom of the chassis and / or a movement detector at the top of the chassis.

[0049] - The robot continues its descent, which causes a relative displacement of the suction plate 3 with respect to the skirt, this displacement being a predetermined vertical distance relative to the thickness of the layer of product to be gripped.

[0050] - Depending on the nature of the product, the clamping devices 6 can be actuated to contact the product only or to apply a clamping force to the product. When the telescopic bars 61, 62, 63, 64 are displaced into contact with the product, the skirt web is also displaced until contact is made between the skirt and the side surface 30 of the plate 3 as well as with the product. When the webs forming the telescopic skirt 4 are displaced into contact with the product, the excess portions of each web 41, 42, 43, 44 accumulate on both sides of the accumulators 7, whereby, at each accumulator, the excess portions of both webs intersect and create a seal in the vacuum chamber.

[0051] The turbine can be turned on to create a vacuum in the chamber and attach the skirt to the side of the plate by the opening 31. This vacuum can in some cases be sufficient to pick up the layer of product.

[0052] The suction through the suction opening 32 can optionally be activated by activating a vacuum pump.

[0053] The support plate can also be deployed to pass under the product and further ensure the displacement of the object gripped by the device 1.

Claims

1. A gripping device (1) to be attached to a palletizing or depalletizing robot for gripping a set of products arranged in the form of at least one layer on a container, wherein the gripping device (1) - A suction plate (3) having a side surface that forms a bearing surface and a lower surface that forms a substantially horizontal surface (P) when the gripping device is attached to a robot, wherein the suction plate (3) is connected to a first pump device, has a vacuum opening (30), and is positioned so that its lower surface contacts the layer of product due to the displacement of the gripping device, - Side skirts (4) of a flexible material that form a strip surrounding the side surface of the suction plate (3) and It is equipped with a chassis (2) attached to it, The skirt (4) is configured to move from a resting position at a distance from the product layer to a working position where it contacts the product layer and the bearing surface of the suction plate, and the skirt (4) forms a closed vacuum volume in a plane (P) above and to the side of the product layer, and the suction plate (3) is movable perpendicular to the skirt (4) so ​​as to adjust the vacuum volume to the height of the product layer to be gripped by the gripping device. Gripping device (1).

2. The gripping device (1) according to claim 1, wherein the suction plate (3) is provided with a side opening (31) in its contour to bond the side skirt (4) to its bearing surface by suction at the working position.

3. The gripping device (1) according to any one of claim 1 or 2, further comprising a clamping device (6) which can be operated to contact and / or clamp the layer of product.

4. The gripping device (1) according to claim 3, wherein the clamping device (6) comprises four telescopic bars (61, 62, 63, 64) that form a rectangle whose surface area is reduced when the clamping device (6) is operated to come into contact with a layer of product.

5. The gripping device (1) according to claim 4, wherein the skirt (4) comprises four rectangular webs (41, 42, 43, 44), each positioned on one side of a rectangle defined by telescopic bars (61, 62, 63, 64) and having a length similar to the maximum length of the telescopic bars (61, 62, 63, 64) positioned on the same side of the rectangle, and each having a lower part partially attached to the same side.

6. The gripping device (1) according to claim 5, wherein the accumulation device (7) is positioned between each pair of adjacent telescopic bars (61, 62), and the accumulation device (7) is configured to receive each of the excess portions of the two webs attached to the pair of telescopic bars when the clamping device is operated to contact the layer of product.

7. The gripping device (1) according to claim 1 or 2, further comprising a tray (5, 5') for supporting a layer of products, which is horizontally movable between a support position located below the layer of products and a storage position away from the products.

8. The gripping device (1) according to claim 7, wherein the support tray (5, 5') is formed by a plurality of panels (51, 52, 53, 51', 52', 53') hinged together, and can be unfolded under a product in a support position and stored in a storage position.

9. The gripping device according to claim 1 or 2, wherein the suction plate (3) further comprises a suction opening (32) connected to a second pump device, the suction opening (32) configured to suck up the product when the suction plate is in contact with the layer of product.

10. A palletizing or depalletizing system comprising a robot having a gripping device according to claim 1 or 2.

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