WO2015137801A1 - Organe de préhension - Google Patents

Organe de préhension Download PDF

Info

Publication number
WO2015137801A1
WO2015137801A1 PCT/NL2015/050148 NL2015050148W WO2015137801A1 WO 2015137801 A1 WO2015137801 A1 WO 2015137801A1 NL 2015050148 W NL2015050148 W NL 2015050148W WO 2015137801 A1 WO2015137801 A1 WO 2015137801A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
stack
plates
gripper plates
layers
Prior art date
Application number
PCT/NL2015/050148
Other languages
English (en)
Inventor
Lambertus Lagerweij
Simon Jan VERKUIJL
Original Assignee
Moba Group B.V.
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 Moba Group B.V. filed Critical Moba Group B.V.
Publication of WO2015137801A1 publication Critical patent/WO2015137801A1/fr

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
    • B65B23/00—Packaging fragile or shock-sensitive articles other than bottles; Unpacking eggs
    • B65B23/02—Packaging or unpacking eggs
    • B65B23/06—Arranging, feeding, or orientating the eggs to be packed; Removing eggs from trays or cartons
    • B65B23/08—Arranging, feeding, or orientating the eggs to be packed; Removing eggs from trays or cartons using grippers
    • 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
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
    • B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present invention relates to a gripper for picking up, transporting, and displacing packaging units.
  • the invention relates to a gripper for picking up, transporting, and placing patterns of a layer of substantially identical, block-shaped, rectangular packaging units, for example egg cartons, comprising:
  • a frame having on the one hand a connecting piece connectable to an arm or mast, and having on the other hand connecting units for rotating and translating at least two oppositely arranged gripper plates pivotable about parallel axes in a longitudinal direction which comprise at their lower ends engagement edges which make an inward angle ⁇ with a plane
  • both gripper blades have end edges on the blades which are directed slightly inwards in order to properly embrace such egg cartons. Mentioned furthermore in EP 1285870 is a push-on plate to keep the cover closed upon release and placement of the cartons.
  • Such grippers at first sight, seem to be suitable also for picking up stacks of layers of such egg cartons.
  • the above grippers are not suitable, because either the room to move for the processing of such packaging units is typically limited or the hand-shaped gripper plate encompasses only a limited clamping volume.
  • the gripper according to one aspect of the present invention is characterized in that with the gripper plates a stack of height H of at least two layers of the patterns can be processed, the gripper plates comprising a bend line for the engagement edges, the engagement edges having a width B, with 0.5 H ⁇ B and preferably B ⁇ 0.8 H. Further, an aspect of the invention offers a gripper for which it holds that the engagement edge width B is greater than a height of a packaging unit itself.
  • the gripper of the present invention preferably has one or more of the following features:
  • the inward angle ⁇ has a value where 0° ⁇ ⁇ ⁇ 20°, preferably
  • a clamping unit which at least during placement of the stack keeps the patterns and the layers in place; and that the clamping unit comprises at least a single push-on plate.
  • the present invention provides a method including
  • the method according to the present invention has one or more of the following features:
  • the pickup location is a box with the stack provided therein, wherein the gripper plates, prior to embracing and grasping, are moved sliding closely along the packaging units;
  • the placement location is a box in which the stack is placed, wherein the gripper plates, upon release and removal, are moved away shding closely along the packaging units;
  • the pickup location comprises a stack formation location, for example a surface of a belt conveyor or of a conveyor table for forming a stack of at least two layers of the units;
  • Another aspect of the present invention relates to
  • FIGURE 1 a schematic side view of an exemplary embodiment of the gripper according to the present invention
  • FIGURE 2 a robot provided with the gripper.
  • FIGURE 1 shows a non-limitative exemplary embodiment of a system including a gripper 1 and packaging units P.
  • the gripper is, in particular, a gripper 1 for picking up, transporting, and placing patterns of a number of layers of substantially identical, block-shaped, rectangular packaging units P, for example, egg cartons.
  • the gripper 1 is provided with a frame 2, having on the one hand a connecting piece 3, connectable to an arm or mast of, for example, a robot 500 (see FIGURE 2).
  • the gripper 1 comprises connecting units 4a, 4b for (combined) rotation and translation of two oppositely arranged gripper plates 5a, 5b, pivotable about parallel axes in a longitudinal direction.
  • the connecting units may be implemented in different manners, with actuators, hinges, translation mechanisms, a suitable control, which will be clear to one skilled in the art.
  • the control may for instance be, wholly or partly, part of the connecting units 4a, 4b, may be integrated in a possible robot control of the robot 500, or cooperate therewith, or the like.
  • Distal parts of the gripper plates 5a, 5b namely, distal engagement parts or engagement edges 6a, 6b, each include an inward angle ⁇ with a plane perpendicular to the longitudinal direction, at least, with respect to proximal parts of the gripper plates 5a, 5b (as indicated in the drawing).
  • the control (which may, for instance, be part of the connecting units 4a, 4b) is provided in particular for rotating the gripper plates about the axes mentioned and for translating the gripper plates, towards or away from each other, in a direction perpendicular to the axes mentioned.
  • the configuration is such that with the gripper plates a stack of height H of at least two layers of the patterns mentioned can be processed.
  • the gripper plates comprise a bend line for the engagement edges 6a, 6b (namely, a bend line which extends between a proximal and a distal plate part of each plate, at least, defines a separation between these arts).
  • the engagement edges 6a, 6b have, for example, a width B, where
  • the plate width B is, in particular, the width of the distal plate part 6a, 6b, measured from the (normally horizontal) bend line to a lower end of the plate.
  • the stack height H is, in particular, equal to the number of layers of packaging units times the (normally vertical) height of a respective packaging unit P in the case where those units each have the same height.
  • the plate width B is, in particular, greater than a height of a single packaging unit P to be stacked. With this, good results can be obtained, for example, a stable and well controlled stack engagement.
  • gripper 1 comprises a frame 2 with a connecting piece 3 which can be connected, for example, to a robot arm (see FIGURE 2).
  • packaging units P are, for example, egg cartons of the known type of 2 x 3, or 2 x 4, 2 x 6, etc., type which have been filled with eggs in special egg handling machines and where the covers are properly closed.
  • Such packaging units are thereupon arranged in patterns, such that these patterns can be placed, for example, in boxes, also called overpack or outer boxes, or can also be combined to form larger wholes on pallets.
  • Such packaging units are to be regarded as being substantially block-shaped, with a bottom half and a cover half generally beveled slightly because they form an assembly of product nests, i.e., egg nests in the case of eggs.
  • FIGURE 1 a side view is shown of the long side of such packaging units P, with gripper plates 5a, 5b clamping the units of the stack (of two layers, in this case) on their short sides. This may involve, for example, patterns of two layers of four cartons each. To those skilled in the art, it will be clear that other patterns are possible.
  • the gripper 1 comprises two oppositely arranged, substantially straight gripper plates 5a, 5b, which can be controlled with a schematically indicated control and respective connecting units 4a, 4b.
  • This control and these connecting units provide for the rotation of the plates 5a, 5b, in and out, respectively, to embrace or release a stack of packaging units P, and to displace the plates 5a, 5b towards or away from each other, or to embrace and grasp or to release the stack, for instance with rotation about axes at the location of the connecting units 4a, 4b, substantially
  • the gripper plates 5a, 5b comprise ends or gripper edges 6a, 6b of a considerable width B, precisely to be able to pick up stacks of height H of several layers. It has been found that a width B between 0.5 H and 0.8 H is very suitable for such stacks, in other words, a width B that is greater than a height h of a stack-packaging unit P. In the example, the width B is less than 1.6 h.
  • the present invention provides a transition between the straight part and the edge with a gentle curve or a small kink 7a, 7b.
  • the edge basically runs on and a small angle ⁇ is provided having values where 0° ⁇ ⁇ ⁇ 20°, preferably 0° ⁇ ⁇ ⁇ 10°.
  • the curvature has a curvature radius R (in meters) with R > 0.2 m.
  • a clamping unit or push-on plate is provided in the manner as described in EP 1285870, allowing both the covers of such egg cartons to remain clamped and the shape of the stack to be retained in a simple manner.
  • a holder strip 8 is included as represented in FIGURE 1 in broken lines. Such a strip rests on and pushes against these cartons P, whereby on the one hand a substantially horizontal confinement of the stack is obtained, and whereby on the other hand the covers are thus kept closed and the stack is held in the pattern thereof.
  • a strip is, for example, of stainless steel, and comprises, in one piece, an upper part 8a and a lower part 8b with a bend 8c therebetween.
  • the lower part 8b in this side view buckles "forward" and thus has the bend resting at a particular angle on the side of a cover of such an egg carton P.
  • the upper part 8b is operably mounted in frame 2, and can for instance be moved vertically down and up, and/or be rotated slightly about a horizontal axis, in these drawings perpendicular to the axes as mentioned hereinabove.
  • FIGURE 2 shows an example of the robot 500, in this case a robot with at least four axes, for example a 4-axis robot, known per se, with multiple mutually movable robot parts 501, 502, 503, 504, in particular parts that are rotatable or pivotable relative to each other about axes XI, X2, X3, X4.
  • the robot 500 comprises a base 501 on which a carrier 501a of a first arm 502 is arranged rotatably about a vertical axis XI.
  • the first arm is pivotable, by a bottom end, about a horizontal pivotal axis X2 relative to the carrier 501a.
  • a second arm 503 is coupled by a first end to a top end of the first robot arm 502 in a manner pivotable about a horizontal pivotal axis X3.
  • a robot head or operating arm 504 (which, in this example, holds the gripper unit 1) is coupled to a second end of the second arm 503 in a manner rotatable about a vertical axis X4.
  • the head/operating arm 504 in this case is in itself rotatable about a horizontal axis relative to the end of the second arm 503.
  • the robot may also be configured in a different manner.
  • the robot (together with a gripper 1 coupled thereto) can be utilized for carrying out a method according to the invention.
  • a gripper 1 can be utilized for carrying out a method according to the invention.
  • various modifications in the gripper, the system and in the method as described above are possible within the scope of protection of the appended claims.
  • the choice of materials in a particular application such as well-selected plastics instead of stainless steel, can be of influence on a type of curve or kink.
  • no specific manner of drive has been mentioned, but, for example, pneumatics, hydraulics, or servo motors can be considered.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)

Abstract

La présente invention concerne un organe de préhension et un procédé pour saisir, transporter et mettre en place des motifs d'une couche d'unités de conditionnement rectangulaires, en forme de bloc et sensiblement identiques, par exemple des boîtes d'œufs, comprenant : - un cadre (2), comportant d'une part une pièce de liaison (3) pouvant être reliée à un bras ou un mât et comportant d'autre part des unités de liaison (4a, 4b) pour faire tourner et déplacer en translation au moins deux plaques de préhension (5a, 5b) disposées de façon opposée pouvant pivoter autour d'axes parallèles dans une direction longitudinale, qui comprennent au niveau de leurs extrémités inférieures des bords de mise en prise (6a, 6b) qui font un angle vers l'intérieur avec un plan perpendiculaire à la direction longitudinale et - une commande pour faire tourner les plaques de préhension autour des axes et pour rapprocher ou éloigner par translation les plaques de préhension l'une par rapport à l'autre, dans une direction perpendiculaire aux axes, tandis qu'avec les plaques de préhension, une pile de hauteur H ' d'au moins deux couches des motifs peut être traitée, les plaques de préhension comprenant une ligne de pliage pour les bords de mise en prise, les bords de mise en prise possédant une largeur B, avec 0,5 H <B <0,8 H. Le cycle de travail pour le procédé comprend - au niveau d'un emplacement de saisie, la récupération et la préhension avec les plaques de préhension d'une pile d'au moins deux couches des unités de conditionnement, - le transport de la pile vers un emplacement de mise en place, - la mise en place de la pile dans l'emplacement de mise en place, - la libération de la pile avec les plaques de préhension et - le retrait de l'organe de préhension.
PCT/NL2015/050148 2014-03-11 2015-03-10 Organe de préhension WO2015137801A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14000852 2014-03-11
EP14000852.5 2014-03-11

Publications (1)

Publication Number Publication Date
WO2015137801A1 true WO2015137801A1 (fr) 2015-09-17

Family

ID=52829268

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2015/050148 WO2015137801A1 (fr) 2014-03-11 2015-03-10 Organe de préhension

Country Status (1)

Country Link
WO (1) WO2015137801A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2714523A (en) * 1952-04-10 1955-08-02 George N Bliss Egg lifter
US4648646A (en) * 1984-11-09 1987-03-10 Mollers Maschinenfabrik Gmbh Device for gripping and placing members
US5463847A (en) 1994-02-08 1995-11-07 Fps Food Processing Systems, Inc. Robotic egg carton pickup head
EP0930255A1 (fr) * 1998-01-16 1999-07-21 Diamond Automations, Inc. Dispositif pour déposer des objets dans un espace délimité
US6224122B1 (en) * 1999-04-23 2001-05-01 Sage Automation, Inc. High pressure rubber bale handing clamp
EP1285870A1 (fr) 2001-07-23 2003-02-26 FPS Food Processing Systems B.V. Dispositif de préhension
EP2161227A1 (fr) * 2008-09-05 2010-03-10 Jérémy Jan Dispositif de préhension pour la manipulation de produit de consommation notamment des boites à oeufs
EP2168892A1 (fr) * 2008-09-27 2010-03-31 Overveld Machines B.V. Dispositif de bras-transfert, préhenseur et procédé
EP2383211A1 (fr) * 2010-04-30 2011-11-02 Uwe Reifenhäuser Procédé et dispositif de réception, de déplacement et de dépôt de portions d'un aliment

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2714523A (en) * 1952-04-10 1955-08-02 George N Bliss Egg lifter
US4648646A (en) * 1984-11-09 1987-03-10 Mollers Maschinenfabrik Gmbh Device for gripping and placing members
US5463847A (en) 1994-02-08 1995-11-07 Fps Food Processing Systems, Inc. Robotic egg carton pickup head
EP0930255A1 (fr) * 1998-01-16 1999-07-21 Diamond Automations, Inc. Dispositif pour déposer des objets dans un espace délimité
US6224122B1 (en) * 1999-04-23 2001-05-01 Sage Automation, Inc. High pressure rubber bale handing clamp
EP1285870A1 (fr) 2001-07-23 2003-02-26 FPS Food Processing Systems B.V. Dispositif de préhension
EP2161227A1 (fr) * 2008-09-05 2010-03-10 Jérémy Jan Dispositif de préhension pour la manipulation de produit de consommation notamment des boites à oeufs
EP2168892A1 (fr) * 2008-09-27 2010-03-31 Overveld Machines B.V. Dispositif de bras-transfert, préhenseur et procédé
EP2383211A1 (fr) * 2010-04-30 2011-11-02 Uwe Reifenhäuser Procédé et dispositif de réception, de déplacement et de dépôt de portions d'un aliment

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