Case manipulator system and method of using a case manipulator system

Abstract

A case manipulator system and method of using the case manipulator system are provided for use in an automated storage and retrieval system, the case manipulator system comprising: a first location for one or more cases; a second location, the second location comprising guiding means for guiding the cases into and / or out of the container; and a case manipulator comprising a movable support movable from a first position above the first location to a second position above the second location; and a paddle assembly having at least a first pair of paddles, the paddle assembly being movable in a first horizontal (x) direction and a vertical (z) direction relative to the movable support. a case manipulator system configured to controllably engage and move the case from the first location to the second location and insert the case into a container at the second location so that the case in the first location is accessible by the case manipulator, and / or the case manipulator system is controllably configured to remove the case from the container and place the case at the first location so that the case in the container at the second location is accessible by the case manipulator, and / or the case manipulator is controllably configured to remove the case from the container and place the case at the first location. The method is for removing the case from the first location and placing the case in a container at the second location and / or removing the case from the container at the second location and placing the case at the first location.

Description

[Technical Field]

[0001] The present disclosure relates to a case manipulator system for placing cases in or removing cases from containers. The case manipulator system may be used in an automated storage and retrieval system (ASRS). More specifically, the case manipulator system may be used to automate stocking activities and other warehouse operations for storing and sorting cases of inventory. [Background technology]

[0002] EP1037828B1 (Autostore) describes a system in which stacks of containers are arranged within a frame structure. Robotic load handling devices can be controllably moved around the stacks on a system of tracks on top of the stacks.

[0003] A load handling device is described in UK Patent Application No. GB2520104A (Ocado Innovation Limited) in which each robotic load handler covers only one grid space, thereby allowing a high density of load handlers and hence a high throughput for a system of a given size.

[0004] In other configurations, the robotic load handler may have a cantilever configuration in which the weight of the bot's body balances the weight of the container to be lifted.

[0005] In the known robotic picking systems described above, robotic load handling devices are controllably moved around the top of stacks on a track system forming a grid. A given load handling device lifts a receptacle (container) from the stack, and the lifted (storage) container (ST) contains inventory items needed to fulfill a customer order. The container (ST) is transported to a pick station, where the needed inventory items can be manually removed from the receptacle (ST) and placed into a delivery container (DT), which forms part of the customer order and can be manually filled for dispatch at the appropriate time. At the pick station, items can also be picked by an industrial robot suitable for such work, as described, for example, in UK Patent Application No. GB2524383B (Ocado Innovation Limited).

[0006] WO2014 / 203126A1 (Ocado Innovation Limited) describes a system for order fulfillment, in particular a method for storing and retrieving storage and delivery containers in an order fulfillment system, in which efficiencies may be achieved by storing one or more delivery containers in storage containers, with the storage containers containing items to be used in fulfilling customer orders, and storing such combined container sets in a storage and retrieval grid, racking, or other orderly arrangement.

[0007] In the known robotic picking systems described above, various aspects of the storage and retrieval systems are automated. However, today, warehouses still use human resources to perform certain tasks that are difficult to automate. In-stock activities are particularly difficult to automate due to the variety of products and the different types of packages that arrive.

[0008] Reusable and / or foldable cases or boxes present particular challenges for automation, where the boxes or cases are stored in a container. Upon entry, the cases must be placed in the container to be guided into the ASRS. Typically, reusable and / or foldable corrugated boxes or cases may be formed from a single flat piece of corrugated cardboard. The cardboard is folded into a rectangular tube and secured along the joints. Each end of the tube is split along the folded edges to form flaps on each side of the case. The flaps are then folded toward the center of the tube to form the top and bottom of the case. At the bottom of the case, the flaps are typically placed so that they touch and may be temporarily secured with a fan fold or more permanently secured with the addition of tape, glue, staples, or any other suitable means. At the top of the case, the flaps may or may not meet, and the case may be closed with a simple fold, a fan fold, or left open, or the top, like the bottom, may be more permanently fixed. Alternatively, the box or case may be made from a relatively thin, foldable plastic or other type of suitable material. To reduce waste, it is desirable for a single case to be reusable 5-10 or more times.

[0009] There are several problems associated with handling this type of box or case. Such cases are thin and therefore easily damaged or deformed. First, the case can be damaged before arrival. Second, the case can be damaged by a robotic manipulator. Third, the case can lack structural integrity. Fourth, the case can be inconsistently presented as open, closed, or partially open. Fifth, the case can be deformed before arrival. Sixth, the case can be deformed by a robotic manipulator. Additionally, it will be recognized that cases that are closed without additional fastening means have less structural stability.

[0010] Additionally, a case may be full, partially full, or empty. A full case may have different handling characteristics compared to a partially full or empty case. It will be appreciated that a full case may be completely full when no additional items / SKUs may be carried in the case, but the case may have a volume of unfilled space.

[0011] It is against this background that the present invention was conceived.

[0012] Although the devices, apparatus, systems, and methods described herein are described in the context of grocery systems as an example of background art, it will be appreciated that automated or semi-automated storage and retrieval systems (ASRS) are not limited to systems targeted at groceries. For example, the technology may be applied to shipping, baggage handling, vehicle parking, indoor or hydroponic greenhouses and agriculture, modular buildings, self-storage facilities, cargo handling, transportation yards, manufacturing facilities, pallet handling, parcel sorting, airport logistics (ULDs), and general logistics, to name a few possible applications. It will be appreciated that different types of storage and retrieval systems may have different technical requirements, but the principles remain similar. Summary of the Invention

[0013] Aspects of the invention are set out in the accompanying claims.

[0014] In a first aspect, there is provided a case manipulator system for use in an automated storage and retrieval system, the case manipulator system comprising: a first location for one or more cases; a second location, wherein the second location comprises guiding means for guiding the cases into and / or out of the container; Case manipulator and The case manipulator comprises: a movable support movable from a first position above the first location to a second position above the second location; a paddle assembly having at least a first pair of paddles; the paddle assembly is arranged to move at least a first pair of paddles relative to the moveable support in a first horizontal (x) direction and a vertical (z) direction, and the case manipulator system comprises: the case in the first location is accessible by the case manipulator, where the case manipulator system is controllable to engage the case, move the case from the first location to the second location, and insert the case at the second location into a container at the second location; and / or wherein the case manipulator is controllable to remove the case from the container and place the case at the first location such that the case in the container in the second location is accessible by the case manipulator; There is a case manipulator system configured as follows.

[0015] The case manipulator system is suitable for handling any type of folded box or case, and in particular, the case manipulator system is suitable for handling both cardboard, plastic, or other types of materials. The case manipulator system may interface with other systems, such as ASRSs similar to the types of ASRSs described above, and may be used as a "peripheral" or sub-subsystem, particularly, but not limited to, receiving operations.

[0016] Upon entry, cases can be introduced or guided into the ASRS system using a case manipulator system for storage in a container or tote. The case or box to be guided is positioned proximate to the manipulator system. The case can be full, partially filled, or open. As described above, the case can be fully open with the flaps oriented substantially outward or upward, partially open with the flaps at least partially covering the top of the case, closed with the flaps in a fanfold position, or closed with the flaps secured with glue or tape.

[0017] The case manipulator system has an area (first location) directly below the case manipulator for receiving a case and a second area (second location) for placing the case into a container.

[0018] The case manipulator has a movable support, which can be an arm, a six-axis robot, a tuck, a rail, a gantry frame, a floor-mounted support, or any means suitable for linear movement between a position above a first location and a position above a second location.

[0019] A paddle assembly is connected to the movable support. The paddle assembly is used to engage a target case and move the case from a first location to a second location. Each of the paddles of the paddle assembly is arranged to move in either the x or y direction and vertically in the z direction. The case is only slightly smaller than the container and therefore may be difficult to insert into the container. In some cases, the case may be tighter in one dimension relative to the second dimension. Accurate and / or precise positioning of the container and / or case may be necessary to enable insertion or placement of the target case into the container. Therefore, guide means are provided at the second location.

[0020] The guide means may be used to precisely position the container and / or the guide means may be used to orient the case as it moves towards the container.

[0021] It will be appreciated that different guide means may be required when a case manipulator is used to remove the cases from the container.

[0022] The guidance means may be mechanical and / or may be in the form of a control system with visual and / or sensory input and / or control feedback.

[0023] The selected guide means may have various advantages.

[0024] It will be appreciated that the case manipulator may be controllable to engage one or more flaps of the case and fold the one or more flaps, and / or the case manipulator may be controllable to grasp opposing sides of the case and lift the case.

[0025] The paddles are controlled to manipulate or engage the flaps of the case and / or, in the case of a closed case, clamp the case to lift and reposition it. The paddles function in pairs or pairs on opposite sides of the case. The movement of a pair of paddles may be symmetrically mirrored, or the movement may be asymmetric to account for the case configuration, particularly the asymmetrical configuration of the case flaps. A first pair of paddles may function independently of a second pair of paddles, and the first and second pairs of paddles may function in parallel (i.e., simultaneously) or sequentially.

[0026] With the case in the first location, the distal end of the paddle (ie, the portion distal from the support) is inserted substantially centrally between the flaps.

[0027] The first type of paddle can then be controlled to move substantially following the path of an inverted "?" question mark. It will be appreciated that the movement can be smooth and / or continuous, or the movement can be a series of vertical, horizontal, x, or y movement. In this manner, the paddle can be moved to fully open the flaps and fold them outward and downward, so that the resulting position of the flaps is substantially parallel to the sides of the case, leaving the case open with the top edge folded down.

[0028] The paddle is then moved into position with the now folded top edge of the case.

[0029] When the case is opened with the top edge folded, the paddle is positioned with the top edge and moves inward, i.e., toward the center of the case, to slightly compress the case, thus pinching or gripping the case to allow it to be lifted. The case can then be raised or lifted, and the movable support can move the paddle assembly, thereby moving the case from a first location above to a second location.

[0030] Finally, the case can be inserted into the container and the paddle released from the case.

[0031] Alternatively, when the case is to be stored closed, the paddles may be moved to position with the top end of the case, move inward, i.e., toward the center of the case, to slightly compress the case, and pinch or grip the case to allow it to be lifted (without opening and folding the flaps). The case may then be raised or lifted, and the movable support may move the paddle assemblies, thereby moving the case from a first location over to a second location.

[0032] The paddles are positioned to interact with the case substantially at the top of the body of the case and substantially midway along the sides. It will be appreciated that the flaps are more likely to be damaged when the case is reused. Furthermore, to maintain the structural integrity of the case, it is preferable to avoid interacting with corners where the case is more likely to be crushed and / or deformed when pressure is applied. Therefore, the paddles are oriented at portions of the case least likely to be damaged so that the case can be reused, and at portion(s) of the case least likely to be damaged by interaction with a case manipulator. In other cases, it may be preferable for the paddles to interact with corners to avoid deflecting the sides of the case as the case is manipulated.

[0033] The first location may include a first conveyor, which may deliver the case to the case manipulator.

[0034] The cases may be delivered to a pickup location (first location) by a conveyor. In this way, a continuous flow of cases may be delivered to the case manipulator system to ensure that the manipulator system operates efficiently.

[0035] The first conveyor may include an indexing means. An indexing device may be used on the first conveyor to ensure that the cases are spaced far enough apart to allow time and space for the flaps of each case to fully open and fold downwards so that they are parallel to the sides of the case.

[0036] Optionally, a vision and control system may be positioned to view the cases upstream of the case manipulator to inspect the cases before they are handed over to the case manipulator. Cases that do not pass inspection may be diverted. For example, a case may be diverted if it is too damaged to be successfully moved from a first location to a second location by the case manipulator.

[0037] Optionally, a case opener device may be positioned to operate on the case upstream of the case manipulator to allow a hermetically closed case to be opened by the case manipulator. For example, if the case is taped closed, a knife or blade device may be used to cut the tape to ensure the case flaps are free to move. Any other suitable means may be used to open the case, depending on how the case is typically sealed.

[0038] Optionally, biasing means at or prior to the first location may be provided to ensure that the target case arrives at the expected position in the first location. For example, the biasing means may comprise a guide rail mounted along the conveyor, or the biasing means may comprise a centering mechanism or tool and an opposing fixed stop bar for urging the case into a center position on the conveyor so that the case is in the expected position in the first location. In some arrangements, the case may be clamped between the biasing means and the stop bar while other operations are being performed. For example, the case may be clamped while in the first location while the case flaps are open.

[0039] The second location may comprise a second conveyor which may pass the containers under the guide means. Alternatively, the guide means may be positioned within each container.

[0040] A second conveyor may be used at the second location to receive the cases to ensure a continuous flow of containers is available to the case manipulator system and to ensure the manipulator system operates efficiently.

[0041] The second conveyor may be coordinated with the first conveyor to deliver containers at the same rate as the first conveyor delivers cases. It will be appreciated that the second conveyor may not require an indexing device because there is no particular requirement for there to be space between containers.

[0042] Additionally, the second or third conveyor may be used to remove the combined container and case from the case manipulator system and move the combined container and case into the storage or sortation system, or conversely, the second or third conveyor may be used to deliver the combined container and case from the storage or sortation system for the case manipulator system to remove the case from the container.

[0043] The paddle assembly may include a second pair of paddles arranged to move the second pair of paddles in a second horizontal (y) direction and a second vertical (z) direction. The first pair of paddles and the second pair of paddles may be independently operable. Each paddle may be independently operable.

[0044] Typically, cases have flaps on each side, so it may be necessary to ensure that the case flaps can be folded and retained on all sides of the case. Therefore, a first pair or first horizontal (x) paddles and a second pair or second horizontal (y) paddles may be provided. Alternatively, one of the first or second pair of paddles may be replaced with a single paddle.

[0045] Because the requirements on the x-side or y-side of the target case are likely to be different, the paddles may each be configured to operate cooperatively but independently, either in pairs or individually. For example, in a first orientation, given the relative dimensions between the case and container, it may be possible to insert the case into the container while the paddle is still clamped to the case. In a second orientation, the fit between the case and container may be too tight for the case to be inserted with the paddle. In some instances, the case may be slightly larger in size compared to the container and therefore may require pinching or compression in one direction to fit into the container.

[0046] It will be appreciated that the paddles for engaging each side of the case can be sized proportionally to the case for which they are intended. In some instances, the paddles can be relatively wide to engage most of the case. In other instances, more than one paddle can be positioned to engage each side, either working together or separately, or the paddles can be segmented.

[0047] In an alternative arrangement, the x-side and y-side movements can be separated to occur at subsequent locations on the conveyor. Thus, the case manipulator system can include a first case manipulator and a second case manipulator. The second case manipulator can be positioned downstream of the first case manipulator and rotated approximately 90° about the z-axis relative to the orientation of the first case manipulator. In this manner, each case manipulator can be simplified.

[0048] The second location may include one or more guides for guiding the container into position in the second location. It will be appreciated that different guides may be required for operating the device in reverse, i.e., when a case is intended to be removed from a container using the device. Guides for removing a case from a container may be necessary if the case becomes misaligned within the container. Such a situation may arise when the case is smaller than the container in which it is placed. As a result, the case may require guides to center the case before the manipulator can remove it.

[0049] As mentioned above, the guide means may be mechanical or electrical. Furthermore, the mechanical guide means may be static or dynamic.

[0050] In some embodiments, the guide may comprise a frame on or around the second conveyor through which the containers must pass to ensure correct alignment in the first direction, in which correct alignment may be ensured by a stop flap.

[0051] Additionally, the guide means may comprise a funnel for directing the case into a container positioned directly below. In this example, the container is positioned directly below the funnel. The guide means may also be used to ensure that the flaps are held parallel to the sides as the case is placed into the container.

[0052] The guide means may be a fixed funnel, or the guide means may be a retractable locator. The guide means may include guide portions on two or more sides of the case. The guide means may include guide portions on three sides of the case. The leading edge of the guide means may be shaped to aid in inserting the case into position.

[0053] The funnel can be used as a guide for guiding the case into the container. The funnel can be appropriately shaped to ensure that the flaps remain firmly aligned with the side of the case as the manipulator lowers the case into the container. When the case flaps are held by the funnel, a pair of paddles on the corresponding side can be released. The funnel can clamp one dimension of the case to aid in inserting the case when the outer dimensions of the case are very close to the inner dimensions of the container. Additionally, the funnel can help center the case relative to the container.

[0054] In an alternative arrangement, the case may be held in place when the container is pressed upward against the case.

[0055] A dynamic locator can be used to verify the position of the container in the second location. For example, the retractable locator can be a torpedo locator and some type of dynamic locator. A torpedo can be a guide member having an elongated shape. The container or tote can have a feature in its top edge that can mate or engage with a torpedo, or the torpedo can be positioned at the corners of the tote. A torpedo locator can have a torpedo positioned on a frame at each corner and can be positioned above the second location. The torpedo locator can be extended or lowered to precisely position or confirm the position of the tote in the location. Once the tote is confirmed to be in the correct location, the torpedo locator can then be retracted. The torpedo locator can have fewer than four guide members, depending on the shape of the frame.

[0056] The paddles may have an inverted L-shape. One or more of the paddles may include a hooked distal end. One or more of the paddles may include a gripping means. The horizontal portion of the "L" may be oriented toward the center of the paddle assembly. In this manner, the horizontal portion of the paddle may be used to position the paddle over the top edge of the case, while the vertical portion of the paddle may be used to apply pressure to the side of the case.

[0057] If the flaps are tightly closed or fan-folded, it may be useful to provide a hook at the distal end of the vertical portion of the "L" to help create an opening between the flaps for proper insertion of the paddle. This may be particularly useful if the flaps are fan-folded. Other means may be necessary to open closed fan-fold flaps, for example, by inserting an expandable device such as an inflatable that pushes the flaps open when expanded.

[0058] The paddle may further be provided with features to improve the grip between the vertical portion of the paddle and the side of the case. For example, a rubber or gecko skin type material applied to the contact surface of the paddle may increase friction. A suction device may provide an attractive force between the paddle and the case. Alternatively or additionally, an array of spaced apart pins may protrude from the paddle surface. These may puncture the surface of the side of the case to secure a hold on the case.

[0059] The gripping means may include the use of force feedback or haptics to improve grip control of the paddle, for example this may be particularly useful when lifting a case from a container.

[0060] Other means for improving the operation of the paddle will be apparent to those skilled in the art. For example, a pincer-type end effector or paddle gripper potentially suitable for lifting open-top carriers (boxes or cases) is disclosed in PCT / EP2023 / 055783 (Ocado Innovation Limited). In another arrangement, the paddle may be provided with clamps that can be actuated to grip the sides of an open case.

[0061] Alternatively, a second type of paddle can be shaped to correspond to the shape of a corner of the case and therefore support the corner. With such a paddle, the case manipulator can be oriented to interact with the corner rather than the side. In this situation, for example, the manipulator can be rotated approximately 45° about the z-axis.

[0062] A third type of paddle or end effector may be positioned to extend beyond the bottom of the case to support the case from directly below. The paddle support may include one or more swivel fork(s) at the distal end of the paddle, the swivel fork(s) being movable between a first position substantially parallel to the side of the case and a second position substantially perpendicular to the side of the case and extending downward from the case. With the swivel fork(s) in the first position, the distal end of the paddle may be used to open a flap of the case. With the swivel fork(s) in the second position and the paddle moved to the bottom of the case, the paddle may be used to lift and move the case.

[0063] Optionally, to aid in using the third type of paddle to remove a case from a container, the distal end may be wedge-shaped for insertion between the side of the case and the side of the container. The wedge may extend below the swivel fork(s).

[0064] The wedge may be movably mounted to the distal end of the paddle so that it can be pushed up into the paddle arm. In this way, when the paddle is pushed to the bottom of the container, the wedge retracts into the arm and the swivel fork(s) can reach substantially the bottom of the container. The swivel fork(s) can then be rotated perpendicular to the case to allow the case to be lifted. The wedge may be spring-biased to the extended position.

[0065] Optionally, the third type of paddle may include a top plate for positioning with the top of the case.

[0066] In this manner, the third type of paddle can be used to open the flaps of the case, lift the case from a first location to a second location, push the case into a container, and pull the case out of the container.

[0067] In some embodiments, paddles such as the third type of paddles may be combined with other tools, for example, gripper wedges to aid in inserting a case inside a container and ensure that the container is centered within the container. The gripper wedges may, for example, include surface features to improve their grip on the case.

[0068] A fourth type of paddle or end effector may be used to open the case and fold the flaps downward. The fourth end effector may include an arm with a hook end or claw. A case manipulator with the fourth type of end effector may be mounted near the first location and movable in the y (or x) and z directions. When the case is fan-folded closed, the claw is inserted between the flaps, hooks onto the edges of the flaps, and pulls the flaps open. It will be appreciated that due to the fan-fold configuration, orthogonal flaps open along with hooked flaps. A pair of arms with claw end effectors or fourth type paddles operating on opposite sides of the case may work together to open all flaps of a fan-folded case.

[0069] The case manipulator may include two pairs of opposing paddles with a combination of paddle types, for example, a first or third paddle type may comprise a first pair of paddles, and a second pair of paddles positioned orthogonal to the first pair of paddles may comprise a fourth paddle type.

[0070] It will be appreciated that other types of paddles and end effectors may operate in a similar manner to the specific ones described herein.

[0071] The case manipulator system may include a control utility for controlling its operation.

[0072] In a second aspect, there is provided a method of using the case manipulator system of any one of the first aspects to remove a case from a first location and place the case in a container at a second location and / or remove a case from a container at the second location and place the case at the first location, the method comprising: a. controlling a paddle assembly to lower a first pair of paddles to be positioned between a pair of case flaps when the case manipulator is in a first position; b. engaging a pair of case flaps (outward in the x direction); Pushing or pulling the case flaps outward (outward in the x-direction); Folding the case flaps (downward in the z-direction) so that they are folded downwardly on the outside of the case; positioning a first pair of paddles on opposite folded top edges of the case or on opposite sides of the case (downward in the z direction and inward in the x direction); sandwiching the case between the first or second pair of paddles (inward in the x-direction); moving the first pair of paddles to perform c. moving a movable support from a first position to a second position while holding the case between the pair of paddles; d. Positioning the case within the guide means at a second location; e. Releasing the case; f. inserting the case into a container at a second location; and placed in a container at a second location; and / or There is a method using a case manipulator system where the case is removed from the container at the second location and placed at the first location by reversing steps a.-f.

[0073] The movement of the paddles may resemble the movement of an inverted question mark (?). At least one of steps a-f may be performed in the y and z directions by a second pair of paddles to engage each side of the case.

[0074] As mentioned above, typically the case will have a flap on each side of the top opening. Therefore, a second pair of paddles may be used to operate each of the flaps. The second pair of paddles may not be required to perform all of the steps. For example, in the case of a funnel guide where the flaps are held in a folded position by a funnel, the second pair of paddles may be released before the first set of paddles.

[0075] After step d and before step e, at least one pair of paddles may be used to move the case vertically.

[0076] If the guide is mechanical, a paddle may be used, for example, to push the case into position. In the example of a funnel guide that narrows so that the funnel is slightly narrower than the case, additional force may be required to move the case through the guide and insert it into the container.

[0077] Alternatively, it will be appreciated that instead of the case being pushed into the container, the container can be pushed up onto the case.

[0078] The first conveyor may be used to deliver cases to or receive cases from the case manipulator.

[0079] As mentioned above, it may be advantageous to have a continuous supply of cases and / or containers in the case manipulator system.

[0080] The second conveyor may guide the container so that it is positioned below the funnel.

[0081] It will be appreciated that the system can be used in reverse to remove cases from the container. The same or similar equipment can be used. It will be appreciated that the equipment may require modification to operate in reverse, and in particular the guide means may require modification.

[0082] It will be appreciated that more than one case can be positioned in a container. For example, a container may hold two substantially half-size cases in a side-by-side arrangement. A case manipulator system may be adapted to manipulate a half-size case, operate in the same manner as manipulating a full-size case, shift the distance of the half-size case, and repeat with a second half-size case. Alternatively, the case manipulator system may include first and second case manipulators arranged side-by-side. It will be appreciated that additional biasing or facilitating means may be required to manipulate the two cases prior to inserting them into the container.

[0083] In the above, a "container" is considered a carrier of cases, and the cases are nested within the container. It will be appreciated that a first case may also be nested within a second case, i.e., the second case is considered a "container." For example, a case manipulator system may be used to position two substantially half-sized first cases within a second full-sized case. Furthermore, the second full-sized case may then be positioned within a storage container suitable for introduction into an automated storage and retrieval system.

[0084] Other variations and advantages will become apparent from the following description.

[0085] These and other aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings. [Brief explanation of the drawings]

[0086] [Figure 1] Illustrated is a partially open case and case manipulator, where the paddle of the case manipulator is inserted between the case flaps. [Figure 2]A fully open case and case manipulator are illustrated, where the case flaps are folded downward parallel to the case sides, and on each side, the paddles of the case manipulator are engaged with the folded upper edge of the case. [Figure 3] 1 illustrates the path of a pair of paddles and the sequence of movements the paddles make during operation of the case manipulator. [Figure 4] 10A-10C illustrate various detailed views of a single paddle showing the x or y movement mechanism and the z movement mechanism. [Figure 5] 10A-10C illustrate various detailed views of a single paddle showing the x or y movement mechanism and the z movement mechanism. [Figure 6] 10A-10C illustrate various detailed views of a single paddle showing the x or y movement mechanism and the z movement mechanism. [Figure 7] 1 illustrates a detailed view of a paddle assembly having a first or x-direction pair of paddles and a second or y-direction pair of paddles. [Figure 8] 1 illustrates a detailed view of a paddle assembly having a first or x-direction pair of paddles and a second or y-direction pair of paddles. [Figure 9] 1 illustrates a diagram of a paddle assembly and a tote or container. [Figure 10] 1 illustrates a diagram of a paddle assembly and a tote or container. [Figure 11] 1 illustrates a case manipulator system having a first conveyor for transferring cases, a second conveyor for transferring totes or containers with case guides and container guides, and a case manipulator. [Figure 12] 1 illustrates a case manipulator system in which a case is handed over to a case manipulator. [Figure 13] 1 illustrates a case manipulator system in which a case is grasped by a case manipulator and a container is moved into a location. [Figure 14] 1 illustrates a case manipulator system where the case is in a funnel above a container. [Figure 15] 1 illustrates a case manipulator system with a case inserted into a container. [Figure 16] 1 illustrates a case manipulator system with a case inserted into a container. [Figure 17] 1 illustrates a case manipulator system in which a case is inserted into a container and is gripped by a case manipulator. [Figure 18] 1 illustrates an alternative case manipulator system having a first conveyor for passing cases, a second conveyor for passing totes or containers with case guides and container guides, and a case manipulator. [Figure 19] 10 illustrates a case manipulator of an alternative case manipulator system for gripping a case. [Figure 20] 10 illustrates the movement of a container towards a case manipulator of an alternative case manipulator system. [Figure 21] 10 illustrates placement of cases in a container using an alternative case manipulator system. [Figure 22] 10 illustrates a detailed view of an alternative paddle assembly having a first or x-direction pair of paddles and a second or y-direction pair of paddles. [Figure 23] 1 illustrates a detailed view of a paddle assembly having a brace structure. [Figure 24] 1 illustrates a detailed view of a paddle assembly having a brace structure. [Figure 25] FIG. 25a illustrates a perspective view of a second paddle type shaped to fit around the corner of the case, and FIG. 25b illustrates an alternative arrangement of the case manipulator, where the paddle is oriented toward the corner of the case. [Figure 26] Figures 26a and 26b illustrate a view of a third paddle type having a pair of swivel forks and a flip spacer. [Figure 27]27a and 27b illustrate schematic diagrams of a paddle assembly having a third type of paddle variation with a single swivel fork and wedge gripper, where in FIG. 27a the swivel fork is perpendicular to the wedge gripper and in FIG. 27b the swivel fork is aligned with the wedge gripper. [Figure 28] FIG. 28a illustrates a fourth type of paddle or end effector having a claw end, and FIG. 28b illustrates a pair of claw arms for opening the flaps of the case. [Figure 29] 1 illustrates a biasing means for forcing the case into a central position on the conveyor. [Figure 30] 30 illustrates a system for executing a sequence of movements, in which in FIG. 30 a case is delivered to the case manipulator, in FIG. 31 the flaps are opened by the first pair of claws, in FIG. 32 different types of paddles are positioned on the outside of the case to allow lifting and movement, and in FIG. 33 the case is placed in a container. [Figure 34] 10A and 10B illustrate a schematic process for combining a case and a container. [Figure 35] 30-33 illustrate a manipulator system similar to the system shown in FIGS. [Figure 36] 1 illustrates a possible arrangement of two substantially half-sized cases nested within a container. [Figure 37] 1 illustrates a possible arrangement of two substantially half-sized first cases nested within a second full-sized case nested within a container. DETAILED DESCRIPTION OF THE INVENTION

[0087] In the figures, like features are designated by like reference numerals where appropriate.

[0088] The following embodiments represent preferred examples of how the present invention may be practiced, but they are not necessarily the only examples of how this may be accomplished. These examples are described in sufficient detail to enable those skilled in the art to practice the present invention. Other examples may be utilized and structural changes may be made without departing from the scope of the present invention as defined in the appended claims.

[0089] In the following description, some specific details are included to provide a thorough understanding of various disclosed embodiments. Those skilled in the art will recognize, however, that the embodiments may be practiced without one or more of these specific details, or with other methods, arrangements, components, materials, etc. In some instances, well-known structures associated with end effectors and / or robotic manipulators, such as processors, sensors, storage devices, network interfaces, workpieces, tension members, fasteners, electrical connectors, mixers, and the like, are not shown or described in detail to avoid unnecessarily obscuring the description of the disclosed embodiments.

[0090] Unless the context requires otherwise, throughout this specification and the appended claims, the word "comprise" and variations thereof, such as "comprises" and "comprising," are to be interpreted in their open and inclusive sense, i.e., "including, but not limited to."

[0091] References throughout this specification to "one," "an," or "another" applied to an "embodiment" or "example" mean that a particular referenced feature, structure, or characteristic described in connection with an embodiment, example, or implementation is included in at least one embodiment, example, or implementation. Thus, the appearances of the phrase "in one embodiment" or similar phrases in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments, examples, or implementations.

[0092] Moreover, references to directions and any other terms that have an implicit orientation are provided by way of example to aid the reader's understanding of the particular examples described herein. They should not be read as requirements or limitations on the location, orientation, or use of the invention in particular, unless specifically recited in the appended claims. Similarly, phrases such as "movement in the n-direction," where n is one of x, y, and z, and any equivalent phrases, are intended to mean movement substantially along or parallel to the n-axis, in either direction (i.e., toward the positive end of the n-axis or toward the negative end of the n-axis).

[0093] Similarly, connection references (e.g., attached, coupled, connected, joined, fixed, and the like) should be interpreted broadly and may include intermediate members between connections of elements and relative movement between the elements. As such, a connection reference does not necessarily imply that those two elements are directly connected and in fixed relationship to each other, unless specifically recited in the appended claims.

[0094] 1 and 2 illustrate a case 200 of the type described above in the Background section and a case manipulator 101 as disclosed herein.

[0095] In FIG. 1, the case is partially opened with flaps 201 upright and partially folded, and case manipulator paddles 103, 104 are inserted between the case flaps. In FIG. 2, the case is fully opened by the case manipulator paddles. As can be seen in FIG. 2, the flaps are pushed over the top edge of the case so that the top edge of the case is folded over and the flaps are parallel to the side of the case. As shown, the paddles are positioned so that the horizontal legs of the inverted L-shape engage the folded edge and the vertical portions of the paddles hold the flaps against the side of the case. The paddles are positioned substantially centered on each side.

[0096] FIG. 3 illustrates the path of a pair of paddles, with arrows indicating the sequence of movements each paddle makes during operation of the case manipulator. The path is shaped substantially like an inverted question mark ("?"). This movement can be smoothly executed as a single movement, or it can comprise a series of discrete steps. In either case, it will be appreciated that the movement begins with a downward z-movement to position the paddle between the flaps, then an outward (x or y) movement, followed by a downward (z) movement to press the flaps onto the side of the case. It culminates in an inward movement to hold the flaps parallel to the side of the case and position the paddle in contact with the case.

[0097] 4-6 illustrate various views of a single paddle 105 in more detail. In particular, each paddle includes an inverted, L-shaped formation 106 for interacting with the case. As can be seen, this formation has a substantially horizontal portion and an elongated, substantially vertical portion, with the horizontal portion positioned closest (proximal) to the movement mechanism. As noted elsewhere in this disclosure, the L-shaped formation may have additional features to aid in manipulating the flaps of the case and to aid in manipulating the case as a whole.

[0098] The paddle further comprises an x- or y-direction movement mechanism 107 and a z-direction movement mechanism 108. The movement mechanisms may comprise any linear movement means. In the figures, these are shown as assemblies having alignment rods and actuation rods, such as threaded rods. The threaded rods are driven by motors. Other actuation means may include teeth, belts, rack and pinions, belt and pulleys, pneumatic actuators, etc. Those skilled in the art will be familiar with a variety of suitable actuators.

[0099] 7-8 illustrate detailed views of a paddle assembly 102 having a first or x-direction pair of paddles 103 and a second or y-direction pair of paddles 104. Each paddle of the first and second pairs of paddles may comprise a paddle 105 as illustrated in FIGS. 4-6. As can be seen in FIGS. 7-8, the paddle assembly comprises a panel having slots through which the paddles 103, 104 extend. The paddles of each pair of paddles are positioned on opposite sides and have horizontal portions of L-shaped formations oriented toward the center of the paddle assembly. The paddles can travel in the x or y direction within their respective slots. The paddles can extend in the z direction through their respective slots.

[0100] It will be appreciated that the paddles and paddle assembly components may be constructed from plastic, metal, or any suitable material. They may be manufactured by conventional means such as molding and machining, 3D printing, etc. One skilled in the art will be able to select suitable components and manufacturing methods according to the intended use of the case manipulator system.

[0101] FIG. 22 illustrates an alternative paddle assembly 102. Similar to the paddle assemblies shown in FIGS. 7-8, the assembly 102 of FIG. 22 includes a first or x-direction pair of paddles 103 and a second or y-direction pair of paddles 104. In this arrangement, the elongated slots for the pair of x-direction paddles 103 extend continuously across the width of the paddle assembly 102. In contrast, the elongated slots for each of the pair of y-direction paddles 104 are not continuous but are interrupted by the x-direction slots. Each y-direction paddle includes a paddle 105 with its own translation mechanism 107, as illustrated in FIGS. 4-6. In contrast, the x-direction pair or paddle includes an alternative (single) translation mechanism 114. The mechanism 114 is shared between the pair of x-direction paddles 103 and includes dual sliding screws or threaded rods that drive each of the pair of paddles 103. The continuous length of the sliding screw between the paddles allows the paddles 103 to have a greater range of travel extending beyond the center of the paddle assembly 102 .

[0102] 23 and 24 illustrate a further modification to the paddle assembly 102, where a brace 115 is provided on the x-direction paddle 103. The brace 115 adds rigidity to the paddle assembly 102, adding stability to the paddle 103 when used to lift or grip a case.

[0103] FIG. 25a illustrates a perspective view of another type of paddle 301 and an arrangement in which the paddle 301 is shaped to fit around the corners of the case. As illustrated in FIG. 25a, the paddle 301 has a simple right-angle shape. FIG. 25b illustrates paddles 301 oriented at each of the corners of the case 200. In this view, the diagonally extending dashed lines indicate the direction of travel of the paddle. Here, the direction of travel is rotated by approximately 45° about the z-axis so that the paddles 301 are paired across diagonally opposite corners of the case 200 rather than across opposite sides. Optionally, additional supports 302 can be found along the long sides of the case 200. These additional supports 302 can be part of a manipulator assembly to aid in centering the case 200.

[0104] 26a and 26b illustrate views of a third type of paddle 303. The paddle 303 is shown at the distal end of a z-movement mechanism 305 and is intended for use on the side of a case (not shown). At the distal end of the paddle itself are a pair of swivel forks 304, and in this configuration, the swivel forks 304 are positioned so that they are parallel to the side of the case. It will be appreciated that in other embodiments, the third type of paddle 303 may have only a single swivel fork rather than a pair.

[0105] Additionally, at the distal end of the paddle is a wedge 306 between a pair of swivel forks 304. As described and shown below with respect to FIG. 31 , the wedge can be used to open a flap on a fan flap case. As shown, in a first position, the wedge 306 extends beyond the level of the swivel forks 304. The wedge 306 is typically biased to this first position by a spring. The wedge 306 can be pushed to a second position where the wedge 306 is retracted into the arm and the bottom edge 309 is substantially level with the swivel forks 304.

[0106] The top plate 308 of the paddle can be used to position it on the top edge of the case, as will be shown in more detail below.

[0107] FIGS. 27a and 27b illustrate schematic diagrams of a paddle assembly having a variation of a third type of paddle 303. In FIGS. 27a and 27b, a pair of paddles 303 are connected together, each having a single swivel fork 304 and a wedge gripper 310. In FIG. 27a, the swivel fork 304 is perpendicular to the wedge gripper 310, while in FIG. 27b, the swivel fork 304 is aligned with the wedge gripper 310. The wedge gripper 310 includes suction cups 311 to help hold the case. Alternatively, high surface friction or other features can be used on the inner surface of the wedge gripper 310. The use of the fork 304 ensures that the case is supported from the bottom, while the wedge gripper ensures that the case is supported from the sides. Thus, case handling is improved.

[0108] A fourth type of paddle 312 is illustrated in Figure 28. As can be seen in Figure 28b, the paddle 312 has a claw end 314 at the end on an arm 313. The arm 313 can extend in the x or y direction and is mounted on a vertical movement mechanism 315. Figure 28a illustrates a pair of paddles 312 along with the case 200.

[0109] 9-10 illustrate views of the paddle assembly and tote or container. As shown in FIGS. 9 and 10, the paddles 103, 104 are aligned with the inside of the tote or container. This ensures that the case can be precisely placed within the tote or container.

[0110] FIG. 11 illustrates an overview of the case manipulator system, and FIGS. 11-16 substantially illustrate the sequence of actions for manipulating a case and moving the case from a first location to a second location in a container or removing the case from a container.

[0111] As illustrated in FIG. 11 , a first conveyor 109 for delivering cases 200 is positioned above a second conveyor 110 for delivering containers or totes 250. The second conveyor extends beyond the limits of the first conveyor so that both the first and second conveyors are accessible by a case manipulator positioned above the conveyors. The case manipulator is capable of linear movement between two positions: a first position above a first location at the end of the first conveyor sized for occupancy by a case (empty as shown in FIG. 11 ), and a second position above a second location on the second conveyor where a tote can be positioned. The conveyors are used to deliver cases and totes to the case manipulator as needed. While the second conveyor is shown as being parallel to the first conveyor, it will be appreciated that the conveyors may not be parallel to each other.

[0112] Figure 29 illustrates a biasing means 318 for urging the case into a central position on the conveyor. When the case is positioned adjacent to the bar 319, a mechanism is activated which presses the case against a stop, holding the case in place.

[0113] 12 is an end view of the case manipulator system in which a case is positioned at the end of the first conveyor directly below the case manipulator. As can be seen in the figure, the first and second pairs of paddles are positioned so that they can be lowered between the flaps of the case. Therefore, the case manipulator can fold the flaps over the sides of the case, as described above.

[0114] Figure 13 is again an end view of the case manipulator system. As can be seen in Figure 13, the flaps of the case are folded downward and the case is grasped by two pairs of paddles. The pairs of paddles are raised so that the case is lifted from the first conveyor. The case manipulator then begins to move the case so that it is positioned within funnel 111. The funnel comprises first and second halves positioned on each side of the second conveyor.

[0115] Figure 14 shows details of the second conveyor, funnel, and case manipulator in use. The case manipulator is gripping a case as shown in Figure 13. In Figure 14, the tote has been moved into position under the funnel. Guides 112 ensure that the tote is positioned correctly in the y direction, and guides 113 (shown in Figures 12 and 13) ensure that the tote is positioned correctly in the z direction. The case is positioned between the funnels, which help to center and guide the case into the tote.

[0116] FIG. 15 shows an expanded view of the manipulator system, and FIG. 16 shows the second conveyor, funnel, and case manipulator in more detail. In FIG. 15, the case is no longer held by the second pair of paddles because they do not fit through the funnel. Instead, the funnel continues to hold the flaps downward, pinching the longer sides of the case together. Due to the relative dimensions between the case and the funnel, the first pair of paddles is used to push the case through the funnel and down into the tote. The first pair of paddles continues to push the case until it is fully inserted into the tote. In this example, the dimensions of the tote and case allow the case to be positioned within the tote while the first pair of paddles are still engaged with the case. Finally, the paddles can be removed from the case and tote, and the second conveyor can move over the combined tote and inserted case.

[0117] The case manipulator system can then be reset ready to combine the next case with a tote.

[0118] FIG. 17 shows a case manipulator interacting with a combined tote and case in an alternative location where no funnel is present.

[0119] 17 may be in a location where the tote and case are separated. In such a location, a first pair of paddles is used to extend into the combined tote and case between the outer edge of the tote and the inner edge of the tote. The paddles can then be controlled to grasp the case and lift it from the tote.

[0120] Alternatively, the configuration shown in Figure 17 may be an alternative configuration for combining a case and a tote, for example, where the relative dimensions of the case and tote provide ample space so that alignment of the case and tote is not as critical. In this alternative situation, a funnel may not be necessary to insert the case into the tote.

[0121] 1-17. In turn, FIGS. 18-21 illustrate a second configuration of the case manipulator system having similar features to the configuration disclosed in connection with FIGS. 1-17. In turn, FIGS. 18-21 show a sequence of movement of the case manipulator system 100. In this configuration, rather than the case 200 being pushed down between the funnels 111, when the case is positioned between the funnels, the second or lower conveyor section at the second location is raised with the tote 250 in place. This action pushes the case into the tote, with the case held in place by the paddles 103, 104. The combined tote and case can then be moved at the level of the first or upper conveyor, or the movable section of the conveyor can be lowered and the combined tote and case moved at the lower level.

[0122] 30-33 illustrate case manipulator system 316 in use, and FIG. 35 illustrates case manipulator system 316 with a variation of guide means 317. System 316 comprises a pair of y-side (or x-side) paddles 303 and a pair of x-side (or y-side) paddles 312.

[0123] In FIG. 30 , case 200 is delivered by a conveyor to case manipulator 316. It will be appreciated that biasing device 318 ( FIG. 35 ) can be used in conjunction with the case manipulator system to hold the case in place. In FIG. 31 , a pair of x-side paddles 312 and a pair of y-side paddles 303 are inserted between the folded portions of the case. Biasing device 318 ( FIG. 35 ) is used to hold case 200 in place, while the claws of x-side paddles 312 are used to open the case flaps. First, paddles 312 are used to pull open the x-side flaps, then y-side paddles 303 are used to open and fold the y-side flaps, with lips 309 at the distal ends of wedges 306 (best seen in FIG. 32 ) used to help open the y-side flaps.

[0124] When the flaps are folded downward parallel to the sides of the case, the y-side paddles 303 are extended downward and the swivel forks 304 are rotated so that the case can be supported on the forks 304 and lifted, as shown in FIG. 32.

[0125] The case is then moved by the manipulator system 316 above an empty container 250 which is pushed into the container through guide means 317, as shown in FIG.

[0126] In Figure 35, box 200 is shown with the flaps already folded downwards. The x-side paddle 312 is positioned above box 200 and the y-side paddle 303 is positioned above container 250. From the view of Figure 35, it will be appreciated how the x-side paddle is movable between a position above where box 200 is shown and a position above where container 250 is positioned.

[0127] FIG. 34 schematically illustrates the sequence of the case and container combination process. The left side of the figure shows a plan view of the case manipulator system 316, in which the case 200 (box) moves in a 1-2-3 sequence. The right side similarly shows a plan view in which the yx plane is above the zx plane and the sequence is shown from left to right across two rows. As can be seen, the case is moved into position 2, where it is between paddles 312 and centered with biasing means 318. First, paddle 312 is used to open the case and fold the x-flaps, and then paddle 303 is used to fold the y-flaps. Paddle 303 is extended downward below the bottom of the case. Swivel fork 304 is rotated to support the case. The case is then lifted to position 3, where it is lowered through guide means 317 into container 250.

[0128] 36 illustrates a possible arrangement of two substantially half-sized cases 200a nested within a container 250. As illustrated, the half-sized cases 200a are proportioned such that they can be placed side-by-side within the container 250. In the illustrated example, the cases 200a are open with their flaps folded downward so that the contents of the cases 200a are accessible from above the container 250. It will be appreciated that similar closed half-sized cases in a side-by-side arrangement can be nested within the container 250, e.g., for storage or sorting purposes.

[0129] 37 illustrates another possible arrangement of two substantially half-sized first cases 200a nested within a second full-sized case 200 nested within a container 250. In the example illustrated, each of the cases 200a, 200a is open with their flaps folded downward so that the contents of the two half-sized cases 200a are accessible from above the container 250. It will be appreciated that either of the cases 200a, 200a can be closed if the contents do not need to be accessible.

[0130] It will be appreciated that variations on the case manipulator system as disclosed herein, and additional well-known optional features, allow for arrangements such as those illustrated in Figures 36 and 37. Furthermore, other combinations and arrangements of cases are contemplated depending on the required application. It will be understood that the above description is given by way of example only, and that various modifications may be made by those skilled in the art. While various embodiments have been described above with a certain degree of particularity or with reference to one or more individual embodiments, those skilled in the art could make numerous changes to the disclosed embodiments without departing from the scope of the present invention.

[0131] Although an effort has been made in the foregoing specification to draw attention to those features of the invention which are considered to be particularly important, it is to be understood that the applicant claims protection for any patentable feature or combination of features referred to in this specification and / or shown in the drawings, whether or not specifically emphasized.

Claims

1. 1. A case manipulator system for use in an automated storage and retrieval system, said case manipulator system comprising: a first location for one or more cases; the second location comprising guiding means for guiding cases into and / or out of the container; Case manipulator and The case manipulator comprises: a movable support movable from a first position above the first location to a second position above the second location; a paddle assembly having at least a first pair of paddles, the paddle assembly being arranged to move the at least first pair of paddles relative to the movable support in a first horizontal (x) direction and a vertical (z) direction; the case manipulator system comprises: a case in the first location is accessible by the case manipulator, the case manipulator system being controllable to engage the case, move the case from the first location to a second location, and insert the case at the second location into a container at the second location; and / or A case manipulator system configured such that cases in a container in the second location are accessible by the case manipulator, the case manipulator being controllable to remove the cases from the container and place the cases at the first location.

2. the case manipulator is controllable to engage one or more flaps of the case and fold the one or more flaps; and / or The case manipulator system of claim 1 , wherein the case manipulator is controllable to grasp opposing sides of the case and lift the case.

3. 3. The case manipulator system of claim 1, wherein the first location includes a first conveyor, the first conveyor delivering cases to the case manipulator.

4. 4. The case manipulator system of claim 3, wherein the first conveyor comprises an indexing means.

5. A case manipulator system according to any one of claims 1 to 4, wherein the second location comprises a second conveyor, the second conveyor passing the container under the guide means.

6. the paddle assembly includes a second pair of paddles and is arranged to move the second pair of paddles in a second horizontal (y) direction and a second vertical (z) direction; Optionally, said first pair of paddles and said second pair of paddles are independently operable; A case manipulator system according to any one of claims 1 to 5, wherein optionally each paddle is independently operable.

7. A case manipulator system according to any preceding claim, wherein the second location comprises one or more guides for guiding a container into position in the second location.

8. A case manipulator system according to any one of claims 1 to 7, wherein the guiding means is a fixed funnel, or the guiding means is a retractable locator.

9. the paddle has an inverted L-shape; and / or one or more of the paddles comprises a hooked distal end; and / or one or more of the paddles is provided with a gripping means; A case manipulator system according to any one of claims 1 to 8.

10. A case manipulator system according to any preceding claim, further comprising a control utility.

11. 11. A method of using a case manipulator system according to any one of claims 1 to 10 to remove a case from the first location and place the case in a container at the second location and / or remove a case from a container at the second location and place the case at the first location, comprising: a) controlling the paddle assembly to lower at least the first pair of paddles to be positioned between a pair of case flaps when the case manipulator is in a first position; b. said first pair of paddles (outward in the x direction) engages with the pair of case flaps; Pushing or pulling the case flaps outward (outward in the x direction); folding the case flaps (downward in the z-direction) so that they are folded downwardly on the outside of the case, and positioning a pair of paddles on opposite folded top edges of the case or on opposite sides of the case (downward in the z-direction and inward in the x-direction); moving the case between the first or second pair of paddles (inward in the x direction) to sandwich the case; c) moving the movable support from the first position to the second position while holding the case between a pair of paddles; d. Positioning the case within the guide means at the second location; e. Releasing the case; f. inserting said case into a container at said second location; the case is removed from the first location and placed in the container at the second location; and / or The method of using a case manipulator system, wherein the case is removed from the container at the second location and placed at the first location by reversing steps a.-f.

12. The method of using a case manipulator system of claim 11 when dependent on claim 4, wherein at least one of steps a.-f. is performed in the y direction and the z direction by the second pair of paddles to engage each side of the case.

13. 13. The method of using a case manipulator system according to claim 11 or 12, wherein after step d. and before step e., at least one pair of paddles is used to move the case vertically.

14. 14. A method of using a case manipulator system according to any one of claims 11 to 13 when dependent on claim 3, further comprising the preliminary step of using the first conveyor to deliver cases to or receive cases from the case manipulator.

15. A method of using a case manipulator system as claimed in any one of claims 11 to 14 when dependent on claim 5, further comprising the preliminary step of using the second conveyor to guide containers so that they are positioned under the funnel.

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