Apparatus and method for picking a single container from a stack of containers

Abstract

Apparatus for picking a single last container from a stack of containers, said apparatus comprising a suction system, a configured gripping head to pick up the last container from said stack of containers, and a suction port configured to attract a lateral wall of the last container towards a lateral wall of the gripping head. The apparatus further includes a retainer configured to removably hold the stack of containers, where the stop includes a base configured to support a top edge of the lateral wall of the containers, and a raised edge emerging in height from the base transversely to the base, said raised edge being configured to insert itself inside the containing volume of said containers during an picking procedure of said last container.

Description

[0001] “APPARATUS AND METHOD FOR PICKING A SINGLE CONTAINER FROM A STACK OF CONTAINERS”

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to an apparatus and a method for picking a single container from a stack of containers. The apparatus and the related method subject of the present invention can be applied in the paper converting sector for handling sheet material containers, and in the food industry for the removal and use of containers such as baking cups and molds.

[0004] PRIOR ART

[0005] In the paper converting-food sector, apparatuses for the automatic separation of a single container from a stack of containers are known. For example, apparatuses are known for the automatic separation of a single container from a stack made up of two or more containers. Such apparatuses comprise a base adapted to support the stack of containers and equipped with a vacuum system configured to allow the grasping of a lower container in the stack, directly in contact with the base. The apparatus is also equipped with an extractor configured to insert into a housing cavity of an upper container in the stack, opposite to the lower container, defining the terminal container of the stack; the extractor is also equipped with its respective vacuum system configured to grasp a base and a lateral wall of the upper container to allow its separation from the stack.

[0006] An additional example concerns an apparatus for the automatic separation of a single container from a stack of containers. The apparatus includes a pair of clamps configured to engage a flap of a lateral wall of a container for picking the latter from the stack of containers.

[0007] Document US2937786A describes a machine for separating individual paper baking cups from a vertical stack of nested containers. The proposed solution uses a gripping head shaped to faithfully follow the grooved shape of the baking cup. This head is equipped with grooves and vacuum channels that allow the application of uniform suction on the walls of the container. During the operation, the head rises from below, adheres by vacuum to the lowest baking cup in the stack and extracts it. Simultaneously, a support ring at the base of the stack, equipped with an inclined surface and radial holes, blows air between the baking cups to facilitate the detachment of the single container, preventing jamming or the removal of multiple units.

[0008] The document US6623236B1 describes an vacuum apparatus and method for the extraction of items, particularly lightweight cups or containers tightly stacked together. The illustrated solution involves a vacuum gripping head equipped with concave surfaces and suction holes that allow the lateral wall of the container to be locally drawn in, ensuring a coupling between the container and the head without deforming the container itself. There is a protective ring with grooves and openings that, during the cycle, directs an air jet towards the stack, pushing it away from the container being extracted. In this way, the vacuum retains and detaches the single container, while the air jet facilitates the physical separation from the rest of the stack, thereby preventing multiple units from being extracted together. Although the solutions described above allow the separation of containers from a stack, the Applicant has identified that these solutions are not free from limitations and drawbacks. In particular, the known solutions described above present a complex structure and elaborate handling means: such apparatuses are cumbersome due to the presence of articulated kinematics. Moreover, the known apparatuses are subject to the drawback of simultaneously extracting multiple containers when they are positioned closely, or to the jamming of the apparatus during the container extraction operations.

[0009] OBJECTIVE OF THE INVENTION

[0010] The aim of the present invention is therefore to resolve at least one of the drawbacks and / or limitations of the previous solutions.

[0011] A first objective is to provide an apparatus and method for reliably and quickly picking a single container from a stack of containers.

[0012] A further objective is to provide an apparatus and method capable of picking one single container at a time, avoiding machine jamming and / or extracting multiple containers at once.

[0013] Another objective is to provide an apparatus and method for picking a single container from a stack of containers, effective in extracting exactly one container at a time, while keeping the apparatus economical and easy to manufacture.

[0014] These and other objectives, which will become more apparent from the following description, are substantially achieved by an apparatus and method in accordance with one or more of the appended claims and / or the following aspects.

[0015] SUMMARY

[0016] In a 1staspect, an apparatus (1) is provided for picking a single last container (2a) from a stack (P) of containers (2), said apparatus (1) comprising:

[0017] - a suction system (30);

[0018] - a gripping head (20) configured to pick up said last container (2a) from said stack (P) of containers (2), said gripping head (20) comprising: o a top wall (21) configured to face a bottom (3) of said container (2) during an picking procedure (100); o a lateral wall (22) emerging transversely from said top wall (21) and configured to face a lateral wall (4) of said container (2) during said picking procedure (100), wherein said bottom (3) and said lateral wall (4) of said containers (2) together define a containing volume (5) of the container (2); o at least one suction port (23) configured to attract said lateral wall (4) of the last container (2a) towards the lateral wall (22) of the gripping head (20) during said picking procedure (100), said at least one suction port (23) being positioned on said lateral wall (22) of the gripping head (20) and being operationally connected to the suction system (30); - a supply support (10) configured to support said stack (P) of said containers (2) stacked along a feeding direction (SD), said supply support (10) being configured to feed said last container (2a) of said stack (P) of said containers (2) towards the gripping head (20);

[0019] - at least one retainer (40) configured to removably hold said stack (P) of containers (2) in said supply support ( ), said at least one retainer (40) comprising:

[0020] • a base (41) configured to support an extremal edge (6) of said lateral wall (4) of said containers (2) when contained in said supply support (10);

[0021] • a raised edge (42) emerging in height from said base (41) transversely to said base (41), said raised edge (42) being configured to fit within the containing volume (5) of said containers (2) during said picking procedure (100).

[0022] Specifically, the base (41) of the retainer (40) features a substantially flat support surface (e.g., horizontal or slightly inclined with respect to the horizontal); the raised edge (42) presents a respective contact surface for the containing volume (5) that is substantially flat and inclined with respect to (or emerging from) the substantially flat support surface of the base (41). In other words, the support surface and the contact surface define at their meeting point an angle (or a corner), allowing the raised edge to fit into the containing volume (5) of said containers (2) during said picking procedure.

[0023] The apparatus (comprising the aspects outlined here) further includes a control unit arranged to command at least the suction system (30) and the gripping head (20) for picking a last container (2a) from the stack (P) of containers (2).

[0024] In a 2ndaspect according to the previous aspect, during said picking procedure (100), said raised edge (42) is configured to contact an inner surface (4b) of the lateral wall (4) of said containers (2) during said picking procedure (100), said inner surface (4b) of the lateral wall (4) of said containers (2) facing said containing volume (5).

[0025] In a 3rdaspect according to any one of the previous aspects, said base (41) defines a support surface for said containers (2), particularly for said last container (2a) among said containers (2), when stacked in the supply support (10).

[0026] In a 4thaspect according to the previous aspect, said support surface of the base (41) develops transversely concerning the feeding direction (SD) of the containers (2).

[0027] In a 5thaspect according to any one of the previous aspects, said raised edge (42) develops in height from said base (41) along a direction transverse to the support surface of the base (41).

[0028] In a 6thaspect according to any one of the previous aspects, during at least one step of the picking procedure (100), said raised edge (42) is inserted within the containing volume (5). In a 7thaspect according to any one of the previous aspects, said retainer (40) comprises a stop portion (43) opposite to said raised edge (42), said base (41) of the retainer (40) being interposed to connect the raised edge (42) and the stop portion (43).

[0029] In an 8thaspect according to the previous aspect, said striking portion (43) is configured to contact an outer surface (4a) of the lateral wall (4) of the containers (2) and / or the last container (2a) stacked in the supply support (10) during said picking procedure (100).

[0030] In a 9thaspect according to any one of the two previous aspects, the base (41 ), the raised edge (42), and the stop portion (43) collectively define a concave seat configured to receive the terminal edge (6) of the lateral wall (4) of said containers and / or the last container (2a) in insertion.

[0031] In a 10thaspect according to any one of the previous aspects, the supply support (10) develops between a first end (10a) and a second end (10b), wherein said first end (10a) is configured to carry said last container (2a) among said containers (2).

[0032] In an 11thaspect according to the previous aspect, said second end (10b) of the supply support (10) is configured to receive a new stack of containers (2) in supply.

[0033] In a 12thaspect according to any one of the two previous aspects, said retainer (40) is positioned in correspondence with said first end (10a) of the supply support (10).

[0034] In a 13th aspect, according to any one of the previous aspects, said gripping head (20) is movable towards and away from said first end (10a) of the supply support (10) along an extraction direction (ED) between:

[0035] - a grasping position, in which said gripping head (20) is in a proximal position to the first end (10a) of the supply support (10), and

[0036] - an extraction position, in which said gripping head (20) is in a distal position relative to the first end (10a) of the supply support (10).

[0037] In particular, the control unit controls the gripping head (20) to allow movement towards and away from the first end (10a) of the supply support (10) along the extraction direction (ED) between the grasping position and the extraction position.

[0038] In a 14thaspect, according to the previous aspect, in the grasping position, the gripping head (20) has a first distance relative to the first end (10a) of the supply support (10), and in the extraction position, the gripping head (20) has a second distance relative to the first end (10a) of the supply support (10), wherein said first distance is smaller than said second distance.

[0039] In a 15thaspect, according to any one of the two previous aspects, said extraction direction (ED) is parallel to the feeding direction (SD) of the containers (2).

[0040] In a 16thaspect, according to any one of the previous aspects in combination with the aspect 13, said feeding direction (SD) is vertical, particularly with said feeding direction (SD) being parallel to gravitational acceleration. In a 17thaspect, according to any one of the previous aspects, said first end (10a) of the supply support (10) is positioned at a lower height level compared to the second end (10b) of the supply support (10), such that the supply support (10) is configured to pass said containers towards the gripping head by gravity.

[0041] In an 18thaspect, according to any one of the previous aspects, in the grasping position, the top wall (21) of the gripping head (20) is configured to face, optionally in contact with, the bottom (3) of said last container (2a).

[0042] In a 19thaspect, according to any one of the previous aspects, in the grasping position, the lateral wall (22) of the gripping head (20) is configured to face, optionally in contact with, the lateral wall (4) of said last container (2a), particularly with the inner surface (4b) of the lateral wall (2) of said last container (2a).

[0043] In a 20thaspect according to any one of the previous aspects, said retainer (40) is movable towards and away from the lateral wall (22) of the gripping head (20) along a direction of movement (MD) between:

[0044] - a distal position relative to said lateral wall (22) of the gripping head (20), and

[0045] - a proximal position to said lateral wall (22) of the gripping head (20).

[0046] In particular, the control unit controls the retainer (40) to move it towards and away from the lateral wall (22) of the gripping head (20) along the direction of movement (MD) between the distal position and the proximal position. In a 21staspect according to the previous aspect, in the distal position the retainer (40) presents a first distance from said lateral wall (22) of the gripping head (20), and in the proximal position the retainer (40) presents a second distance from said lateral wall (22) of the gripping head (20), wherein said first distance is greater than said second distance.

[0047] In a 22ndaspect according to either of the previous two aspects, said distal position and said proximal position are defined when the gripping head (20) is in the grasping position.

[0048] In a 23rdaspect according to any one of the previous aspects in combination with the aspect 20, said direction of movement (MD) of the retainer (40) is transverse to said direction of extraction (ED), optionally said direction of movement (MD) of the retainer (40) being orthogonal to said direction of extraction (ED).

[0049] In a 24thaspect according to any one of the previous aspects, said at least one retainer (40) comprises a first retainer (40A) and a second retainer (40B) facing each other and movable towards and away from each other along the same direction of movement (MD).

[0050] In a 25thaspect according to the previous aspect, the direction of movement of the first retainer (40A) is parallel and coincident with the direction of movement of the second retainer (40B).

[0051] In a 26thaspect according to any one of the previous aspects in combination with the aspect 24, the gripping head (20), when in the grasping position, is interposed between the first retainer (40A) and the second retainer (40B) along said direction of movement (MD).

[0052] In a 27thaspect according to any one of the previous aspects in combination with aspect 24, said first retainer (40A) and said second retainer (40B) are both movable between said distal position and said proximal position. In a 28thaspect according to any one of the previous aspects in combination with the aspect 24, when the first retainer (40A) is in the proximal position, the second retainer (40B) is in the proximal position, and when the first retainer (40A) is in the distal position, the second retainer (40B) is in the distal position.

[0053] In a 29thaspect according to any one of the previous aspects in combination with aspect 24, said first retainer (40A) and said second retainer (40B) are movable simultaneously towards the respective proximal position and towards the respective distal position.

[0054] In a 30thaspect according to any one of the previous aspects, said raised edge (42) comprises an inclined surface (42a) connected to said base (41) and transverse to said base (41) to define an angle of attack (a), measured between said base (41) and said inclined surface (42a), greater than 90°, specifically between 100° and 160°, optionally between 110° and 140°.

[0055] In a 31staspect according to the aspect 30, said inclined surface (42a) faces the stop portion (43). In a 32ndaspect according to any one of the previous aspects in combination with the aspect 30, said raised edge (42) develops in height between a first end, connected to the base (41), and a second free end.

[0056] In a 33rdaspect according to the previous aspect, said development in height of the raised edge is between 1 mm and 7 mm, specifically between 2 mm and 5 mm.

[0057] In a 34thaspect according to any one of the previous aspects in combination with the aspect 32, said raised edge (42) develops in height parallel to the extraction direction (ED).

[0058] In a 35thaspect according to any one of the previous aspects in combination with the aspect 32, said raised edge (42) develops in height orthogonally to the direction of movement of the retainer (40).

[0059] In a 36thaspect according to any one of the previous aspects in combination with the aspect 32, said raised edge (42) develops in height parallel to the feeding direction (SD).

[0060] In a 37thaspect according to any one of the previous aspects, said apparatus (1) includes a control unit configured to command the execution of said picking procedure (100) intended to pick up the last container (2a) from said stack (P) of containers (2).

[0061] In a 38thaspect according to the previous aspect, said picking procedure (100) comprises at least the following step executed by the control unit:

[0062] - moving (101) the gripping head (20) from the extraction position to the grasping position.

[0063] In a 39thaspect according to any one of the previous aspects in combination with the aspect 37, said picking procedure (100) comprises at least the following step executed by the control unit:

[0064] - moving (102) the retainer (40) from the distal position to the proximal position.

[0065] In a 40thaspect according to any one of the previous aspects in combination with the aspect 37, said picking procedure (100) comprises at least the following step executed by the control unit:

[0066] - determining (103) a suction through said suction port (23) of the gripping head (20) by activating, or maintaining activated, the suction system (30).

[0067] In a 41staspect according to any one of the previous aspects in combination with the aspect 37, said picking procedure (100) comprises at least the following step executed by the control unit: - moving (104) the retainer (40) from the proximal position to the distal position, while maintaining said suction active through the suction port (23).

[0068] In a 42ndaspect according to any one of the previous aspects in combination with the aspect 37, said picking procedure (100) comprises at least the following step executed by the control unit:

[0069] - moving (105) the gripping head (20) from the grasping position to the extraction position. In a 43rdaspect according to any one of the previous aspects from 38 to 105, wherein said picking procedure (100) comprises the following steps executed by the control unit in the following order:

[0070] - moving (101) the gripping head (20) from the extraction position to the grasping position;

[0071] - moving (102) the retainer (40) from the distal position to the proximal position;

[0072] - determining (103) a suction through said suction port (23) of the gripping head (20) by activating, or keeping activated, the suction system (30);

[0073] - moving (104) the retainer (40) from the proximal position to the distal position, while maintaining said suction active through the suction port (23);

[0074] - moving (105) the gripping head (20) from the grasping position to the extraction position.

[0075] In a 44thaspect according to any one of the previous aspects in combination with the aspect 38 and / or 43, at the end of the step of moving (101) the gripping head (20) from the extraction position to the grasping position, said lateral wall (4) of the containers (2) and / or of the last container (2a) is interposed between said retainer (40) and said lateral wall (22) of the gripping head (20).

[0076] In a 45thaspect according to any one of the previous aspects in combination with the aspect 38 and / or 43, at the end of the step of moving (101) the gripping head (20) from the extraction position to the grasping position, between said lateral wall (22) of the gripping head (20) and said lateral wall (4) of the containers (2) and / or of the last container (2a) there is a gap, in particular said gap defining a distance between said lateral wall (22) of the gripping head (20) and said lateral wall (4) of the containers (2) and / or of the last container (2a).

[0077] In a 46thaspect according to any one of the previous aspects in combination with the aspect 38 and / or 43, at the end of the step of moving (101) the gripping head (20) from the extraction position to the grasping position, the top portion (21) of the gripping head is facing the bottom (3) of the last container (2a).

[0078] In a 47thaspect according to any one of the previous aspects in combination with the aspect 38 and / or 43, at the end of the step of moving (101) the gripping head (20) from the extraction position to the grasping position, the lateral wall (22) of the gripping head (20) is facing the inner surface (4b) of the lateral wall (4) of the last container (2a).

[0079] In a 48thaspect according to any one of the previous aspects in combination with the aspect 38 and / or 43, at the end of the step of moving (101) the gripping head (20) from the extraction position to the grasping position, the top edge (6) of the lateral wall (4) of the last container (2a), and optionally also of said containers (2) of the stack (P), is positioned resting on said base (41) of the retainer (40). In a 49th aspect according to any of the previous aspects in combination with aspect 38 and / or 43, at the end of the step of moving the gripping head from the extraction position to the grasping position, the raised edge of the stop, particularly of the first stop and the second stop, is positioned within the containment volume of the last container.

[0080] In a 50thaspect according to any one of the previous aspects in combination with the aspect 38 and / or 43, at the end of the step of moving (101) the gripping head (20) from the extraction position to the grasping position, the raised edge (42) of the retainer (40), particularly of the first retainer (40A) and the second retainer (40B), is interposed between the lateral wall (4) of the last container (2a) and the lateral wall (22) of the gripping head (20). In a 51staspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, the step of moving (102) the retainer (40) from the distal position to the proximal position causes a bringing together, optionally until contact, between the lateral wall (22) of the gripping head (20) and said lateral wall (4) of the containers (2), particularly by deformation of the containers (2) and / or the last container (2a).

[0081] In a 52ndaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, during the step of moving (102) the retainer (40) from the distal position to the proximal position, the raised edge (42) of the retainer (40) is positioned within the containing volume (5) of the last container (2a).

[0082] In a 53rdaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, during the step of moving (102) the retainer (40) from the distal position to the proximal position, said stop portion (43) contacts the external surface of the lateral wall (4) of the containers (2) and / or of the last container (2a), deforming at least said lateral wall (4) of the containers (2) and / or of the last container (2a) towards the gripping head (20). In a 54thaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, at the end of the step of moving (102) the retainer (40) from the distal position to the proximal position, the retainer (40) is configured to exert a push on the lateral wall (4) of the last container (2a) towards the lateral wall (22) of the gripping head (20).

[0083] In a 55thaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, at the end of the step of moving (102) the retainer (40) from the distal position to the proximal position, the raised edge (42) of the retainer (40) is positioned within the containing volume (5) of the last container (2a).

[0084] In a 56thaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, at the end of the step of moving (102) the retainer (40) from the distal position to the proximal position, the raised edge (42) of the retainer (40) is positioned at least partially within the recess (24) of the lateral wall (22) of the gripping head (20).

[0085] In a 57thaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, at the end of the step of moving (102) the retainer (40) from the distal position to the proximal position, the lateral wall (4) of the last container (2a) and of the containers (2) of the stack (P) are resting on the base (41) of the retainer (40). In a 58thaspect according to any one of the previous aspects in combination with the aspect 39 and / or 43, at the end of the step of moving (102) the retainer (40) from the distal position to the proximal position, the first retainer (49A) and the second retainer (40B) are in the proximal position.

[0086] In a 59thaspect according to any one of the previous aspects in combination with the aspect 40 and / or 43, the step of determining (103) a suction through said suction port (23) of the gripping head (20) determines an adhesion of the lateral wall (4) of the last container (2a) to the lateral wall (22) of the gripping head (20).

[0087] In a 60thaspect according to any one of the previous aspects in combination with the aspect 40 and / or 43, at least at the beginning of the step of determining (103) a suction through said suction port (23) of the gripping head (20), the retainer (40) is in the proximal position.

[0088] In a 61staspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, during the step of moving (104) the retainer (40) from the proximal position to the distal position, said suction port (23) is configured to maintain said adhesion between the lateral wall (4) of the last container (2a) and the lateral wall (22) of the gripping head (20).

[0089] In a 61stbis aspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, during the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40), particularly of the first retainer (40A)and the second retainer (40B), is configured to exert a force on the lateral wall (4) of these containers (2) and the last container (2a) moving away from the lateral wall

[0090] (22) of the gripping head (20) along the direction of movement (MD).

[0091] In a 62ndaspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, during the step of moving (104) the retainer (40) from the proximal position to the distal position, the picking procedure (100) involves maintaining active suction through the suction port (23).

[0092] In a 63rdaspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, during the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40) slides over the edge of the lateral wall (4) of the last container (2a) switching from:

[0093] - a first condition in which the raised edge (42) of the retainer (40) is positioned the containing volume (5) of the last container (2a), to a

[0094] - second condition in which the raised edge (42) of the retainer (40) is positioned outside the containing volume (5) of the last container (2a).

[0095] In a 64thaspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, at the end of the step of moving (104) the retainer (40) from the proximal position to the distal position, the lateral wall (4) of the last container (2a) is adhered to the lateral wall (22) of the gripping head (20) through said suction port

[0096] (23).

[0097] In a 65thaspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, at the end of the step of moving (104) the retainer (40) from the proximal position to the distal position, the lateral wall (4) of the last container (2a) is spaced from the lateral wall (4) of the stack (P) of containers (2). In a 66thaspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, at the end of the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40) is positioned inside the containing volume (5) of the containers (2) of the stack.

[0098] In a 67thaspect according to any one of the previous aspects in combination with the aspect 41 and / or 43, at the end of the step of moving (104) the retainer (40) from the closely positioned to the distal position, the raised edge (42) of the retainer (40) is positioned outside the containing volume (5) of the last container (2a).

[0099] In a 68thaspect, according to any one of the previous aspects in combination with the aspect 42 and / or 43, the step of moving (105) the gripping head (20) from the grasping position to the extraction position defines the extraction of the last container (2a) from the stack (P) of containers (2).

[0100] In a 68thaspect, according to any one of the previous aspects in combination with the aspect 43, the steps of the picking procedure (100) are executed iteratively in a loop.

[0101] In a 69thaspect, according to the previous aspect, upon completing the step of moving the gripping head (20) from the grasping position to the extraction position, the picking procedure entails initiating a new picking procedure for a new last container starting from the step of moving (101) the gripping head (20) from the extraction position to the grasping position.

[0102] In a 70thaspect, according to any one of the previous aspects in combination with the aspect 20, said apparatus includes at least one actuator (60) operatively connected to said at least one retainer (40) and configured to move said at least one retainer (40) between the distal position and the proximal position.

[0103] In a 71staspect, according to the previous aspect, said actuator (60) is operated electrically, pneumatically, or hydraulically.

[0104] In a 72ndaspect, according to any of the previous aspects in combination with the aspect 70, said actuator (60) is operatively connected to said control unit, said control unit being configured to command said actuator (60) to define the distal and proximal positions of the at least one retainer (40).

[0105] In a 73rdaspect, according to any one of the previous aspects in combination with the aspect 70, said at least one actuator (60) comprises a first actuator (60a) operatively connected to the first retainer (40a) and a second actuator (60b) operatively connected to the second retainer (40b), wherein said control unit is configured to selectively command the first actuator (60a) and the second actuator (60b) to define:

[0106] - the proximal position of the first retainer (40a) and the second retainer (40b), and

[0107] - the distal position of the first retainer (40a) and the second retainer (40b).

[0108] In aspect 73rdbis, according to any one of the previous aspects in combination with the aspect 39 and 70, the step of moving (102) the retainer (40) from the distal position to the proximal position includes activating said actuator (60).

[0109] In aspect 73rdter, according to any one of the previous aspects in combination with the aspect 41 and 70, the step of moving (104) the retainer (40) from the proximal position to the distal position includes activating said actuator (60). In a 74thaspect, according to any one of the previous aspects in combination with the aspect 13, said apparatus comprises at least one auxiliary actuator (70) operationally connected to said at least one gripping head (20) and configured to move said gripping head (20) between the grasping position and the extraction position.

[0110] In a 75thaspect, according to the previous aspect, said auxiliary actuator (70) is either electrically, pneumatically, or hydraulically driven.

[0111] In a 76thaspect, according to any one of the previous aspects in combination with the aspect 74, said auxiliary actuator (70) is operationally connected to said control unit, said control unit being configured to command said auxiliary actuator (70) to define the grasping position and the extraction position of the gripping head (20).

[0112] In a 76thbis aspect, according to any one of the previous aspects in combination with the aspect 38 and 74, the step of moving (101) the gripping head (20) from the extraction position to the grasping position includes activating said auxiliary actuator (70).

[0113] In a 76thter aspect, according to any one of the previous aspects in combination with the aspect 42 and 74, the step of moving (105) the gripping head (20) from the grasping position to the extraction position includes activating said auxiliary actuator (70).

[0114] In a 77thaspect, according to any one of the previous aspects, said control unit is configured to command the proximal position of at least one retainer (40), particularly the first retainer (40A) and the second retainer (40B) when the gripping head (20) is in the grasping position.

[0115] In a 78thaspect, according to any one of the previous aspects, the gripping head (20) has an elongated shape.

[0116] In a 79thaspect, according to any one of the previous aspects, the gripping head develops in length along a first direction and in width along a second direction orthogonal to the first direction, in which said length is greater than said width of the gripping head (20).

[0117] In an 80thaspect, according to the aspect 79, said length is at least twice the width, optionally where a ratio between length and width is between 2 and 5, particularly between 3 and 4.

[0118] In an 81staspect, according to any one of the previous aspects in combination with the aspect 79, said first direction and said second direction are orthogonal to the extraction direction of the gripping head (20).

[0119] In an 82ndaspect, according to any one of the previous aspects in combination with the aspect 79, said first direction and said second direction defining a respective plane, intersecting parallelly the first direction and the second direction, substantially parallel to the top wall (21) of the gripping head (20).

[0120] In an 83rdaspect according to any one of the previous aspects in combination with the aspect 79, the lateral wall (22) of the gripping head (20) supporting the suction port (23) develops parallel to said first direction.

[0121] In an 84thaspect according to any one of the previous aspects in combination with the aspect 79, said first direction is orthogonal to the movement direction (MD) of the at least one retainer (40).

[0122] In an 85thaspect according to any one of the previous aspects, the lateral wall (22) of the gripping head (20) supporting the suction port (23) is facing, when the gripping head is in the grasping position, the at least one retainer (40). In an 86thaspect according to any one of the previous aspects, said gripping head (20) is configured to fit within the containing volume (5) of the containers (2), particularly of the last container (2a).

[0123] In an 87thaspect according to any one of the previous aspects, said lateral wall (22) of the gripping head (20) includes a recess (24), wherein said at least one stop (40) is configured, particularly when the stop (40) is in the proximal position and the gripping head (20) is in the grasping position, to fit at least partially into said recess (24) of the gripping head (20).

[0124] In an 88thaspect according to the previous aspect, said raised edge (42) of the retainer (40) is configured, particularly when the retainer (40) is in the proximal position and the gripping head (20) is in the grasping position, to fit at least partially into said recess (24) of the gripping head (20).

[0125] In an 89thaspect according to any one of the previous aspects in combination with the aspect 24, said recess includes a left recess placed on the left lateral wall (22a) of the gripping head, and a right recess placed on the right lateral wall (22b) of the gripping head, in which the left recess and the right recess are configured to receive, when the retainer (40) is in the proximal position, respectively the first retainer (40A) and the second retainer (40B).

[0126] In an aspect 89thbis according to any one of the previous aspects in combination with the aspect 87, said recess defines an indentation of the lateral wall (22) of the gripping head (20) along the movement direction (MD) of the stop (40).

[0127] In a 90thaspect according to any one of the previous aspects, the lateral wall (22) of the gripping head (20) comprises a left lateral wall (22a) and a right lateral wall (22b) opposite each other such that the top portion (21) is interposed between the left lateral wall (22a) and the right lateral wall (22b), in particular, the left lateral wall (22a) and the right lateral wall (22b) develop parallel to the first direction of the gripping head 20.

[0128] In a 91staspect according to the previous aspect, said at least one suction port (23) comprises a left suction port (23a) positioned on the left lateral wall (22a) of the gripping head, and a right suction port (23b) positioned on the right lateral wall (22b) of the gripping head.

[0129] In a 92ndaspect according to the previous aspect, the left suction port (23a) and the right suction port (23b) are configured to simultaneously generate suction to attract the lateral wall of the last container (2a) towards the gripping head (20).

[0130] In a 93rdaspect according to any one of the previous aspects in combination with the aspect 91 , the left suction port (23a) comprises a first left suction port and a second left suction port both positioned on the left lateral wall (22a) of the gripping head (20).

[0131] In a 94thaspect according to any one of the previous aspects in combination with the aspect 91, the right suction port (23b) comprises a first right suction port and a second right suction port both positioned on the right lateral wall (22b) of the gripping head (20). In a 95thaspect according to any one of the previous aspects, the suction port 23, and in particular the first left suction port, the second left suction port, the first right suction port, and the second right suction port, comprises a suction cup.

[0132] In a 96thaspect according to the previous aspect, said suction port comprises a suction hole configured to allow air suction through said suction port, wherein said suction cup is placed in correspondence with, and particularly around, said suction hole.

[0133] A 97thaspect is directed to a method for picking a single last container (2a) from a stack (P) of containers (2) by means of an apparatus (1) in accordance with any one of the aspects from 1 to 96, wherein said method comprises carrying out a picking procedure (100) comprising the following steps particularly executed in the following order:

[0134] - moving (101) the gripping head (20) from the extraction position to the grasping position;

[0135] - moving (102) the retainer (40) from the distal position to the proximal position;

[0136] - determining (103) suction through said suction port (23) of the gripping head (20) by activating, or keeping activated, the suction system (30);

[0137] - moving (104) the retainer (40) from the proximal position to the distal position, while simultaneously keeping said suction active through the suction port (23);

[0138] - moving (105) the gripping head (20) from the grasping position to the extraction position.

[0139] In a 98thaspect according to the previous aspect, the step of moving (104) the retainer (40) from the proximal position to the distal position includes a sub-step of pulling the lateral walls (4) of the containers (2) of the stack (P) and the lateral wall (4) of the last container (2a) away from the lateral wall (22) of the gripping head (20).

[0140] In a 99thaspect according to any one of the previous aspects in combination with the aspect 97, during the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40) slides over the top edge (6) of the lateral wall (4) of the last container (2a) switching from:

[0141] - a first condition in which the raised edge (42) of the retainer (40) is positioned inside the containing volume (5) of the last container (2a), to a

[0142] - second condition in which the raised edge (42) of the retainer (40) is positioned outside the containing volume (5) of the last container (2a).

[0143] In a 100thaspect according to any one of the previous aspects in combination with the aspect 97, said picking procedure is in accordance with any one of the aspects from 38 to 69.

[0144] In a 101staspect according to any one of the previous aspects, each container (2) of said stack (P) of containers (2) has an elongated shape.

[0145] In a 102ndaspect according to any one of the previous aspects, each container (2) develops in length along a first direction, and in width along a second direction orthogonal to the first direction, wherein said length is greater than said width of the container (2).

[0146] In a 103rdaspect according to the aspect 102, said length is at least double said width, optionally wherein a ratio between said length and said width is between 1 .5 and 4, particularly between 2.5 and 3. In a 104thaspect according to any one of the previous aspects in combination with the aspects 79 and 102, during said picking procedure:

[0147] - said first direction of the gripping head (20) is parallel, and optionally coincident, with the first direction of the containers (2), and

[0148] - said second direction of the gripping head (20) is parallel, and optionally coincident, with the second direction of the containers (2).

[0149] In a 105thaspect according to any one of the previous aspects in combination with the aspect 102, the width of the containers (2) is greater than the width of the gripping head (20), wherein a ratio between the width of the containers (2) and the width of the gripping head (20) is between 1 .4 and 2.3, optionally between 1 .7 and 2.

[0150] In a 106thaspect according to any one of the previous aspects, the width of the containers (2) are made of foodgrade paper, particularly with paper suitable for contact with food.

[0151] In a 107thaspect according to the previous aspect, the food-grade paper of the containers (2) is resistant to high temperatures, optionally resistant to temperatures above 150°, particularly greater than 180°.

[0152] In a 108thaspect according to any one of the previous aspects, said gripping head (20) is configured to grasp containers (2) having an elongated shape.

[0153] BRIEF DESCRIPTION OF THE DRAWINGS

[0154] Some embodiments and aspects of the invention will be described below with reference to the accompanying drawings, provided for illustrative and hence non-limiting purposes, in which:

[0155] - Figure 1 is a perspective view of the apparatus according to the present invention;

[0156] - Figure 2 is a detailed view of the apparatus according to the present invention, in a condition where the gripping head is in the grasping position;

[0157] - Figure 3 is a detailed perspective view of the apparatus according to the present invention, in a condition where the gripping head is in the grasping position and the retainer is in the distal position;

[0158] - Figure 4 is a plan view from above of the apparatus according to the present invention, in a condition wherein the gripping head is in the grasping position and the retainer is in the distal position;

[0159] - Figure 5 is a lateral plan view of the apparatus according to the present invention, in a condition wherein the gripping head is in the extraction position and the retainer is in the distal position;

[0160] - Figure 6 is a lateral plan view of the apparatus according to the present invention, in a condition wherein the gripping head is in the grasping position;

[0161] - Figure 7 is a detailed bottom view of the apparatus according to the present invention, in a condition wherein the gripping head is in the grasping position and the retainer is in the distal position, at the end of step 101 of the picking procedure;

[0162] - Figure 7A is a sectional view of Figure 7 according to a plane parallel to the extraction direction and the direction of movement of the retainer; - Figure 8 is a detailed bottom view of the apparatus according to the present invention, in a condition wherein the gripping head is in the grasping position and the retainer is in the proximal position, at the end of step 102 of the picking procedure;

[0163] - Figure 8A is a sectional view of Figure 8 according to a plane parallel to the extraction direction and the direction of movement of the retainer;

[0164] - Figure 9 is a detailed bottom view of the apparatus according to the present invention, in a condition wherein the gripping head is in the grasping position and the retainer is in the distal position and wherein the suction port is active, at the end of step 104 of the picking procedure;

[0165] - Figure 9A is a sectional view of Figure 9 according to a plane parallel to the extraction direction and the direction of movement of the retainer;

[0166] - Figure 10 is a lateral plan view of the apparatus according to the present invention, in a condition wherein the gripping head is in the grasping position and the retainer is in the distal position, at the end of step 105 of the picking procedure;

[0167] - Figure 11 is a detailed side view of the retainer of the apparatus;

[0168] - Figure 12 is a perspective view of a container extracted using the apparatus;

[0169] - Figure 13 is a flow chart representing the main steps of the picking procedure.

[0170] DEFINITIONS AND CONVENTIONS

[0171] Note that in the present detailed description, corresponding parts illustrated in various Figures are indicated with the same numerical references. The Figures might illustrate the object of the invention through representations not to scale; therefore, parts and components shown in the Figures related to the object of the invention might concern exclusively schematic representations.

[0172] Control Unit

[0173] The Apparatus described and claimed herein may comprise at least one control unit designated for the control of operational conditions executed by the same control unit. The control unit may be a single unit or comprises a plurality of distinct control units depending on design choices and operational needs. The term control unit is intended as an electronic component which may comprise at least one of: a digital processor (CPU), an analogtype circuit, or a combination of one or more digital processors with one or more analog-type circuits. The control unit can be “configured” or "programmed" to carry out certain steps: this can be practically achieved by any means that makes it possible to configure or program the control unit. For instance, in the case of a control unit comprising one or more CPUs and one or more memory units, one or more programs may be stored in appropriate memory banks connected to the CPU or CPUs; the program or programs contain instructions that, when executed by the CPU or CPUs, program or configure the control unit to execute the operations described in relation to the control unit. Alternatively, if the control unit is or comprises analog circuitry, then the circuit of the control unit can be designed to include circuitry configured, in use, to process electrical signals in such a way as to carry out the steps related to the control unit.

[0174] Actuator

[0175] The term actuator refers to any device capable of causing a movement on a body, for example, under command from the control unit (received by the actuator of a command sent by the control unit). The actuator can be of electric, pneumatic, mechanical (for instance, spring-driven), hydraulic, or other type. The actuator may include a related piston configured to move along a substantially straight line direction and to exert a force along such straight line direction.

[0176] DETAILED DESCRIPTION

[0177] Apparatus 1

[0178] Reference number 1 refers to an apparatus for picking a single last container 2a from a stack P of containers 2. The apparatus 1 is therefore designated to remove the single container 2a from the stack P of containers 2, so as to allow filling the removed container 2 with food products, such as pastry dough, muffins, canapes, or similar items.

[0179] Containers 2 can be made of sheet material comprising paper. The paper sheet material may be suitable for contact with food, defining a food-grade paper sheet material. The food-grade paper of containers 2 can be resistant to high temperatures, for instance, resistant to temperatures above 150°C, particularly greater than 180°C, to allow their use in an oven. For example, the containers 2 may be intended to hold a raw food product that requires subsequent baking in an oven: in such a case, the containers 2 may be suitable to be placed in an oven to allow the baking of the food product contained within.

[0180] In the case of paper sheet material, the latter can consist of a single layer of food-grade paper, or it may comprise two or more layers adhered together, defining a layered paper sheet material. The layered sheet material may include the paper material, and a sheet of plastic material, for example, a polyethylene layer, to define polyethylene-coated paper. The sheet material of the containers 2 may have a weight ranging between 30 g / m2and 80 g / m2, particularly between 40 g / m2and 60 g / m2.

[0181] Alternatively, in another embodiment, the containers 2 may be made of plastic or silicone material. Specifically, containers 2 may be made of sheet material consisting of plastic or silicone material.

[0182] It should be noted, therefore, that the present apparatus 1, as well as the subsequent the method described below, may be suitable for picking containers made of a variety of different materials. The present apparatus should not therefore be considered as limited to use with only paper containers.

[0183] The containers 2 include a bottom 3 and a lateral wall 4 projecting transversely from the bottom 3 in height. The bottom 3 and the lateral wall 4 of the containers 2 collectively define a containing volume 5 of the container 2, intended to receive the product, such as food products. The containing volume 5 is defined by a product holding basin. The botom 3 may be substantially flat. The lateral wall 4 may instead include a plurality of pleats designed to define the three-dimensional shape of the container.

[0184] The lateral wall 4 of the container 2 may include a first lateral wall and a second lateral wall facing each other, where a top edge 6 of the first lateral wall is substantially parallel to a top edge 6 of the second lateral wall, as shown in figure 12. The top edge 6 and the base may be parallel to each other.

[0185] The lateral wall 4 extends in thickness between a respective outer surface 4a and a respective inner surface 4b, as shown in figure 12. The inner surface 4b faces the containing volume 5 of the container 2.

[0186] In an embodiment according to the atached figures, and specifically in accordance with figure 12, the containers 2 may have an elongated shape. Specifically, each container 2 can develop in length along a first direction, and in width along a second direction orthogonal to the first direction, such that the length is greater than the width. In particular, the length may be at least double the width. Specifically, a ratio between the length and the width of the container 2 may be between 1 .5 and 4, particularly between 2.5 and 3. The first direction and the second direction are defined as parallel to the botom 3. Specifically, the containers may have a length ranging from 3 cm to 15 cm, particularly between 5 cm and 8 cm, and a width ranging from 2 cm to 6 cm, particularly between 2.5 cm and 5 cm. The containers can also develop in height, orthogonally to the botom 3, between 1 cm and 4 cm, particularly between 1.5 cm and 3 cm.

[0187] In an alternative embodiment not shown in the atached figures, the containers may have a circular shape, particularly in a sectional view along a plane parallel to the botom 3. Specifically, the apparatus 1 and the related method can be used in combination with containers 2 having various shapes and dimensions. In other words, the apparatus 1 and the related method are not limited to a specific shape of the container. The stack P of containers 2 is thus formed by a plurality of containers 2 stacked on top of one another, in which the botom 3 of the containers 2 are parallel to each other. The containers 2 in the stack P are at least partially inserted into one another, such that the botom 3 of one container 2 is fit within the containing volume 5 of an adjacent container 2. In this configuration, the lateral wall 4 of the containers 2 are also parallel to each other.

[0188] The apparatus 1 includes a supply support 10 configured to support the stack P of containers 2 stacked along a feeding direction SD, as shown in Figure 1. The supply support 10 is configured to supply the last container 2a of the stack P of containers 2 to a gripping head 20 designated for picking up the last container 2a. The containers 2 are at least partially stacked inside one another, defining the stack P that develops in height along the feeding direction SD. The feeding direction SD can be vertical, i.e., substantially parallel to the acceleration of gravity. Alternatively, the feeding direction SD can deviate angularly from the vertical.

[0189] The supply support 10 develops along the feeding direction between a first end 10a and a second end 10b. The first end 10a is designated to carry the last container 10a of the stack of containers 10, i.e., the container 2 facing the gripping head 20 during the operations of container 2 extraction. The second end 10b of the supply support 10 is configured to receive in feed the stack P of containers 2. In other words, when the containers inside the supply support 10 are depleted, an operator or a machine can introduce new containers 2 into the supply support 10 through the second end 10b.

[0190] It should be noted that the second end 10b is positioned at a height greater than the first end 10a of the supply support 10, so that the containers 2 can pass towards the first end 10a by gravity. Alternatively, the supply support 10 may include an elastic element or a piston configured to push the containers towards the first end 10a of the supply support 10.

[0191] In the specific embodiment shown in the attached figures, the supply support 10 includes four distinct columns, which are parallel to each other, each developing between the first end 10a and the second end 10b of the supply support 10. The stack P of containers 2 stacked in the supply support 10 can hold between 10 and 1000 containers.

[0192] The apparatus 1 additionally comprises a gripping head 20 configured to pick up the last container 2a from the stack P of containers 2. The gripping head 20 includes a top wall 21, which is configured to face the bottom 3 of the last container 2 during an picking procedure 100, and a lateral wall 22 emerging transversely from the top wall 21 and configured to face the lateral wall 4 of the last container 2a during the picking procedure 100. The lateral wall 22 may be orthogonal to the top wall 21 of the gripping head 20.

[0193] The gripping head 20 is configured to fit into the containing volume 5 of the last container 2a. Therefore, the gripping head 20 is designed with a shape and dimensions compatible with those of the containers 2. According to the embodiment with an elongated container shape, the gripping head 20 may also have an elongated shape, as evident from the top view of the gripping head in Figure 4. In this case, the gripping head 20 develops in length along a first direction and in width along a second direction orthogonal to the first direction, such that the length of the gripping head 20 is greater than its width. Specifically, the length of the gripping head 20 may be at least twice its respective width: optionally, a ratio between the length and width of the gripping head 20 lies between 2 and 5, particularly between 3 and 4. Note that the first direction and the second direction may be orthogonal to an extraction direction ED, described later, of the gripping head 20. In fact, the first direction and the second direction define a respective plane, intersecting parallelly to the first and second directions, substantially parallel to the top wall 21 of the gripping head 20.

[0194] The lateral wall 22 of the gripping head 20 may include a left lateral wall 22a and a right lateral wall 22b opposite each other, such that the top portion 21 is interposed between the left lateral wall 22a and the right lateral wall 22b. The left lateral wall 22a and the right lateral wall 22b may be parallel to each other. Note that the left lateral wall 22a and the right lateral wall 22b extend parallel to the first direction of the gripping head 20.

[0195] The gripping head 20 can be moveable towards and away from the first end 10a of the supply support 10 along an extraction direction ED, shown in Figures 5 and 6, between a grasping position and an extraction position. In the grasping position, the gripping head 20 is in a proximal position relative to the first end 10a of the supply support 10, while in the extraction position, the gripping head 20 is in a distal position from the first end 10a of the supply support 10. In the grasping position, the gripping head 20 is at a first distance relative to the first end 10a of the supply support 10, while in the extraction position, the gripping head 20 is at a second distance relative to the first end 10a of the supply support 10: the first distance is less than the second distance.

[0196] In the grasping position, the top wall 21 of the gripping head 20 is configured to face, optionally in contact with, the bottom 3 of the last container 2a. Similarly, in the grasping position, the lateral wall 22 of the gripping head 20 is configured to face, particularly in contact with, the lateral wall 4 of the last container 2a, especially with the inner surface 4b of the last container 2a.

[0197] The gripping head 20 can be movable along the extraction direction ED for a stroke ranging from 3 cm to 30 cm. The extraction direction ED can be parallel to the feeding direction SD of the containers 2. The gripping head 20 may also comprise at least one suction port 23 configured to attract the lateral wall 4 of the last container 2a towards the lateral wall 22 of the gripping head 20 during the picking procedure 100 by means of a flow of air entering the gripping head 20. The suction port 23 is positioned on the lateral wall 22 of the gripping head 20 and is operatively connected to a suction system 30. The suction port 23 is thus configured to define a zone of low pressure around the lateral wall 22 of the gripping head 20, so as to attract a lateral wall 4 of the last container 2a towards the lateral wall 22 of the gripping head 20. The suction port 23 comprises a respective suction hole having an axis substantially orthogonal to the lateral wall 22 of the gripping head 20: in this manner, the flow of suction air is directed towards the lateral wall 4 of the last container 2a when the gripping head 20 is in the grasping position. In other terms, the axis of the suction hole is orthogonal to the extraction direction ED of the gripping head 20.

[0198] The suction system 30 may comprise ducts, adapted to allow gas, for example air, to pass from the suction port 23 to a discharge site. The suction system may include a compressor fluidically connected to the suction port 23 and configured to generate the vacuum at the suction port 23.

[0199] The suction port 23 may comprise a left suction port 23a positioned on the left lateral wall 22a of the gripping head 20, and a right suction port 23b positioned on the right lateral wall 22b of the gripping head 20. The left suction port 23a and the right suction port 23b are configured to simultaneously generate a vacuum to attract the lateral wall of the last container 2a towards the gripping head 20. In fact, the left suction port 23a and the right suction port 23b are in fluid communication with each other, such that when the suction system 30 generates a vacuum of air, the left suction port 23a and the right suction port 23b generate said vacuum simultaneously at the left lateral wall 22a of the gripping head 20 and the right lateral wall 22b of the gripping head 20, respectively. In accordance with the embodiment shown in the attached figures, for example in figure 4, the left suction port 23a may comprise a first left suction port and a second left suction port, both positioned on the left lateral wall 22a of the gripping head 20. Similarly, the right suction port 23b may comprise a first right suction port and a second right suction port, both positioned on the right lateral wall 22b of the gripping head 20. The first left suction port, the second left suction port, the first right suction port, and the second right suction port are in fluid communication with each other and with the suction system 30. Activation of the suction system 30 results in simultaneous suction through the first left suction port, the second left suction port, the first right suction port, and the second right suction port.

[0200] The suction port 23, specifically the first left suction port, the second left suction port, the first right suction port, and the second right suction port, may comprise a suction cup placed corresponding to the suction port hole. In fact, this suction cup surrounds the suction port hole. Therefore, the suction cup is configured to come into contact with the lateral wall 4 of the last container 2a, maximizing the adhesion between the gripping head 20 and the lateral wall 4 of the container 2. This suction cup is preferably made from rubber material or silicone material, in order to define a suction cup that is flexible and adaptable to the shape of the lateral wall of the last container 2a. In particular, the suction cup exhibits greater flexibility compared to the lateral wall 22 of the gripping head 20. The apparatus 1 further comprises at least one retainer 40 configured to removably retain the containers 2 stacked in the supply support 10. The retainer 40 is positioned at the first end 10a of the supply support 10. The retainer 40 includes a base 41 configured to support the top edge 6 of the lateral wall 4 of the containers 2 and of the last container 2a when they are contained in the supply support 10. The base 41 defines a support surface for the containers 2, in particular for the last container 2a, when stacked in the supply support 10. The support surface of the base 41 extends transversely with respect to the feeding direction SD of the containers 2. The base 41 may extend in length parallel to the first direction of the gripping head 20: such length may range between 1 cm and 8 cm, optionally between 2 cm and 4 cm. The base 41 may also extend in width orthogonally parallel to the second direction of the gripping head 20: the width of the base 41 may be between 1 mm and 6 mm, optionally between 1.5 mm and 4 mm, more specifically between 1.5 mm and 3 mm. In the implementation shown in the attached figures, and in detail in figure 11, the base 41 can be flat.

[0201] The retainer 40 further comprises a raised edge 42 emerging in height from the base 41 transversely to the base 41, as shown in detail in figure 11. The raised edge 42 is configured to be inserted within the containing volume 5 of the containers 2 during the picking procedure 100. In fact, the raised edge 42 protrudes in height along a direction orthogonal to the first and the second direction of the gripping head 20. In other terms, the raised edge 42 protrudes in height along a direction having at least one component parallel to the feeding direction SD and / or the extraction direction ED.

[0202] The raised edge 42 is configured to contact an inner surface 4b of the lateral wall 4 of the containers 2 during the picking procedure 100, such that during at least one step of the picking procedure 100, the raised edge 42 is inserted within the containing volume 5.

[0203] The raised edge 42 can develop in height between a first end, connected to the base 41, and a free second end: such an extension in height of the raised edge can range between 1 mm and 7 mm, particularly between 2 mm and 5 mm. The extension in height can be measured parallel to the extraction direction ED. Specifically, the extension in height can be measured orthogonally to the movement direction MD of the retainer 40, and / or parallel to the feeding direction SD. The raised edge 42 may include an inclined surface 42a connected to the transverse base, defining an angle of attack a, measured between the base 41 and the inclined surface 42a, greater than 90°. This angle of attack a can particularly range between 100° and 160°, optionally between 110° and 140°.

[0204] The retainer 40 may include a stop portion 43 opposite the raised edge 42, such that the base 41 of the retainer 40 is interposed to connect the raised edge 42 and the stop portion 43. The stop portion 43 is configured to contact the outer surface 4a of the lateral wall 4 of the containers 2 and / or the last container 2a stacked in the supply support 10 during the picking procedure 100.

[0205] The base 41, the raised edge 42, and the stop portion 43 collectively define a concave seat configured to receive by insertion the top edge 6 of the lateral wall 4 of the containers 2. The stop portion 43 is facing the inclined surface 42a.

[0206] In the embodiment shown in the attached figures, the base 41 and the raised edge 42 define respective transverse flat surfaces among themselves. However, this embodiment is not to be understood as limiting but merely illustrative. Alternatively, the base 41 may, according to a lateral view along a plane orthogonal to the first direction and the second direction of the gripping head 20, exhibit a curved shape, such as a concave shape.

[0207] The retainer 40 is movable towards and away from the lateral wall 22 of the gripping head 20 along a movement direction MD between a distal position and a proximal position. The distal position and the proximal position are defined with respect to the lateral wall 22 of the gripping head 20. In other words, in the distal position, the retainer 40 presents a first distance from the lateral wall 22 of the gripping head 20, while in the proximal position, the retainer 40 presents a second distance from the lateral wall 22 of the gripping head 20: this first distance is greater than the second distance. Specifically, the distal position and the proximal position are defined when the gripping head 20 is in the grasping position. Alternatively, it is possible to define the distal position and the proximal position with respect to the first end of the supply support 10. The movement direction MD of the retainer 40 is transverse, and optionally orthogonal, to the extraction direction ED. The movement direction MD of the retainer 40 is also transverse, and optionally orthogonal, to the feeding direction SD. In detail, the movement direction MD can be parallel to the second direction of the gripping head 20, defining the width of the gripping head 20.

[0208] The raised edge 42 of the retainer 40 is then configured to exert a force on the lateral wall 4 of the containers 2 and the last container 2a moving away from the lateral wall 22 of the gripping head 20 along the movement direction MD of the retainer 40.

[0209] The retainer 40 may comprise a first retainer 40A and a second retainer 40B facing each other and movable towards and away from each other along the same movement direction MD. In fact, the movement direction MD of the first retainer 40A is parallel and coincident with the movement direction of the second retainer 40B, as shown in figure 4. The gripping head 20, when in the grasping position, is interposed between the first retainer 40A and the second retainer 40B along the movement direction MD. It should be noted that both the first retainer 40A and the second retainer 40B are movable between the distal position and the proximal position. In particular, when the first retainer 40A is in the close position, the second retainer 40B is also in the proximal position. Similarly, when the first retainer 40A is in the distal position, the second retainer 40B is also in the distal position. The raised edge 42 of the first retainer 40A is thus configured to exert a force on the lateral wall 4 of the containers 2 and the last container 2a moving away from the left lateral wall 22a of the gripping head 20 along the movement direction MD of the first retainer 40, while the raised edge 42 of the second retainer 40B is configured to exert a force on the lateral wall 4 of the containers 2 and the last container 2a moving away from the right lateral wall 22b of the gripping head 20 along the movement direction MD of the second retainer 40.

[0210] The lateral wall 22 of the gripping head 20 may comprise a recess 24, such that the retainer 40 is configured, when the retainer 40 is in the close position and the gripping head 20 is in the grasping position, to at least partially insert into the recess 24 of the gripping head 20. The recess 24 effectively defines an indentation of the lateral wall 22 of the gripping head 20. In greater detail, the recess 24 is configured to receive in insertion at least the raised edge 42 of the retainer 40. In greater detail, the gripping head 20 may comprise a left recess placed on the left lateral wall 22a of the gripping head 20, and a right recess placed on the right lateral wall 22b of the gripping head 20. The left recess and the right recess are configured to receive, in the proximal position, the first retainer 40A and the second retainer 40B respectively.

[0211] The apparatus 1 may comprise a control unit configured to command the execution of the picking procedure 100 aimed at picking up the last container 2a from the stack P of containers 2. In other words, the picking procedure 100 is aimed at picking up one container 2 at a time from the stack P of containers 2.

[0212] The apparatus may include at least one actuator 60 operationally connected to the retainer 40 and configured to move the retainer 40 between the distal position and the proximal position. The actuator 60 can be electrically, pneumatically, or hydraulically driven. The actuator 60 is operationally connected to the control unit, which is configured to command the actuator 60 to define the distal and proximal positions of the retainer 40. In more detail, and in accordance with the embodiment shown in the attached figures, the actuator 60 may include a first actuator 60a operationally connected to the first retainer 40A, and a second actuator 60b operationally connected to the second retainer 40B. The control unit is thus configured to selectively command the first actuator 60a and the second actuator 60b to define the proximal position of the first retainer 40a and the second retainer 40b, and the distal position of the first retainer 40A and the second retainer 40B.

[0213] The apparatus 1 may include an auxiliary actuator 70 operationally connected to the gripping head 20 and configured to move the gripping head 20 between the grasping position and the extraction position. The auxiliary actuator 70 can be electrically, pneumatically, or hydraulically driven. The auxiliary actuator 70 is operationally connected to the control unit, which is configured to command the auxiliary actuator 70 to define the grasping and extraction positions of the gripping head 20.

[0214] It should be noted that the control unit is configured to command the proximal position of at least one retainer 40, and in particular, the first and second retainers, when the gripping head 20 is in the grasping position.

[0215] The apparatus 1 may include an adjustment system interposed between the auxiliary actuator 70 and the gripping head 20, configured to statically adjust a height of the gripping head 20 relative to the first end 10a of the supply support 10. The adjustment system may include adjustment screws which, when rotated, vary the static height of the gripping head relative to the first end 10a of the supply support 10.

[0216] As shown in the attached figures, the present apparatus may include a pair of supply supports 10, a pair of gripping heads 20, and a pair of retainers that move synchronously with each other, allowing for the simultaneous extraction of a pair of last containers.

[0217] Picking procedure 100

[0218] The picking procedure 100 includes at least the following steps executed by the control unit in the following order: moving 101 the gripping head 20 from the extraction position to the grasping position; moving 102 the retainer 40 from the distal position to the proximal position; determine 103 a suction through the suction port 23 of the gripping head 20 by activating, or keeping activated, the suction system 30; moving 104 the retainer 40 from the proximal position to the distal position, while maintaining active said suction through the suction port 23; moving 105 the gripping head 20 from the grasping position to the extraction position.

[0219] The start of the step of moving 101 the gripping head 20 from the extraction position to the grasping position is shown in figure 5. The end of the step of moving 101 the gripping head 20 from the extraction position to the grasping position is shown in figures 6, 7, and 7A.

[0220] At the end of the step of moving 101 the gripping head 20 from the extraction position to the grasping position, the top portion 21 of the gripping head is facing the bottom 3 of the last container 2a, and the lateral wall 22 of the gripping head 20 is facing the retainer 40. During this step of moving 101 the gripping head 20 from the extraction position to the grasping position, the retainer 40 is arranged in the distal position. In greater detail, at the end of the step of moving 101 the gripping head 20 from the extraction position to the grasping position, the gripping head is positioned between the first retainer 40A and the second retainer 40B. In particular, the left lateral wall 22a of the gripping head 20 is facing the first retainer 40A, and the right lateral wall 22b of the gripping head 20 is facing the second retainer 40B.

[0221] At the end of the step of moving 101 the gripping head 20 from the extraction position to the grasping position, the lateral wall 4 of the last container 2a and of the containers 2 is positioned between the retainer 40 and the lateral wall 22 of the gripping head 20. Furthermore, at the end of the step of moving 101 the gripping head 20 from the extraction position to the grasping position, there is a gap between the lateral wall 22 of the gripping head 20 and the lateral wall 4 of the containers 2 and / or the last container 2a. The gap defines a distance between the lateral wall 22 of the gripping head 20 and the lateral wall 4 of the containers 2 and / or the last container 2a when the retainer is in the distal position. The stroke of the retainer 40 along the movement direction MD is substantially equal to said gap.

[0222] During the step of moving 102 the retainer 40 from the distal position to the proximal position, the stop portion 43 contacts the outer surface 4a of the lateral wall 4 of the containers 2 and / or the last container 2a, deforming the lateral wall 4 of the containers 2 and / or the last container 2a towards the gripping head 20. The completion of the step of moving 102 the retainer 40 from the distal position to the proximal position is shown in figures 8 and 8A. In other words, during the step of moving 102 the retainer 40 from the distal position to the proximal position, the containers 2, and the last container 2a, are pressed against the gripping head 20. It should be noted that at the end of the step of moving 102 the retainer 40 from the distal position to the proximal position, both the first retainer 40A and the second retainer 40B are in the proximal position.

[0223] The step of moving 102 the retainer 40 from the distal position to the proximal position causes an approach, leading up to contact, between the lateral wall 22 of the gripping head 20 and the lateral wall 4 of the last container 2a, due to the deformation experienced by the containers 2 and the last container 2a.

[0224] It should be noted that during and even at the end of the step of moving 102 the retainer 40 from the distal position to the proximal position, the raised edge 42 of the retainer 40 is positioned within the containing volume 5 of the last container 2a.

[0225] At the end of the step of moving 102 the retainer 40 from the distal position to the proximal position, the retainer 40 can be inserted, at least partially, within the recess 24 of the gripping head 20. In particular, the first retainer 40A can be inserted at least partially into the left recess of the gripping head 20, while the second retainer 40B can be inserted at least partially into the right recess of the gripping head 20.

[0226] At the end of the step of moving 102 the retainer 40 from the distal position to the proximal position, the retainer 40 is configured to apply a push on the lateral wall 4 of the last container 2a towards the lateral wall 22 of the gripping head 20, and the raised edge 42 of the retainer 40 is positioned within the containing volume 5 of the last container 2a.

[0227] During the step of moving 102 the retainer 40 from the distal position to the proximal position, the gripping head 20 is maintained in the grasping position.

[0228] It should be noted that the step of moving 102 the retainer 40 from the distal position to the proximal position, involves activating the actuator 60. In particular, the control unit is assigned to command the actuator 60 to establish the proximal position of the retainer 40.

[0229] The step of determining 103 a suction through the suction port 23 of the gripping head 20 causes adhesion of the lateral wall 4 of the last container 2a to the lateral wall 22 of the gripping head 20. During the step of determining 103 the suction through the suction port 23, a flow of air passes through the suction port 23 in a direction entering the gripping head 20. Note that during the step of moving 104 the retainer 40 from the proximal position to the distal position, the suction port 23 is configured to maintain adhesion between the lateral wall 4 of the last container 2a and the lateral wall 22 of the gripping head 20.

[0230] During the step of moving 104 the retainer 40 from the proximal position to the distal position, the raised edge 42 of the retainer 40 slides over the top edge 6 of the lateral wall 4 of the last container 2a, transitioning from a first condition, in which the raised edge 42 of the retainer 40 is positioned within the containing volume 5 of the last container 2a, to a second condition, in which the raised edge 42 of the retainer 40 is positioned outside the containing volume 5 of the last container 2a.

[0231] At the end of the step of moving 104 the retainer 40 from the proximal position to the distal position, the lateral wall 4 of the last container 2a is adhered to the lateral wall 22 of the gripping head 20, the lateral wall 4 of the last container 2a is distanced from the lateral wall 4 of the stack P of containers 2, and the raised edge 42 of the retainer 40 is positioned within the containing volume 5 of the containers 2 of the stack P and outside the containing volume 5 of the last container 2a.

[0232] In other terms, at the end of the step of moving 104 the retainer 40 from the closely positioned position to the distal position, the top edges 6 of at least some containers 2 of the stack P are interposed between the stop portion 43 and the raised edge 42, while the top edge 6 of the lateral wall 4 of the last container 2a is external to the concave seat of the retainer 40.

[0233] The step of moving 105 the gripping head 20 from the grasping position to the extraction position defines the extraction of the last container 2a from the stack P of containers 2. At the end of the step of moving 105 the gripping head 20 from the grasping position to the extraction position, it is possible to extract the container 2 from the gripping head.

Claims

CLAIMS1 . Apparatus (1) for picking a single last container (2a) from a stack (P) of containers (2), said apparatus (1) comprising:- a suction system (30);- a control unit configured to command the execution of a picking procedure (100) suitable for picking up the last container (2a) from said stack (P) of containers (2);- a gripping head (20) configured to pick up said last container (2a) from said stack (P) of containers (2), said gripping head (20) comprising: o a top wall (21) configured to face a bottom (3) of said container (2) during the picking procedure (100); o a lateral wall (22) emerging transversely from said top wall (21) and configured to face a lateral wall (4) of said container (2) during said picking procedure (100), wherein said bottom (3) and said lateral wall (4) of said containers (2) together define a containing volume (5) of the container (2); o at least one suction port (23) configured to attract said lateral wall (4) of the last container (2a) towards the lateral wall (22) of the gripping head (20) during said picking procedure (100), said at least one suction port (23) being positioned on said lateral wall (22) of the gripping head (20) and being operatively connected to the suction system (30);- a supply support (10) configured to support said stack (P) of said containers (2) stacked along a feeding direction (SD), said supply support (10) being configured to feed said last container (2a) of said stack (P) of containers (2) towards the gripping head (20);- at least one retainer (40) configured to hold, removably, said stack (P) of containers (2) in said supply support ( ), said at least one retainer (40) comprising:• a base (41 ) configured to support an extremal edge (6) of said lateral wall (4) of said containers (2) when contained in said supply support (10);• a raised edge (42) emerging in height from said base (41) transversely to said base (41), said raised edge (42) being configured to fit within the containing volume (5) of said containers (2) during said picking procedure (100).

2. The apparatus according to the previous claim, wherein, during said picking procedure (100), said raised edge (42) is configured to contact an inner surface (4b) of the lateral wall (4) of said containers (2), said inner surface (4b) of the lateral wall (4) of said containers (2) facing said containing volume (5), and wherein said base (41) defines a support surface for said containers (2) when stacked in the supply support (10), said support surface of the base (41) developing transversely with respect to the feeding direction (SD) of the containers (2), and wherein said raised edge (42) presents a respective contact surface and emerges in height from said base (41) along a direction transverse to the support surface of the base (41), wherein the support surface and the contact surfacedefine at their meeting point an edge or corner, so that, during at least one step of the picking procedure (100), said raised edge (42) is inserted within the containing volume (5).

3. Apparatus according to any one of the previous claims, wherein said retainer (40) includes a stop portion (43) opposite said raised edge (42), said base (41) of the retainer (40) being interposed to connect the raised edge (42) and the stop portion (43), said stop portion (43) being configured to contact an outer surface (4a) of the lateral wall (4) of the containers (2) and / or the last container (2a) stacked in the supply support (10) during said picking procedure (100), wherein said base (41), the raised edge (42), and the stop portion (43) define in combination a concave seat configured to receive by insertion the extremal edge (6) of the lateral wall (4) of said containers (2) and the last container (2a).

4. Apparatus according to any one of the previous claims, where the supply support (10) develops between a first end (10a) and a second end (10b), where said first end (10a) is configured to carry said last container (2a) among said containers (2), wherein said retainer (40) is positioned at said first end (10a) of the supply support (10), wherein said gripping head (20) is movable approaching and receding with respect to said first end (10a) of the supply support (10) along an extraction direction (ED) between: a grasping position, wherein said gripping head (20) is in a proximal position to the first end (10a) of the supply support (10), and an extraction position, wherein said gripping head (20) is in a distal position to the first end (10a) of the supply support (10), wherein in the grasping position the gripping head (20) has a first distance in relation to the first end (10a) of the supply support (10), and wherein in the extraction position the gripping head (20) has a second distance in relation to the first end (10a) of the supply support (10), wherein said first distance is smaller than said second distance, and where in the grasping position: the top wall (21) of the gripping head (20) is configured to face the bottom (3) of said last container (2a); the lateral wall (22) of the gripping head (20) is configured to face the inner surface (4b) of the lateral wall (2) of said last container (2a).

5. Apparatus according to the previous claim, wherein said retainer (40) is movable towards and away from the lateral wall (22) of the gripping head (20) along a movement direction (MD) between: a distal position with respect to said lateral wall (22) of the gripping head (20), and a proximal position positioned to said lateral wall (22) of the gripping head (20),wherein in the distal position the retainer (40) has a first distance to said lateral wall (22) of the gripping head (20), and wherein in the proximal position the retainer (40) has a second distance to said lateral wall (22) of the gripping head (20), and wherein said first distance is greater than said second distance, wherein said distal position and said proximal position are defined when the gripping head (20) is in the grasping position, and wherein said movement direction (MD) of the retainer (40) is transverse to said extraction direction (ED).

6. Apparatus according to the previous claim, in which said at least one retainer (40) comprises a first retainer (40A) and a second retainer (40B) facing each other and movable approaching and receding from each other along the same movement direction (MD), in particular wherein the movement direction of the first retainer (40A) is parallel and coincident with the movement direction of the second retainer (40B), wherein the gripping head (20), when in the grasping position, is interposed between the first retainer (40A) and the second retainer (40B) along said movement direction (MD), wherein said first retainer (40A) and said second retainer (40B) are both movable between said distal position and said proximal position.

7. Apparatus according to any one of the previous claims in combination with claim 3, in which said raised edge (42) comprises an inclined surface (42a) connected to said base (41) and transverse to said base (41) to define an angle of attack (a), measured between said base (41) and said inclined surface (42a), greater than 90°, particularly between 100° and 160°, optionally between 110° and 140°, wherein said inclined surface (42a) is facing the stop portion (43), said raised edge (42) extending in height, in particular parallel to the extraction direction (ED) and / or parallel to the supply direction (SD), between a first end connected to the base (41), and a second free end, wherein said height extension of the raised edge is comprised, for example, between 1 mm and 7 mm, particularly between 2 mm and 5 mm.

8. Apparatus according to any one of the previous claims in combination at least with claim 5, wherein said lateral wall (22) of the gripping head (20) comprises a recess (24), wherein said raised edge (42) of the retainer (40) is configured, when the retainer (40) is in the proximal position and the gripping head (20) is in the grasping position, to fit at least partially within said recess (24) of the gripping head (20), said recess defining an indentation of the lateral wall (22) of the gripping head (20) along the movement direction (MD) of the retainer (40).

9. Apparatus according to any one of the previous claims in combination at least with claim 5, wherein said gripping head (20) is elongated in shape, wherein the gripping head develops in length along a first direction, and in width along a second direction orthogonal to the first direction,wherein said length is greater than said width of the gripping head (20), in particular wherein said length is at least twice said width, optionally wherein a ratio between said length and said width is between 2 and 5, specifically between 3 and 4, wherein said second direction is parallel to the movement direction (MD) of the stop (40), and wherein said gripping head is configured to grasp containers (2) having an elongated shape.

10. Apparatus according to any one of the previous claims, wherein the lateral wall (22) of the gripping head (20) comprises a left lateral wall (22a) and a right lateral wall (22b) opposite each other so that the top portion (21) is interposed between the left lateral wall (22a) and the right lateral wall (22b), wherein said at least one suction port (23) comprises a left suction port (23a) positioned on the left lateral wall (22a) of the gripping head, and a right suction port (23b) positioned on the right lateral wall (22b) of the gripping head, wherein the left suction port (23a) and the right suction port (23b) are configured to simultaneously generate a suction to attract the lateral wall (4) of the last container (2a) towards the gripping head (20).

11. Apparatus according to any one of the previous claims in combination with claim 5, wherein said picking procedure (100) comprises the following steps carried out by the control unit in the following order: moving (101) the gripping head (20) from the extraction position to the grasping position; moving (102) the retainer (40) from the distal position to the proximal state; determining (103) a suction through said suction port (23) of the gripping head (20) by activating, or keeping activated, the suction system (30); moving (104) the retainer (40) from the proximal position to the distal position, while simultaneously keeping the suction active through the suction port (23); moving (105) the gripping head (20) from the grasping position to the extraction position.

12. Apparatus according to the previous claim, wherein, during the step of moving (104) of the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40), is configured to exert a force on the lateral wall (4) of said containers (2) and the last container (2a), moving away from the lateral wall (22) of the gripping head (20) along the movement direction, and wherein during the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40) slides over the extremal edge (6) of the lateral wall (4) of the last container (2a) switching from:- a first condition where the raised edge (42) of the retainer (40) is positioned within the containing volume (5) of the last container (2a), to- a second condition where the raised edge (42) of the retainer (40)is positioned outside the containing volume (5) of the last container (2a).

13. Apparatus according to any one of the previous claims in combination with claim 11, wherein the step of determining (103) a suction through said suction port (23) of the gripping head (20) results in an adhesion of the lateral wall (4) of the last container (2a) to the lateral wall (22) of the gripping head (20), and wherein during the step of moving (104) the retainer (40)from the proximal position to the distal position, said suction port (23) is configured to maintain said adhesion between the lateral wall (4) of the last container (2a) and the lateral wall (22) of the gripping head (20).

14. Method for picking a single last container (2a) from a stack (P) of containers (2) by means of an apparatus (1), said apparatus being according to any one of the previous claims, wherein said method comprises executing a picking procedure (100) comprising the following steps carried out in the following order: moving (101) the gripping head (20) from an extraction position to a grasping position; moving (102) the retainer (40) from a distal position to a proximal position; determining (103) a suction through said suction port (23) of the gripping head (20) by activating, or keeping activated, the suction system (30); moving (104) the retainer (40) from the proximal position to the distal position, while simultaneously keeping the suction active through the suction port (23); moving (105) the gripping head (20) from the grasping position to the extraction position.

15. Method according to the previous claim, wherein, during the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40) exerts a force on the lateral wall (4) of said containers (2) and of the last container (2a), moving away from the wall (22) of the gripping head (20) along a movement direction (MD), and wherein, during the step of moving (104) the retainer (40) from the proximal position to the distal position, the raised edge (42) of the retainer (40) slides on an top edge (6) of the lateral wall (4) of the last container (2a) switching from: a first condition wherein the raised edge (42) of the retainer (40) is positioned inside the containing volume (5) of the last container (2a), to a second condition in which the raised edge (42) of the retainer (40) is positioned outside the containing volume (5) of the last container (2a).

Images