Mothod for extracting a constant number of containers having a flanged rim

Abstract

According to the present invention, a method is claimed for extracting in each extraction a single container or a constant number of containers having a flanged rim from a stack of said containers housed in a dispenser; such method comprising a compression step, a release step and an extraction step.

Description

[0001] Mothod for extracting a constant number of containers having a flanged rim

[0002] DESCRIPTION TECHNICAL FIELD

[0003] The present invention refers to a method for extracting a constant number of containers having a flanged rim from a stack of containers .

[0004] STATE OF THE ART

[0005] In the field of automation, one challenge is the automated removal of containers from a stack.

[0006] In fact, when containers with rims, such as cups, are stacked together, they can become difficult to separate due to a combination of air pressure, friction, and suction. In particular,

[0007] • Air pressure difference : When containers are tightly stacked, the space between them can become sealed. If air is trapped within this space, it creates a lower pressure than the outside air . The higher outside air pressure then pushes the containers together, making them difficult to separate .

[0008] • Suction effect : If there is moisture between the stacked containers (even due to light condensation) , a vacuum-like suction can be created. When attempting to separate them, the suction holds them tightly together, increasing the force required to separate them.

[0009] Friction: The smooth surfaces of containers create strong surface contact, which increases friction. This makes them more difficult to sort one by one when stacked.Tapered shape : Containers are designed with a slightly tapered shape, meaning they are narrower at the base than at the rim. When stacked, this shape can cause them to become j ammed together, making separation difficult .

[0010] There is therefore a need for a device capable of removing a single container or a constant number of ridged containers from a stack.

[0011] SCOPES AND SUMMARY OF THE INVENTION

[0012] The scope of the present invention is to at least partially overcome the problems described above . This is achieved using a dispenser configured to hold a plurality of containers with a flanged rim, which are subj ected to a pull-out force F2 that pushes them outward from the dispenser, thus causing the edge of the leading container to contact a tab L (see Figure 1 ) . In particular, L releases a single container or a constant number of containers whenever there is a push force that moves L between the locked position (Fig. 1.3) and the rest position (Fig. 1.2 ) . According to the present invention, a method is claimed for removing, at each withdrawal, a single container or a constant number of containers having an edge rib from a stack of said containers housed in a dispenser configured to apply a pushing force parallel to the stacking direction (preferably via a spring or gravity) to the plurality of containers, and at least one pivoting element (preferably a pivoting tongue with at least one angular travel stop and a tooth) , comprising the steps of :

[0013] Compression step (Fig. 2.1 and 2.2 ) : applying a compressive force Fl to the stack of containers held by L in an angular stop position such that the tooth L2 contacts a first flanged rim of a top container and said stop applies a counterforce to L such as to lock the axial position of the stack againstthe action of the extraction force (preferably via a spring or gravity) ; The compressive force Fl pushes the containers toward the inside of the dispenser, so that L rotates in the direction of compression of the stack and L2 disengages from the flanged rim thanks to a push element ( for example, a pair of magnets, a spring, or a weight applied to the top or tail C of the tab depending on the desired direction of push acting on the tab) .

[0014] Release step (Fig. 2.3 and 2.4 ) : Release the compressive force Fl after L2 disengages from the flanged rim, so that the extraction force F2 (e . g. , the decompressing spring or the weight of the stack) causes the stack to move toward L2 and the stack engages L2 thanks to a push element (such as a magnet on the tail C or, in a preferred embodiment, via an additional tooth of appropriate length and positioned at an angle to it) in a second flanged rim of a container immediately following the top container or the constant number of top containers, up to at an angular stop position of L where :

[0015] - Said stop applies a counterforce to L such as to lock the axial position of the container in contact with 12 against the action of the extraction force F2 ;

[0016] - The top container or the constant number of top containers that are part of the stack are no longer constrained by L, thus creating an escapement mechanism.

[0017] Extraction step (Fig. 2.5) : Remove the top container or the constant number of top containers from the stack, while the locked container becomes the new top container .

[0018] BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Preferred embodiments of the present invention are described below by way of example, with reference to the accompanying drawings, in which:Figure 1. Cross-section of a container with a flanged rim 3 housed in the dispenser 1 and in contact with the double tab L . Also, an enlargement of said double tab L .

[0020] Figure 1.1. Schematic representation of L in the rest position .

[0021] Figure 1.2. Schematic representation of L in the locked position .

[0022] Figure 1.4. Schematic representation of L in the extraction position, with a container ready to be extracted.

[0023] Figure 1.5. Schematic representation of L .

[0024] Figure 2. Schematic representation of the method for extracting a container with an edge rib from a stack of containers .

[0025] DETAILED DESCRIPTION OF THE INVENTION

[0026] DEVICE STRUCTURE

[0027] Figure 1 shows a cross-section of the device for extracting a container with a rib edge 3 from a plurality of containers . The device comprises a dispenser 1 and an escape mechanism comprising at least one double tab L (shown in detail in Figure 1 ) . The dispenser 1 is configured to accommodate a plurality of containers with a flanged rim and to carry at least one double tab L . Furthermore, the dispenser has a first push element at its base, preferably a spring on which the containers rest, configured to exert a force sufficient to overcome the weight exerted by the plurality of containers . This force is such as to cause at least a portion of the container with a flanged rim to proj ect from the dispenser (as shown in Figure 1 ) . Furthermore, the double tabs L can be assembled on the dispenser, and at the locations where the double tab is housed, the dispenser has additional second push means . Referring to the detail in Figure 1, L is housed within theperimeter of the dispenser and is configured to rotate around an axis perpendicular to the dispenser; this rotation is mechanically constrained. That is, there is a maximum and minimum rotation angle . In the detail in Figure 1, the lower stop (maximum counterclockwise rotation) is activated when the end portion of L comes into contact with the dispenser, and the upper constraint (maximum clockwise rotation) is activated when the end portion of L comes into contact with the dispenser . The upper stop is configured so that when the container with the flanged rim is picked up, the tooth LI (see Figures 1.3 and 1.4 ) cannot come into contact with the edge of the picked container with the flanged rim; the lower stop is configured so that when the dispenser is loaded with multiple containers L, it does not obstruct filling; that is, LI is parallel to the dispenser walls .

[0028] The space defined between the two teeth according to the present invention is such that it can accommodate the flange of a container with a flanged rim, or in general, a body transverse to the obj ect to be extracted. The angle between the two teeth is particularly important . In fact, it must be such that when L is in the extraction position (described in the next section) , LI is released from the container with a flanged rim being removed, but at the same time L2 engages the immediately subsequent container with a flanged rim, preventing its removal . According to the present invention, the angle between the teeth is between 10 and 90 degrees, more preferably 40 degrees . In functional terms, the two teeth are selectors of a single container with a flanged rim, leaving it free for removal while at the same time preventing the subsequent container with a flanged rim from being removed.

[0029] Double Tab Positions

[0030] REST POSITION.(Figure 1.2 ) In the rest position, the double tab L or pivoting element does not engage the containers . In space, the rest position is such that L2 is disengaged from the edge rib . Furthermore, in the embodiment with two teeth, in the rest position, when the cups are present, LI interferes vertically with the flange, specifically, it is parallel to the container flanged rim. This position is maintained by a spring or by a plurality of magnets . In an embodiment with magnets, L has a magnet at the terminal portion C (see Figures 1.2, 1.3, and 1.4 ) of its body, i . e . , the portion opposite the teeth. Dispenser 1 is configured with two magnets, positioned above and below the end portion of the double tab, corresponding to the magnet carried by L . The magnets on container 1 both repel the magnet on L, forcing the latter into a position equidistant between the two : L would thus be in the rest position. In another embodiment, the pairs of magnets are replaced by a spring; it is clear that both solutions are capable of exerting an equal and opposite force on L, resulting in L in the rest position.

[0031] LOCKING POSITION.

[0032] (Figure 1.3) The locking position corresponds to the first position in the gripping cycle of a container with a flanged rim. This position is characterized by L in the angular stop position, with tooth L2 resting on the flange of the container with a flanged rim at the top of the stack, i . e . , the flange of the container to be extracted is oriented parallel to L2 . Since L is out of its rest position, the force exerted by the stop prevents further rotation of L, resulting in a compressive force exerted by L2 on the flange of the container . In this position, L constrains the movement of the container, preventing its extraction.

[0033] EXTRACTION POSITION.In one step of the picking cycle (explained in the following section) , the extraction position acts only on the container immediately following the one to be picked. That is, in this position, the first container at the top of the stack can be freely removed, while the following container is blocked (Figure 1.4 ) . That is, in the extraction position, the position of L is equal to the blocking position (see L in Figure 1.3 and Figure 1.4 ) , however, the container with which it interacts is different . In fact, in the blocking position, L2 engages the flange of the container at the top of the stack of containers, while in the extraction position L2, L engages the flange of the container immediately following the one to be removed.

[0034] METHOD FOR EXTRACTING A CONTAINER WITH AN EDGE BEAD

[0035] Figure 2 shows the method for removing a single container with a flanged rim. The starting point (step 1 ) corresponds to having L in a blocking position. This is defined as a position in which L2 is in contact with the edge of the container to be removed, while LI does not engage that edge . L exerts a force parallel to the direction of stacking of the containers, since its further rotation is physically prevented by distributor 1. In the second step ( step 2 ) , a compressive force parallel to the direction in which containers are stacked, pushes the containers into dispenser 1. According to one embodiment, this force is applied by a robotic arm configured to pick up a container . Consequently, the pushing force acting on L no longer has resistance, since the resistance was defined by the flange on the container ' s rim, and consequently L rotates to its rest position. According to one embodiment, L is subj ected to a magnetic force that tends to bring it to its rest position. Following the release of the compressive force, in step 3, thecontainer is only subj ected to the extraction force that pushes it outward from the dispenser, and thus the edge of the head container comes into contact with LI . L is still in its rest position. In step 4, the container with flanged rim continues to be subj ected to this force . Due to this force, the container continues its movement, and its flange forces L to rotate about its rotation axis, arriving at the extraction position (shown in Figure 1.4 ) . In step 5, the first container is removed from the container stack, and L is now in its locking position.

[0036] ALTERNATIVE EMBODIMENTS

[0037] L pivots around the axis of rotation. This rotation is promoted by the second push means R. Previously, these have been described as a pair of magnets or springs or by a single spring, e . g. , as illustrated in the drawings . However, in another embodiment, the movement of L can be promoted by an asymmetrical distribution of its weight . That is, the head of L can be made heavier by a weight, so that when it is disengaged from the flanged rim, the weight force exerted on the head of L naturally brings it to a position inside the dispenser .

[0038] Similarly, in another embodiment, the weight can be positioned on the tail of L . In this way, when it is disengaged from the flange, the weight promotes rotation in the opposite direction to that previously described.

[0039] The dispenser is configured to house a first push means, i . e . , a spring, in its body, on which the stack of containers with flanged rim rests . However, it is possible to achieve the same effect of generating a force on the base of the stack such that the stack engages the teeth of L, simply by configuring the distributor in a vertically opposite direction. In this way, the first push means is not necessary, but gravity will generate the extraction force .In this configuration, the rotation of L can always occur via the second push means, i . e . , springs or magnets, or by applying a weight to the tail of L . Thus, when it is disengaged, the weight acts on it, promoting internal rotation of the distributor .

[0040] An embodiment (not illustrated) is now described in which L has a single tooth, specifically the locking tooth (see L2 in Figure 1.2 ) . LI (see Figure 1 ) of the embodiment illustrated in the figures acts as a guide, i . e . , during the extraction cycle, LI engages the flanged rim of the first container, so as to rotate L into the extraction position when the stack moves in the direction along which the container is being extracted by the arm, so as to engage with L2 the container immediately following the one to be removed. Therefore, a different embodiment must be able to reorient L so as to lock the container immediately following the one to be extracted. This, i . e . , a tab with a single tooth, can be achieved by a robotic arm configuration that acts on the cups by pushing them into the dispenser . Indeed, such an arm could have a suitably positioned magnet that couples with a magnet placed on the tooth of the tab, so that when the arm retracts, after pushing the containers, the tab follows the direction of the arm, i . e . , vertical . Simultaneously, the containers, thanks to the first push element, be it a spring or gravity, move vertically within the container as shown in step 4 of Figure 2. Synchronization between the movement of the cups and the tongue is essential to ensure that the tooth engages the rib of the container immediately following the one to be removed. This synchronization is achieved by configuring the magnets ' attractive force; in fact, the greater this force, the greater the rotation speed of the tab . It is therefore possible to use a magnet whose attractive force is such thatthe tab rises with the appropriate synchrony to lock the immediately following cup and avoid interacting with the container to be removed. Alternatively, a vertical position of the magnet with respect to the tooth and the edge ribs allows the tooth to engage so that it rotates to engage the edge rib of the immediately following container without interacting with the top container, thus creating the escapement mechanism.

[0041] In another embodiment, the dispenser is configured to dispense not a single cup but a constant number of cups, for example, two at a time . This configuration is achieved by varying the angle between the teeth of L; in fact, the space defined by this angle determines the number of edge ribs that can be contained between the first and second teeth. Or, as indicated in the single-tooth embodiment, by modifying the position or intensity of the magnet .

Claims

CLAIMS1. Method for extracting, in each extraction, a single container or a predefined plurality of containers having a flanged rim from a stack of said containers housed in a dispenser configured to apply a pushing force parallel to the stacking direction, preferably via a spring or by gravity, on the plurality of containers, and at least one pivoting element (L) with at least one tooth, comprising the steps of :•Applying a compression force to the stack of containers held by the pivoting element (L) in a locking position, constrained by an angular stop such that the tooth contacts a first edge rib of a leading container and said stop applies to the pivoting element (L) a counteracting force that locks the axial position of the stack against the action of said vertical pushing force; the compression force pushes the containers inside the dispenser, causing the tooth to rotate in the compression direction of the stack and disengage from the flanged rim, the rotation being caused by a pushing element (R) , either elastic or gravitational, acting on the tooth,•Releasing the compression force after the disengagement of the tooth from the flanged rim so that said vertical pushing force causes the movement of the stack in the decompression direction and the tooth engages a second flanged rim of a container immediately following the top container or the plurality of top containers, until reaching an angular stop position of the tooth in which the stop is configured to apply a counteracting force to the tooth such that it locks the axial position of the container in contact with the tooth against the action of the spring or gravity, and the leading container or the plurality of leadingcontainers are not constrained by the tooth, thereby achieving an escapement mechanism,•Withdrawing the top container or the plurality of top containers from the stack while the blocked container becomes the new top container or defines the new plurality of top containers .

2. Method according to claim 1, wherein the pushing element (R) is a pair of magnets .

3. Method according to claim 1, wherein the pushing element (R) comprises at least one mechanical spring.

4. Method according to claim 1, wherein the pivoting element comprises an additional tooth having a size and angular position such that it contacts the flanged rim has passed the said tooth during movement in the decompression direction to reach said angular stop position.

5. Dispenser for performing the method according to claim 1, comprising:a recess configured to hold a plurality of containers with a flanged rim and to apply a pushing force parallel to the stacking direction, preferably via a spring or by gravity, on the plurality of containers with an edge rib; an angular stop; at least one pivoting element (L) with at least one tooth configured to selectively contact the angular stop; at least one pushing element (R) , wherein when a compression force is applied to the stack of containers held by the pivoting element in a locking position against said stop, such that the tooth contacts a first flanged rim of a top container and said stop applies to the pivoting element (L) a counteracting force that locks the axial position of the stack against the action of said vertical pushing force; the compression force pushes the containers inside the recess, causing the tooth to rotate in the compression direction of the stack and disengage from the flanged rim, the rotationbeing caused by a pushing element (R) , either elastic or gravitational, acting on the tooth;an escapement mechanism is achieved when the compression force is released after the disengagement of the tooth from the flanged rim, such that said vertical pushing force causes the movement of the stack in the decompression direction and the tooth engages a second flanged rim of a container immediately following the top container or the plurality of top containers, until reaching an angular stop position of the tooth in which the stop is configured to apply a counteracting force to the tooth such that it locks the axial position of the container in contact with the tooth against the action of the spring or gravity, and the top container or the plurality of top containers are not constrained by the tooth; andwhen the leading container or the plurality of leading containers are extracted from the stack, the blocked container becomes the new top container or defines the plurality of top containers .

6. Dispenser according to claim 5, wherein the pushing element (R) comprises a pair of magnets .

7. Dispenser according to claim 5, wherein the pushing element (R) comprises at least one mechanical spring.

8. Dispenser according to claim 5, wherein the pivoting element comprises an additional tooth having a size and angular position such that it contacts the edge rib that has passed the said tooth during movement in the decompression direction to reach said angular stop position.

9. Robotic station comprising a dispenser according to claim 5 and an arm having a gripping element programmed to apply said compression force and extract the container or the constant number of containers after applying the compression force .

10. Method for operating a robotic station according to claim 9, comprising the steps of claim 1 and wherein said compression force is applied by the robotic arm.

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