Apparatus for picking up products stacked on a pallet and method for picking up products stacked on a pallet

Abstract

An apparatus 10 for picking up products stacked on a pallet includes a receiving station 12 configured to receive the pallet 100, a discharging station 13 including a support surface 21, and a transporter 15 movable between the receiving station 12 and the discharging station 13 and configured to pick up a separation sheet 103 from the receiving station 12 and lower it to the discharging station 13. The transporter 15 includes a plurality of grippers 16, and each gripper 16 is configurable between a closed state in which it grips the flexible material separation sheet 103 and an open state in which it releases the flexible material separation sheet 103. A main pusher 24 is disposed within the discharging station 12 and is movable along the support surface 21 following an active section 26 of a first path 25.

Description

Technical Field

[0001] The present invention relates to an apparatus for picking up products stacked on a pallet and a method for picking up products stacked on a pallet.

Background Art

[0002] In some applications in the manufacturing department, it is necessary to produce a plurality of final products or semi-finished products and then transport these products to a remote location in the same or another factory in order to complete the production process.

[0003] Such applications may involve the manufacture of containers, which, once fabricated, will be transported to the factory where they will be filled, or, once filled, will be transported to the factory where they will be packaged into individual units or groups of individual units for subsequent sale to end-users.

[0004] Examples of such applications are production, filling of containers with loose goods (such as candies, confectionery, pastilles, etc.), and subsequent packaging.

[0005] In this example, cylindrical containers are fabricated, then filled with loose goods, and closed with lids for opening and re-closing. These containers can be sent to the factory where the containers will be individually packaged or where groups of containers will be packaged for subsequent distribution through the sales network.

[0006] Typically, the containers are stacked on a pallet and the pallet is transported to the destination factory, whereby the containers are transported to the packaging factory.

[0007] Based on the applicant's experience, in the case of containers, a so-called palletizing operation is performed. In the palletizing operation, the containers are stacked on a pallet by arranging them in a predetermined order in individual layers that are stacked on top of each other and separated by a separating sheet made of a flexible material such as a cardboard sheet. A plastic film is wound around the pallet thus prepared, enabling the handling and transportation of the stacked containers.

[0008] The applicant has verified that the palletizing operation is usually carried out using a device for lowering the containers onto the separating sheet made of a flexible material in sequence. Based on the applicant's experience, such a device includes, for example, an anthropomorphic robotic arm equipped with a plurality of gripping heads arranged in a predetermined array, and the plurality of gripping heads simultaneously pick up one or more rows of containers (e.g., by using a suction cup device) and arrange the rows of containers on the separating sheet made of a flexible material in a predetermined order until a layer of containers is completed. On top of the formed layer of containers, an operator or a dedicated device places a further separating sheet of the flexible material, and the anthropomorphic robotic arm places a further layer of containers. This series of operations continues until a plurality of layers of containers are completely formed on the pallet.

[0009] When the formed pallet arrives at the intended factory, the wound plastic film is removed, and each container is conveyed from its respective layer onto a conveyor belt, which sends each container to a processing station such as a packaging station.

[0010] The applicant has noticed that during the handling or transportation of the pallet, the products (containers in the above example) in the layers of the product may move relative to each other on the separating sheet made of a flexible material with respect to the predetermined lowering order, and may be arranged in a substantially random order on the separating sheet made of a flexible material.

[0011] The applicant has verified that if such a situation occurs, the picking operation of the stacked products, so-called depalletizing operation, cannot be performed using the same picking device as that used for palletizing, because the products to be picked need to be arranged according to a pre-determined pattern.

[0012] The applicant has verified that, for example, with a gripping head of a humanoid robot arm, not all products in the product layer can be picked because all products in the product layer are no longer arranged according to their original arrangement and thus are no longer arranged according to the pre-arranged array of gripping heads.

[0013] Therefore, based on the applicant's experience, the picking operation of products that may deviate from the initial palletizing order is usually performed by the assigned operator, and as a result, the depalletizing process cannot be automated.

Summary of the Invention

Problems to be Solved by the Invention

[0014] However, the applicant is aware of the need to automate the depalletizing process even when the products to be depalletized are arranged in a random order.

[0015] The applicant considered that a separation sheet made of a flexible material can be used as a temporary support for the product layer, and each layer of products can be slid along its respective flexible material separation sheet to depalletize the products.

[0016] However, due to its very nature, the flexible material separation sheet does not have sufficient structural strength to support the products placed on it without significant deformation, and thus the applicant considered that the separation sheet needs to be supported during all depalletizing operations.

[0017] The applicant has discovered that by gripping the edge of the separation sheet of the flexible material using a gripper, it is possible to remove the separation sheet together with the layer of products above the pallet without deforming the separation sheet to the extent that the products fall off the separation sheet.

[0018] Also, the applicant has discovered that while the separation sheet is being gripped, by transporting the separation sheet together with the layer of products above it onto the support surface, it is possible to push the products along the separation sheet while the separation sheet is supported by the support surface.

Means for Solving the Problems

[0019] Therefore, in a first aspect, the present invention relates to an apparatus for picking up products stacked on a pallet.

[0020] Preferably, a receiving station configured to receive the pallet is provided.

[0021] Preferably, a discharging station including a support surface is provided.

[0022] Preferably, a transporter is movable at least between the receiving station and the discharging station, and is configured to pick up a separation sheet made of a flexible material from the receiving station and lower it to the discharging station.

[0023] Preferably, the transporter includes a plurality of grippers.

[0024] Preferably, each gripper is configurable between a closed state in which it grips the separation sheet made of a flexible material and an open state in which it releases the separation sheet made of a flexible material.

[0025] Preferably, a main pusher is placed within the discharging station and is movable along the support surface following an effective section of a first path.

[0026] In a second aspect, the present invention relates to a method for picking up products stacked on a pallet.

[0027] Preferably, a pallet with products arranged in layers stacked on top of each other and separated by respective flexible material separation sheets is placed within a receiving station.

[0028] Preferably, the flexible material separation sheet with the upper layer of products thereon is grasped.

[0029] Preferably, while the flexible material separation sheet is being held, the flexible material separation sheet is moved to a discharging station.

[0030] Preferably, the flexible material separation sheet is placed on the support surface of the discharging station.

[0031] Preferably, to remove the layer of products from the flexible material separation sheet, the layer of products placed on the flexible material separation sheet is pushed along the support surface.

[0032] The applicant has verified that by holding the flexible material separation sheet using grippers, the flexible material separation sheet remains constrained in the gripping areas, and thus, by selecting these gripping areas, deformation can be suppressed so that the products placed on top do not fall from the flexible material separation sheet while being moved from the pallet.

[0033] Also, the applicant has verified that by moving the flexible material separation sheet to the support surface, the flexible material separation sheet is on the support surface in a supported state and, as a result of its own flexibility, can take a planar form, ensuring that the main pusher effectively grasps and removes all the products placed on the flexible material separation sheet.

[0034] In addition, the applicant has verified that any displacement of the product on the flexible separation sheet (other than by the transport of the pallet) during the conveyance of the flexible separation sheet to the unloading station does not adversely affect the operation of pushing the product along the support surface to remove the product from the flexible material separation sheet.

[0035] As used herein and in the appended claims, the term "flexible material separation sheet" means an object in the form of a sheet that can bend when receiving the weight of at least the goods placed thereon. Examples of the flexible material separation sheet may include a cardboard sheet, a paper or cardboard sheet, and a plastic material sheet.

[0036] As used herein and in the appended claims, the terms "vertical direction", "vertically", and similar expressions mean any direction perpendicular to the support surface.

[0037] As used herein and in the appended claims, the terms "horizontal direction", "horizontally", and similar expressions mean any direction included in a plane parallel to the support surface.

[0038] As used herein and in the appended claims, when referring to the flexible material separation sheet, "stretching" means the act of stretching the flexible material separation sheet by applying one or more tensions in a direction along the horizontal plane to the flexible material separation sheet.

[0039] As used herein and in the appended claims, "stacked" means placed one above the other along the vertical direction.

[0040] The present invention may have at least one of the following preferred features in all of the above-described aspects. Therefore, such features may exist individually or in combination, except when explicitly stated as different in either the apparatus of the first aspect of the present invention or the method of the second aspect of the present invention.

[0041] Preferably, the main pusher is arranged parallel to the support surface and is spaced from the support surface by a first distance in the vertical direction when the main pusher travels along the effective section of the first path.

[0042] Preferably, gripping the separation sheet made of a flexible material includes gripping the separation sheet made of a flexible material in the gripping area.

[0043] Preferably, the gripping area is located at the opposite edges of the separation sheet made of a flexible material.

[0044] Preferably, each gripper includes a first gripper body and a second gripper body that are movable toward each other to achieve the closed state and movable away from each other to achieve the open state.

[0045] Preferably, the first gripping body includes at least one suction head.

[0046] Preferably, the suction head is switchable between a suction state in which the suction head adheres to the separation sheet made of a flexible material and a release state in which it does not adhere to the separation sheet made of a flexible material.

[0047] Preferably, when the transporter is at the receiving station, the gripper is movable between a position remote from the separation sheet made of a flexible material and a position close to the separation sheet made of a flexible material.

[0048] Preferably, the gripper is movable between a remote position and a close position, preferably by moving along the vertical direction toward the pallet.

[0049] Preferably, each gripper may be movable along the vertical direction independently of the other grippers.

[0050] Preferably, the distance each gripper travels along the vertical direction between the remote position and the proximity position may be different from the distance the other grippers travel along the vertical direction between their respective remote positions and their respective proximity positions, taking into account the deviation of the gripping area of the separation sheet made of flexible material with respect to the horizontal plane.

[0051] Preferably, before gripping the separation sheet made of flexible material, at least in the gripping area of the separation sheet made of flexible material, the separation sheet made of flexible material is lifted along the lifting direction.

[0052] Preferably, the lifting direction is the vertical direction away from the pallet.

[0053] Preferably, lifting the separation sheet made of flexible material along the lifting direction includes placing the first gripper body of each gripper on the separation sheet made of flexible material and switching each suction head to the suction state.

[0054] Preferably, placing the first gripper body of each gripper on the separation sheet made of flexible material includes moving the gripper to the proximity position.

[0055] Preferably, at the proximity position, the gripper is in an open state, and the suction heads of the first gripper bodies of each gripper are placed in the suction state.

[0056] Preferably, when at this proximity position, the gripper is movable in the lifting direction until it reaches the closing start position.

[0057] Preferably, at the closing start position, the gripper is placed in the closed position.

[0058] Preferably, lifting the separation sheet made of flexible material along the lifting direction includes moving the gripper in the lifting direction with the suction head in the suction state.

[0059] Preferably, moving the gripper in the lifting direction is performed after the first gripper body of each gripper is placed on the flexible material separation sheet.

[0060] Preferably, the lifting length of the gripper from the proximity position measured in the vertical direction to the closing start position is at least such that the second gripper body of each gripper can be inserted between the lifted flexible material separation sheet and the flexible material separation sheet placed directly below the lifted flexible material separation sheet.

[0061] Preferably, after the flexible material separation sheet is lifted along the lifting direction, the second gripper body is inserted under the flexible material separation sheet, and the gripper is closed.

[0062] Preferably, after the gripper is closed, the suction head is placed in the released state.

[0063] Preferably, when at the closing start position, the gripper is movable in the extending direction.

[0064] Preferably, the extending direction is horizontal.

[0065] Preferably, when the plurality of grippers are in the closed state, they are movable along the extending direction directed horizontally.

[0066] Preferably, the extending direction is substantially perpendicular to the lifting direction.

[0067] Preferably, gripping the flexible material separation sheet includes at least stretching the flexible material separation sheet along the extending direction.

[0068] Preferably, stretching the flexible material separation sheet is performed after the gripper is closed.

[0069] Preferably, when the plurality of grippers are in the closed state, the first gripper head of each pair of grippers is horizontally moved away from the second gripper of each pair of grippers.

[0070] Preferably, stretching the flexible material separation sheet includes moving the operating grippers away from each other along the stretching direction at the opposite edges of the flexible material separation sheet.

[0071] Preferably, the stretching length measured in the horizontal direction is such that the portion of the flexible material separation sheet is horizontally placed between two opposite gripping regions.

[0072] Preferably, the carrier includes four enclosing walls extending along a vertical plane.

[0073] Preferably, the enclosing walls are movable along the vertical direction so as to be disposed at the edges of the flexible material separation sheet.

[0074] Preferably, the enclosing walls are disposed at the edges of the flexible material separation sheet such that the enclosing walls extend vertically above and below the edges of the flexible material separation sheet.

[0075] Preferably, disposing the enclosing walls at the edges of the flexible material separation sheet is performed before lifting the flexible material separation sheet.

[0076] Preferably, moving the flexible material separation sheet to the unloading station while the flexible material separation sheet is being gripped includes moving the carrier horizontally until the carrier comes onto the support surface.

[0077] Preferably, the carrier can be lifted and lowered along the vertical direction when placed at the receiving station.

[0078] Preferably, the carrier can be connected so as to be slidable on a cross member extending horizontally between the receiving station and the unloading station.

[0079] Preferably, when the carrier is placed at the unloading station, it can be lifted and lowered along the vertical direction.

[0080] Preferably, lowering the flexible material separation sheet onto the support surface of the unloading station includes lowering the carrier vertically towards the support surface.

[0081] Preferably, lowering the carrier vertically towards the support surface is carried out to the release distance from the support surface.

[0082] Preferably, the release distance measured in the vertical direction is at least such that the second gripper body of each gripper is removed from the flexible material separation sheet.

[0083] Preferably, when the carrier is at the unloading station, the gripper is movable between a closed state and a suspended position of the flexible material separation sheet.

[0084] Preferably, in the suspended position, the gripper is in an open state, and the first gripper body of each gripper is in contact with the flexible material separation sheet.

[0085] Preferably, at least in the suspended position, the suction head of the first gripper body of each gripper is placed in a suction state.

[0086] Preferably, placing the gripper in the suspended position is carried out when the carrier is at the release distance.

[0087] Preferably, lowering the flexible material separation sheet onto the support surface includes placing the flexible material separation sheet on the support surface with the gripper in the suspended position.

[0088] Preferably, when the flexible material separation sheet is placed on the support surface, the suction head is switched to a released state.

[0089] Preferably, after switching the suction head to the released state, the transporter and the gripper are vertically moved away from the support surface.

[0090] Preferably, the support surface includes a holding unit configured to hold a separation sheet made of a flexible material on the support surface.

[0091] Preferably, the holding unit is effective only at the peripheral portion of the separation sheet made of a flexible material.

[0092] Preferably, the holding unit includes a plurality of suction tubes that are open on the support surface of the support plane.

[0093] Preferably, after lowering the separation sheet made of a flexible material onto the support surface, the separation sheet made of a flexible material is held on the support surface.

[0094] Preferably, before pressing the layer of products, the separation sheet made of a flexible material is held on the support surface.

[0095] During the transportation of the pallet or the movement of the separation sheet made of a flexible material, one or more products may be stacked on the products of the product layer placed on the separation sheet made of a flexible material.

[0096] Preferably, when one or more products are stacked on the layer of products, before pressing the layer of products, the one or more products stacked on the layer of products on the support surface are pressed.

[0097] Preferably, a secondary pusher is provided that is movable along an effective section of a second path along the support surface.

[0098] Preferably, the effective section of the second path is parallel to the effective section of the first path.

[0099] Preferably, the effective section of the second path vertically overlaps the effective section of the first path.

[0100] Preferably, when the secondary pusher travels through the effective section of the second path, the secondary pusher is spaced from the support surface by a second distance that is greater than the first distance in the vertical direction.

[0101] Preferably, the second distance is selected to be substantially equal to the height in the vertical direction of the product placed on the flexible material separation sheet.

[0102] Preferably, pushing the one or more products stacked on top of the layer of products on the support surface is performed by moving the secondary pusher along the effective section of the second path.

[0103] Preferably, the secondary pusher travels along the effective section of the second path even when no product is stacked on top of the layer of products.

[0104] Preferably, the secondary pusher travels through the effective section of the second path before the main pusher travels through the effective section of the first path.

[0105] Preferably, the effective section of the first path extends between a start end and an end end.

[0106] Preferably, the effective section of the second path extends between a start end and an end end.

[0107] Preferably, the start end of the effective section of the first path is located at the holding unit for the flexible material separation sheet.

[0108] Preferably, the start end of the effective section of the second path is vertically aligned above the start end of the effective section of the first path.

[0109] Preferably, the end end of the effective section of the second path is vertically aligned above the end end of the effective section of the first path.

[0110] Preferably, when the pusher is at the start end of the effective section of the first path, the secondary pusher is at the end of the effective section of the second path.

[0111] Preferably, the first path extends in a closed loop.

[0112] Preferably, the first path includes a return section that extends between the end and the start of the effective section.

[0113] Preferably, the second path extends in a closed loop.

[0114] Preferably, the second path includes a return section that extends between the end and the start of the effective section.

[0115] Preferably, when the main pusher travels through the effective section of the first path, the secondary pusher travels through the return section of the second path.

[0116] Preferably, in a direction perpendicular to the support surface, an encapsulation passage having dimensions substantially matching the dimensions of the layers of the product measured in the same direction is formed.

[0117] Preferably, a cover body is provided which is placed parallel to the support surface and is spaced from the support surface by a third distance in the vertical direction when the secondary pusher is at the end of the effective section of the second path.

[0118] Preferably, the third distance is equal to the second distance.

[0119] Preferably, the encapsulation passage is formed by the cover body.

[0120] Preferably, the cover body is movable along the support surface following the effective section of the third path.

[0121] Preferably, the effective section of the third path extends between a start end and an end.

[0122] Preferably, the start of the effective section of the third path coincides with the start of the effective section of the second path.

[0123] Preferably, the end of the effective section of the third path coincides with the end of the effective section of the second path.

[0124] Preferably, the third path extends in a closed loop.

[0125] Preferably, the third path includes a return section that extends between the end and the start of the effective section.

[0126] Preferably, the return section of the third path coincides with the return section of the second path.

[0127] Preferably, when measured along the third path, the cover body has an extension length equal to the extension length of the effective section of the third path.

[0128] Preferably, the cover body includes a first end and a second end.

[0129] The distance between the first end and the second end of the cover body, when measured along the third path, is equal to the distance between the start and the end of the effective section of the third path.

[0130] Preferably, when the secondary pusher is at the end of the effective section of the second path, the cover body is placed between the start and the end of the effective section of the third path and reaches the start and the end of the effective section of the third path.

[0131] Preferably, when the secondary pusher is at the end of the effective section of the second path, the first end of the cover body is placed at the end of the effective section of the third path.

[0132] Preferably, when the secondary pusher is at the end of the effective section of the second path, the second end of the cover body is placed at the start of the effective section of the third path.

[0133] Preferably, when the main pusher advances along the effective section of the first path, the second end of the cover body advances along the effective section of the third path, and the first end of the cover body advances along the return section of the third path.

[0134] Preferably, the second end of the cover body is integrated with the main pusher, and the first end of the cover body is integrated with the secondary pusher.

[0135] Preferably, an encapsulation passage is formed on the support surface before pressing the product layer.

[0136] Preferably, the cover body is configured to prevent one or more products from overlapping the product layer during the operation of pressing the product using the main pusher.

[0137] Preferably, two encapsulation side walls are provided so as to be located on the support surface and extend parallel to the forward direction of the main pusher.

[0138] Preferably, after removing the product layer arranged from the flexible material separation sheet, the flexible material separation sheet is removed from the support surface.

[0139] Preferably, the support surface includes two halves that can be rotated around respective horizontal and parallel rotation axes.

[0140] Preferably, the support surface can be configured between an operating state in which the two halves are aligned with each other and in the same plane and an open state in which the two halves are rotated around their respective rotation axes.

[0141] Preferably, the unloading station includes a collection section below the support surface.

[0142] Preferably, when the support surface is in the operating state, the collection section is closed at the upper part of the support surface.

[0143] Preferably, when the support surface is in the open state, the collection section is open at the upper part.

[0144] Preferably, removing the separation sheet made of the flexible material from the support surface is performed by placing the support surface in an open state and dropping the separation sheet made of the flexible material into the recovery section.

[0145] Preferably, when the support surface is in the open state, the holding unit of the separation sheet made of the flexible material is not operating.

[0146] Preferably, when the support surface is in the open state, the main pusher is in the return section of the first path.

[0147] Preferably, when the support surface is in the open state, the secondary pusher is in the return section of the second path.

[0148] Preferably, when the support surface is in the open state, the cover body is in the return section of the third path.

[0149] Preferably, the product is a container, and preferably, it is filled with loose goods.

[0150] Further features and advantages of the present invention will become apparent from the following detailed description of the preferred embodiments of the present invention, given as illustrative and non-limiting examples with reference to the accompanying drawings.

Brief Description of the Drawings

[0151]

Figure 1

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Figure 16

Figure 17

DETAILED DESCRIPTION OF THE INVENTION

[0152] The representations in the accompanying drawings are not necessarily considered to be at a fixed scale and do not necessarily maintain the ratio between various components.

[0153] An apparatus for picking up products stacked on a pallet according to the present invention is schematically shown in FIG. 1. The apparatus for picking up products stacked on a pallet is collectively referred to by reference numeral 10.

[0154] The device 10 includes a frame 11, in which a receiving station 12 and a discharging station 13 are defined. The receiving station 12 and the discharging station 13 are arranged side by side.

[0155] The receiving station 12 shown on the left side in FIG. 1 includes a storage compartment 14 for accommodating the pallet 100. On the pallet 100, a plurality of products 101 are arranged and stacked in rows 102 separated from each other by respective flexible material separation sheets 103.

[0156] The product 101 may be, for example, a cylindrical container. The flexible material separation sheet 103 may be a cardboard sheet.

[0157] The device 10 includes a transporter 15 that is horizontally movable along the transport direction DT between the receiving station 12 and the discharging station 13 (in FIG. 1, the transporter 15 is shown at an intermediate position between the receiving station 12 and the discharging station 13). Also, the transporter 15 is vertically movable both when it is arranged at the receiving station 12 and when it is arranged at the discharging station 13.

[0158] The transporter 15 includes a carriage 15a that is connected so as to be slidable on a horizontal member 11a of the frame 11 along the transport direction DT. The carriage 15a is also connected so as to be slidable on a vertical member 11b of the frame 11 along the vertical direction when the transporter 15 is at the receiving station 12. The carriage 15a is also connected so as to be slidable on a vertical member 11c of the frame 11 along the vertical direction when the transporter 15 is at the discharging station 13.

[0159] The transporter 15 also includes four vertical enclosing walls 30 that are arranged in pairs perpendicular to each other and are movable together with the transporter 15.

[0160] The transfer device 15 includes a plurality of grippers 16 that can move together with the transfer device 15. Each gripper 16 is movable along the horizontal direction with respect to the transfer device 15.

[0161] The grippers 16 are arranged in pairs, and each gripper 16 of the pair of grippers 16 faces the other gripper 16 of the same pair of grippers 16 along the transfer direction DT. Between 2 pairs and 6 pairs of grippers 16, preferably between 2 pairs and 5 pairs of grippers 16, more preferably between 2 pairs and 4 pairs of grippers 16, for example 2 pairs or 3 pairs of grippers 16 are provided. In the embodiment shown in the attached drawings, 2 pairs of grippers 16 are provided.

[0162] As better shown in FIG. 16, each gripper 16 includes a first gripper body 17 and a second gripper body 18. The second gripping body 18 can be rotated about the hinge axis AC with respect to the first gripping body 17 so as to move toward and away from the first gripping body 17. When the first gripper body 17 is substantially in contact with the second gripper body 18 (as in the state shown in FIG. 16), the gripper is in the closed state. When the first gripper body 17 is moved away from the second gripper body 18 (as in the state shown in FIG. 16), the gripper is in the open state.

[0163] The first gripper body 17 of each gripper 16 includes two suction heads 19 connected to a pneumatic circuit (not shown) via respective connectors 20. The suction head 19 is configured to create a reduced pressure by realizing a suction state and to be at atmospheric pressure by realizing a release state.

[0164] Device 10 includes a support surface 21 at the unloading station 13. The support surface 21 is switchable between an operating position and an open position. The support surface 21 includes two halves 21a, 21b each hingedly attached to the frame 10 (FIG. 17). In the operating state, the two halves 21a, 21b are in the same plane and arranged along a horizontal plane. In the open state, the two halves 21a, 21b are rotated relative to each other, creating a discharge opening 22. Below the support surface 21, there is a collection compartment 23. Unless otherwise specified, the support surface 21 in the operating state is referred to.

[0165] The support surface 21 includes a holding unit 39 placed at an initial portion 21c of the support surface 21 (in FIG. 10, the holding unit 39 is depicted by a dashed line). The holding unit 39 is operable along the entire initial portion 21c of the support surface 21 in a direction parallel to the conveying direction DT.

[0166] In a possible embodiment, the holding unit 39 may include a plurality of suction ducts (not shown) that are open on the support surface 21. Alternatively, the holding unit 39 may include a plurality of suction cups (not shown) placed on the support surface 21. Alternatively, the holding unit 39 may include a plurality of clamps (not shown) operable with respect to the support surface 21.

[0167] Device 10 includes a main pusher 24 movable along a first path 25 at the unloading station 13.

[0168] As shown in FIG. 6, the first path 25 is a closed path. The first path 25 includes an effective section 26 that extends substantially parallel to the support surface 21. The effective section 26 of the first path 25 includes a start end 26a and an end end 26b. Further, the first path 25 includes a return section 27 that extends between the end end 26a and the start end 26a of the effective section 26. The return section 27 includes a first portion 28 and a second portion 29. The first portion 28 of the return section 27 extends vertically along two parallel branches and is close to the end end 26b of the effective section 26. The second portion 29 of the return section 27 is substantially parallel to the effective section 26 and is vertically superimposed on the effective section 26. When the main pusher 24 travels along the effective section 26, the main pusher 24 is spaced apart from the support surface 21 by a first distance D1 in the vertical direction. The distance D1 is smaller than the height of the product 101 in the vertical direction.

[0169] The main pusher 24 is arranged to cross the conveying direction DT. The main pusher 24 is placed laterally with respect to the support surface 21 and is connected to two parallel chains 31 (only one chain 31 can be seen in the drawing) placed across the main pusher 24. The chain 31 is wound around a pulley 32, and at least one of the pulleys 32 inside is electrified. The chain 31 is closed in contact with the pulley 32 and is placed parallel to the first path 25. The main pusher 24 is carried by the chain 31 and follows the first path 25.

[0170] Preferably, the main pusher 24 has an outer shape with a U-shaped cross section.

[0171] The apparatus 10 also includes a secondary pusher 33 that is movable along a second path 34 at the unloading station 13.

[0172] As shown in FIG. 6, the second path 34 is a closed path. The second path 34 includes an effective section 35 that extends substantially parallel to the support surface 21. The effective section 35 of the second path 34 includes a start end 35a and an end end 35b. The second path 34 further includes a return section 36 that extends between the end end 35a and the start end 35b of the effective section 35. The return section 36 includes a first portion 37 and a second portion 38. The first portion 37 of the return section 36 extends vertically along two parallel branches and is close to the end end 35b of the effective section 35. The second portion 38 of the return section 36 is substantially parallel to the effective section 35 and is vertically superimposed on the effective section 35. When the secondary pusher 33 travels along the effective section 35, the secondary pusher 33 is spaced apart from the support surface 21 by a second distance D2 in the vertical direction. The distance D2 is greater than the height of the product 101 in the vertical direction and less than twice the height of the product 101 in the vertical direction.

[0173] The second path 34 is parallel to the first path 25 and is inside the first path 25.

[0174] The secondary pusher 33 is parallel to the main pusher 24. The secondary pusher 33 is arranged to cross the conveying direction DT. The secondary pusher 24 is also connected to the chain 31. The secondary pusher 33 is carried by the chain 31 and follows the second path 34. The main pusher 24 and the secondary pusher 33 are permanently connected to the chain 31 and are spaced apart from each other along the chain 31. The distance between the main pusher 24 and the secondary pusher 33 along the second path 34 is substantially equal to the length of the effective section 35 of the second path 34.

[0175] Preferably, the secondary pusher 33 has an outer shape with a U-shaped cross section.

[0176] The apparatus 10 also includes a cover body 40 at the unloading station 13. The cover body 40 is movable along a third path 41.

[0177] As shown in FIG. 6, the third path 41 is a closed path. The third path 41 includes an effective section 42 that extends substantially parallel to the support surface 21. The effective section 42 of the third path 41 includes a start end 42a and an end end 42b. The third path 41 further includes a return section 43 that extends between the end end 42a and the start end 42b of the effective section 42. The return section 43 includes a first portion 44 and a second portion 45. The first portion 44 of the return section 43 extends vertically along two parallel branches and is close to the end end 42b of the effective section 42. The second portion 45 of the return section 43 is substantially parallel to the effective section 42 and is vertically superimposed on the effective section 42. When the cover body 40 travels along the effective section 42, the cover body 40 is spaced apart from the support surface 21 in the vertical direction by a third distance D3.

[0178] As schematically shown in FIG. 6, the third path 41 coincides with the second path 34. The third distance D3 coincides with the second distance D2. The third path 41 is parallel to the first path 25 and is inside the first path 25.

[0179] The cover body 40 is parallel to the main pusher 24. The cover body 40 is arranged to cross the conveying direction DT. The cover body 40 is also connected to the chain 31. The cover body 40 is carried by the chain 31 and follows the third path 41. The cover body 40 is permanently connected to the chain 31 and extends between the secondary pusher 33 and the main pusher 24.

[0180] The cover body 40 includes a first end 40a and a second end 40b. The first end 40a is substantially placed at the position of the secondary pusher 33, and the second end 40b is substantially placed at the position of the main pusher 24. The distance between the first end 40a and the second end 40b along the third path 41 is substantially equal to the length of the effective section 42 of the third path 41.

[0181] The cover body 40 includes a plurality of battens 46 that form a kind of shutter. Each batten is connected to the chain 31. The starting batten defines the first end 40a of the cover body 40, and the ending batten defines the second end 40b of the cover body 40. When the cover body 40 is disposed within the effective section 42 of the third path 41, the cover body 40 cooperates with the support surface 21 to create the enclosing passage 47.

[0182] Preferably, each batten 46 has an outer shape with a U-shaped cross-section. The battens 46 are spaced from each other along the third path 41 by an amount smaller than the width of the product 101 in the horizontal direction.

[0183] The apparatus 10 includes two enclosing sidewalls 48 (only one of which is shown in dashed lines in FIG. 6) placed on the support surface 21 at the unloading station 13.

[0184] The enclosing sidewalls 48 extend vertically and are parallel to the forward direction of the main pusher 24.

[0185] The apparatus 10 is close to the product conveyor 200. Such a conveyor 200 may be part of the apparatus 10 or a separate apparatus from the apparatus 10. The conveyor 200 can be a conveyor belt, an organizer, or an assembly of a conveyor belt and an organizer.

[0186] A method for picking up products stacked on a pallet according to the present invention can be implemented using the above-described apparatus 10.

[0187] Referring explicitly to the apparatus 10, a method for picking up products stacked on a pallet according to the present invention includes placing the pallet 100 in the storage compartment 14 of the receiving station 12.

[0188] The pallet 100 is arranged together with the rows 102 of products 101 placed on each flexible material separation sheet 103. Each flexible material separation sheet 103 is stacked on top of the layer 102 of products 101 arranged on another flexible material separation sheet 103.

[0189] As schematically shown in FIG. 2, the transporter 15 is placed above the pallet 100 at the receiving station with the gripper 16 in the open state. The suction head 19 is in the released state. The gripper 16 and the transporter 15 are at positions away from the pallet 100.

[0190] The gripper 16 is vertically lowered together with the transporter 15 towards the pallet 100. The gripper 16 is in the open state and the suction head 19 is in the released state.

[0191] As schematically shown in FIG. 3, the gripper 16 reaches a position close to the flexible material separation sheet 103 placed higher on the pallet 100. The proximity position of the gripper 16 is reached by vertically lowering the transporter 15 and advancing the gripper 16 horizontally (if necessary) towards the flexible material separation sheet 103. The proximity position is reached when the first gripper body 17 of each gripper 16 contacts the edge of the flexible material separation sheet 103. The gripper 16 is in the open state and the suction head 19 is switched to the suction state. The suction head 19 restrains the flexible material separation sheet 103 (by suction) against the first body 17 of the gripper 16.

[0192] At this point, the transporter 15 and the gripper 16 are vertically translated away from the pallet 100. Since the suction head 19 restrains the flexible material separation sheet 103 against the first body 17 of the gripper 16, as schematically shown in FIG. 4, the flexible material separation sheet 103 is lifted vertically along the upward lifting direction in the direction away from the pallet 100. The gripper 16 is in the open state and the enclosing wall 30 of the transporter 15 surrounds the flexible material separation sheet 103 to prevent the product 100 placed on it from falling.

[0193] By lifting the flexible material separation sheet 103, the lifted flexible material separation sheet 103 is moved away from the flexible material separation sheet 103 that is still housed in the pallet 100 directly below. This creates an operating space for the second gripper body 18 of the gripper 16 to be rotated so as to place the gripper 16 in the closed state, preventing the second gripper body 18 from accidentally catching the flexible material separation sheet 103 that is still on the pallet 100. As schematically shown in FIG. 5, by closing the gripper 16, the flexible material separation sheet 103 is gripped in the gripping area. Since the suction operation of the suction head 19 is no longer necessary, the suction head 19 may be switched to the released state.

[0194] At this point, the gripper 16 is moved along the stretching direction DR to stretch the flexible material separation sheet 103, excluding the curvature in the central region of the flexible material separation sheet 103. The stretching direction DR is horizontal, and each pair of first gripper heads 16 of the gripper 16 is horizontally moved away from the second gripper 16 of each pair of the gripper 16.

[0195] With the gripper 16 in the closed state, the transporter is moved along the transport direction DR to the unloading station 13. This is schematically shown in FIG. 1.

[0196] When the transporter 15 reaches the unloading station 13 and is placed vertically above the support surface 21, the transporter 15 is vertically lowered to lower the flexible material separation sheet 103 onto the support surface 21.

[0197] This is done by lowering the transporter 15 (together with the gripper 16) to the release distance from the support surface 21 so that the second gripper body 18 of the gripper 16 can be moved to open without the second gripper body 18 being caught by the support surface 21. When the transporter 15 is lowered to the release distance or when the release distance is reached, the suction head 19 is returned to the suction state.

[0198] At this point, the gripper 16 is opened, and the hanging position corresponds to this. In such a hanging position of the gripper 16, the separable sheet 103 made of a flexible material is on the support surface 21 and remains spaced from the support surface 21.

[0199] The transporter 15 and the gripper 16 (in the open state and with the suction head in the suction state) are further lowered until the separable sheet 103 made of a flexible material rests on the support surface 21. The suction head 19 is in the released state, and the transporter 15, together with the gripper 16, is vertically lifted and returned to the receiving station 12.

[0200] This is done with the main pusher 24 placed in the first part 28 of the return section 27 of the first path 25. Also, this operation is done with the secondary pusher 33 placed in the first part 37 of the return section 36 of the second path 34. Also, this operation is done with the cover body 40 completely arranged in the first part 44 of the return section 43 of the third path 41 as schematically shown in FIG. 7. By doing so, the main pusher 24, the secondary pusher 33, and the cover body 40 do not interfere with the separable sheet 103 made of a flexible material.

[0201] The holding unit 39 is operated to hold a part of the separable sheet 103 made of a flexible material on the support surface 21.

[0202] FIG. 9 shows, in a schematic top view, the separable sheet 103 made of a flexible material (left part of the figure) placed on the support surface 21 of the unloading station 13 with the product 101 placed on the separable sheet 103 made of a flexible material, and a further separable sheet 103 made of a flexible material (right side of the figure) with each layer 102 of the product placed on the separable sheet 103 made of a flexible material that is ready to be picked up by the receiving station 12.

[0203] Figure 7 shows a side elevation view of the unloading station 13 with the flexible material separation sheet 103 resting on the support surface 21 and the product 101 placed on the flexible material separation sheet 103. As schematically shown in Figure 7, during the transfer of the flexible material separation sheet 103 from the receiving station 12 to the unloading station 13, it may happen that the product 101 is stacked on top of the product layer 102.

[0204] In this case, and also when the product 101 is not stacked on top of the layer 102, the product layer 102 is pushed towards the conveyor 200.

[0205] This operation includes moving the secondary pusher 33 to the start 35a of the active section 35 of the second transport path 34. At the same time, as schematically shown in Figure 8, the first end 40a of the cover body 40 is taken to the start 42a of the active section 42 of the third path 41. The main pusher is located in the return section 27 of the first path 25.

[0206] The secondary pusher 33 is advanced along the active section 35 of the second transport path 34. At the same time, the first end 40a of the cover body 40 advances along the active section 42 of the third path 41. As schematically shown in Figure 10, during this operation, the cover body 40 partially covers the product layer 102 of the products 101 placed on the flexible material separation sheet 103, and the secondary pusher 33 catches the product 101 stacked on top of the layer 102 by pushing it in the direction towards the conveyor 200.

[0207] The secondary pusher 33 has a dimension in a direction parallel to the transport direction DT that is larger than the dimension of the flexible material separation sheet 103 in the same direction. Similarly, the main pusher 24 has a dimension in a direction parallel to the transport direction DT that is larger than the dimension of the flexible material separation sheet 103 in the same direction. The cover body 40 has a dimension in a direction parallel to the transport direction DT that is larger than the dimension of the flexible material separation sheet 103 in the same direction.

[0208] When the main pusher 24 advances along the effective section 26, the effective section 26 of the first path 25 has an extension length greater than or equal to the size of the separable sheet 103 made of flexible material in the direction of the main pusher 24. When the secondary pusher 33 advances along the effective section 35, the effective section 35 of the second path 34 has an extension length greater than or equal to the size of the separable sheet 103 made of flexible material in the advancing direction of the secondary pusher 33. When the cover body 40 advances along the effective section 42, the effective section 42 of the third path 41 has an extension length greater than or equal to the size of the separable sheet 103 made of flexible material in the advancing direction of the cover body 40.

[0209] When the secondary pusher 33 reaches the end 35b of the effective section 35 of the second path 34, as schematically shown in FIG. 13, the cover body 40 completely covers the layer 102 of the product 101 placed on the separable sheet 103 made of flexible material. Thereby, an encapsulation passage 47 for the product 101 is created. When the secondary pusher 33 reaches the terminal end 35b of the effective section 35 of the second path 34, as shown in FIG. 11, the main pusher 24 has reached the start end 26a of the effective section 26 of the first path 25.

[0210] Thereafter, the main pusher 24 begins to advance along the effective section 26 of the first path 25. When the main pusher 24 advances along the effective section 26 of the first path 25, the main pusher 24 pushes the layer 102 of the product 101 in the direction from the separable sheet 103 made of flexible material toward the end 26b of the effective section 26 of the first path 25. When the main pusher 24 advances along the effective section 26 of the first path 25, as schematically shown in FIG. 14, the main pusher 24 pushes the layer 102 of the product 101 into the encapsulation passage 47 toward the conveyor 200.

[0211] When the main pusher 24 advances along the effective section 26 of the first path 25, the secondary pusher 33 advances along the return section 36 of the second path 34. When the main pusher 24 advances along the effective section 26 of the first path 25, the first end 40a of the cover body 40 advances along the return section 43 of the third path 41. When the main pusher 24 advances along the effective section 26 of the first path 25, as schematically shown in FIG. 12, the second end 40b of the cover body 40 advances along the effective section 42 of the third path 41.

[0212] As schematically shown in FIG. 15, the main pusher 24 reaches the end 26b of the effective section 26 of the first path 25. The layer 102 of the product 101 has been completely removed from the flexible material separation sheet 103. When the main pusher 24 reaches the end 26b of the effective section 26 of the first path 25, the secondary pusher 33 is in the return section 36 of the second path 34. When the main pusher 24 reaches the end 26b of the effective section 26 of the first path 25, the second end 40b of the cover body 40 has reached the end 42b of the effective section 42 of the third path 41. When the main pusher 24 reaches the end 26b of the effective section 26 of the first path 25, the first end 40a of the cover body 40 is advancing along the return section 43 of the third path 41.

[0213] When the layer 102 of the product 101 is completely removed from the flexible material separation sheet 103, the support surface 21 is placed in the open state and the holding unit 39 is deactivated. As a result, as schematically shown in FIG. 17, the flexible material separation sheet 103 is dropped into the recovery section 23 of the unloading station 13. During this operation, the main pusher 24 is placed in the first part 28 of the return section 27 of the first path 25. This operation is also performed with the secondary pusher 33 placed in the first part 37 of the return section 36 of the second path 34. This operation is also performed with the cover body 40 completely arranged in the first part 44 of the return section 43 of the third path 41 as schematically shown in FIG. 17. By doing so, the main pusher 24, the secondary pusher 33, and the cover body 40 do not interfere with the flexible material separation sheet 103 that falls through the discharge opening 22.

[0214] Obviously, those skilled in the art can make many changes and modifications to the present invention described above to meet specific and indefinite requirements, but they are within the scope of protection defined by the appended claims.

Claims

1. A device (10) for picking up products stacked on a pallet, A receiving station (12) configured to receive pallets (100), A loading station (13) including a support surface (21), A transport device (15) is movable at least between the receiving station (12) and the unloading station (13), and is configured to pick up a flexible material separation sheet (103) from the receiving station (12) and unload it at the unloading station (13). The conveying device (15) includes a plurality of grippers (16), and each gripper (16) can be configured between a closed state in which it grips the flexible material separation sheet (103) and an open state in which it releases the flexible material separation sheet (103). Conveying device (15), A main pusher (24) is located within the unloading station (12) and is movable along the support surface (21) along the effective section (26) of the first path (25), A device (10) comprising:

2. The apparatus (10) according to claim 1, comprising a first gripper body (17) and a second gripper body (18), each gripper (16) being movable toward each other to achieve the closed state and movable toward each other to achieve the open state, wherein the first gripper body (17) includes at least one suction head (19) that is switchable between a suction state in which it adheres to the flexible material separation sheet (103) and a release state in which it does not adhere to the flexible material separation sheet (103).

3. The apparatus (10) according to claim 2, wherein when the transport device (15) is at the receiving station (12), the gripper (16) is movable between a position far from the flexible material separation sheet (103) and a position close to the flexible material separation sheet (103), and in the close position, the gripper (16) is in the open state, and the suction head (19) of the first gripper body (17) of each gripper (16) is in the suction state.

4. The apparatus (10) according to claim 3, wherein when in the proximity position, the gripper (16) is movable in the lifting direction until it reaches the closing start position, and at the closing start position, the gripper (16) is in the closed state.

5. The apparatus (10) according to claim 1, wherein the support surface (21) includes a holding unit (39) configured to hold the flexible material separation sheet (103) on the support surface (21).

6. The apparatus (10) according to any one of claims 1 to 5, wherein the main pusher (24) is arranged parallel to the support surface (21), and when the main pusher (24) moves along the effective section (26), it is spaced at a first distance (D1) perpendicular to the support surface (21).

7. The apparatus (10) according to claim 6, wherein the apparatus (10) comprises a secondary pusher (33) that is movable along the support surface (21) along an effective section (35) of a second path (34), the effective section (35) of the second path (34) being parallel to the effective section (26) of the first path (25), and the secondary pusher (33) being spaced perpendicular to the support surface (21) by a second distance (D2) greater than the first distance (D1) when moving along the effective section (35) of the second path (34).

8. The apparatus (10) according to claim 7, wherein the effective section (26) of the first path (25) extends between a start (26a) and an end (26b), the effective section (35) of the second path (34) extends between a start (35a) and an end (35b), and when the main pusher (24) is at the start (26a) of the effective section (26) of the first path (25), the secondary pusher (33) is at the end (35b) of the effective section (35) of the second path (34).

9. The apparatus (10) according to claim 8, comprising a cover body (40) positioned parallel to the support surface (21), wherein the cover body (40) is spaced perpendicularly from the support surface (21) by a third distance (D3) when the secondary pusher (33) is at the end (35b) of the effective section (35) of the second path (35).

10. The apparatus (10) according to claim 9, wherein the cover body (40) is movable along the support surface (21) along the effective section (42) of the third path (41), and the first path (25), the second path (34), and the third path (41) extend in a closed loop and are parallel to each other.

11. The apparatus (10) according to claim 1, wherein the plurality of grippers (16) are movable along a horizontally directed extension direction (DR) when in the closed state.

12. The apparatus (10) according to claim 11, wherein when the plurality of grippers (16) are in the closed state, the first gripper head (16) of each pair of grippers (16) is moved horizontally away from the second gripper (16) of each pair of grippers (16).

13. A method for picking up products stacked on a pallet, The steps include placing a pallet (100) containing products (101) arranged in layers (102) that are stacked and separated by flexible material separation sheets (103) into a receiving station (12), The steps include grasping a flexible material separation sheet (103) with a layer (102) of product (101) placed on top, The steps include: moving the flexible material separation sheet (103) to the unloading station (13) while the flexible material separation sheet (103) is being held; The steps include lowering the flexible material separation sheet (103) onto the support surface (21) of the unloading station (13), In order to remove the layer (102) of the product (101) from the flexible material separation sheet (103), the steps include pressing the layer (102) of the product (101) placed on the flexible material separation sheet (103) along the support surface (21), Methods that include...

14. The method according to claim 13, wherein, prior to the step of grasping the flexible material separation sheet (103), the flexible material separation sheet (103) is lifted along the lifting direction in at least the gripping area of ​​the flexible material separation sheet (103).

15. The method according to claim 13 or 14, wherein the step of grasping the flexible material separation sheet (103) includes stretching the flexible material separation sheet (103) at least along an extension direction (DS) which is perpendicular to the lifting direction.

16. The method according to claim 13, wherein the flexible material separation sheet (103) is held on the support surface (21) before the step of pressing the layer (102) of the product (101).

17. The method according to claim 13, wherein, when one or more products (101) are stacked on top of a layer (102) of products (101), the one or more products (101) stacked on top of the layer (102) of products (100) are pressed on the support surface (21) before the step of pressing the layer (102) of products (100).

18. The method according to claim 13, wherein, prior to the step of pressing the layer (102) of the product (101), a sealing passage (47) is made in a direction perpendicular to the support surface (21) and has dimensions substantially matching those of the layer (102) of the product (100) measured in the same direction.

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