EP4107081A1 - Appareil de déballage et procédé pour déballer des articles - Google Patents

Appareil de déballage et procédé pour déballer des articles

Info

Publication number
EP4107081A1
EP4107081A1 EP21707648.8A EP21707648A EP4107081A1 EP 4107081 A1 EP4107081 A1 EP 4107081A1 EP 21707648 A EP21707648 A EP 21707648A EP 4107081 A1 EP4107081 A1 EP 4107081A1
Authority
EP
European Patent Office
Prior art keywords
head
gripper
unwrapper
stack
wrap
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.)
Pending
Application number
EP21707648.8A
Other languages
German (de)
English (en)
Inventor
Arne Lundfold BJERRING
Flemming KRISTENSEN
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.)
Varo Specialmaskiner AS
Original Assignee
Varo Specialmaskiner AS
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 Varo Specialmaskiner AS filed Critical Varo Specialmaskiner AS
Publication of EP4107081A1 publication Critical patent/EP4107081A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B65B69/00—Unpacking of articles or materials, 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
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B65B69/0033—Unpacking of articles or materials, not otherwise provided for by cutting

Definitions

  • EP 0625465 discloses an unwrapping apparatus, for removing the wrap from palletized articles, comprising suction cups for applying suction to a part of the wrap and for pulling that portion, a pointed object for piercing the part of the wrap being pulled, and removing devices, for removing the severed wrap.
  • suction cups for applying suction to a part of the wrap and for pulling that portion
  • pointed object for piercing the part of the wrap being pulled
  • removing devices for removing the severed wrap.
  • articles are not always stacked in a way to form a cuboid on the pallet, but are sometimes stacked randomly, or forming a shape having a con tour which forms steps.
  • US 5463841 discloses an unwrapping apparatus which is adapted to remove wraps from the top of palletized articles. It is however limited to only remove the wraps from articles on pallets of a certain size and height due to its con struction, occupies much space due to its size, and is immobile.
  • a registration device will register a contour of the stacked articles, and sending the information to the controller, which then will calculate/estab lish a cutting path through the wrap, along the contour of the stack of articles.
  • the cutting path preferably extends in a vertical plane, from the top of the stack to the bottom of the stack.
  • the first actuator can move the gripper between a retracted posi tion, which is desirable in a situation, where a measurement is to be conducted and an advanced gripper would provide an obstacle, and prevent a precise measurement, and an advanced position, which is desirable when for instance a free end of a wrap is to be gripped.
  • the unwrapper head further comprises a spring, con figured to bias the gripper towards the first advanced position, and wherein the first actuator is configured to counteract the spring and move the gripper to wards the first retracted position, when activated.
  • Pressing the gripper towards the first advanced position using a spring allows the gripper to follow the contour of the stack of articles while being advanced, thereby being able to catch a free end of the wrap, and drag it towards an edge of the article, and stay under the uncut wrap while following the contour, and guiding the uncut wrap portions towards the knife, being arranged at a top portion of the gripper, but arranged further within the suction channel than the gripper, in order only to cut the portion of wrap that is guided towards it by the gripper, and not cut into the surface of the articles.
  • a contour of the stacked articles can either be registered by taking a picture of the contour, or scan the contour and get a digital representation of it, or registering the distances that the wheels travelled along the surfaces of the stacked articles thereby getting measurements of the lengths of the sur faces of the articles, or getting measurements of the lengths by registering where and when the unwrapper head moved by the robotic manipulator arm has reached a surface or an edge of the stack of articles, or measuring dis tances and using sensors, or using a combination of two or more of the above mentioned techniques, to register the contour of the stacked articles.
  • the in formation will then be sent to the controller, which will calculate and determine a cutting path, based on the information obtained by the registering device, and control the robotic manipulator arm to move the unwrapper head, based on the determined cutting path.
  • the registration device comprises a camera or a scanner
  • the registration device will be configured to obtain, capture, record, or scan an image of a contour of the stack, and send a digital representation of the image to the controller, which then will process and/or analyse that digital represen tation and determine a cutting path.
  • the processing and/or analysis of the dig ital representation of the image may be conducted by the camera or scanner, which then will determine a cutting path, and send information about the cutting path to the controller.
  • an unwrapping apparatus with an unwrapper head comprising: a) a wrapping gripper, such as i) a wrapping gripper comprising an arm with a free end for wrapping gripping or ii) a wrapping gripper with suction inlets for gripping the wrapping by applying suction to the wrapping, optionally rotatably mounted to a housing of the unwrapper head, and b) a knife
  • the unwrapping apparatus further comprising: a robotic manipulator arm, configured to move the unwrapper head, a registration device, configured to register a contour of the stack, a controller, configured to control the robotic manipulator arm, the method comprising the steps of: registering the contour of the stack using the registration device, establishing a cutting path which follows said registered contour of stack, and moving the unwrapper head to a top surface portion of the stack, and gripping by the gripper a free end
  • the method of the registering of a contour of the stack by the registering device comprises one of the following steps:
  • the method comprises the steps of:
  • a first actuator to apply a load on one end of a lever connecting the first actuator with the gripper to counteract the pressing force of the spring and moving the gripper towards a first retracted position along the first path of movement.
  • the gripper will be in an advanced position, thereby following the contour of the stack of articles, while being retractable towards a retracted po sition, when the first actuator is activated. Retracting the gripper is desired when for instance a process of registering the contour of the stack of articles is conducted, and it is desired that the gripper is not in an advanced position in order to not become an obstacle hindering an accurate acquisition of infor mation.
  • the second actuator is able to retract the gripper and the knife towards a second retracted position, in a direction away from the suction inlet.
  • This is desired, when for instance the unwrapping process is to be started on a vertical surface of the stack of wrapped articles, or on a top surface of the stack without the presence of a free end of the wrap. A portion of the wrap is pulled towards the suction inlet. If the gripper is not retracted, it will make an obstacle preventing the portion of the wrap from being pulled properly into the suction chamber of the cutter head, and if the knife is not retracted, the pulled portion of the wrap would immediately be pierced. This may not be desired.
  • the gripper and the knife are retractable using the second actuator, towards a second retracted position along a second path of movement, being further inside the suction chamber. This will further allow the portion of pierced wrap to be pulled towards the suction chamber along the second path of move ment, and allow the gripper to be moved towards the first advanced position, along the first path of movement, and eventually get under the wrap, since the first path of movement and the second path of movement not being parallel.
  • the method comprises the steps of: - arranging the unwrapper head at a surface of the wrap, and
  • a registration device will register a contour of the stacked articles, and sending the information to the controller, which then will calculate a cutting path through the wrap, along the contour of the stack of articles.
  • the controller controls the robotic manipulator arm to move the unwrapper head along the calculated cutting path, while the gripper is moved to the advanced position such as to get under a free edge of the wrap and drag the wrap towards an edge of the article, and then guide the wrap towards the knife while being moved along the cutter head, without damaging the stacked articles.
  • Fig. 1 is a schematic view of a stack of wrapped articles on a pallet and an unwrapper head of the apparatus of the invention, placed on top of the stack.
  • Fig. 2 is a view of a front portion of the unwrapper head.
  • Fig. 4 is a schematic cross-sectional view of the unwrapper head.
  • Fig. 5 is a schematic cross-sectional side view of the unwrapper head showing the gripper fully retracted in a first retracted position.
  • Fig. 6 is a schematic cross-sectional side view of the unwrapper head showing the gripper fully advanced in a first advanced position.
  • Fig. 7 is a schematic side view of the unwrapper head, showing the cutter head dragging a wrap by its top edge, along the top side of a wrapped article, to wards the edge of the article.
  • Fig. 9b is a schematic side view of the unwrapper head shown in Fig. 7, while removing the wrap along a corner of a stacked article.
  • Fig. 10a is a schematic side view of the unwrapper head shown in Fig. 7, show ing a portion of the wrap on a top side of a wrapped article, being pulled to wards the cutter head, using suction.
  • Fig. 10b is a schematic side view of the unwrapper head shown in Fig. 10a, while piercing through the portion of the wrap being pulled, using a knife.
  • Fig. 10c is a schematic side view of the unwrapper head shown in Fig. 10b, while cutting the wrap along a top side of the wrapped article.
  • Figure 1 shows the unwrapper head 1, positioned on top of a stack S of wrapped articles 50, 50’, arranged on a pallet 60.
  • the wrap 40 wrapping the stack S of articles 50, 50’ is indicated by shaded lines.
  • Figure 2 shows a closer view of a part of the unwrapper head 1 , comprising a housing 2, the housing 2 comprising wheels 3 and a cutter head 10, the cutter head 10 comprising: a gripper 11 having in the shown embodiment an arm 11 a with a free end defining a gripping tip 11 b, a knife 12, and a suction inlet 13 in communication with a suction channel 14.
  • the shown gripper 11 is spring loaded using a spring (not shown).
  • the knife 12 is arranged at a top portion of the gripper 11 , and arranged closer to the suction channel 14 than the gripper 11.
  • Figure 3 shows the unwrapper head 1 comprising a drive 4, which may be a motor, preferably a gear motor, preferably mounted to the housing 2.
  • the drive 4 is configured to rotate the cutter head 10, in order to allow the cutter head 10 to adapt to any surface of an article 50 to be unwrapped.
  • Figure 4 shows a first actuator 15, in connection with the gripper 11 , configured to move the gripper 11 along a first path of movement FP between a first re tracted position (figure 5) and a first advanced position (figure 6).
  • first path of movement FP is in the figures shown par allel to the gripper 11. Flowever, the first path of movement FP also follows a longitudinal axis of the gripper 11 or is also aligned with the direction of move ment of the gripper 11.
  • Figure 4 further shows a second actuator 16, which is in connection with both the gripper 11 and the knife 12, and is configured to simultaneously move the gripper 11 and the knife 12 in the same direction along a second path of move ment SP between a second retracted position (figure 10a) and a second ad vanced position (figure 10b), wherein the second advanced position is closer to a suction inlet 13 than the second retracted position is.
  • a second actuator 16 which is in connection with both the gripper 11 and the knife 12, and is configured to simultaneously move the gripper 11 and the knife 12 in the same direction along a second path of move ment SP between a second retracted position (figure 10a) and a second ad vanced position (figure 10b), wherein the second advanced position is closer to a suction inlet 13 than the second retracted position is.
  • the second path of movement SP is in the figures shown parallel to the cutter head 10. Flowever, the second path of movement SP also follows a longitudinal axis of the cutter head 10 or is also aligned with the di- rection of movement of the knife 12, which also is the direction of move ment/action of the second actuator 16.
  • connection between the second actuator 16 and the gripper 11 and knife 12 may be a direct connection, whereas the connec- tion between the first actuator 15 and the gripper 11 may have a link in-be tween, such as a mechanism comprising a pivoting lever 18, acting as a tilt, wherein the first actuator 15 acts on one side of the pivoting lever 18, and the gripper 11 is arranged on the other side of the pivoting lever 18.
  • a spring (not shown) will keep the gripper 11 in tension, biasing it into the first advanced position, until the first actuator 15 counteracts the spring force, and acts on one side of the pivoting lever 18, thereby moving the gripper 11 , which is ar ranged on the other side of the pivoting lever 18, towards the first retracted position.
  • the spring load will move the gripper 11 towards the first advanced position, and keep pressing on the gripper 11 to keep it in that position. This situation is seen in figure 6.
  • first path of movement FP brought about by the first actuator 15, and the second path of movement SP brought about by the sec ond actuator 16, are not parallel.
  • the unwrapping apparatus further comprises a controller C and a robotic ma nipulator arm 5, controlled by the controller C and configured to move the un wrapper head 1 along the top surfaces and side surfaces of the stack S of articles.
  • the controller C further controls the first and second actuators 15, 16, the drive
  • the gripper 11 when fully advanced by the second actuator 16, is positioned at a foremost front end of the cutter head 10 and in front of the suction inlet 13, as seen in all figures other than figure 10a, whereas when the gripper 11 is fully retracted by the second actuator, the tip part 11 b of the gripper 11 is po sitioned within the suction chamber 14, as seen in figure 10a.
  • the figure further shows holes in the rear end of the housing 2, for mounting of the robotic manipulator arm 5.
  • Figure 5 shows schematically a cross-sectional side view of the unwrapper head 1 shown in figure 3, wherein the gripper 11 is fully retracted.
  • the first actuator 15 acts on the pivoting lever 18 to counteract the spring, and force the gripper 11 into a fully retracted position.
  • the gripper 11 when the gripper 11 is in the first and second advanced positions, the gripper 11 may touch a surface of an article, while when in the first retracted position, the gripper 11 will not be suitable to touch a surface of an article.
  • a scanning process is initiated prior to a cutting process, whereby a cutting path is determined which follows a vertical contour of the stacked articles 50, 50’, using sensors arranged on the unwrapper head 1 or the resisting forces measured resisting the further movement of the robotic manipulator arm 5. This is to ensure a fully automatic cutting process without cutting into the stacked articles 50, 50’.
  • the unwrapper head 1 is brought to the bottom of the wrapped arti cles 50, 50’ or the pallet 60, using the robotic manipulator arm 5.
  • the gripper 11 and the knife 12 are fully retracted in both first and second retracted positions, and the cutter head 10 is pushed towards the ver tical side of the lowest article 50 or towards the pallet 60.
  • the robotic manipulator will begin moving the unwrapper head 1 upwards along the vertical contour of the stack S of articles 50, 50’, while pushing the cutter head 10 against the sides of the articles 50, 50’, but without damaging the articles 50, 50’.
  • the wheels 3 of the housing 2 reduce the friction between the unwrapper head 1 and the wrap wrapping the articles.
  • controller C deactivates the first actuator 15 in order to allow the spring to force the gripper 11 towards a first advanced position, and controls the second actuator 16 to bring the grip per 11 and the knife 12 towards a second advanced position, as seen in figure 7.
  • Figure 10a shows a situation where the unwrapping begins on top of an article, where no wrap edge 41 is present. This may be a situation, where the top surface of the article or stack S is wrapped. Flowever, the same process would apply when the unwrapping is to begin on a vertical side surface of an article 50.
  • the drive 4 has rotated the cutter head 10 into an appropriate vertical position.
  • the drive 4 would rotate the cutter head 10 into a hor izontal position.
  • the suction is activated, thereby pulling a part of the wrap 40 towards the suction inlet 13 at the front end of the cutter head 10, keeping that particular part of the wrap 40 under tension.
  • the gripper 11 and the knife 12 are seen retracted in the second path of movement SP, such as not to damage the part of the wrap 40 being pulled.
  • the gripper 11 is in this situation retracted in the horizontal (first path of movement FP) and the vertical (second path of movement SP) direction by both the first and second actuators 15, 16, respec- tively.
  • the second actuator 16 then moves the knife 12 and the gripper 11 into the second advanced position in the vertical direction along the second path of direction, thereby piercing the part of the wrap 40 held under tension.
  • the gripper 11 is however still retracted in the horizontal direction by the first actuator 15.
  • the wrap 40 may also be pierced by simply retracting the gripper 11 towards the second retracting position, while the knife 12 is in the second advanced position, as seen in figure 10b, wherein when suction is activated, a portion of the wrap 40 will be pulled towards the knife 12, and thereby be pierced.
  • the suction is still acti vated, and the severed part of the wrap 40 is pulled towards the suction inlet 13. This in turn allows the gripper 11 to get below a part of the wrap 40 near the newly created free end edge 41 of the wrap 40.
  • Figure 10c further schematically shows the gripper 11 having been put into the first advanced position in the horizontal direction by the first actuator 15, in order to improve the process of guiding the wrap 40 towards the knife 12.
  • Figs. 11 a-11 d show an alternative unwrapper head T with an alternative type of gripper 1 T, rotatably mounted to a housing 2’ of the unwrapper head T, by which gripper 1 T the wrap 40 is gripped at its free end edge 41 by applying suction to the wrap 40 via suction inlets 13’ defining the alternative gripper 1 T that does not have the arm 11a with the gripping tip 11b discussed above, wherein the applied suction pulls the wrapping 40 away from the wrapped ar ticles 50, 50’ towards one or more knives 12’ mounted to the unwrapper head T in the vicinity of the one or more suction inlets 13’, such as between the suction inlets 13’ of a pair of such suction inlets 13’.
  • the alternative gripper 11 ’ preferably is controlled to rotate relative to the housing 2’ from a position wherein the suction inlets 13’ face downwards towards horizontal portions of the wrap 40, as shown in fig. 11 c, such as at the top of the stack of wrapped articles 50, 50’, and the unwrapper head 1’ has wheels 3’ bearing against the side of the stack of wrapped articles (as the unwrapper head 1’ is in one em- bodiment initially moved upwards for the registration of the contour), during the cutting along the sides by the knives 12’.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Abstract

La présente invention concerne un appareil de déballage, configuré pour déballer un empilement (S) d'articles emballés (50, 50'), comprenant une tête de déballage (1), qui comprend un boîtier (2), une tête de coupe (10) et un dispositif d'entraînement (4). Le dispositif d'entraînement (4) est conçu pour faire tourner la tête de coupe (10) par rapport au boîtier (2), et la tête de coupe (10) comprend un dispositif de préhension (11), un couteau (12) et un premier actionneur (15), configuré pour déplacer le dispositif de préhension (11) le long d'un premier trajet de déplacement (FP) par rapport au boîtier (2), entre une première position rétractée et une première position avancée. L'appareil de déballage comprend en outre un bras manipulateur robotique (5), configuré pour déplacer la tête de déballage (1), et comprend en outre un dispositif d'enregistrement, configuré pour enregistrer un contour de l'empilement (S), et un contrôleur (C), configuré pour commander le bras manipulateur robotique (5) et le dispositif d'entraînement (4), conformément au contour enregistré. L'invention concerne en outre un procédé pour déballer un empilement (S) d'articles emballés (50, 50') en utilisant un tel appareil de déballage.
EP21707648.8A 2020-02-20 2021-02-19 Appareil de déballage et procédé pour déballer des articles Pending EP4107081A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DKPA202070100 2020-02-20
DKPA202070766 2020-11-18
PCT/EP2021/054197 WO2021165491A1 (fr) 2020-02-20 2021-02-19 Appareil de déballage et procédé pour déballer des articles

Publications (1)

Publication Number Publication Date
EP4107081A1 true EP4107081A1 (fr) 2022-12-28

Family

ID=74701477

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21707648.8A Pending EP4107081A1 (fr) 2020-02-20 2021-02-19 Appareil de déballage et procédé pour déballer des articles

Country Status (3)

Country Link
US (1) US20230159208A1 (fr)
EP (1) EP4107081A1 (fr)
WO (1) WO2021165491A1 (fr)

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JPS63317431A (ja) * 1987-06-15 1988-12-26 Tsubakimoto Chain Co 巻取紙被包外装紙の開封除去装置
JP2561178B2 (ja) * 1991-01-30 1996-12-04 王子製袋株式会社 ストレッチ包装体の開梱装置
DE4311421A1 (de) 1993-04-07 1994-10-13 Vfi Verpackungstech Verfahren und Vorrichtung zum Entfernen einer sichernden und/oder schützenden Folie
BR9407610A (pt) * 1993-09-23 1997-01-14 Msk Verpackung Syst Gmbh Processo e dispositivo para retirada de uma cobertura de folha esticada sobre uma pilha de mercadorias
JP2670980B2 (ja) * 1994-07-04 1997-10-29 王子製袋株式会社 フィルム包装体の開梱装置
ITBO20000474A1 (it) * 2000-07-31 2002-01-31 Aetna Group Spa Apparecchiatura per la rimozione di film plastico di avvolgimento da pallet di prodotti .
US7343722B1 (en) * 2006-11-22 2008-03-18 Task Automation Unwrapping stretch film from a palletized load
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SMP201500193B (it) * 2015-08-07 2017-03-08 Busca Andrea Ing Macchina avvolgitrice semovente e sistema e metodo di avvolgimento
US11034470B2 (en) * 2015-09-25 2021-06-15 Lantech.Com, Llc Stretch wrapping machine with automatic load profiling
IT201700076014A1 (it) * 2017-07-06 2019-01-06 Simac Tech S R L Apparecchiatura per la rimozione di film protettivi
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WO2021087448A1 (fr) * 2019-11-01 2021-05-06 DLN Integrated Systems, Inc. Système et procédé de déballage de caisse
US20220281685A1 (en) * 2021-03-03 2022-09-08 Alert Innovation Inc. Automated decant system

Also Published As

Publication number Publication date
WO2021165491A1 (fr) 2021-08-26
US20230159208A1 (en) 2023-05-25

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