FR2755680A1 - Stacking and unstacking layers of bottles - Google Patents

Abstract

The system for stacking and unstacking layers of bottles comprises a first means (11) for gripping the bottles which is adapted to the shape of the bottle neck (3). A second means (13), opposite the first, grips the opposite bottle end. Activators (15) apply the grippers on the bottle ends. The gripping means comprises pneumatic means (15,16,17) for their relative translation. There are two grippers (7). A robot comprising an arm with several degrees of freedom has a head or a gripper. The stacking system enables automatic placing of horizontal bottles.

Description

METHOD OF STACKING AND DEPILATING LAYERS OF
BOTTLES
AND DEVICE FOR CARRYING OUT SAID METHOD
The present invention relates mainly to a method for forming at least one layer of bottles, preferably for stacking a plurality of layers of bottles, and to a device for carrying out said method.

 It is usual to package liquids in bottles, especially glass or plastic. Certain liquids such as, for example, wine, in particular champagne, benefit from being stored in lying bottles. Wine bottles are usually placed horizontally in cardboard or wooden cases for storage, transport and handling. The bottles are placed manually or automatically in boxes in staggered rows, spade heads, flat. The successive bottles are in contact with each other which induces a significant thrust on the vertical walls of the box. This loading mode makes the bottles vulnerable to shocks and a bottle break disrupts the organization of neighboring bottles. In addition, the positioning of the bottles in the box is variable because of the manufacturing tolerances of the boxes, their deformation, irregularities in the diameter of the bottles and the absence of longitudinal positioning.

The parameters prevent ensuring reliable automatic unstacking. In addition, the storage of empty boxes occupies a considerable volume. In addition, the presence of the vertical walls of the box makes it practically inevitable the use of suction cups which have vulnerable points and damage the labels. In addition, the devices for loading cases of bottles of known type subject the bottles when they are seizure, transfer and deposit in crates, accelerations and shocks which risk damaging the bottles or at least compromising the organoletptic qualities of the wine. In addition, since the bottles are not tracked individually, it is difficult to keep the information indicating which bottle has been packaged in which case.

 A plate is known comprising cells for receiving bottles in a lying condition for their storage, transport and handling. These plates have a better useful volume / total volume ratio of the grouping overpack for bottles than that of bottles packaged in cases. In addition, they facilitate the superimposition of the plates as well as all of the overpacked plates. The plates avoid contact between bottles and the sloping cells allow an excellent positioning which improves the mechanization of the stacking and especially the unstacking. The plan for placing or picking up the bottles on the plates is completely free, which allows mechanical gripping by pneumatic tightening using 2 "fingers" vis-à-vis resting on the neck and on the prick of the bottle.

 It is therefore an object of the present invention to provide a device and a method for automatically placing bottles flat (horizontally or substantially horizontally), in particular but not exclusively on plates comprising cavities or imprints for receiving the bottles .

 The present invention also aims to offer a device and a method allowing the rapid packaging of a large quantity of bottles.

 It is also an object of the present invention to provide a device and a method for flat storage of bottles, excluding any treatment, in particular violent accelerations, risking compromising the qualities of the container (broken bottles) and of the content, ( shaking) risking compromising the organoleptic qualities in the case of wine).

 It is also an object of the present invention to provide a device and a method for stacking the layers of bottles arranged horizontally or substantially horizontally making it possible to store the information relating to the various bottles treated.

 These objects are achieved by a device according to the invention for individual gripping of the bottles comprising application means ensuring contact at the opposite ends of each bottle (neck and bottom of bottles).

 Advantageously, the device according to the invention comprises a robot of the robot type with an arm having several degrees of freedom, one end of the arm of the robot comprising the gripper according to the invention.

 Advantageously, the robot includes means for real time detection of the position of the bottles to be handled.

The invention will be better understood by means of the description below and the appended figures given as nonlimiting examples and in which:
- Figure 1 is a schematic elevational view of a first embodiment of a gripper according to the present invention;
- Figure 2 is a side view of the preferred embodiment of the gripper according to the present invention;
- Figure 3 is a bottom view of the gripper of Figure 2
- Figure 4 is a plan view showing the position of a plurality of bottles gripped by the gripping device according to the invention;
FIG. 5 is a plan view of the bottles of FIG. 4, the positions of which have been modified in order to adapt to the desired position on the removal support;
- Figure 6 is a schematic plan view of a first embodiment of a device according to the present invention;
- Figure 7 is a schematic side view illustrating the adjustment of the position of the bottles of Figures 4 and 5;
- Figure 8 is a plan view of the gripping head during handling of an empty pallet;
- Figure 9 is a schematic side view illustrating the gripping head according to the present invention during manipulation of a support of a layer of bottles;
- Figure 10 is a schematic side view of an alternative embodiment of the gripping head according to the present invention, the bottles being in a vertical position;
- Figure 11 is a view of the device of Figure 10 after a tilting of 90;
- Figure 12 is a schematic plan view of an alternative embodiment of the device of the present invention comprising the head of Figures 10 and 11;
- Figure 13 is a plan view of the device of Figure 6 during depalletization;
- Figure 14 is a plan view of the device of Figure 12 during depalletization.

 In Figures 1 to 14 have used the same references to designate the same elements.

 In FIG. 1, a bottle 1 can be seen comprising at a first axial end a neck 3 and at a second axial end opposite to the first axial end a prick or a bottom 5. The gripping device 7 according to the present invention comprises a frame or chassis 9 provided with a gripper comprising first means 11 for applying and / or gripping adapted to the shape of the neck 3 and second means 13 for applying and / or gripping adapted to the shape of the bottom or puncture 5 of the bottle.

 Advantageously, the application or gripping means 11 and 13 are made of a material having good adhesion, in particular an elastomer. The means 1 1 may comprise a cavity for receiving the neck 3 advantageously comprising a convex part, for example conical, capable of penetrating the stake of a bottle 1. An actuator 15 advantageously hydraulic or pneumatic ensures the approximation of the application means 1 1 and 13. For example, the means 13 are secured with a piston 16 mounted on a jack 17 ensuring on command 19 the approximation with the means 1 1 for the purpose of entering a bottle or on command 21, the removal relative means 13 and 1 1 so as to release the bottle 1 with a view to depositing it on a depositing support. The means 1 1 and 13 may be rigid or, as a variant, inflatable on command to better adapt to the ends of bottle 1.

 It is understood that the implementation of other devices to ensure, on command the approximation and distance of the means 1 1 and 13, such as racks, no screws or articulation, actuated for example by an electric motor do not depart from the scope of the present invention.

 In Figure 2, we can see the preferred embodiment of a head 23 according to the present invention for gripping a plurality of bottles simultaneously. To optimize the use of the surface of the depositing support 25, for example polystyrene plates comprising cells for receiving the bottles, these are placed head to tail and staggered. Thus, the head 23 comprises at least two grippers 7 in FIG. 1 offset along a center distance E, preferably horizontal, and advantageously adjustable. The center distance E corresponds to the distance between two seized bottles and / or to the distance from the axes of the two bottles during removal. However, in the example illustrated, the means 11 for applying to the neck 3 of the bottles 1 are mounted integral in translation with a piston 16 sliding inside a cylinder 15. Advantageously, the head 23 of the Figure 2 comprises a plurality of devices 7 gripper bottles arranged in each direction. For example, without this being of any limiting nature, the head 23 comprises ten gripping devices 7 arranged in each direction so as to be able to grip 20 bottles simultaneously. The grippers 7 are staggered. The head 23 according to the present invention advantageously comprises connecting rods 27 forming a pantograph allowing the distance between the axes of the two consecutive bottles to be adjusted. This adjustment makes it possible to adapt to the diameter of the bottles, to the distance between centers of the bottles when gripping by the head 23 as well as to the distance between centers of the bottles as they are to be placed on the depositing support. The bottles 1 can be joined on the depositing support or, advantageously provide a space between two consecutive bottles so as to avoid shocks during transport and handling of the grouping of bottles.

 In FIGS. 3 and 5, the bottles can be seen with a center distance E equal to E2 between two successive bottles 1 having the same orientation corresponding to the center distance of these bottles at the level of the device for supplying coated bottles. Similarly, the distance D between the bottoms of the bottles of two rows of staggered bottles is equal to D2 corresponding to this distance at the level of a device for supplying coated bottles. This distance is for example determined by connecting rods 27 of a pantograph comprising anchoring pins 29 and articulations 31. Traction according to arrow 33, manual or, advantageously motorized using actuators 35 makes it possible to vary the distance between centers E. Similarly, the gripping head 23 according to the present invention advantageously comprises means 37 for guiding, for example in translation according to the arrows 39, manual or, advantageously motorized using actuators 41 making it possible to separate or to bring the central joints together so as to vary the spacing D2.

 In FIG. 5, one can see the bottles arranged in an example of position corresponding to the deposit on a depositing support, the distance D between bottom of bottles being equal to D1 The distance between successive bottles of the same row being equal to D1.

 In Figure 6 we can see an embodiment of a device according to the present invention in the process of constituting a palette of bottles in horizontal or substantially horizontal lying position.

 The device comprises a robot 43 with a movable arm 45 according to several degrees of freedom, the end of which is provided with a gripping head 23 according to the present invention.

 To ensure stacking on a pallet of 6000 bottles per hour, it is possible, for example, to use a robot sold by the company FANUC.

Advantageously, the device according to the present invention comprises an automatic supply of a station 47 for stacking layers of bottles lying on an empty pallet and / or in support of the layer of bottles.

Advantageously, the arm 45 of the robot 43 picks up empty pallets in an empty pallet magazine 49 and / or plates 25 in an empty plate magazine 51 in order to position them at the station 47 for stacking the bottles. The bottles arrive in a vertical position, for example by two parallel conveyors 53 driven by one or more motors 55. The bottles are tilted by a bottle tilting device 57 to be oriented horizontally head to tail. Such a device is sold in particular by the company
CONTRA.

 Advantageously, a central unit 59, comprising for example a computer and / or a programmable automaton, supervises the actuators of the robot 43 and / or of the motor 55 driving the conveyors 53. Advantageously, the central unit 59 is programmed so as to avoid any sudden movement liable to compromise the integrity of the bottles and / or the organoleptic qualities of the liquid transported in these bottles, in particular wine. Advantageously, the device 57 for tilting the bottles switches the number of bottles corresponding to the number of bottles capable of being taken by the head 23 then, on command from the central unit 59 the motor 55 immobilizes the conveyors 53. The bottles are seized by the head 23 on the device 57 for tilting bottles the arm 45 turns in the direction of the station 47.

Simultaneously, if necessary, the pantograph 27 gives the bottles 1 a distance D and a center distance E corresponding to that of the cells of the support, for example of the plate 25. The head 23 positions the bottles in, or just above the corresponding cells of support.

The command 21 allows the opening of clamps retaining the bottles with positioning of the latter in the corresponding cells.

 The head 23 returns above the tilting device 57 which has meanwhile been supplied with new bottles. During the return journey of the arm 45 ′ center distance E and the distance D assume the values corresponding to those corresponding to the position of the bottles at the outlet of the tilting device 57. The filling of the support is continued, for example twice, until the constitution of a complete layer of the coated bottles. Then, the arm 45 grabs a new plate 25 from the magazine 51 of empty plates, which it positions on the layer of bottles formed. The operations are repeated until the constitution of a complete palette. The formed pallet is evacuated according to arrow 60. The arm 45 places a new empty pallet at the stacking station 47 from the store 49 of empty pallets. The operation is continued until the desired number of bottles is grouped. Advantageously, the device according to the present invention comprises means for checking the presence of the bottles.

In the absence of bottles in one of the pliers of the head gripping device 23, the device according to the present invention advantageously warns an operator. In the absence of an incident, the device can work independently. A particularly improved embodiment of the device according to the present invention comprises artificial vision means 61 ensuring the verification of the stack and / or the conformity of the palletized bottles with respect to the order processed in progress.

The device of Figure 6 can also work well continuously than being incorporated into a flexible palletizing island as described in the Patent Application filed by the Applicant on 7
September 1995 under the number FR 9510469. A flexible island of palletization makes it possible to constitute incomplete pallets.

 In FIG. 7, we can see the adjustment of the center distance E of a head 23. This adjustment can be manual or can be carried out automatically by actuators, for example motors 41 under the supervision of the central unit 59.

 As can be seen in Figure 8, the head 23 is advantageously provided with the arms 63 rocking according to the arrow 65 around horizontal axes 67. Each arm 63 is terminated by a claw 69 capable of penetrating the inlets 71 of a pallet 73 with a view to its transfer from an empty pallet store 49 to the palletizing station 47.

 As can be seen in Figure 9, the head 23 is advantageously provided with retractable suction cups 75 mounted on cylinders 77. The suction cups 75 advantageously allow the transfer of plates 25 from the magazine 51 of empty plates to the palletizing station 47 .

It is understood that the present invention is not limited to the use of a device 57 for tilting bottles. For example, on the
Figure 10 and 11, we can see a head 23 'having a fixing 79 advantageously according to two degrees of freedom. Thus, this head can initially ensure the gripping of a first row of vertical bottles, then, after a tilting according to arrow 81 around a horizontal axis, the gripping of a second row of bottles staggered by compared to the first row of bottles. After entering the two rows of bottles arranged in staggered rows, the head 23 ′ is tilted around a second horizontal axis, orthogonal to the first axis, according to arrow 83 on 90 "so as to place the bottles in a horizontal position before placing them arrange, as illustrated in Figure 1 1 on their removal support.

 In FIG. 12, one can see a device of the present invention equipped with the head 23 ′ of FIGS. 10 and 11. The device of FIG. 12 is devoid of the tilting device 57.

 It is understood that the present invention is not limited to stacking layers of coated bottles but can also perform destacking (depalletization) with their transfer in a vertical position on the conveyors 53.

 Figure 13 corresponds to the device of Figure 6 ensuring the destacking of a pallet. The palletized load is positioned at station 47. A data acquisition device, advantageously without contact, ensures the identification of the support for receiving the bottles, in particular the center distance E and the distance D between the bottoms of the bottles, the number of bottles per support and the arrangement of bottles and support. This information is transmitted to the central unit 59 which ensures the settings of the centers E1 and E2, as well as the distances D1 and D2. The arm 45 ensures the transfer of the empty plates to the magazine 51, then transfers the bottles lying down to the tilting device 57 which ensures that they are placed vertically. When a support is empty, it is transferred by the head 23 of the arm 45 to the magazine 51. An empty pallet is advantageously removed by the head 23 of the arm 45 to the magazine 49 of empty pallets. The bottles are evacuated by the conveyor 53.

 In Figure 14, we can see the device of Figure 12 (devoid of tilting means and having a head of Figures 10 and 11) ensuring the unstacking of a pallet of bottles lying. The transfer in the vertical position is ensured by the head 23 '.

 It is understood that the present invention is not limited to the use of honeycomb plates 25, but applies to all bottle supports in the supine position, including cardboard boxes.

 Likewise, the present invention is not limited to making up palletized loads but also applies to making up and disassembling loads without pallets.

 It is understood that the artificial vision means 61 can be replaced, without departing from the scope of the present invention, by other acquisition means, advantageously without contact, such as for example radars, ultrasonic devices, laser scanning devices or the like.

 The present invention applies mainly to the glass industry, to the food industry and in particular to the packaging of wine bottles, in particular champagne.

Claims (10)

 1. Gripper for bottles characterized in that it comprises first means (11) for application and / or gripping, adapted to the shape of a first end of a bottle to be gripped, second means of application and / or gripping adapted to the shape of a second end of the bottle (1) to be grasped opposite to the first end (3) of the bottle (1) to be grasped and actuator means (15) for applying, on command, the first means (11) for application and / or gripping on the first end (3) of the bottle (1) to be gripped, in particular on the neck of said bottle (1) and second means (13) of application and / or gripping on the second end (5) in particular on the base or the stake of the bottle (1) to be gripped.  2. Gripper according to claim 1 characterized in that the actuator ensuring the application of the first and second means (11, 13) on the first and second ends (3, 5) of the bottle (1) respectively comprises pneumatic means (15, 16, 17) ensuring the relative translation of said first and second means (11, 13) for application and / or gripping.  3. gripping head of a plurality of bottles characterized in that it comprises at least two grippers (7) according to any one of the preceding claims arranged in staggered rows.  4. Device for palletizing bottles in a horizontal or substantially horizontal lying position, characterized in that it comprises at least one gripper according to any one of claims 1 or 2, or at least one head according to rendication 3.  5. Palletizing device according to rendering 4, characterized in that it comprises a robot (43) comprising an arm (45) with several degrees of freedom, provided with the head (23) and / or a gripper (7 ).  6. Palletizing device according to rendering 4 or 5, characterized in that it comprises artificial vision means making it possible to identify the position of the bottles and / or of the depositing support.  7. Device according to claim 4, 5, or 6, characterized in that it also provides, on command, the depalletization of a palletized load comprising bottles lying in horizontal or substantially horizontal condition.  8. Method for stacking the layers of bottles in horizontal or substantially horizontal lying conditions, characterized in that it comprises the steps consisting in:  - bring the bottles upright;  - tilt bottles in a horizontal or substantially horizontal position;  - grab one or more bottles and transfer them to a bottle receiving medium.  9. Method according to claim 8 characterized in that between the gripping of the bottles and the removal of the bottles on their removal support, a variation in the center distance (E) of the bottles and / or in the distance (D) between rows of bottles so as to adapt the arrangement of the bottles to that provided on the removal support.  10. Method according to claim 8 or 9, characterized in that the tilting of the bottles is carried out by a tilting device prior to the gripping of the bottles.