EP0677018A1 - Comprehension d'articles et retenue simultanee de plaques de separation entre couches - Google Patents

Comprehension d'articles et retenue simultanee de plaques de separation entre couches

Info

Publication number
EP0677018A1
EP0677018A1 EP94904602A EP94904602A EP0677018A1 EP 0677018 A1 EP0677018 A1 EP 0677018A1 EP 94904602 A EP94904602 A EP 94904602A EP 94904602 A EP94904602 A EP 94904602A EP 0677018 A1 EP0677018 A1 EP 0677018A1
Authority
EP
European Patent Office
Prior art keywords
articles
lifting head
layer pad
array
layer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP94904602A
Other languages
German (de)
English (en)
Inventor
Mark Geoffrey Somers
Petrus Wilhelmus M. Van Der Zon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Unilever PLC
Unilever NV
Original Assignee
Unilever PLC
Unilever NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Unilever PLC, Unilever NV filed Critical Unilever PLC
Publication of EP0677018A1 publication Critical patent/EP0677018A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B21/00—Packaging or unpacking of bottles
    • B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
    • B65B21/14—Introducing or removing groups of bottles, for filling or emptying containers in one operation
    • B65B21/18—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/908—Devices for picking-up and depositing articles or materials with inflatable picking-up means

Definitions

  • Gripper head with retaining means for layer pads Gripper head with retaining means for layer pads.
  • This invention relates to a method and apparatus for article handling and particularly to the building of a plurality of hollow articles into a stack in which they can be transported and to the discharging of hollow articles from a stack.
  • a stack of articles with this type of layer pad provides a particularly stable stack of articles which is normally formed on a pallet for ease of movement and transport.
  • a stack of articles is more stable than a stack in which the articles rest on layer pads having a flat upper surface.
  • Previously described methods for discharging an array of bottles from a stack such as is disclosed in GB 216 8024 A in which an array of articles is pushed off a stack by a transfer arm cannot however be employed.
  • a lifting head for lifting an array of articles having a downwardly facing apertured surface to contact the articles and means for evacuating a vacuum chamber above the surface.
  • the array is formed at the downstream end of a conveyor and deposited by the lifting head on a cardboard tray placed on top of a previous layer of like articles supported in turn on a pallet.
  • Alternative lifting heads are also disclosed in which inflatable rubber tubes are lowered between e.g. narrow-necked bottles and inflated to grip the rows of containers or expandable members pass into an upwardly open container, the members having a split cone and an actuating member to cause the pair of cone halves to move apart and grip the inside of the containers.
  • GB patent specification numbers 2 034 276A, 1 462 677, 1 297 656, 859 752 and 713 770 all describe the lifting of hollow bodies by inserting expandable grippers or lifting heads into the hollow bodies.
  • a lifting head which relies on vacuum requires a suitable flat smooth surface on the articles which cannot always be guaranteed. Furthermore, if the articles are lightweight plastic bottles the vacuum required to ensure that the bottles are lifted can lead to the bottles collapsing inwardly.
  • the use of inflatable tubes between the articles requires further support around the outside of the array and is furthermore dependent upon the upper region of the articles having a suitable shape if they are to be positively gripped by the tubes when inflated. Mechanically expanded members are complicated and expensive to manufacture and maintain.
  • the methods of lifting hollow bodies described in the abovementioned patent specifications are not adapted for use with irregularly shaped containers e.g. asymmetrical containers having small contact areas. This is particularly the case with small containers such as small bottles which have a greater propensity to fall over than larger containers. More particularly, a plurality of small bottles cannot be lifted simultaneously with a corresponding number of lifting heads as the relative positions of the bottles cannot be maintained and the bottles have a tendency to fall over during transport.
  • An object of the invention is to provide an apparatus for and a method of palletising hollow containers in a stable and regular manner.
  • a lifting head for lifting a plurality of open topped articles comprising a plurality of expandable members adapted to enter the open, tops of the articles in the unexpanded condition and expandable to grip the inside of the articles characterised in that the lifting head comprises retaining means for moving a layer pad relative to the articles.
  • a lifting head can have the expandable members arranged in a single line and be used for lifting articles from a conveyor and transferring them to build up an array of articles on a layer pad or pallet.
  • the number of expandable members in the line corresponds to the number of rows of articles in the array so that all the articles in a single line are transferred simultaneously.
  • the lifting head can have expandable members arranged in lines and rows and corresponding in number to either an entire array of articles in a single layer or a part of an array.
  • the articles may be marshalled into a plurality of lines on a conveyor or conveyors and an entire array of articles transferred simultaneously.
  • the array may comprise, e.g., half the number of lines and rows in a layer so that four arrays are transferred separately to make up a single layer. Having placed a layer of articles on a pallet or layer pad resting on a pallet a layer card is placed over the tops of the articles and a further layer of articles transferred to build up the stack to the desired number of layers.
  • the layer pad is of the kind having location means for the tops of the articles so that the spacing between the articles is retained during subsequent transport of the stack of articles.
  • the articles are therefore retained in position so that the articles can be removed or depalletised from the stack by a similar lifting head to that by which the stack has been formed.
  • the layer pad is conveniently provided with holes at each of the article location means, the holes corresponding to the openings in the tops of the articles so that the expandable members can enter the open tops whilst a layer pad is in position resting on the tops of the articles.
  • a lifting head according to the invention can be used to depalletise an entire layer of articles from a stack simultaneously and transfer the articles to a suitable flat surface, e.g. the input to a filling line.
  • the layer pad still attached to the lifting head can be transferred to a position where it is released to form a stack of layer pads which can be returned to the location where they can be re ⁇ used to form further stacks of articles.
  • the retaining means can comprise a series of claws movable between a first retaining position where the claws engage the underside of the periphery of the layer pad and a second release position where the claws are disposed outwardly beyond the periphery of the layer pad.
  • the claws are preferably all moved by actuating means simultaneously from one position to the other position. The movement of the claws can be actuated by mechanical, hydraulic or pneumatic means.
  • a filling passage can be provided extending through each of the expandable members. Thus each of the articles being gripped by the lifting head can be filled simultaneously.
  • the invention also provides a method of depalletising open topped articles arranged in a stack comprising layers of articles in an array of rows and lines with a layer pad disposed between each layer and located on the tops of the articles in the array comprising moving a lifting head to insert an expandable member carried on the lifting head through apertures in the layer pad and into the open top of each of the open top articles in the array, expanding the members to grip each of the articles, transferring the array of articles to an article deposit position, and placing the articles thereon, releasing the expandable members and withdrawing the expandable members from the open tops simultaneously with lifting the layer pad from the array.
  • the layer pad is then transferred by the lifting head to a layer pad deposit position where it is released.
  • Figure 1 is an elevational view of one embodiment of a lifting head according to the invention.
  • Figure 2 is a plan elevation of the lifting head of Figure 1.
  • Figure 3 is a sectional elevation of an expandable member
  • Figure 4 is a perspective view of one form of layer pad particularly suited for use with the invention.
  • a gripper head 1 is shown over a stack 2 of bottles 3 on a pallet 4.
  • the gripper head is carried on a support arm 5 which can be moved to move the lifting head from the position as shown over the stack of bottles to a bottle deposit position and a layer pad deposit position.
  • the lifting head can also be rotated on the support area by pivot mechanism indicated at 6. Therefore, the pivot mechanism 6 facilitates rotation of the gripper head 1 relative to the support arm 5.
  • the lifting head comprises a series of arms 7 each carrying a plurality of expandable members 8 which are described below in further detail.
  • the arms are all carried by a subframe 9 attached to the pivot mechanism 6.
  • the subframe 9 also carries four layer pad retaining claws 10 pivoted at 11 and movable by actuating cylinders 12.
  • an expandable member 8 comprises a central member 13 attached to an arm 7.
  • the free end of the member 13 has a reduced diameter portion 14 which is surrounded by a flexible sleeve 15 retained on the member 13 by an end cap 16.
  • a passage 17 communicates at one end with the reduced diameter portion 14 and at the other end 18 is connectable to a source of compressed air.
  • the expandable member is inserted into the open neck 19 of a bottle 3.
  • the member has passed through an aperture 20 in a layer pad 21. Air under pressure can be applied to the passage 17 to cause the flexible sleeve 15 to expand to grip the inside of the bottle neck.
  • a layer pad 21 of the type shown in Figure 4 would in practise be provided at the tops of the bottles of each layer.
  • the upper surface of the layer pad 21 is provided with recesses 22 adopted to the shape of the base of the bottles.
  • the underside of the layer pad is also provided with recess formed between two downwardly extending arcuate projections 23 in each of the base recesses of the layer pads.
  • An aperture 24 is provided in each of the bottle top receiving recesses having a diameter through which the unexpanded expandable members can pass but smaller than the outer diameter of the bottle neck.
  • the layer pad has a flat lowermost surface formed by side edges 25.
  • a stack of bottles as shown in Figure 1 having a layer pad 21 between each layer, at the top of the stack and optionally at the bottom of the stack, can be built up using a lifting head as described but without the layer pad releasing claws.
  • the lifting head can have expandable members in one or more lines as required. If a layer pad is required at the bottom of the stack it is first placed in position and the bottles carried by the lifting head and placed thereon until the array is complete. A further layer pad is then placed on the tops of the bottles and a further layer of bottles built thereupon. A completed stack with a layer pad on the top of the bottles in the uppermost layer can then be wrapped for transportation, e.g. from the bottle manufacturer to the filling site. After having removed any outer wrapping the bottles are depalletised at the filling site by a lifting head as illustrated.
  • the stack of bottles is brought to a position where the lifting head can be brought above the stack.
  • the lifting head is then lowered to enter the expandable members through the apertures 24 in the layer pad and into the necks of the bottles.
  • the expandable members are then expanded so that each of the bottles in an array are gripped and the array lifted and moved to a flat surface e.g. at the input to a filling line.
  • the expandable members are contracted.
  • the layer pad retaining claws 10 are moved to the first position so that as the lifting head is raised leaving the bottles on the flat surface it lifts the layer pad away from the array of bottles.
  • the lifting head then carries the layer pad to a location where it is released by moving the claws to a second position. The sequence is then repeated until the stack of bottles has been depalletised.
  • a stack of bottles as shown in Figure 1 having a layer pad 21 between each layer, at the top of the stack and optionally at the bottom of the stack, can be built up using a lifting head as previously described with the addition of the layer pad releasing claws 10.
  • the layer pad retaining claws 10 are manoeuvred to grip a first layer pad 21.
  • the layer pad retaining claws 10 position the layer pad 21 while the expandable members 8 are. then manoeuvred to collect and carry the hollow articles.
  • the layer pad retaining claws 10 then release the layer pad 21 onto the hollow articles before positioning them on a pallet.
  • An advantage of this method of creating a palletised layer of hollow articles or bottles is that the bottles are stabilised due to the presence of the layer pad 21 over the bottles which serves to hold the necks of the bottles in position during transport and while depositing the bottles on the pallet.
  • bottles are therefore placed on the flat surface in an orderly and predetermined manner. They can therefore be fed into the filling line without the need for any further orientation or marshalling.
  • the expandable members can be modified to provide filling passages therethrough.
  • the filling passages could be connected to a filling pump.
  • the bottles may be filled whilst the lifting head is in position over an array, or a part of an array, of bottles.
  • the bottles could also be filled with the layer pad in situ to increase stability and prevent bottles from tipping over. The bottles would then be released at the input to a bottle closing line therefore being finally packed into the desired packaging in which they are to be transported to the next distribution site.
  • the expandable members can be replaced by vacuum-operated retaining means, gripping means and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

Une tête de levage (1), conçue pour soulever plusieurs articles dont le sommet est ouvert, comprend plusieurs éléments extensibles (8) conçus pour rentrer dans les ouvertures des sommets des articles dans leur état 'rétracté' et pour saisir l'intérieur des objets dans leur état 'déployé'. La tête de levage (1) est caractérisée par le fait qu'elle comporte des dispositifs de retenue (10) conçus pour enlever ou pour positionner des plaques de séparation (21) entre couches sur les articles.
EP94904602A 1993-01-07 1993-12-23 Comprehension d'articles et retenue simultanee de plaques de separation entre couches Ceased EP0677018A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB939300200A GB9300200D0 (en) 1993-01-07 1993-01-07 Article handling
GB9300200 1993-01-07
PCT/EP1993/003694 WO1994015862A1 (fr) 1993-01-07 1993-12-23 Tete de prehension a dispositif de retenue de plaques de separation entre couches

Publications (1)

Publication Number Publication Date
EP0677018A1 true EP0677018A1 (fr) 1995-10-18

Family

ID=10728391

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94904602A Ceased EP0677018A1 (fr) 1993-01-07 1993-12-23 Comprehension d'articles et retenue simultanee de plaques de separation entre couches

Country Status (7)

Country Link
EP (1) EP0677018A1 (fr)
JP (1) JPH08505117A (fr)
AU (1) AU5858594A (fr)
BR (1) BR9307808A (fr)
CA (1) CA2151806A1 (fr)
GB (1) GB9300200D0 (fr)
WO (1) WO1994015862A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998045041A1 (fr) * 1997-04-05 1998-10-15 Bernd Steinbrenner Dispositif de saisie et de distribution d'objets utilises en laboratoire au moins partiellement de forme cylindrique creuse
US6431817B1 (en) * 2000-07-31 2002-08-13 Goldco Industries, Inc. Palletizing or depalletizing unstable articles utilizing article group pick-up and transfer
DE20108401U1 (de) * 2001-05-18 2002-09-26 AUTEFA Automation GmbH, 86316 Friedberg Umsetzer
CN110525952A (zh) * 2019-09-29 2019-12-03 深圳赛动生物自动化有限公司 培养瓶滚动传输堆垛装置及其工作方法
WO2022125597A1 (fr) * 2020-12-08 2022-06-16 Idaho Forest Group, LLC Système robotisé et procédé d'empilage et de désempilage de planches de bois et de matériaux associés, ainsi que d'empilage d'éléments d'espacement en bois et de matériaux associés
US11840410B2 (en) 2020-12-08 2023-12-12 Idaho Forest Group, LLC Robotic system and method of stacking and unstacking wood boards and related materials and of stacking wood spacers and related materials
CN114538176B (zh) * 2022-01-25 2024-01-12 合肥工业大学 一种柔性圆片状物料自动交替上料装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2416856A1 (fr) * 1978-02-14 1979-09-07 Poullain Bernard Dispositif de prehension de corps creux en particulier de pots d'horticulture
DE3042174A1 (de) * 1980-11-08 1982-06-16 Enzinger-Union-Werke Ag, 6800 Mannheim Verfahrbarer greifer zum schichtenweisen beladen von mit zwischenpaletten palettierten kreiszylindrischen behaeltern, insbesondere faessern
ZA841225B (fr) * 1984-02-20 1984-08-16
US4747316A (en) * 1987-03-05 1988-05-31 Millipore Corporation Probe-gripper
DE4208512A1 (de) * 1992-03-17 1993-09-23 Schurr Stahlecker & Grill Vorrichtung zum transportieren von huelsen und spulen

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9415862A1 *

Also Published As

Publication number Publication date
WO1994015862A1 (fr) 1994-07-21
BR9307808A (pt) 1995-11-14
AU5858594A (en) 1994-08-15
CA2151806A1 (fr) 1994-07-21
JPH08505117A (ja) 1996-06-04
GB9300200D0 (en) 1993-03-03

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