FR3055890A1 - DEVICE AND METHOD FOR GROUPING AND TRANSFERRING PALLET BOXES OF BATCHED PRODUCTS - Google Patents

Abstract

The invention relates to a device and a method for grouping pallet boxes of products such as fruits or vegetables, sorted in batches, comprising at least one device (11) for sorting the products according to predetermined selection criteria forming batches of products. sorted with the same characteristics, a robotic grouping device (21) adapted to, as and when filling crates pallets, grouping them into groups each corresponding to the same batch of sorted products. The robotic grouping device is adapted for, when a pallet box group has a predetermined number of pallet boxes, moving these pallet boxes to form a stack of pallet boxes at a stack transfer area (28), and each robot is extends completely above the groups of pallet crates.

Description

Holder (s): MAF AGROBOTIC.

Agent (s): CABINET BARRE LAFORGUE & ASSOCIES.

DEVICE AND METHOD FOR GROUPING AND TRANSFERRING PALLET CASES OF LOTS SORTED PRODUCTS.

FR 3 055 890 - A1 (5 /) The invention relates to a device and a method for grouping pallet boxes of products such as fruit or vegetables, sorted in batches comprising at least one device (11) for sorting products according to predetermined selection criteria forming batches of sorted products with the same characteristics, a robotic grouping device (21) suitable for, as the pallet boxes are filled, group them into groups each corresponding to the same batch of sorted products . The robotic grouping device is suitable for, when a group of pallet boxes has a predetermined number of pallet boxes, move these pallet boxes to form a stack of pallet boxes in a stack transfer area (28), and each robot s 'fully extends over groups of pallet boxes.

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DEVICE AND METHOD FOR GROUPING AND TRANSFERRING PALLET CASES OF LOTS SORTED PRODUCTS

The invention relates to a device and a method for grouping pallet boxes (in particular openwork, sometimes called "palox") of products such as fruit or vegetables, sorted in batches, each batch corresponding to products sorted by the same characteristics with respect to predetermined selection criteria such as weight, size, external appearance, color, sugar level, maturity rate, firmness, presence of defects ... each box containing pallet products of the same batch, that is to say having the same characteristics with regard to the selection criteria.

There is already known (FR2987826) a device and a method for grouping pallet boxes comprising at least one device for sorting products according to predetermined selection criteria forming batches of products sorted with the same characteristics with respect to said criteria, and comprising at least one device for filling (see for example US7159373) pallet boxes from said batches, and a grouping robot suitable for, as the pallet boxes are filled, group the filled pallet boxes into groups of products successively delivered by each pallet box filling device, each group of pallet boxes corresponding to the same batch of sorted products. The sorting device comprises at least one conveyor passing along product analysis stations with respect to the selection criteria, and selectively discharging the products in hydraulic sorting channels, each sorting channel receiving the products of the same lot. The different groups of boxes are stacks of pallet boxes stacked one on the other and are arranged in at least one alignment arranged in relation to each box filling device and ordered in each alignment so as to minimize the path of each robot, which is a robot of the type marketed under the ROBOBIN reference by the company MAF AGROBOTIC, Montauban, France, rolling on fixed rails (similar to the device described by US4850783) and suitable for transporting pallet boxes one by one.

When a stack of pallet boxes is completed by a robot, i.e. contains a predetermined number of pallet boxes (for example equal to

3) to allow its transport by a pallet forklift truck, a forklift operator monitoring the groups of crates formed and detecting the presence of a completed stack drives a pallet fork forklift to this stack to remove it from the alignment and transport it to a remote site such as a storage area, for example a cold room, or to another product processing device such as a unit for packaging products in crates or trays or the like.

However, for safety reasons, each robot in the vicinity of the completed stack must be interrupted before the operator can remove the alignment. This results in a decrease in productivity of the entire installation.

In addition, the removal of a stack completed with alignment with a forklift requires a displacement of the cart to the stack to be removed, which is relatively long and expensive in energy and working time.

In addition, a large area in front of the entire length of each alignment must be reserved to allow the access of a forklift to all the piles of the alignment as they are completed, and a half-turn of each forklift after loading a stack of pallet boxes. This reserved area also increases the total area of the installation and therefore its land cost and / or the constraints to be respected for its establishment.

Furthermore, the productivity of this process is dependent on the vigilance of forklift operators who must constantly visually monitor the work of each robot and detect the fact that a stack is completed in an alignment, which is painful and a source of errors.

It also turns out that the flow rate in pallet boxes delivered by the installation is limited by the speed of movement and handling of each pallet box by such a grouping robot, which is relatively slow compared to the flow rate delivered by the sorting device. and by the corresponding optimum number of device (s) for filling pallet boxes, this optimum number being chosen to optimize the flow rate and avoid stopping any of the devices for filling pallet boxes. In practice, the same grouping robot can be powered by a maximum of three pallet box filling devices for a maximum flow of pallet boxes of the order of 90 to 100 palox / hour.

By using two grouping robots such as ROBOBINs it is necessary to provide two grouping alignments in longitudinal extension of one another, these grouping robots rolling on rails being unable to move transversely and being unable to cross. It is therefore also necessary to provide four filling devices associated with two groups of sorting channels according to the same selection criteria, each group of sorting channels comprising a number of sorting channels greater than the number of product categories that can be defined by the criteria. selection (each category corresponding to products sorted with the same characteristics with regard to selection criteria), so as to avoid stopping the installation when a sorting channel is full. It is thus possible to reach a maximum flow rate of the order of 120 to 160 palox / hour, at the cost, however, of a much higher cost (almost double) and of a much greater surface area on the ground (almost double) of l installation, and without guaranteeing continuous operation of each pallet box filling device.

The invention therefore aims to overcome these drawbacks by proposing a device and a method for grouping pallet boxes of products such as fruit or vegetables, sorted in batches, each batch corresponding to products sorted with the same characteristics with respect to predetermined selection criteria, with improved productivity; able to operate safely without interruption of the installation or of a device for filling pallet boxes; energy efficient, in terms of staff working time and floor space (related to the installation flow); facilitating the work of forklift operators; and able to provide a higher throughput of pallet boxes compared to the cost of the sorting device (in particular the number of sorting channels), and which can go for example up to 160 palox / hours with four devices for filling pallet boxes.

To do this, the invention relates to a device for grouping pallet cases of products such as fruit or vegetables, sorted in batches comprising:

- at least one device for sorting products according to predetermined selection criteria forming batches of sorted products of the same characteristics with respect to said criteria, and comprising at output at least one device for filling pallet boxes from said batches ,

- a robotic grouping device comprising at least one mobile robot, said grouping robot, gripper of at least one pallet box, this robotic grouping device being suitable for, as the pallet boxes are filled, gather in groups pallet boxes filled with products successively delivered by each pallet box filling device, each group of pallet boxes corresponding to the same batch of sorted products,

each grouping robot being adapted to be able to form groups of pallet boxes in an area, known as a collection area, of determined location, and to be able to cooperate with each pallet box of each group in said gathering area of this grouping robot , characterized in that:

- the robotic grouping device is adapted to be able to move the pallet boxes from a group of pallet boxes from a collection area and form a stack of pallet boxes comprising these displaced pallet boxes, in a stack transfer area:

- adapted to allow the transfer of such stacks of pallet boxes,

- located outside each assembly area, each grouping robot of the robotic grouping device extends fully above the groups of pallet boxes in said assembly area of this grouping robot.

The invention extends to a grouping process implemented by a grouping device according to the invention. It therefore also relates to a process for grouping pallet cases of products such as fruit or vegetables, sorted in batches in which:

the products are sorted according to predetermined selection criteria into batches of products sorted with the same characteristics with respect to said criteria,

- the products of each batch of sorted products are placed in at least one pallet box, each pallet box being filled with products sorted from the same batch,

- the pallet boxes filled with sorted products are, as the pallet boxes are filled, gathered by at least one mobile robot, called grouping robot, gripper of at least one pallet box of a robotic grouping device, in groups of pallet boxes successively filled, each group of pallet boxes corresponding to the same batch of sorted products,

each grouping robot capable of forming groups of pallet boxes in a zone, known as a collection zone, of determined location, and capable of cooperating with each pallet box of each group of said collection zone of this grouping robot, characterized in that than :

- when the conditions for transferring to a remote site the pallet boxes of a group of pallet boxes are satisfied, the pallet boxes of this group of pallet boxes are moved by said robotic grouping device, and a stack of pallet boxes comprising these boxes displaced pallets is formed in a stack transfer area:

- adapted to allow the transfer of such stacks of pallet boxes,

- located outside each assembly area, each grouping robot of the robotic grouping device extends fully above the groups of pallet boxes in said assembly area of this grouping robot.

The conditions for transfer to a remote site of the pallet boxes of a group of pallet boxes triggering the formation of a stack of pallet boxes in a stack transfer area can be the subject of very numerous variants. Nothing prevents, for example, from providing that these conditions include in particular: the instant of arrival of the first pallet box in a group of pallet boxes, the transfer to a site remote from the different pallet boxes of this group of pallet boxes being by example triggered if the duration of storage of products in a group of pallet boxes as calculated from this instant of arrival exceeds a predetermined duration; the number of pallet boxes in the group of pallet boxes having to receive a pallet box delivered by a filling device, the transfer to a remote site of the different pallet boxes of this group of pallet boxes being for example triggered if this number is equal to a number predetermined; or any other condition.

Thus, in a grouping method according to the invention, a stack of pallet boxes is formed in a stack transfer area when conditions for forming a stack of pallet boxes from the pallet boxes of a group of pallet boxes are satisfied, that is to say when such a stack of pallet boxes can be prepared from this group of pallet boxes to be transferred to a remote site, in particular removed by a forklift driven by a forklift operator or by a conveyor stacks of pallet boxes. The robotic grouping device of a grouping device according to the invention is adapted to trigger the formation of a stack of pallet boxes in a stack transfer area when said conditions for forming a stack of pallet boxes from pallet boxes of a group of pallet boxes are satisfied.

In particular, in certain embodiments of a method according to the invention, such a stack of pallet boxes can be formed as soon as a predetermined number of pallet boxes has been placed in a group of pallet boxes and a new box pallet delivered to the robotic grouping device by a pallet box filling device must be associated with the pallet boxes of this group of pallet boxes, that is to say contains products belonging to the same batch. Thus, said predetermined number is for example equal to a number of pallet boxes having to form each stack of pallet boxes minus one unit (the last pallet box of the stack coming from a device for filling pallet boxes is preferably directly transported by the grouping robot in the stack transfer area, then the pallet boxes in the group of pallet boxes intended to constitute this stack then being moved to the stack transfer area to complete the stack to be transferred). The number of pallet boxes to form a stack can correspond to the maximum number of pallet boxes to be stacked and transported later by a forklift and / or by a pallet stack stack conveyor.

In addition, in a grouping device and method according to the invention, each grouping robot extending entirely above the groups of pallet boxes in the assembly area of this grouping robot and of the filled pallet boxes delivered by each grouping device. filling with which the grouping robot can cooperate, the movement of each grouping robot can be permanently controlled in complete safety so as to optimize the productivity of the installation, independently of the operation of the other grouping robots, of the filling devices, the formation of batteries in each battery transfer area, and the charging of these batteries by forklift operators or by battery conveyors.

In particular, in certain embodiments of the invention each filling device comprises an outlet conveyor extending in at least one gathering area of at least one grouping robot - in each gathering area of each grouping robot -. Advantageously and according to the invention, each grouping robot also extends entirely over a pallet box delivered on each outlet conveyor of each filling device. Thus, each grouping robot is adapted to be able to pick up a pallet box delivered by a filling device by gripping said pallet box from above. In this way, the operation of the robotic grouping device, that is to say of each grouping robot, is completely independent of that of the filling devices and of the flow rate with which the various filling devices deliver the pallet boxes filled in assembly areas.

The combination of features according to the invention makes it possible to simultaneously solve all of the above-mentioned problems. In particular, it is possible to increase the number of groups of pallet boxes managed by the robotic grouping device, depending on the flow rate of pallet boxes desired at the outlet, without requiring a greater number of sorting channels, each grouping robot able to cooperate with any of the groups of pallet boxes in its assembly area (because it can move over the pallet boxes) and able to receive pallet boxes from any of the filling devices of pallet cases, the complete stacks being formed and delivered in a stack transfer area which is a specific area dedicated to this transfer and occupying a minimum floor area, allowing the removal and evacuation of such a stack of cases pallets by a forklift or conveyor without interfering with any pallet box or any group of pallet boxes, without risk for forklift operators, without requiring the interruption of a grouping robot. The invention therefore makes it possible to obtain a particularly compact and inexpensive installation with regard to its performance, in particular in terms of hourly flow rate of palox treated.

It should be noted in this respect that while the movement of pallet boxes from a group of pallet boxes to a specific stack transfer area could a priori be considered as limiting the flow rate of the palox delivered, the inventors were surprised to note that 'It turns out that it is on the contrary possible to increase this flow rate by multiplying the groups of pallet boxes formed by the robotic grouping device. In addition, the invention makes it possible to arrange the various groups of pallet boxes in any suitable manner, in particular to optimize the operation of each grouping robot of the robotic grouping device, the speed of movement and handling of which is no longer a factor. limiting the total flow of the installation.

In a grouping device and method according to the invention, each grouping robot extends entirely above the pallet boxes, regardless of their position between the filling devices, the collection areas and the stack transfer areas . In particular, in a grouping device and method according to the invention, each grouping robot also extends integrally above at least one stack transfer area - notably above each stack transfer area accessible by this grouping robot - in order to be able to deposit pallet boxes in order to form a stack of pallet boxes intended to be transferred later to another site, in particular removed by a stack transport forklift driven by a forklift operator or transported by a conveyor stacks of pallet boxes.

In certain embodiments of a grouping device and method according to the invention, each grouping robot comprises:

- a mobile trolley guided and driven in horizontal displacement relative to a gantry, so that this trolley extends entirely above the groups of pallet boxes of said assembly area of this grouping robot and above at least one stack transfer area,

- a gripper from above at least one - in particular one and only one - pallet box for handling - in particular between an output conveyor of a filling device is a group of pallet boxes of said assembly area and / or between a group of pallet boxes of said assembly area of this grouping robot and a stack transfer area, said gripper being carried by said mobile carriage, guided and driven in vertical displacement relative to to the latter.

A robotic grouping device of a device and a method according to the invention may comprise a single grouping robot. However, in certain advantageous embodiments of a grouping device and method according to the invention, the robotic grouping device comprises a plurality of grouping robots adapted to arrange the groups of pallet boxes according to a plurality of zones of separate gatherings. Preferably, a plurality of battery transfer zones are then also provided, at least one battery transfer zone being associated with each grouping robot, each battery transfer zone being supplied by at least one - in particular a single - grouping robot. In these different embodiments, the number and the relative arrangement of the grouping robots, of the corresponding assembly zones and of the battery transfer zones can be the subject of very many different variants.

However, in certain advantageous embodiments of a device according to the invention for each grouping robot, the robotic grouping device is adapted to supply at least one stack transfer area accessible by this grouping robot. There is nothing to prevent the same grouping robot from feeding a plurality of battery transfer zones, if productivity needs justify it. However, in practice, it is most often sufficient to see that a grouping robot feeds a single battery transfer area accessible by this grouping robot.

Such a battery transfer zone can be specific to a single grouping robot, that is to say powered only by this robot. Thus, in these embodiments, advantageously and according to the invention, the robotic grouping device is adapted to supply each stack transfer zone from a single assembly zone of a single grouping robot. In other words, each stack transfer area is supplied from a single assembly area of a single grouping robot. Alternatively, there is nothing to prevent a single battery transfer area from being able to be supplied by several grouping robots, for example alternately, if this may represent an advantage from the point of view of productivity.

Thus, all variants can be envisaged with regard to the number, the distribution and the relative arrangement of each stack transfer area with respect to each gathering area of different groups of pallet boxes by each grouping robot. Preferably, for the same sorting device, a plurality of grouping robots is provided, a plurality of corresponding gathering areas and a plurality of stack transfer areas, the distribution and relative arrangement of which are chosen in particular so as to optimize (i.e. minimize) the movements of each grouping robot.

In a device and a method according to the invention, each stack transfer area is located as close as possible to each assembly area from which the stack transfer area is supplied. Thus, in certain advantageous embodiments of a device according to the invention for each grouping robot, the robotic grouping device is adapted to supply at least one stack transfer zone adjacent to said gathering zone of this grouping robot at from which the grouping robot is adapted to be able to pick up pallet boxes forming a stack in this stack transfer area. In a grouping method in accordance with these embodiments, for each grouping robot at least one stack transfer zone is adjacent to said gathering zone of this grouping robot from which the grouping robot can take pallet boxes forming a stack in this stack transfer area.

In certain advantageous embodiments of a grouping device and method according to the invention, each grouping robot of the robotic grouping device comprises at least one gantry, each gantry defining a gathering zone and at least one stack transfer, a grouping robot being guided in the upper part of the gantry above the groups of pallet boxes.

In particular, in certain advantageous embodiments each grouping robot is adapted to be able to form a gathering zone in the form of at least one - notably one and only one - alignment of a plurality of groups of pallet boxes. Thus, each assembly area of a grouping robot is at least one - notably a single - alignment of a plurality of groups of pallet boxes. An alignment of groups of pallet boxes is a succession of groups of pallet boxes arranged in a line, straight or curved, and which therefore constitutes an area for gathering groups of pallet boxes. It is possible to provide a stack transfer area at at least one or at each of the ends of such an alignment and / or at least one stack transfer area in the middle part of such an alignment. Preferably, each alignment is a straight alignment. However, nothing prevents on the contrary to provide at least one non-rectilinear alignment, for example curved, in particular in an arc of a circle or the like. In addition, advantageously and according to the invention, each filling device delivers the filled pallet boxes on an output conveyor which extends transversely, in particular orthogonally, with each alignment of groups of pallet boxes.

In certain preferred embodiments, the robotic grouping device is adapted to define and supply a battery transfer zone at one end of each alignment. Likewise, a stack transfer area is located at one end of each alignment. In practice, it has been found that, in the majority of cases, it may be sufficient to provide a single stack transfer area at only one end of each alignment. Preferably, the different stack transfer zones supplied respectively by the different alignments are all located on the same side, that is to say at the same ends opposite the different alignments.

Furthermore, advantageously and according to the invention, the groups of pallet boxes are ordered in each collection area - in particular in each alignment - so as to minimize the path of movement of each grouping robot with respect to the groups of boxes pallets of this assembly area - in particular of this alignment -.

In particular, the groups of pallet boxes can be ordered in each assembly area (that is to say in particular in each alignment) in accordance with all or part of the characteristics of the method described by FR 2987826. In certain advantageous embodiments in accordance with the invention, each grouping robot is adapted to order the groups of pallet boxes with respect to each device for filling pallet boxes according to at least one quantitative criterion for distribution in the batches, and so that, for an alignment corresponding to a gathering area of this grouping robot, the distance of movement of this grouping robot between two passages at an outlet of the pallet box filling device via a group of pallet boxes is inversely proportional to the value of the criterion quantitative breakdown for this group of pallet boxes.

Such a quantitative distribution criterion can be predetermined as a function of an expected quantity of products in each batch (for example a previously known number of pallet boxes expected for each batch of products, that is to say in each corresponding group) , or on the contrary be determined during the sorting process, in particular by a control unit of the sorting device, or evaluated by counting and sampling by a preliminary stage of evaluation of the expected quantity of products in each batch and of the distribution different batches of products in a predetermined volume of products subjected to the sorting device, or evaluated by counting and sampling at the instant of removal of a first pallet box by a grouping robot, or evaluated by counting and sampling at each instant picking of a pallet box by a grouping robot, or seized by an operator on a unit of e control of the grouping device or on a control unit of the grouping robot. Such a quantitative distribution criterion is advantageously representative of a quantity (number and / or weight and / or volume, etc.) of products for each batch and / or of pallet boxes for each group of pallet boxes.

In particular, advantageously and according to the invention, a quantitative distribution criterion is the number and / or the weight of products in each batch determined by a control unit of at least one device for sorting the products at the time of sampling d '' a first pallet box by a grouping robot. As a variant, advantageously and according to the invention, a quantitative distribution criterion is the order of arrival of the lots at each device for filling pallet boxes. This last variant is advantageous when the supply of the device for filling pallet boxes is itself dependent on the order of filling of the batches of products sorted by the sorting device, that is to say when the batches are supplied to this device for filling pallet boxes as and when they are completed by the sorting device.

Furthermore, in a device according to the invention, each grouping robot can be adapted to simultaneously transport a plurality of pallet boxes. However, preferably, advantageously and according to the invention, each grouping robot is adapted to be able to transport only one pallet box at a time.

In certain advantageous embodiments and in accordance with the invention, the robotic grouping device comprises a plurality of grouping robots adapted to arrange the groups of pallet boxes in a plurality of parallel alignments adjoining laterally. Thus, a plurality of grouping robots arrange the groups of pallet boxes according to a plurality of parallel alignments adjoining laterally.

The invention applies in particular advantageously in the case of a grouping device comprising a sorting device comprising at least one product conveying line provided with at least one product analysis station according to selection criteria, said conveyor line being able to deliver the products downstream of each analysis station according to these selection criteria in a plurality of adjacent parallel hydraulic channels, called sorting channels, each sorting channel having an outlet opening into a channel hydraulic, called evacuation channel, in communication with at least one device for filling pallet boxes. In particular, advantageously and according to the invention, the parallel alignments are rectilinear alignments arranged at least substantially orthogonally to the sorting channels of the sorting device. Thus, the parallel alignments are arranged along and parallel to at least one evacuation channel connected to the outputs of the sorting channels of the sorting device, this evacuation channel extending at least substantially orthogonally to the sorting channels along the outputs of these.

Preferably, in the embodiments in which a plurality of parallel alignments adjoining laterally is provided, a single stack transfer zone is provided at only one end of each of the alignments, and the stack transfer zones of the different alignments are arranged close to each other (at the same ends of the alignments). Also preferably, the stack transfer areas of the different alignments are offset longitudinally with respect to each other so as to facilitate access by a forklift truck with palletizing fork. Other variant arrangements are possible in accordance with the invention.

It has been found that the invention surprisingly makes it possible to satisfy all of the abovementioned problems in combination, and in particular to optimize the productivity, the operation and the safety of a plant for sorting products such as fruit or vegetables at high speed, and increase its flow rate compared to the occupied floor area.

The invention also relates to a grouping device and method characterized in combination by all or some of the characteristics mentioned above or below.

Other objects, characteristics and advantages of the invention will appear on reading the following description given without limitation and which refers to the appended figures in which:

FIG. 1 is a schematic top view of a grouping device according to a first embodiment of the invention,

FIG. 2 is a diagrammatic left view of the device in FIG. 1,

FIG. 3 is a detail view of FIG. 2 illustrating the carriage and the gripper of a grouping robot of a device according to the invention,

- Figure 4 is a schematic right view of the device of Figure

2,

FIG. 5 is a detailed view of FIG. 4 illustrating the carriage and the gripper for gripping a grouping robot of a device according to the invention,

FIG. 6 is a schematic top view of a grouping device according to a second embodiment of the invention,

- Figure 7 is a flowchart showing an example of grouping method according to the invention.

The grouping device according to the invention shown in FIG. 1 comprises a sorting device formed by a grader 11 (whose general technical characteristics are known and described for example by US 5230394, US 5280838, US 5626238 ...). Such a grader 11 comprises in particular at least one conveying line 14 and at least one station 12 for analyzing products according to predetermined selection criteria such as weight, size, external appearance, color, rate sugar, maturity rate, firmness, the presence of internal and / or external defects ...

The grader 11 also comprises a plurality of hydraulic sorting channels 15, extending parallel to each other, one beside the other, and generally orthogonally to the conveyor line 14.

Each analysis station 12 produces measurement signals representative of at least one such criterion, and transmits them to a control unit, which is formed by a computer system. The control unit is adapted to control unloading initiation members adapted to selectively generate the lateral unloading of objects arriving at one of the hydraulic sorting channels.

The grader 11 thus constitutes a device for sorting products according to said predetermined selection criteria, forming in the sorting channels 15, lots of sorted products, each sorting channel 15 receiving products having the same characteristics vis-à-vis of said criteria.

The sorting channels 15 deliver the batches of sorted products at their downstream outlet, on command of the control unit, in a hydraulic discharge channel 16 which extends along the different outlets 17 of the different channels 15 of sorting. Each outlet 17 of a sorting channel 15 is provided with a door controlled by the control unit in the open position where it lets the products pass through a discharge channel 16, or in the closed position where it retains the products in the sorting channel 15 letting the hydraulic flow pass.

Each hydraulic evacuation channel 16 leads to a device 18 for filling pallet boxes 13. This device 18 for filling boxes is for example a hydraulic filling device for skeleton pallet boxes sometimes called "palox" (the characteristics of which are general techniques are known and described for example by US 7159373). Each device 18 for filling pallet boxes receives empty pallet boxes from a conveyor 19, and successively delivers pallet boxes each filled with a batch of products sorted on an output conveyor 20.

The control unit counts the products unloaded in each sorting channel 15, that is to say a sampling of the products sorted in batches. When a sorting channel 15 has received a predetermined number of products corresponding to a batch intended to fill a pallet box, the control unit controls the opening of the door of the outlet 17 of this sorting channel 15 so that the products are delivered into the corresponding evacuation channel 16 and reach a device 18 for filling pallet cases to fill a pallet case 13. The control unit is adapted to manage the evacuation of lots of sorted products in the different channels 15 sorting optimally.

The grouping device according to the invention also comprises a robotic grouping device 21 controlled by a computer control unit and adapted to be able to receive pallet boxes 13 filled with products sorted in batches and delivered by the output conveyor 20 of each device. 18 for filling pallet boxes 13, transporting them and depositing them in a predetermined grouping zone 22. The robotic grouping device 21 is connected to the control unit so that it can be controlled by the latter to deposit each pallet box 13 in the appropriate grouping area 22.

The robotic grouping device 21 comprises at least one mobile robot 23 for gripping pallet boxes, said grouping robot 23, adapted to be able to cooperate with each pallet box, that is to say adapted to be able to grasp, transport and release a box. palette. Each grouping robot 23 comprises a motorized trolley 24 guided and driven in horizontal translations in the upper part 26 of a gantry 25, this trolley 24 being suspended in the upper part 26 of the gantry 25 and carrying a clamp 27 controlled to be able to grasp a pallet box 13 over it, transport it, and release it to deposit it. The clamp 27 is suspended from the carriage 24 by means of a vertical translation mechanism such as a motorized pantograph. The gantry 25 extends above the outlet conveyor 20 of at least one device 18 for filling pallet boxes, and the motorized carriage 24 as well as the clamp 27 extend entirely above the outlet conveyor 20 so that the grouping robot 23 can grab a pallet box 13 delivered over this outlet conveyor 20 to move it towards an appropriate grouping zone 22 located under the gantry 25.

As shown in more detail in FIGS. 3 and 5, the self-propelled carriage 24 comprises a chassis 44 carrying wheels 45 rolling on horizontal longitudinal rails 46 of the gantry 25. At least part of the wheels 45 is driven in rotation by a motor (not shown ) carried by the chassis 44 connected to a power supply by a flexible cable (not shown). The chassis 44 carries a lifting device 47 controlled by a motor, this lifting device 47 carrying the clamp 27 comprising two side forks 48 in opposition controlled by a motorized mechanism 49 making it possible to separate them from one another to pass around. a pallet box, or bring them towards each other to grab a pallet box and lift it as shown in figure 5.

The gantry 25 delimits a zone of movement of the grouping robot 23, that is to say a gathering zone in which the grouping robot 23 can deposit pallet boxes 13 by grouping them selectively into a plurality of grouping zones 22 , each grouping zone 22 each being capable of receiving a group of pallet boxes, that is to say pallet boxes containing products corresponding to the same batch of products.

In the embodiments shown, the gantry 25 extends longitudinally so as to define for each grouping robot 23 a gathering zone in the form of an alignment. This alignment can be a straight line alignment as shown in Figures 1 and 6, or, alternatively not shown an alignment along a curve, for example an arc of a circle extending around one (or more) device (s) ) 18 for filling pallet boxes.

The pallet boxes 13 are adapted so that they can be stacked on top of each other in a vertical stack of several pallet boxes. Consequently, preferably, the groups of pallet boxes formed by the robotic grouping device 21 are stacks of several pallet boxes stacked one on top of the other, one above the other. However, nothing prevents, in a variant not shown, from providing other forms of groups of pallet boxes, as soon as these groups of pallet boxes can be formed by depositing pallet boxes in a grouping zone 22 by a robot 23 of grouping as described above and with all the movable members (carriage 24 and clamp 27) extending entirely above the groups of pallet boxes. For example, a group of pallet boxes can be formed from several piles juxtaposed horizontally, or from a stack in which each floor is made up of a plurality of pallet boxes juxtaposed laterally or the like.

When the conditions for evacuation and transfer to a remote site of the pallet boxes of a group of pallet boxes of a grouping area 22 are satisfied, the grouping robot 23 then moves the different pallet boxes of this group successively to a stack transfer zone 28 located outside each assembly zone and dedicated to the evacuation and subsequent transfer of each stack of pallet boxes to a remote site using a forklift driven by a forklift operator or a stacker of pallet boxes.

These conditions consist, for example, in the fact that a pallet box delivered on the conveyor 20 for output from a filling device 18 corresponds to a batch of products for which a group of pallet boxes has already been formed in a grouping zone 22 , this group of pallet boxes comprising a number n of pallet boxes equal to N-1, N being a predetermined number of pallet boxes forming each stack of pallet boxes to be transferred to a remote site by a forklift operator or by a stack stack conveyor pallets. Other conditions may be used, alternatively or in combination. For example, said predetermined number N of pallet boxes forming a stack to be transferred to a remote site is between 2 and 5, values included, in particular equal to 3 or equal to 4.

FIG. 7 represents an example of a grouping method according to the invention comprising these conditions triggering the formation of a stack of pallet boxes in a stack transfer area 28.

During a first step 70, the grouping zones 22 of each gathering zone of each grouping robot 23 are defined, that is to say that their location is determined under each gantry 25 and that each grouping zone 22 is associated to a predetermined batch of products contained in a pallet box delivered by any one of the filling devices 18.

This allocation can be carried out in any suitable way, in particular as described by FR2987826, for example as a function of at least one quantitative criterion of distribution in the lots, or otherwise.

During step 71, the control unit detects the presence of a pallet box 13 delivered by an output conveyor 20 of a device 18 for filling pallet boxes under a gantry 25.

During the subsequent step 72, the control unit identifies the grouping zone 22 with which this pallet box 13 must be associated, and which grouping robot 23 makes it possible to supply this grouping zone 22. The control unit then moves the conveyor 20 to place the pallet box 13 under the gantry 25 of this grouping robot 23 so that the pallet box 13 can be gripped from above by the clamp 27 of the grouping robot 23.

During the subsequent step 73, the control unit examines whether the current number n of pallet boxes of the group of pallet boxes already formed in the grouping zone 22 previously identified is or not equal to N-1.

If this is not the case, that is to say if n <N-1, the control unit controls the grouping robot 23 so that the latter performs step 74 during which it deposits the box pallet 13 in the grouping zone 22 (stacking it on the last pallet box of this group of pallet boxes if the latter already contains at least one pallet box). The control unit then replaces the process pending the arrival of a pallet box 13 on the conveyor 20 under one of the gantries 25, before step 71.

If the control unit determines during step 73 that n = N1, the control unit controls the grouping robot 23 so that the latter performs the subsequent step 75 during which it deposits the pallet box 13 directly in the closest battery transfer zone 28 accessible by the grouping robot 23. The control unit then controls the grouping robot 23 so that it executes the subsequent step 76 during which it moves the different n pallet boxes of the group of pallet boxes successively from the grouping area 22 previously identified to the area 28 stack transfer, so as to form a stack of N pallet boxes on the transfer conveyor 29 of the stack transfer zone 28.

During the subsequent step 77, the control unit controls the movement of the transfer conveyor 29 so that the stack thus formed is placed in a position allowing it to be loaded during a subsequent step 78 by a forklift driven by a forklift truck operator, or, in a variant not shown, for delivering this stack of pallet boxes on an evacuation conveyor of stacks of pallet boxes.

After step 77, the control unit returns the method to the standby position for detection of the arrival of a new pallet box on one of the output conveyors 20 of one of the filling devices 18 pallet boxes, under one of the gantries 25, before step 71.

Each stack transfer zone 28 is located outside each assembly zone of each grouping robot 23 (that is to say outside of all the assembly zones of the various grouping robots) and is distinct from each of the grouping zones 22 intended to receive groups of pallet boxes when grouping pallet boxes from devices 18 for filling pallet boxes. Consequently, a forklift or a pallet box stack conveyor receiving a stack of pallet boxes formed in the stack transfer zone 28 does not risk interfering with one or the other of the assembly zones, nor therefore with one or the other of the grouping robots 23. During all these stages, the grouping robots 23 can continue their movements in complete safety as required, independently in particular of the formation of the stacks on grouping zones 22 by other grouping robot, or of the arrival of 'a pallet box on an output conveyor of a device 18 for filling, or loading stacks of pallet boxes in the stack transfer areas by forklifts or stack conveyors.

Such a stack transfer area 28 is, however, at least partly under a gantry 25 defining an area for gathering groups of pallet boxes, that is to say an alignment. Such a stack transfer zone 28 includes a transfer conveyor 29, one upstream end 30 of which extends under a gantry 25 so as to be able to receive each stack of pallet boxes thus formed by the grouping robot 23 guided by this gantry 25. The conveyor 29 transfer then moves the stack of pallet boxes received on its upstream end 30 opposite a labeling device 31 and then towards an end 32 downstream of the transfer conveyor 29 to which a trolley 33 with palletizing fork controlled by a forklift operator can grab the battery to transport it.

In the embodiment shown in FIGS. 1 and 2, the robotic grouping device 21 comprises:

a first gantry 25a extending longitudinally in a straight line parallel to the discharge channels 16 and orthogonally to the sorting channels 15, this first gantry 25a carrying a first robot 23 a for grouping guided in horizontal translation in a straight line in one direction or in the other along the upper part 26a of the first portal 25a,

a second gantry 25b extending longitudinally in a straight line parallel to the discharge channels 16 and orthogonally to the sorting channels 15, parallel to the first gantry 25a and adjoining this first gantry 25a laterally, this second gantry 25b carrying a second robot 23b of grouping guided in horizontal translation in a straight line in one direction or the other along the upper part 26b of the second gantry 25b.

The two gantries 25a, 25b are parallel to each other and adjoin laterally, and preferably have intermediate uprights in common as shown in FIG. 2. The first gantry 25a defines a first alignment of grouping zones 22a. The second gantry 25b defines a second alignment of grouping zones 22b. A first stack transfer zone 28a is defined and supplied at one end of the first gantry 25a. A second stack transfer zone 28b is defined and supplied at one end of the second gantry 25b. The two stack transfer zones 28a, 28b are situated at the same ends of the two gantries 25a, 25b, that is to say on the same side, but are preferably offset longitudinally from one another as shown in FIG. 1 to facilitate their access by forklifts 33 with palletizing fork.

Each output conveyor 20 of each device 18 for filling pallet boxes extends horizontally orthogonally at least substantially halfway up each gantry 25a, 25b, and can be controlled by the control unit so as to be able to place a filled pallet box 13 of products under one or the other of the gantries 25a, 25b, that is to say under one or the other of the robots 23a, 23b grouping to be seized and transported by one or the other clamps 27a, 27b of these grouping robots 23a, 23b. In the embodiments shown, each outlet conveyor 20 is formed of a plurality of successive horizontally conveyors, with a conveyor arranged under each gantry 25a, 25b.

Each of the grouping robots 23a, 23b extends entirely above the groups of pallet boxes that can be formed in the grouping zones 22a, 22b. More precisely, all the moving parts (carriage 24, lifting device 47, gripper 27) of each grouping robot 23a, 23b are located above the highest group of pallet boxes that can be formed in a zone 22a, 22b of grouping, taking into account said predetermined number of pallet boxes capable of forming a stack of pallet boxes intended to be transferred later to a remote site, in particular intended to be transported by a forklift 33 with palletizing fork. Consequently, no moving part of the robotic grouping device 21 is capable of accidentally interfering with a pallet box of a group of pallet boxes formed in a grouping zone 22a, 22b. Consequently, each of the grouping robots 23a, 23b can pick up and move pallet boxes coming from any of the devices 18 for filling pallet boxes towards a grouping area 22a, 22b of the assembly area of this robot 23a, 23b for grouping, then move the pallet boxes of any zone 22a, 22b for grouping from the gathering zone of this robot 23a, 23b for grouping to zone 28a, 28b for the transfer of the stack defined and supplied by this robot 23a, 23b grouping.

The forklift operators can safely take care of continuously, without interruption of grouping robots 23a, 23b or devices 18 for filling pallet boxes, the different stacks of pallet boxes delivered to the downstream end 32 of the conveyor 29 of each zone 28a, 28b for battery transfer. In addition, the different stack transfer areas 28a, 28b being brought together in close proximity to each other, the circulation area of the forklift trucks 33 with palletizing fork is all the more reduced.

It has also been surprisingly found that despite additional handling of pallet boxes by grouping robots 23a, 23b, in reality a total flow of the installation is obtained in relation to the area of the floor area considerably increased.

For example, with a sorting device as shown in FIGS. 1 and 2 comprising three devices 18 for filling pallet boxes, each filling device being supplied by 15 to 20 sorting channels (the sorting device comprising between 45 and 60 sorting channels sorting), two grouping robots 23a, 23b can be provided defining two parallel rectilinear alignments of grouping zones 22a, 22b and groups of pallet boxes along the exits of the sorting channels orthogonally to the latter, each alignment each comprising the order of twenty groups of pallet boxes, and a stack transfer area 28a, 28b at each end of each alignment, these two stack transfer areas offset longitudinally from one another delivering a flow rate of 90 to 120 pallet boxes per hour which can be removed continuously by forklift operators in complete safety.

It should therefore be noted that for example fifty sorting hydraulic channels each having a width of around 70 cm occupy a total width on the ground of around 35 m, and that if a group of pallet boxes has an occupation at width of the order of 1.3 m, an alignment of forty groups of pallet boxes necessary for grouping the batches of products corresponding to these fifty sorting hydraulic channels would laterally occupy a width on the ground of the order of 52 m , while two alignments of twenty groups of pallet boxes which adjoin laterally occupy laterally a width on the ground of the order of 20 x 1.3 m = 26 m. Thus the fact of adjoining the alignments makes it possible to keep them in the same width on the ground as that necessary for the hydraulic sorting channels.

FIG. 6 gives another example in which the grouping device comprises four devices 18 for filling pallet boxes and three gantries 25a, 25b, 25c all three supplied by the output conveyors 20 of the four devices 18 for filling pallet boxes and defining three areas 28a, 28b, 28c for stack transfer. With such a sorting device comprising four filling devices for pallet boxes, each filling device being supplied by 15 to 20 sorting channels (the sorting device comprising between 60 and 80 sorting channels), three robots 23a, 23b, 23c grouping defining three parallel rectilinear alignments along the exits of the sorting channels orthogonal to the latter, each alignment each comprising about twenty groups of pallet boxes, and a stack transfer zone 28a, 28b, 28c at each end from each alignment, these three stack transfer zones offset longitudinally from each other deliver a flow rate of 120 to 160 pallet boxes per hour which can be removed continuously by forklift operators in complete safety.

The invention can be the subject of numerous variant embodiments with respect to the examples given in the figures and described above. The number and relative arrangement of sorting channels, evacuation channels, devices 18 for filling pallet boxes, grouping robots 23, gantries 25 and stack transfer zones 28 can be the subject of all variants. For example, the stack transfer zones 28 of two different alignments can be located at two opposite ends of these alignments. Nothing prevents the provision of a stack transfer zone 28 in the middle part of an alignment, for example with a transfer conveyor orthogonal to the alignment like the conveyors 20 for output of the pallet box filling devices. In addition, the same grouping robot 23 can be adapted to be able to move in two orthogonal horizontal directions, above two separate alignments. The areas of assembly of the groups of pallet boxes may not be alignments, but have other shapes, in particular two-dimensional surface areas, for example circular or polygonal, the groups of pallet boxes formed by each grouping robot being distributed , preferably uniformly, in such a surface area of assembly. This is in particular also made possible by the fact that each grouping robot extends entirely above the groups of pallet boxes which can be formed and above each corresponding stack transfer zone.

The invention applies in particular to the sorting and grouping of lots of fruit or vegetables such as apples, oranges, ... in pallet boxes.

Claims (16)

1 / - Device for grouping pallet cases of products such as fruit or vegetables, sorted in batches comprising: - at least one device (11) for sorting products according to predetermined selection criteria forming batches of products sorted with the same characteristics with respect to said criteria, and comprising at the outlet at least one device (18) for filling pallet boxes from said lots, - a robotic grouping device (21) comprising at least one mobile robot, said grouping robot (23), gripper of at least one pallet box, this robotic grouping device being suitable for, as and when filling the pallet boxes, gather in groups the pallet boxes filled with products successively delivered by each pallet box filling device, each group of pallet boxes corresponding to the same batch of sorted products, - Each grouping robot (23) being adapted to be able to form groups of pallet boxes in an area, known as a collection area, of determined location, and to be able to cooperate with each pallet case of each group in said collection area of this grouping robot, characterized in that: - The robotic grouping device (21) is adapted to be able to move the pallet boxes from a group of pallet boxes from a collection area and form a stack of pallet boxes comprising these displaced pallet boxes, in a transfer zone (28) stack: - adapted to allow the transfer of such stacks of pallet boxes, - located outside each assembly area, - each grouping robot (23) of the robotic grouping device extends entirely above the groups of pallet boxes of said assembly area of this grouping robot (23). 2 / - Device according to claim 1 characterized in that each filling device (18) comprises an outlet conveyor (20) extending in at least one gathering zone of at least one grouping robot (23), and in that each grouping robot (23) extends entirely above a pallet box delivered on each conveyor (20) output from each filling device (18). 3 / - Device according to one of claims 1 or 2 characterized in that for each robot (23) grouping the device (21) robotic grouping is adapted to supply at least one zone (28) of battery transfer adjacent to said assembly area of this grouping robot (23) from which the grouping robot (23) is adapted to be able to pick up pallet boxes forming a stack in this stack transfer area (28). 4 / - Device according to one of claims 1 to 3 characterized in that the device (21) robotic grouping is adapted to supply each area (28) of battery transfer from a single gathering area of a single grouping robot (23). 5 / - Device according to one of claims 1 to 4 characterized in that each robot (23) grouping is adapted to be able to form a gathering area in the form of at least one - notably one and a single alignment of a plurality groups of pallet boxes. 6 / - Device according to claim 5 characterized in that the device (21) robotic grouping is adapted to define and supply a battery transfer area (28) at one end of each alignment. 7 / - Device according to one of claims 5 or 6 characterized in that the device (21) robotic grouping comprises a plurality of robots (23) grouping adapted to arrange the groups of pallet boxes according to a plurality of parallel alignments adjoining laterally. 8 / - Device according to one of claims 1 to 7 characterized in that it comprises a sorting device (11) comprising at least one line (14) for conveying the products provided with at least one station (12) d analysis of products according to selection criteria, said conveying line being capable of delivering the products downstream of each analysis station according to these selection criteria in a plurality of adjacent parallel hydraulic channels, called channels (15) sorting, each sorting channel (15) having an outlet (17) opening into a hydraulic channel, called evacuation channel (16), in communication with at least one device for filling pallet boxes. 9 / - Process for grouping pallet cases of products such as fruit or vegetables, sorted in batches in which: the products are sorted according to predetermined selection criteria into batches of products sorted with the same characteristics with respect to said criteria, - the products of each batch of sorted products are placed in at least one pallet box, each pallet box being filled with products sorted from the same batch, - the pallet boxes filled with sorted products are, as the pallet boxes are filled, collected by at least one mobile robot, said grouping robot (23), gripper of at least one pallet box of a robotic device grouping, in groups of pallet boxes successively filled, each group of pallet boxes corresponding to the same batch of sorted products, each grouping robot (23) capable of forming groups of pallet boxes in a zone, known as a collection zone, of determined location, and capable of cooperating with each pallet box of each group of said collection zone of this grouping robot, characterized in that: - When conditions for transfer to a remote site of the pallet boxes of a group of pallet boxes are satisfied, the pallet boxes of this group of pallet boxes are moved by said robotic grouping device (21), and a stack of pallet boxes comprising these displaced pallet boxes is formed, in a stack transfer zone (28): - adapted to allow the transfer of such stacks of pallet boxes, - located outside each assembly area, - each grouping robot (23) of the robotic grouping device extends entirely above the groups of pallet boxes of said assembly area of this grouping robot (23). 10 / - Method according to claim 9 characterized in that for each robot (23) grouping, at least one area (28) of stack transfer is accessible by this robot (23) grouping. 11 / - Method according to one of claims 9 or 10 characterized in that for each robot (23) for grouping at least one area (28) of stack transfer is adjacent to said gathering area of this robot (23) grouping from which the grouping robot (23) can pick up pallet boxes forming a stack in this stack transfer area (28). 12 / - Method according to one of claims 9 to 11 characterized in that each stack transfer zone (28) is supplied from a single assembly zone of a single grouping robot (23). 13 / - Method according to one of claims 9 to 12 characterized in that each assembly area of a grouping robot (23) is at least one - in particular a single - alignment of a plurality of groups of pallet boxes. 14 / - Method according to claim 13 characterized in that a stack transfer zone (28) is located at one end of each alignment. 15 / - Method according to one of claims 9 to 14 characterized in that a plurality of grouping robots (23) arrange the groups of pallet boxes according to a plurality of parallel alignments adjoining laterally. 1/6 20 20 \ Ιί 20 3r 28.28b 22.22b CM CN (O -Q K) CM n CM CM «k n CM -Q CM • k CD CM D 1 ^ CM CM σ (O CM • k CD CM OO- D m CM "k m CM