AU2010200817B2

AU2010200817B2 - Grippers for use in palletising packaged goods

Info

Publication number: AU2010200817B2
Application number: AU2010200817A
Authority: AU
Inventors: Craig Bryant
Original assignee: Visy R&D Pty Ltd
Current assignee: Visy R&D Pty Ltd
Priority date: 2007-12-10
Filing date: 2010-03-03
Publication date: 2011-11-17
Anticipated expiration: 2028-12-09
Also published as: AU2008255183A1; AU2010200817A1; AU2010200817C1; NZ573497A; AU2008255183B2; NZ583718A

Abstract

C:\NRPortb\DCOTZSU749762_ 1. DOC.203f2010 -5 A gripper 6 for mounting on a robotic arm (not shown) comprising a support structure 600 adapted for attachment to the robotic arm incurring opposed fork assemblies 602, 603 5 adapted for movement towards and away from each other to support or release layers of packaged goods, and opposed load clamping/squaring members 604, 605, 606, 607 mounted on the support structure 600 for movement towards and away from each other to square and align the layer to be transferred by the gripper and for upward and downward movement to allow the layer to be transferred or be squared or aligned with a previously 10 palletised layer. (Figure 1)

Description

Australian Patents Act 1990 - Regulation 3.2 ORIGINAL COMPLETE SPECIFICATION STANDARD PATENT Invention Title "Grippers for use in palletising packaged goods" The following statement is a full description of this invention, including the best method of performing it known to me/us: P/00/01 1 C:\NRPortb\DCC\TZS749762 1. DOC-2/03/2010 GRIPPERS FOR USE IN PALLETISING PACKAGED GOODS This invention relates to grippers for palletising packaged goods. This application is a divisional of Australian patent application 2007906702, the contents of the specification of 5 which are incorporated herein by cross reference. During the palletising of layers of packaged goods, gripping mechanisms are used to transfer such layers from one position in a palletising system to another position, usually occupied by a pallet for receiving such layers stacked one on top of the other. Known 10 gripping mechanisms do not provide the means necessary to properly grip each layer of packages while allowing the packages in the layers to be placed in a suitably squared palletised array. The invention provides a gripper for mounting on a robotic arm or the like for use in 15 palletizing layers of packaged goods, comprising a support structure adapted for attachment to the robotic arm and carrying opposed fork assemblies adapted for movement towards and away from each other to support or release a layer of packaged goods, and opposed pairs of clamping/squaring members carried by the support structure, each pair being adapted to square and clamp a layer for transport and to square or align that layer 20 with a previously palletized layer. In one form, one of said pairs of clamping/squaring members is located inwardly of the opposed fork assemblies and is configured to intermesh with the fork assemblies to allow part of the members to be positioned below the fork assemblies. 25 The clamping/squaring members are preferably mounted for upward and downward movement with respect to the gripper so that the respective members are able to have a part thereof positioned below the fork assemblies. 30 Other features of an embodiment of the invention will be found in the following description.

C:\Nob\CC\TZ\74 9762_1.DOC-2/3/2010 -2 Description of Drawings Figure 1 is a perspective view of a gripper embodying the invention; Figure 2 is a perspective view of the gripper in the fully opened position with the clamping 5 means fully up; Figure 3 is a perspective view of the gripper with the clamping means in the fully down position; Figures 4 to 6 are elevations illustrating the gripper progressively closing; Figures 7 and 8 are elevations from the other side, and 10 Figure 9 is an underneath view of the gripper. Description of Embodiment Referring to Figures 1 to 9 of the drawings a gripper/forklift mechanism 6 embodying the 15 invention is illustrated in detail, and will be seen to comprise a central support structure 600 adapted for attachment to a robot arm in a known manner. The support structure 600 supports a pair of opposed fork structures 602 603 and opposed clamping/squaring arms 604 605, with additional clamping/squaring arms 606 607 positioned within the fork structures 602 603 as illustrated. The fork structures 602 603 are made of aluminium 20 alloy. The fork tynes 612 are made of carbon fibre. Each fork structure 602 603 includes spaced depending support arms 608 609 which are mounted for inward and outward movement on tracks carried by the support structure 600 by driven pneumatic cylinders 609 610. The lower end of each support arm 607 608 25 carries a cross member 611 which carries a multiplicity of spaced forks 612 which extend inwardly towards the opposing assembly. The opposed clamping/squaring arms 604 605 include similar support arms which carry clamping/squaring plates 613 which are capable of movement up and down the arms by 30 cylinders 614, while the arms are moveable inwardly and outwardly via drive means 615.

C:\NRPofnb\DCOTZS\749762_.DOC-23/2010 -3 The clamping/squaring members 606 and 607 are similarly mounted and moveable upwardly and downwardly as illustrated and will be seen to include open squaring plates 616 which intermesh with the forks 612 as illustrated. 5 As a result of the above arrangement, the layer being transported can be squared and clamped in each direction and when the layer is ready to be deposited on a previously palletised layer, the plates 613 and 616 can be moved to allow squaring of the deposited layer with the already palletised layer. 10 It will be appreciated that the ability of the gripper embodying the invention to not only square and clamp the layer being moved, but also to align/square that layer with a previously palletized layer, provides a significant advantage. Figures 5 to 9 illustrate the fork assemblies 602 603, the clamps 604 605 and the 25 15 clamping/squaring members 606 607 in various operating positions, from which the cooperative relationship of these items will be self-evident. As previously described, the clamping plates 613 operate to support the load while it is transported, while the clamping/squaring members 606 607 ensure alignment of the load 20 during placement on the pallet.

Claims

1. A gripper for mounting on a robotic arm or the like for use in palletizing layers of packaged goods, comprising a support structure adapted for attachment to the robotic arm and carrying opposed fork assemblies adapted for movement towards and away from each 5 other to support or release a layer of packaged goods, and opposed pairs of clamping/squaring members carried by the support structure, each pair being adapted to square and clamp a layer for transport and to square or align that layer with a previously palletised layer. 10

2. The gripper of claim 1, wherein one of said pairs of clamping/squaring members is located inwardly of the opposed fork assemblies and is configured to intermesh with the fork assemblies to allow part of the members to be positioned below the fork assemblies.

3. The gripper of claim 2, wherein each squaring member is mounted for up and down 15 movement with respect to the gripper to allow the members to be positioned below the fork assemblies.

4. The gripper of any one of claim 3, wherein the opposed load clamping/squaring members include squaring plates carried by support arms, the plates being mounted on the 20 support arms for upward or downward movement with respect to the arms.

5. The gripper of any preceding claim, wherein the fork assemblies are substantially as described with reference to the accompanying drawings. 25

6. The gripper of any preceding claim, wherein the clamping/squaring members are substantially as hereinbefore described with reference to the accompanying drawings.

7. A gripper is substantially as hereinbefore described with reference to the accompanying drawings. 30