Palletizing method and associated facility

Abstract

The present invention relates to a method for forming groups of products (1) that can be palletized in layers (100), the layers (100) consisting of several rows (10) of products (1); the method comprises the following successive steps, carried out cyclically: - a step of selecting a number of products (1), the products (1) traveling on a conveying means (2); - a step of transferring at least one or more products (1) aligned in the form of a line (11) from the conveying means (2) to a conveyor (3) for preparing layers (100); - a step of preparing at least one row (10) of a layer (100) of the products (1) on the preparation conveyor (3) by means of a handling device (4), the preparation consisting in positioning and / or orienting the products (1) by moving some of them relative to others, according to a palletizing pattern; - a step of at least partially forming a layer (100) on a group-forming area (5b) by means of a stop (50), the group-forming area (5b) being located downstream of the preparation conveyor (3); - a step of palletizing the layer (100) from the group-forming area (5b) to a palletizing station (6). The method is characterized in that the transfer step consists in a transverse transfer from the conveying means (2) to the conveyor (3) for preparing layers (100), the preparation conveyor (3) being substantially orthogonal to the conveying means (2). The invention also relates to a facility for palletizing products 1.

Description

[0001] Palletizing process and associated installation

[0002] Description

[0003] Technical Field: The present invention relates to a method of grouping products for the purpose of palletizing them; it also relates to the installation for implementing this method.

[0004] It is entirely possible today to automatically palletize products, meaning to load a full load of products onto a pallet without human intervention. The techniques used in this field of product palletizing allow for the layering of products and their placement sequentially and directly onto the pallet.

[0005] State of the art

[0006] Automated palletizing now encompasses a very wide range of products. These products vary greatly in size and can have irregular shapes. Furthermore, these products are not always rigid, and at high production rates, achieving high-quality palletizing can be challenging, as handling certain types of products can compromise their integrity.

[0007] Furthermore, palletizing patterns are numerous and increasingly complex, sometimes with pallets containing layers of different products. It is therefore necessary to develop an automated palletizing solution capable of handling products of regular or irregular shapes and varying sizes, while maintaining a satisfactory throughput. Existing palletizing solutions do not offer sufficient operational flexibility and agility. Moreover, existing solutions are directly impacted by the complexity of the palletizing pattern in terms of throughput.

[0008] Document EP1717170 describes, for example, a layer preparation solution for forming product pallets with orthogonal product feeding.

[0009] The present invention proposes a palletizing process and installation which provide extraordinary guarantees of results by eliminating the classic risks of poor product positioning during this crucial operation of shaping the layer to be palletized, but also by optimizing the operation of forming an entire pallet at high speed, applicable to all types of products.

[0010] The invention advantageously proposes a product grouping process that allows for the preparation of product layers according to a wide variety of palletization schemes while maintaining a high level of throughput.

[0011] The invention relates first to a method for grouping palletized products into layers, said layers being made up of several rows of products. The method according to the invention comprises the following successive steps, implemented cyclically: - a step of selecting a number of products, said products circulating on a conveyor; - a step of transferring at least one or more products aligned in a line from said conveyor to a layer preparation conveyor;

[0012] - a preparation step of at least one row of a layer of said products on said preparation conveyor by means of a handling device, the preparation consisting of positioning and / or orienting said products by moving some of them relative to others, according to a palletization scheme;

[0013] - a step of at least partial formation of a layer by means of a stop on a grouping zone, said grouping zone being located downstream of said preparation conveyor; - a step of palletizing said layer from said grouping zone to a palletizing station.

[0014] The grouping process according to the invention is characterized in that the transfer step consists of a transverse transfer from the conveying means to the layer preparation conveyor, said preparation conveyor being substantially orthogonal to said conveying means.

[0015] According to a possible additional feature, the preparation step includes the partial or complete preparation of at least two rows stacked one on top of the other on the preparation conveyor, the handling device being configured to move one or more products so as to stack at least two products one on top of the other, and - the forming step includes the at least partial formation of two layers stacked one on top of the other and

[0016] - the palletizing step consists of the simultaneous palletizing of said at least two layers superimposed one on top of the other from the grouping area to the palletizing station.

[0017] According to one possible embodiment, the grouping process includes a step of passing the partial or complete layer from the grouping area to a passing table and the palletizing step consists of palletizing the layer from the passing table to the palletizing station.

[0018] According to one possible embodiment, the manipulation device includes at least one robotic arm and at least one grasping means.

[0019] According to a possible additional feature, the preparation step includes the partial or complete preparation of at least two rows stacked one on top of the other on the preparation conveyor, the handling device being configured to move one or more products so as to stack at least two products one on top of the other,

[0020] - the formation stage includes the at least partial formation of two layers superimposed one on top of the other and

[0021] the passing step consists of the simultaneous deposit of said at least two layers superimposed one on the other on the grouping area towards the passing table and - the palletizing step consists of simultaneously palletizing said at least two layers from said table towards the palletizing station.

[0022] In embodiments, during the preparation step of at least one row of a layer, the handling device is configured to move and / or orient only a portion of the transferred products, in particular only the products to be moved and / or oriented to prepare said at least one row according to the palletizing scheme.

[0023] According to a possible additional feature, the grouping process includes a preliminary step of setting the speed of the conveying means and / or the speed of the preparation conveyor and / or the movements of the handling device according to the palletizing scheme.

[0024] In one embodiment, the preparation step includes, directly after the step of transferring one or more products onto the preparation conveyor, a step of referencing each product to locate said product during its movement on the preparation conveyor from a transfer zone to the grouping zone.

[0025] In one embodiment, the transfer step consists of simultaneously transferring at least two lines of products from the conveying means to the preparation conveyor, the preparation device being configured to simultaneously prepare at least two side-by-side rows of products.

[0026] In one embodiment, the transfer step consists of simultaneously transferring at least two lines of products from the conveying means to the picking conveyor, the picking device being configured to simultaneously pick at least two rows of products, such that at least two rows are superimposed on one another. The invention also relates to an installation comprising:

[0027] - a means of conveying products,

[0028] - a conveyor for preparing said products,

[0029] - a means of transferring said products from the conveying means to the preparation conveyor, said preparation conveyor being located orthogonally with respect to the conveying means

[0030] - a product handling device to move and / or orient the products circulating on said preparation conveyor in order to partially or completely form at least one row of products,

[0031] - a grouping zone including a stop to form at least partially a layer of products,

[0032] - a palletizing station to receive partial or complete layers.

[0033] The installation according to the invention is characterized in that the handling device comprises at least one robotic arm and at least one gripping means. According to a possible additional feature, the installation comprises a conveyor table for receiving the layers formed in the grouping zone, said table being located downstream of the grouping zone and upstream of the palletizing station.

[0034] In some embodiments, the installation implements the grouping process as described above.

[0035] According to a possible additional feature, the installation includes a control unit, said unit being configured to transmit instructions to control means of a robotic arm and / or a gripping means of the handling device according to a palletizing scheme.

[0036] Brief description of the figures: The invention will be better understood from the description below, which is based on possible embodiments, explained in an illustrative and in no way limiting manner, with reference to the attached figures, in which:

[0037] - [Fig. 1] schematically represents a top view of one embodiment of the device according to the invention;

[0038] - [Fig.2] schematically represents a side view of an example of the device being built, with the first layer of a pallet being formed in progress;

[0039] - [Fig.Sa] schematically represents a preparation step in an example of product layer formation;

[0040] - [Fig. 3b] schematically represents another preparation step in an example of product layer formation;

[0041] - [Fig. 3c] schematically represents another preparation step in an example of product layer formation;

[0042] - [Fig. 3d] schematically represents another preparation step in an example of product layer formation;

[0043] - [Fig.4] schematically represents an illustration of a palette;

[0044] - [Fig. 5] schematically represents a top view of a second embodiment of the device according to the invention and

[0045] - [Fig. 6] schematically represents a side view of an example of the device's implementation, with the formation of two superimposed layers of a pallet.

[0046] Detailed description: In the following description, elements with an identical structure or analogous functions will be designated by the same reference.

[0047] The invention primarily aims at a method of grouping products into palletized layers of 100.

[0048] Products 1 can be, for example, crates, cardboard boxes, bags, cans, or containers such as cans or cartons, said containers holding, for example, liquids, granules, or powders. Products 1 can be regular or irregular in shape and relate to any type of primary or secondary packaging, preferably having a flat or substantially flat top surface. The process according to the invention makes it possible to process small products 1, such as 1-kilogram sugar bags, or large products 1, such as cartons of beverage bottles or bundles of toilet paper.

[0049] A pallet 1000 comprises a plurality of layers 100 of product 1, typically between 5 and 20 layers 100. Furthermore, each layer 100 contains several rows 10 of product 1. Depending on the palletization scheme, the pallet 1000 contains a different arrangement of product 1 in each layer 100, and in particular depending on whether it is an "even" or "odd" layer 100. Moreover, within a single layer 100, a row 10 may contain a different number of product 1 from adjacent rows 10, notably depending on the orientation of the product 1 within the row 10.

[0050] The grouping process according to the invention makes it possible to form successive layers 100 of a pallet 1000 according to a palletization scheme, the layers 100 being stacked one on top of the other along a vertical axis Z during the implementation of said process.

[0051] The product grouping process 1 according to the invention first includes a step of selecting a number of products 1 according to a palletization scheme, the products 1 circulating on a conveying means 2.

[0052] The products 1 flow in a line, one after the other, preferably continuously, from an inlet of the conveying means 2. The conveying means 2 may be single-line or multi-line, but is preferably multi-line, with the products 1 flowing in parallel on several lines. Furthermore, the conveying means 2 includes a device 20 for selecting a number n of products 1, to determine the number n of products 1 to be successively conveyed to a layer preparation conveyor 3 100. The number n can generally be between 1 and 10 products 1 per line, depending on the layer 100 to be formed. To perform this selection step, in some embodiments, the selection device 20 includes a member 200, such as a crossbar or retaining fingers.The component 200 is initially inoperative to allow a number n of products 1 to pass, then is implemented to block the advancement of the following products 1, according to the palletization scheme and therefore the layer 100 to be formed.

[0053] This selection step is repeated cyclically until a complete pallet of 1000 is formed according to the palletization scheme.

[0054] The process also includes a transfer step, of at least one or more products 1, and in particular of the number n of products 1 aligned in the form of a line 11, from the conveying means 2 to a layer preparation conveyor 3 100.

[0055] In particular, the n selected products 1 flow longitudinally to a stop 201. In other words, the n selected products 1 will accumulate against the stop 201 of the conveyor 2, downstream. Once the n products 1 are grouped in line 11, said n products 1 are simultaneously transferred transversely onto the layer preparation conveyor 3 100, by means of a transfer means 202. This transverse transfer is particularly advantageous because it allows one or more products 1, grouped in line 11, to be transferred simultaneously in a single step. Line 11 means a line of products 1 flowing one after the other and being transferred simultaneously from conveyor 2 to conveyor 3. It is understood that a line 11 can comprise the exact number of products 1 to form a row 10 of a layer 100. A row 10 can therefore be formed by means of one or more lines 11 of products 1.

[0056] Furthermore, a row 10 comprises n products 1, aligned one behind the other. The products 1 within the same row 10 do not necessarily have the same orientation. For example, to form a row 10 of eight products, it is possible to transfer a row 11 of eight products 1, or for example, two rows 11 of three and five products 1 respectively.

[0057] The transfer step includes a preliminary accumulation step during which the products 1 are stopped when they encounter the downstream stop 201. This allows for a pre-grouping step by reducing the longitudinal distance between two successive products 1 of the same line 11.

[0058] Advantageously, the transverse transfer allows for an initial grouping of products 1 from the same line 11, which, as we will see later, optimizes the rate of layer formation 100. In addition, it reduces the handling required on products 1 on the preparation conveyor 3 by a handling device 4.

[0059] Indeed, to create a pallet of 1000 units of product 1, the units of each layer must be grouped, either in rows or columns, according to a palletizing pattern. It is crucial that the distance between the units be minimal, both to guarantee the stability of the pallet and to optimize its capacity. To achieve this, the units of product 1 on the pallet are compacted at the end of the palletizing process.

[0060] Performing an initial online grouping of the products 1 before their transfer avoids certain operations at the handling device 4. Indeed, some products 1 from a line 11 will maintain the same orientation in a row 10 of a layer 100. In this case, depending on the palletizing pattern, the device 4 does not need to handle these products 1, and the arrangement of the products 1 is more compact upon their arrival on the preparation conveyor 3. Consequently, the stability of the layer 100, formed partially or completely downstream of the preparation conveyor 3, is improved.

[0061] In embodiments in which the conveying means 2 includes several single-line product 1 circulation lanes, i.e. several adjacent lines of product 1, the transverse transfer step allows several lines 11 of n product 1 to be transferred simultaneously.

[0062] This transfer step is repeated cyclically until a complete pallet of 1000 is formed according to the palletization scheme.

[0063] The process according to the invention includes, after said transfer step, a preparation step of at least one row 10 of a layer 100 of products 1, this preparation step being carried out when the products 1 circulate on the preparation conveyor 3, by means of a handling device 4.

[0064] In some embodiments, the manipulation device 4 is in the form of at least one robotic arm 40, comprising at least one gripping means 41. The robotic arm 40 is designed and arranged to move the at least one gripping means 41 above the layer preparation conveyor 3. The means 41 is positioned at the distal end of the robotic arm 40. A robotic arm 40 is defined as any movement system comprising at least three translations and one rotation. In particular, a robotic arm 40 has at least four degrees of freedom. Preferably, the manipulation device 4 is a robotic arm with six degrees of freedom.

[0065] According to an additional feature, the gripping means 41 comprises at least one grasping member 42. A grasping member 42 is, for example, a suction cup or a clamp. Preferably, the means 41 comprises a plurality of suction cups 42.

[0066] In particular, within the framework of the invention, the handling device 4 prepares at least one row 10 of a layer 100, as the products 1 circulate on the preparation conveyor 3. The preparation consists of positioning and / or orienting the products 1 by moving some of them relative to others, according to the palletizing pattern.

[0067] In particular, the product preparation step 1 may consist of positioning and / or orienting them by placing some of them orthogonally to others, according to the palletization scheme.

[0068] For example, device 4 will pick up a product 1 from among the n products 1 transferred in line, said product 1 being located at a first position within the line, to rotate it 180°, and place it in a second position, for example at the end of line 11, orthogonally to an adjacent product 1 of the same row 10. Device 4 thus forms at least partially a row 10 of products 1 of layer 100.

[0069] According to another possible example, the device 4, by means of at least one robotic arm 40, picks up several products 1 from among the n products 1 transferred in line, and makes them perform a translation and / or a rotation of 90°, or a rotation of -90°, or even a rotation of 180°. This preparation step is repeated cyclically for each line 11 of transferred products 1, in order to form several rows 10, said rows 10 forming at least partially a layer 100.

[0070] The forming process further includes a step of at least partially forming a layer 100 by means of a stop 50 on a zone 5b called the grouping zone. The grouping zone 5b is located downstream of the conveyor 3 and, in particular, of the transfer zone 5a. Thus, the rows 10 or portions of rows 10 formed on the preparation conveyor 3 at the level of the transfer zone 5a travel to the said grouping zone 5b, until they are stopped by a stop 50. This stop 50 can, for example, take the form of a blade passing between the grouping zone 5b and a palletizing station 6, or between the grouping zone 5b and a passing table 60 in a vertical movement. In its raised position, the blade allows the rows 10 to bear against it. In the lowered position, the blade is retracted downwards to allow passage to station 6 or table 60.

[0071] Conversely, if the 60 passing table or the 6 palletizing station and the 5b grouping zone include the same conveying means, the stop can be retracted upwards, so as to rise above the products 1.

[0072] The through table 60 is a table that facilitates the transition between the grouping zone 5b and the palletizing station 6. When present, it allows, for example, the transfer of partial layers 100 from the grouping zone 5b to the through table 60. The through table 60 generally includes a conveyor system on which the products 1, arranged in partial or complete layers 100, will circulate.

[0073] Once one or more rows 10, preferably at least two rows 10, are partially or completely formed on the grouping area 5b, by means of the stop 50, said stop 50 is retracted before proceeding to the palletizing step of the rows 10 of layer 100 from the grouping area 5b to a palletizing station 6.

[0074] According to one possible variation, before proceeding to the palletizing step, the process includes a step of transferring the 10 rows of layer 100 from the grouping zone 5b to a passing table 60. Then, layer 100 will be transferred to the palletizing station 6 for the palletizing step.

[0075] The stop 50 and the grouping zone 5b thus act as an accumulator, with the products 1 grouping together in the direction of flow. The products 1, having been pre-grouped during the transfer stage and whose grouping is finalized at zone 5b, then form one or more compact rows 10 of products 1.

[0076] In some embodiments, the process includes a step of transferring a partial layer 100 to the transfer table 60, i.e., transferring a layer 100 that does not comprise the total number of rows 10 required to form a complete layer 100. This may be necessary, particularly in the case of unstable and / or irregularly shaped products 1, to prevent problems with the products 1 shifting relative to each other within a row 10 or a layer 100 when said products 1 are grouped against the stop 50.

[0077] A partial layer 100 is defined as a layer 100 transferred from grouping zone 5b to the transfer table 60, but which does not contain the required number of rows 10 to form a complete layer 100. For example, for a layer 100 with six rows 10, it may be necessary to transfer four rows to table 60, and then, in a second transfer, two more rows, to complete the layer 100 already present on table 60.

[0078] Then, when at least one layer 100 is complete, it is transferred to a palletizing station 6. To do this, depending on the arrangement of said station 6 in relation to the passing table 60, a pusher, not shown, may be used, or the layer 100 may be conveyed via a conveyor, not shown.

[0079] According to one variant, the step of passing, or depositing, onto table 60 is carried out when a complete layer 100 is formed on the grouping area 5b.

[0080] Following this deposition step, the process includes a palletizing step which includes the transfer from table 60 to a palletizing station 6 and a compaction step of the 100 layers formed and deposited on a pallet 1000.

[0081] This placement step is repeated cyclically until a complete pallet of 1000 is formed according to the palletization scheme.

[0082] It is understood that the step of placing on a table 60 is optional, the palletizing step can be implemented directly after the grouping of rows 10 on the grouping zone 5b.

[0083] The palletization scheme is defined in particular according to the type of products 1, in particular their type, rigid or not, stable or not, irregular or regular shape, their size, the number of layers 100 needed to form a pallet 1000, the number of rows 10 to form a layer 100, and the number of products 1 to form a row 10.

[0084] In some embodiments, the grouping process includes a preliminary step of calculating and determining the palletization scheme according to different parameters, via a control unit 9.

[0085] In some embodiments, the control unit 9 drives the action of the device 4 and is optionally programmable to adapt the operation of the product handling device 4. In particular, the control unit 9 is configured, according to a palletizing scheme:

[0086] - determine the number of product 1s to be transferred during each successive cycle of the grouping process, i.e., for the formation of each even 100 layer and each odd 100 layer,

[0087] -determine which of the transferred products 1 must be handled, i.e. moved and / or oriented, during each successive cycle of the process.

[0088] Thus, the control unit 9 is configured to transmit instructions to control means 90 of an actuator of the robotic arm 40 in order to adjust the movement of the gripping tool 41.

[0089] The control means 90 are a control system for the arm 40, either physical or virtual. Specifically, the control means 90 receive movement, orientation, and control instructions for the arm 40 and / or the gripping tool 41 from the control unit 9. In other words, the control unit 9 is configured to control the movement of the arm 40 via the control means 90 according to the palletizing pattern.

[0090] In some embodiments, control unit 9 comprises:

[0091] - a database containing palletizing programs including instructions for selecting the number of products to be transferred during each cycle, for controlling the robotic arm 40 and / or the gripping device 41 according to different palletizing schemes,

[0092] - a processor connected to the memory to apply the program instructions and - a communication interface connected to the processor for communication at least with the control means 90 of the actuator of the robotic arm 40.

[0093] The control unit 9 may include a control screen for device 4 with a dedicated human-machine interface allowing the entry of information, in particular the entry of information concerning the type of products 1, their format in particular.

[0094] Figure 1 schematically illustrates an example of an embodiment of the process according to the invention. Cardboard products 1 flow in a line, one after the other, on a conveying means 2. The conveying means 2 is, for example, an endless conveyor belt powered by a motor. A selection device 20 distributes a number n of products 1, in particular, in the illustrated example, two products 1. The two products 1 located downstream of the conveying means 2 are transferred via the transfer means 202 to the preparation conveyor 3. In the illustrative and non-limiting example of Figure 1, the transfer means 202 takes the form of a pusher, more particularly a push bar. The push bar is, for example, mounted on a frame and moves back and forth transversely to the direction of inflow X of the products 1.

[0095] To carry out the transfer step, product 1 is slowed down or even stopped.

[0096] Figure 1 illustrates a grouping process whose steps have already been repeated cyclically; that is, the handling device 4 has already performed preparation cycles since, in grouping zone 5b, a row 10c of five products 1 can be seen, oriented at 90° to the first two rows 10a and 10b. The stop 50 holds the first two rows 10a and 10b of products 1 and will also block the advance of the third row 10c, in order to allow the grouping of the three rows 10a, 10b, 10c of products 1.

[0097] Figure 1 also shows a depositing table 60, aligned longitudinally with the grouping zone 5b, and a palletizing station 6, located orthogonally with respect to said grouping table 60. In this possible embodiment, a pusher, not shown, transfers one or more layers 100 located on the depositing table 60 to said palletizing station 6.

[0098] Figure 2 illustrates an embodiment of the process according to the invention, and in particular the step of preparing a row 10. The device 4 simultaneously grasps two products 1 in order to manipulate them, that is, to move them and / or change their orientation. In this case, in Figure 2, the device 4 has already rotated two products 1 by 180° using suction cups 42.

[0099] Following the partial or complete formation of a layer 60 on the grouping zone 5b, the products 1 are conveyed to a transfer table 60. This transfer to the table 60 is generally accomplished by means of a conveyor. In the embodiment shown in Figure 2, the table 60 connects the grouping zone 5b, located downstream of the preparation conveyor 3, to the palletizing station 6, which is aligned longitudinally with the depositing table 60. Figures 3a to 3d show an example of the steps involved in forming a layer 100 according to a palletizing scheme.

[0100] We can see in figure 3a, in this example of implementation, that a first layer 100 has been positioned on table 60.

[0101] In this example, the grouping zone 5b is in the form of a conveyor belt, which includes its own feed motor. It is also entirely possible to have a single conveyor belt extending from the upstream end of the preparation conveyor 3 to the downstream end, i.e., to the stop 50.

[0102] Two rows 10 of product 1, which have not been handled by device 4, advance towards grouping zone 5b, while the stop 50 moves upwards to block the advance of said product 1. In other words, some product 1 do not require handling and therefore advance without intervention from device 4 towards grouping zone 5b. Device 4 has picked up two product 1 to finalize the formation of the two partially formed rows 10a, 10b in grouping zone 5b.

[0103] In particular, Figure 3b shows a top view of the grouping zone 5b, with two partial rows 10a, 10b. The first layer 100, formed and positioned on table 60, was transferred to palletizing station 6. Figure 3c shows a top view of the grouping zone 5b, with two products 1 accumulating against stop 50 and completing the formation of the two rows 10a, 10b. Thus, at the preparation conveyor 3, the handling device 4 executes palletizing instructions according to a palletizing pattern, moving and / or orienting the products 1 to form partial or complete rows 10, depending on the number n of products 1 transferred from the conveying means 2 to said preparation conveyor 3.

[0104] Finally, figure 3d shows a top view, where we can see that the two rows 10a and 10b have been transferred to table 60. The manipulation device 4 prepares other rows 10.

[0105] Figure 4 illustrates an example of a pallet 1000 comprising four layers 100a, 100b, 100c, 100d of product 1, according to a palletization scheme. In this illustrative example, each layer 100 comprises rows 10 of product 1 oriented differently depending on the position of layer 100 on the pallet 1000.

[0106] In some embodiments, the preparation step includes the partial or complete preparation of at least two stacked rows 10 on the preparation conveyor 3. To accomplish this, the handling device 4 is configured to move one or more products 1 so as to stack at least two products 1 on top of each other. In other words, the handling device 4, depending on the palletizing pattern, picks up one or more products 1 and places them on top of one or more other products 1 to form at least a partial stack of two rows 10.

[0107] By superimposed, we mean products 1 which are one above the other along a vertical axis Z, and preferably perfectly aligned, that is to say they have the same orientation within the row 10.

[0108] According to one variant, two superimposed products 1 can have different orientations, depending on the palletization scheme, which may provide for different layers 100, taking into account their "even" or "odd" position within the pallet 1000. The handling device 4 is therefore capable of grasping, moving and possibly orienting one or more products 1 to superimpose them on other products 1.

[0109] Thus, during the layer formation step 100 in grouping zone 5b, at least two partial layers 100 are formed when the superimposed products 1 meet the stop 50. The layers 100 are then transferred, or conveyed, to the passing table 60.

[0110] The palletizing step then consists of simultaneously palletizing at least two partial layers 100 stacked one on top of the other from the unloading table 60 to the palletizing station 6. The palletizing station 6 includes a palletizing system, not shown, and a former, not shown, to compact the products 1 of one or more layers 100 together. Any palletizing system well known to those skilled in the art is suitable for completing the palletizing.

[0111] The various stages of the process are repeated cyclically until a complete pallet of 1000 is formed. It is understood that, since the products 1 are stacked by the handling device 4, the formation time for each row 10 and each layer 100 is halved. Similarly, the palletizing time for a pallet of 1000 is considerably reduced, as the layers 100 are palletized two at a time.

[0112] According to one variant, the deposition step is carried out when two complete superimposed layers are formed on the grouping area 5b.

[0113] The invention also envisages carrying out the palletizing step directly after the grouping step in zone 5b. In this case, the palletizing step then consists of simultaneously palletizing at least two partial or complete layers 100, superimposed one on the other from the grouping zone 5b to the palletizing station 6.

[0114] Figure 5 shows an example of an embodiment, with the manipulation device 4 performing a superposition of four products 1 one on top of the other. In other words, the device 4 simultaneously picks up four products 1, distributed on two lines 11, to place them on top of four products 1, distributed on the same two lines 11.

[0115] In grouping zone 5b, we can see that four rows 10a to 10d are already accumulated against stop 50 and that two partial rows 10e and 10f are in the process of accumulating against said stop 50. The products 1 being handled on the preparation conveyor 3 will complete rows 10e and 10f.

[0116] Figure 6 shows a side view of a similar embodiment, where products 1 are superimposed so as to form two side-by-side and superimposed rows 10 of products 1. It can be seen that two partial layers 100a and 100b are formed simultaneously and superimposed on each other.

[0117] In embodiments, during the preparation step of at least one row 10 of a layer 100, the handling device 4 is configured to handle only a portion of the n products 1 transferred, in particular only the products 1 to be moved and / or oriented to prepare said at least one row 10 according to the palletizing scheme.

[0118] Indeed, since the transferred products 1 are already pre-grouped during the transfer stage, thanks to the transverse arrangement between the conveying means 2 and the preparation conveyor 3, the handling device 4 does not need to perform this pre-grouping itself. Its throughput is therefore considerably improved, as it only has to move a portion of the circulating products 1. Consequently, the transfer speed and the speed of the preparation conveyor 3 do not necessarily need to be very low.

[0119] This is particularly advantageous, not only from a throughput perspective but also in terms of line cost: to maintain high throughput, some palletizing systems include several handling devices. This is very expensive and significantly increases the size of the palletizing installation. The solution proposed by the invention therefore makes it possible to maintain a high throughput at a moderate cost, while optimizing the device's footprint.

[0120] In some embodiments, the transfer step consists of transferring at least two rows 11 of aligned products 1, and during the preparation step of at least one row 10 of a layer 100, the handling device 4 is configured to move and / or orient the products 1 from different rows 11 to form rows 10. In other words, the products 1 are transferred as a plurality of rows 11, and then the handling device 4 forms the different rows 10 from products 1 that may come from different rows 11. Thus, the handling device 4 treats the products 1 coming from a plurality of rows 11 as a set of products 1, in order to optimize the number of manipulations to be performed.

[0121] In some embodiments, the grouping process includes a preliminary step of setting the speed of the supply conveyor 2, and / or the speed of the preparation conveyor 3, and / or the movements of the handling device 4 according to the palletizing scheme.

[0122] In some embodiments, the preparation step includes, immediately following the transfer step from the conveying means 2 to the preparation conveyor 3, a referencing step for each product 1, optionally in the form of a line 11, to locate said product 1 or said line 11 during its movement on said preparation conveyor 3, from a transfer zone 5a to the grouping zone 5b. This advantageously allows the movements and actions of the handling device 4 to be synchronized with the movement of said transferred products 1 circulating on the preparation conveyor 3.

[0123] By line 11 referencing, we mean the simultaneous referencing of all products 1 of the same line 11.

[0124] In possible embodiments, this referencing step is carried out using sensors 30, for example of the infrared type, to detect the arrival of one or more lines 11 of products 1 on the preparation conveyor 3.

[0125] In some embodiments, the control unit 9 is configured to:

[0126] - receive the position of each product 1 obtained by the sensors 30 via a communications network and

[0127] - transmit instructions to the 900 control means via a communications network.

[0128] In embodiments, the transfer step consists of simultaneously transferring at least two lines 11 of products 1 from the conveying means 2 to the preparation conveyor 3, the handling device 4 being configured to simultaneously or substantially simultaneously prepare at least two side-by-side rows 10 of products 1.

[0129] According to a possible additional feature, the handling device 4 processes the products 1 in such a way as to simultaneously form at least two rows 10 superimposed on each other of products 1, i.e. to simultaneously form at least two layers 100 of products 1 according to a palletizing scheme.

[0130] This embodiment is particularly advantageous because it allows for further gains in rate, by simultaneously forming, at least partially, two respective rows 10 of two superimposed layers 100.

[0131] The invention further relates to a product palletizing installation 8, said installation 8 comprising:

[0132] - a means 2 for conveying products 1,

[0133] - a product selection device 20, located along said conveying means 2, - a conveyor 3 for preparing said products 1,

[0134] - a means of transferring said products 1 from the conveying means 2 to the preparation conveyor 3,

[0135] - a product handling device 4 to move and / or orient the products 1 circulating on said preparation conveyor 3 in order to partially or completely form at least one row 10 of products 1,

[0136] - a grouping zone 5b including a stop 50 to form at least partially a layer 100 of products 1.

[0137] The installation 8 according to the invention is characterized in that the conveyor 3 is located orthogonally with respect to the conveying means 2. In particular, the inlet of the preparation conveyor 3 extends along the conveying means 2.

[0138] The conveying means 2 for products 1 is an endless belt conveyor, powered by a motor (not shown). The conveying means 2 can be single-line or multi-line. The products 1 travel in a line, one after the other, on said conveying means 2, possibly in several parallel lines.

[0139] The product selection device 20 is any type of selection device capable of selecting a number n of products 1, where n can range from 1 to 10. Examples include stops or selection fingers. The number n of products 1 to be selected is determined according to a palletizing pattern and therefore varies depending on the cycle involved in the palletizing pattern. For example, in the first cycle, three products 1 may be needed to form the first row 10, while in the second cycle, only one product 1 needs to be selected. In some embodiments, the transfer means 202 consists of a pusher for transferring one or more products 1 in the form of rows 11 of products 1. This pusher is movable between the conveying means 2 and the preparation conveyor 3.

[0140] According to an additional technical feature, said pusher is retractable in height to move over products 1 during its return stroke.

[0141] According to an additional technical feature, the transfer means 202 includes a stop 201. The stop 201 allows the alignment of the products 1 on the same line 11.

[0142] The preparation conveyor 3 is also an endless belt type conveyor and includes its own motor for powering it. According to the invention, said preparation conveyor 3 is orthogonal to the conveying means 2, and its inlet extends along said conveying means 2. Preferably, its inlet is abutted to said conveying means 2, without any dead space between the two conveyors.

[0143] The preparation conveyor 3 includes a transfer zone 5a.

[0144] The handling device 4 comprises a robotic arm 40 and a gripping means 41. The installation 8 also includes a grouping zone 5b, aligned longitudinally with the preparation conveyor 3. Preferably, the grouping zone 5b is located downstream of the conveyor 3, with the conveyor 3 and the grouping zone 5b being made of the same conveyor belt. This embodiment eliminates a passage zone between the two conveyors and thus reduces the risk of falls.

[0145] However, it is possible for the grouping zone 5b to consist of a separate conveyor, powered by its own motor. This embodiment allows for independent management of the conveyor speeds of conveyor 3 and grouping zone 5b.

[0146] Thus, in some embodiments, conveyor 3 and zone 5b are made up of a conveyor belt respectively, the belts being one after the other, supplied by the same drive motor which includes two transmissions, so that the conveying speeds of the two respective belts of conveyor 3 and grouping zone 5b can be different.

[0147] For example, the independent conveyor in grouping zone 5b can operate at a lower speed than the conveyor 3 for preparation. This allows the rows 10 to be closer together and thus reduces the waiting time downstream, at the stop 50.

[0148] According to a possible additional feature, the two respective belts of conveyor 3 and grouping zone 5b are butted together and aligned longitudinally.

[0149] In some embodiments, the junction between two successive and aligned belts of a conveyor 3 is made by a transfer plate.

[0150] Installation 8 comprises, in embodiments, a depositing table 60, preferably aligned longitudinally with the grouping zone 5b, and a palletizing station 6. The palletizing station 6 is, for example, located downstream of the depositing table 60. In one variant, the palletizing station 6 is located orthogonally to the through table 60 and extends along one side of said table 60. In particular, the entrance to the palletizing station 6 extends along the through table 60.

[0151] In some embodiments, the palletizing station 6 is located downstream of the grouping zone 5b. In one variant, the palletizing station 6 is located orthogonally to the grouping zone 5b and extends along one side of said zone 5b. In particular, the entrance to the palletizing station 6 extends along the grouping zone 5b.

[0152] Preferably, installation 8 implements the product grouping process 1 as described above.

[0153] According to an additional technical feature, the installation 8 includes a control unit 9, configured to transmit instructions to the control means 90 of the robotic arm 40 and / or the gripping means 41 according to a palletizing pattern. The handling device 4 then executes the instructions of the control unit 9, according to a palletizing pattern.

[0154] The process and installation 8 according to the invention therefore make it possible to palletize a wide variety of products at a high rate 1.

Claims

DEMANDS 1. Method for grouping products (1) palletized by layers (100), said layers (100) being made up of several rows (10) of products (1), said method comprising the following successive steps, implemented cyclically: - a step of selecting a number of products (1), said products (1) circulating on a conveyor (2); - a transfer step of at least one or more products (1) aligned in the form of a line (11) from said conveying means (2) to a layer preparation conveyor (3) (100); - a preparation step of at least one row (10) of a layer (100) of said products (1) on said preparation conveyor (3) by means of a handling device (4), the preparation consisting of positioning and / or orienting said products (1) by moving some of them relative to others, according to a palletization scheme; - a step of at least partial formation of a layer (100) by means of a stop (50) on a grouping zone (5b), said grouping zone (5b) being located downstream of said preparation conveyor (3); - a palletizing step of said layer (100) from said grouping zone (5b) to a palletizing station (6), a process characterized in that - the transfer step consists of a transverse transfer from said conveying means (2) to said layer preparation conveyor (3) (100), said preparation conveyor (3) being substantially orthogonal to said conveying means (2).

2. A method according to the preceding claim, characterized in that - the preparation step includes the partial or complete preparation of at least two rows (10) stacked one on top of the other on the preparation conveyor (3), the handling device (4) being configured to move one or more products (1) so as to stack at least two products (1) one on top of the other; - the forming step includes the at least partial formation of two layers (100) stacked one on top of the other and - the palletizing stage consists of the simultaneous palletizing of the said at least two layers (100) superimposed one on top of the other from the grouping area (5b) to the palletizing station (6).

3. Method according to claim 1 characterized in that it comprises a step of passing the partial or complete layer (100) from the grouping zone (5b) to a passing table (60) and in that the palletizing step consists of palletizing the layer (100) from the passing table (60) to the palletizing station (6).

4. A method according to the preceding claim, characterized in that - the preparation step includes the partial or complete preparation of at least two rows (10) stacked one on top of the other on the preparation conveyor (3), the handling device (4) being configured to move one or more products (1) so as to stack at least two products (1) one on top of the other; - the forming step includes the at least partial formation of two layers (100) stacked one on top of the other and - the passing step consists of the simultaneous deposit of said at least two layers (100) superimposed one on the other on the grouping area (5b) towards the passing table (60) and the palletizing step consists of simultaneously palletizing said at least two layers (100) from said table (60) towards the palletizing station (6).

5. Method for grouping products (1) according to any one of claims 1 to 4, characterized in that, during the step of preparing at least one row (10) of a layer (100), the handling device (4) is configured to move and / or orient only a portion of the transferred products (1), in particular only the products (1) to be moved and / or oriented to prepare said at least one row (10) according to the palletizing scheme.

6. Product grouping method (1) according to any one of the preceding claims characterized in that the handling device (4) comprises at least one robotic arm (40) and at least one gripping means (41).

7. A product grouping method (1) according to any one of the preceding claims, characterized in that it comprises a preliminary step of setting the speed of the conveying means (2), and / or the speed of the conveyor (3) of preparation and / or movement of the handling device (4) according to the palletization scheme.

8. Method for grouping products (1) according to any one of the preceding claims, characterized in that the preparation step comprises, directly after the step of transferring one or more products (1) onto the preparation conveyor (3), a referencing step for each product (1) to locate said product (1) during its movement on said preparation conveyor (3) from a transfer zone (5a) to the grouping zone (5b).

9. Product grouping method (1) according to any one of the preceding claims, characterized in that the transfer step consists of simultaneously transferring at least two lines (11) of products (1) from the conveying means (2) to the preparation conveyor (3), the handling device (4) being configured to simultaneously prepare at least two side-by-side rows (10) of products (1).

10. Product grouping method (1) according to any one of the preceding claims, characterized in that the transfer step consists of simultaneously transferring at least two lines (11) of products (1) from the conveying means (2) to the preparation conveyor (3), the handling device (4) being configured to simultaneously prepare at least two rows (10) of products (1), so that at least two rows are superimposed one on top of the other.

11. Product palletizing installation (8) (1) comprising: - a means of conveying (2) products (1), - a conveyor (3) for preparing said products (1), - a means of transferring said products (1) from the conveying means (2) to the preparation conveyor (3), said conveyor (3) being located orthogonally with respect to said conveying means (2), - a product handling device (4) for moving and / or orienting the products (1) circulating on said preparation conveyor (3) in order to partially or completely form at least one row (10) of products (1), - a grouping zone (5b) comprising a stop (50) to form at least partially a layer (100) of products (1), - a palletizing station (6) to receive the partial layers (100) or complete, installation (8) characterized in that -the manipulation device (4) includes a robotic arm (40) and a grasping means (41).

12. Installation (8) according to the preceding claim, characterized in that it comprises a passing table (60) for receiving the layers (100) formed in grouping zone (5b), said table (60) being located downstream of the grouping zone (5b) and upstream of said palletizing station (6).

13. Installation (8) according to claim 11 or 12, characterized in that it implements the product grouping process (1) according to any one of claims 1 to 9.

14. Installation (8) according to any one of claims 11 to 13, characterized in that it comprises a control unit (9), said unit (9) being configured to transmit instructions to control means (90) of the robotic arm (40) and / or of the gripping means (41) of the handling device (4) according to a palletizing scheme.

Images