• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a device (1) and a method for stacking parcels (2, 2 ', ...) of different sizes on a pallet (3), comprising means (10) for feeding a pallet empty, means (5, 6) for loading said empty pallet to a loading station (13) and means (31) for evacuating the pallet after loading. It comprises a station (11) waiting for the empty pallet thus brought to a first level (9) said upper level, horizontal pushing means of the empty pallet from the waiting station (11) to the loading station (13). ), and means (32) for vertical displacement of the pallet (3) comprising an elevator (33) arranged to grab the pallet from below at the loading station (13) and move it vertically downwards during loading between the first level (9) and a last level (29) said lower level, discharging the loaded pallet (30).
    公开号:FR3029174A1
    申请号:FR1461716
    申请日:2014-12-01
    公开日:2016-06-03
    发明作者:Benoist Wolf；Samuel Ouy；Thierry Boisnard
    申请人:Synapse Robotics；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a device for stacking parcels of different sizes on a pallet, using a pallet lifting system. It also relates to a method of stacking heterogeneous packages on a pallet. It finds a particularly important application although not exclusive in the field of package packaging on a pallet according to a specific arrangement depending on the shapes and different sizes of packages. There are known palletizing devices comprising an elevator on which rests an empty pallet which picks up the packages arranged by a depositing head on a retractable base, for example, made by two horizontal plates. These are arranged to move apart from each other by horizontal sliding in order to drop the packages it contains on the layer of packages already deposited on the pallet. As soon as a new layer is made, the pallet descends with the elevator of a height similar to that of a layer of packages so that the upper level of the loaded pallet invariably remains just below the retractable base, and that parcels leaving it fall only a very small height.
    [0002] Such a device has several disadvantages. It does not make it possible to constitute piles of heterogeneous packages of different sizes, and have lengths of realization of layers of large parcels further aggravated if it is decided to load the pallet directly without going through the step of removal on a false pallet . In case of direct deposition on the previous layers of packages, it is not possible to dissociate the supply flow of an empty pallet, the filling flow since it is necessary to wait for the evacuation of a full pallet to bring an empty palette. None of these devices therefore makes it possible to prevent the loading of pallets from causing the complete stopping of the placing of the packages for a longer or shorter time. It is known (EP 2 358 617) stacking devices for managing the stacking of packages of different sizes and this more optimally at the time diagram. Here again an intermediate support, equivalent to a false pallet, is used. First, it leaves the first layer of packages on the pallet brought from below by an elevator, then comes to load the pallet which goes down as and when predetermined. The operation of falling parcels on the pallet is performed only once, for the first 25 layer of packages whose construction takes place while the previous pallet is removed from below and then replaced by an empty pallet which goes back to find the layers of packages already deposited on the intermediate support. In addition to the fact that there is a risk of destabilization of the layers of packages preconstituted at the time of the retraction of the intermediate support, it is understood that there is necessarily a risk of loss of time due to the substitution of the pallets on the same elevator. The present invention aims to overcome these drawbacks and in particular and to do so to form 5 a device and a stacking method better than those previously known to the requirements of practice, particularly in that it allows the establishment of packages continuously, and for packages of different sizes, without generating risks of imbalance during a drop in height for example. For this purpose, the present invention notably proposes a device for stacking packages of different sizes on a pallet, comprising means for feeding an empty pallet, means for loading said empty pallet at a loading station and means for evacuating the pallet after loading, characterized in that it comprises a waiting station of the empty pallet thus brought 20 situated at a first level called said upper level, means of horizontal displacement of the empty pallet of the station of waiting at the loading station, and means for vertical movement of the pallet comprising an elevator arranged to grab the pallet from below to the loading station and move it vertically downwards during loading between the first level and a last level called lower, evacuation of the loaded pallet. In advantageous embodiments, one and / or more of the following provisions are also and / or in addition: - the pallet feeding means comprise a perforated support support of the pallet movable longitudinally between a retracted position of support of a new pallet, an intermediate position at the waiting station and a position at the change station, said support or perforated plate being arranged to allow the lifting from below and after withdrawal perforated tray, the removal of the pallet by the elevator; the loading means are arranged to load a first series of packages, then, once said pallet gripping is performed, start the vertical movement by allowing the packages to be stacked on the first series, then loading the pallet as and when from the rear to the front, at constant or substantially constant loading level. By substantially constant is meant with a height shift of less than ± 80 cm; the loading means comprise at least one vertical blocking and lateral guiding plate of the packages during their loading, to form a vertical stack of parcels framed on at least a first level. The plate or plates may be removable and / or of height greater than 50 cm, for example 1 m; - The device comprises means for coating the pallet with a plastic film as the vertical movement downward of the loaded pallet; the means for vertically moving the pallet during loading comprise means for controlling the descent of the pallet by steps of a given height, and the coating means are arranged for coating the said plastic film with the part of parcels stacked opposite said height, before descending a next step; the device comprises calculation means and a memory arranged to host a database containing the characteristics of the packages of different sizes to be stacked, in terms of size, weight and capacity to rank with respect to each other, the said calculation means being able to determine a particular storage order and spatial positions for packages to be stacked on said pallet from the contents of said database. By ability to rank relative to each other (also called here stackability) means the ability for a given number of packages intended to constitute a pallet, to organize with each other to form layers of height substantially constant and unhindered by the packages already deposited during the supply of the following packages by the loading means; the device comprises means for loading interlayer plates onto the piles of packages being loaded; it comprises means of optical measurement and / or calculation of the loading of the pallet to correspond to a specific loading plane and control of the end of descent of the pallet for evacuation accordingly; the loading means comprise at least two robotic arms working alternately with each other; - Each arm is equipped with a lower fork gripper package support and a clamp upper clamping pressure of the package against the lower fork.
    [0003] The invention also provides a method using the device as described above. It also proposes a method of stacking parcels of different sizes on a pallet, characterized in that it comprises the following steps: (i) bringing an empty pallet to a waiting station located at a first level, called a level (ii) the pallet is moved horizontally to a loading station at the same level, (iii) packages are started on the pallet at the loading station, (iv) a forklift with which the pallet is grasped from below at the loading station, (v) packages are continued to stack on the pallet while maintaining a constant or substantially constant loading level by vertical displacement of the pallet being loaded between the first level and a second level corresponding to the complete stacking of the pallet, (vi) a next pallet having been brought to the waiting station (in masked time), we finish lowering the pallet entirely. t loaded to a third level, said lower level, corresponding to an evacuation station and simultaneously brings said next pallet from the waiting station to the loading station, then steps (iii) to (vi) are repeated with said pallet next, while evacuating said fully loaded pallet. Advantageously, the pallet is moved to the loading station by horizontal movement of a perforated support plate of the periphery of the pallet, the pallet is lifted from below (through the perforated part) to release it from the plate, the perforated tray and down the pallet being loaded.
    [0004] Also advantageously the characteristics of packages of different sizes to stack, dimensions, weight and capacity to store relative to each other, being stored in a database, a particular order of storage and the spatial coordinates of packages are determined before stacked on the pallet accordingly and said stack is carried out in said particular order and with said spatial positions from said data.
    [0005] Advantageously, the packages on the pallet are loaded with a film during loading as the descent. In an advantageous embodiment, the descent of the pallet being loaded is controlled by steps of a given height, and the pallet loaded in parcel on a height facing each other is coated with a plastic film before going down one step. next. Advantageously, the packages are loaded with at least two robotic arms in parallel, alternatively from a single supply conveyor provided with a separation system for dispatching parcels to two separate gripping stations respectively assigned to each of the robots.
    [0006] Advantageously, at least one intermediate plate is loaded onto the packages, before continuing and / or finishing the pallet. The plate is for example a plate corresponding to 1/4 of the surface of the pallet, corrugated cardboard 3 mm thick. This in particular makes it possible to smooth the filling levels and makes the piles of parcels on the pallet more stable. Still advantageously, a first pallet rear portion and then a front portion are loaded on a first height, and so on on a second height, etc., until full filling of the intended load is achieved. Therefore, no longer is layer by layer but vertical slice portion per vertical slice portion. The invention will be better understood on reading embodiments given below by way of non-limiting examples. It refers to the accompanying drawings in which: Figure 1 is a perspective diagram of an embodiment of a device according to the invention. FIGS. 1A and 1B show an embodiment of the means for placing packages on the supply conveyor (s) of the device of FIG. 1. FIG. 1C shows in perspective the removal stations of an empty pallet, the standby station and the isolated loading station for illustrating the rest of the device according to one embodiment of the invention.
    [0007] Figure 2 shows the device of Figure 1 when placing the empty pallet at the dispensing station. FIGS. 2A and 2B show in perspective an embodiment of a package gripper arranged to take parcels from the front (FIG. 2A) or from the side (FIG. 2B). FIGS. 3 to 7 show the device of FIG. 1 successively, at the beginning of palletizing 10 (FIG. 3), during the loading by the elevator (FIG. 4), during the descent with loading and the setting in possible placement of a coating film (FIG. 5), then at the end of palletizing and of setting up the film (FIG. 6), and finally after descent of the pallet in the low position for evacuation (FIG. 7). FIG. 8 gives an example of dimensional parameterization of a pallet that can be used with the invention, for the programmed placement of 20 packages. FIG. 9 illustrates an example of palletizing with packages of different sizes implemented with one embodiment of the method according to the invention. Figs. 9A and 9B schematically illustrate a package drop on packages of different sizes showing offset tolerances. FIG. 10 is a diagram giving the various steps of the method according to the embodiment of the invention more particularly described here. Fig. 11 is a perspective view of another embodiment of the invention.
    [0008] Figs. 12A-12C show several of the progressive filling steps starting from the rear to form the piles as they go along without being bothered by the packages already placed, according to one embodiment of the invention. FIG. 1 shows a heterogeneous palletizing device 1 which makes it possible to palletize packages 2, 2 '... of different sizes and shapes on a single pallet 3, 3' ... associated with an automaton 4 implementing software to calculate the optimal nesting of products. The controller 4 controls two polyarticulated robots 5, 6, for example robots from the Japanese company FANUC sold under the reference R-1000 ia / 80F.
    [0009] These work alternately and each cycle, ensure the taking of a package 2 with a gripper 7 fork and clamping and the removal of this package on the pallet. The device 1 comprises an aerial manipulator 20 known in itself to feed an empty pallet 3 to a first level 9, said upper level. Means 10 for horizontal movement of the pallet (pushing cleats for example reciprocating) bring the pallet to an empty pallet waiting station 11. These pushing means then bring the pallet to the waiting station (see Figure 2), then to the loading station 13 of the pallet 3 by the robots 5 and 6. These will pick up the packages to be loaded on two conveyors to parallel rollers 14 and 15, of known type, of sequential feeds of packages 2, 2 '.
    [0010] More specifically, and with reference to FIGS. 1A and 1B, the packages 2, 2 '... arrive on the conveyors 14 and 15, which can also be formed by a single conveyor with sequential separator means of the packages in two positions at the level of the loading by the robots, with the same orientation, ie in the direction of the length or the skew according to the applications. At the end of the conveyors 14, 15, a pusher system 17, for example made up of electric cylinders (see FIG. 2) puts the packages in reference to the point of engagement of the robot 5 or the robot 6. This grip is effected by the gripper 7 which comprises a perforated cubic structure 18 held by an arm 19 of the robot 6 and carrying a lower fork 20, arranged to lift the packages from the conveyor, in known manner, by a device 21 equipped with combs or vertical studs 22 between which slip the legs 29 of the fork 20 and which are then retractable. The grippers 7 are also described hereinafter with reference to FIGS. 2A and 2B. They therefore comprise a fork 20 provided with lower tabs 23 for gripping between blocks or combs, retractable, and a clamp 24 or presser to jam the package in the transport position, in a manner known per se. The grippers are for example programmed to take the packages face (Figure 2A) or side (Figure 2B) to manage the orientation of packages on the pallet and always deposit in the same direction.
    [0011] The package is thus always positioned on the same side of the gripper 7 so that the robot 5 or 6 can deposit packages against packages already present on the pallet without losing space.
    [0012] The package will be either aligned with the edge of the gripper (Figure 2A) or protruding from the gripper (Figure 2B). More specifically, in the device 1, each robot 5, 6 is equipped with a gripper 7 allowing the taking of packages from below, the output of the fork relative to the reference face 25 (Figure 2A), or the bottom 26, (Figure 2B), being adjusted to the size of each package. The calculation of the pallet results in two possible orientations for depositing the packages on the pallet. Advantageously, to limit the potential interference areas between robots, the orientation of the grippers to the removal on the pallet is always the same, namely that of the withdrawal direction of the parallel forks to the long side of the pallet. The device 1 (see FIG. 1) comprises a support structure 27 or frame on which are fixed the waiting station 11, the robots 5 and 6 and the removal station 13. It also comprises the conveyors 14 and 15 provided with systems 23 with pads or combs 22 for parcel presentation. According to the embodiment more particularly described here, and also with reference to FIG. 1C, there is successively at the upper level 9 of the device a station P1, the waiting station 11 of the empty pallet 3 and the loading station 13 .
    [0013] In this embodiment the means 10 for horizontal displacement comprise a support 28 for example in the form of a fork comprising two edges or lateral branches 28 'movable from the station P1 to the station 13 in a manner known per se for example by a motor (no shown), supporting the lateral ends located at the periphery of the pallet 3. The pallet and its support passes under a bridge P2 10 on which will be fixed the robot 5. It can also be provided retractable rails between a constricted position, support of the pallet 3, and a remote position, release for descent of the pallet to a lower level 15 29 (see Figure 2) discharging the pallet loaded 30 by a conveyor 31 known in itself. The device 1 comprises means 32 for vertical movement of the pallet comprising an elevator 33 (see FIG. 4) formed for example by a motorized carriage controlled by the automaton 4, or an angle plate 34 fixed on an elevator 35, for example to known type chain. The plate 34 comprises, for example, abutments 36 on its upper face arranged to come into contact with the pallet 3 from underneath to resume directly without vertical play it between the retractable rails 28. Thus when the latter retract, it There is no displacement or risk of abrupt vertical shift. The elevator is also arranged to then move the pallet 3 during loading vertically downwards between the first level 9 and the lower level 29, for evacuation (arrow 37) from the loaded pallet 30. Reference will now be made to reference in FIGS. 3 to 7 the actual palletization of the packages.
    [0014] Figure 3 schematically shows the beginning of palletizing packages 2 on pallet 3. Vertical plates 38, 39 blocking / jogging parcels, are present. These plates are for example rectangular, for example metal material. They are wedged vertically along the pallet to form a right angle x, y angle bracket and for example removably positioned for the vacuum pallet to pass below their lower edges 40 when moved. from the waiting station to the loading station. They are also sized to be equal to or slightly wider than the length and width of the pallet, the pallet passing underneath. A first series 41 of packages 2 (see FIG. 4) is then placed on the pallet in an organized manner as will be described further below. When the elevator 32 is free, the pallet 30 being evacuated, it ascends (arrow 42) to take over the pallet 3 under construction. The side pusher 10 pallet disengages and seeks a new pallet 3 to position it at the waiting station 11. The pallet 3 (see Figure 5) loaded by the first package then descends (arrow 43) as and when measure to allow a level of parcels at level 44 to be approximately constant at station 13.
    [0015] A simultaneous filming is then performed by a system 45 known in itself, symbolized in phantom in Figure 5, and comprising for example a circular ring 46 known in itself, deposition on a given height h. During this phase, a new pallet 3 (see FIG. 6) is placed at 13 while the filming ends at 47, the pallet then being situated at a second intermediate level 48.
    [0016] Then the completed pallet 49 is lowered to the lower level 29 and evacuated to E (see Figure 7). Optionally the calculation means then allow for example here to trigger the next cycle.
    [0017] During this time the next pallet starts to be loaded (see again figure 3). In an advantageous embodiment, the device 1 can be equipped with a module that allows the introduction of spacers for better stability packages of one layer relative to the other. The spacers are handled by the robots 5 and 6 as packages, their deposition cycles being synchronized with the packages of the deposition cycles, according to the scheduling provided by the process control software implemented and whose steps will now be more particularly described with reference to FIGS. 8 to 10. From basic data on packages of different sizes, for example included in predetermined ranges, one establishes automatically or semi-automatically (with the help of an operator) the composition of a palette.
    [0018] The data are the height, width, length of the product or package and its weight, as well as their stackability and taper. The dimensions and weight of the pallets used are also specified, as is the maximum height of the loaded pallet, for example 2 m overall height and palletizing rates, for example 850 packages per hour, up to 950 packages / hour.
    [0019] These rates are particularly high thanks to the arrangement of the invention and is therefore an important advantage over known methods. The arrival height of the packages is also introduced into the base. It must for example be between 3,270 mm and 3,570 mm in height relative to the lower level. The picking axis of the packages is also defined. It is for example of the order of 1, 5 m with respect to the axis of the robots or 0, 5 m with respect to the frame. These values will of course depend on the rest of the sizing of the installation. The nearest part of the package conveyor 14, 15 must be greater than a minimum height value relative to the axis of the robots that move by pivoting around it or relative to the frame. For filling the pallet, it is set (Figure 8) in the direction of the column width of 1 to 12 for example and in the direction of the length in lines A to J, a package can be located on several cells and at different levels of layers of the palette.
    [0020] Depending on the order entered by a customer operator (parcel list), the software reassembles, using in a known manner the 3D software market such as for example the product Cube-IQ of the Canadian company MAGIC LOGIC Optimization Incorporated, parcels so that is also formed a virtual palette in 3D. The ordering of the packages is done taking into account the mechanical stresses (front or rear), so that the level of the top of the packages decreases from the bottom to the front. FIGS. 9, 9A and 9B show an example of palletizing operation. The packages are here numbered from 1 to 18 and are always on the same side of the gripper, the successive drops being always in the same direction. The palletizing starts with the layer 50, the deposits are made from A to J and from 1 to 12 by processing ranks (like a typewriter). Once a first layer 50 of packages made from 1A to 12J package removal begins again on said first layer or not, to form a second deposit and so on. In the example described here the order of placement of the packages will be for example 1, 4, 2, 5, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16 , 17, 18. There are prohibitions, the package No. 12 can not for example be put right after the removal of the package No. 9 because it would block the filing of No. 10 and No. 11. In reference to Figure 9A, when the robot comes to deposit a package 51 on one or more package said base package 52, the gripper 7 may overflow on this package and be found above other packages (underlying packages). To be able to deposit without crushing these packages, it is necessary for example that the height H reached by the pedestal package is the greatest height, the gripper 7 then positioning itself on the top of the pedestal package 52 without being in contact with the packages. underlying. These elements are positioning constraints which will notably be taken into account and allow the calculation by the software package placement, and this in a manner known in itself by the skilled person. It will be noted that the trajectories realized by the robot involve movements over the parcels of the same row, which implies limiting height differences within the pallet. Such limitations will be automatic 20 when the constitution of the pallet will take place knowing that the packages will be deposited from the bottom to the front. It will also be noted with reference to FIG. 9B and for example that a removal of a package 54 from several packages of the same base layer 55 can of course be carried out subject to searching for the most possible successive layers, so that the difference in height d, between two packages 56, 57 of the base layer 55 are limited to for example a height equivalent to 10% of the package base (length or width) for example maximum 20 mm.
    [0021] The steps of the method more particularly described will now be detailed with reference to FIG. 10. After step 60 of constitution of the pallets as a function of the data of the packages to be loaded, as described above, an empty pallet is brought to 61. at the waiting station. Then move (step 62) horizontally the pallet from the waiting station to the loading station. In 63 we begin to stack the packages on the pallet to form a first series of packages. Step 64 sees the vertical movement of the lift truck to pick up the pallet that has already begun to be loaded over it. We continue to stack in 65 by progressively lowering the pallet step by step, and depositing the film around the packages as and when. With a next pallet brought to the waiting station (line 66, step 61), the fully loaded pallet at the lower evacuation level is finally lowered (step 67) by simultaneously renewing the cycle of steps 62 to 67. this time the loaded pallet is evacuated at 68. A test 69 is performed at the output of the loaded pallet 25, to know if there are still pallets to load and continue the process or not. It should be noted that in the embodiment more particularly described here, the taking of the packages takes place in two possible directions on the gripping conveyor and that each robot covers the entire surface of the pallet. Thus in case of failure of one robot, a single robot can continue without stopping production.
    [0022] Figure 11 shows another method of manufacturing a device 70 according to the invention. The same reference numbers have been used here for the same elements as those described with reference to the device of the preceding figures, which will not be further detailed. In fact, this device differs only in that the delivery system 71 of packages by gripping by the robots 5 and 6 includes only a conveyor 72 for feeding packages which are then distributed alternately on the sides 73 and 74 in being pushed by a pusher cleat 75 moved back and forth (arrow 76) to place the packages (not shown) on the pads 22 in the low position. These then lift the packages that can be taken between the studs 22 by the forks 20 of grips 7. Thus, in case of a problem on a package, there is no need to completely release each supply conveyor, but only that of the package in question. This device also comprises a plate feeding system 77 or intermediate plate fed by a central magazine 79 provided with a lift truck 80 vertical known per se. Figs. 12A, 12B and 12C show some of the intermediate loading steps (1, 5, 8, 11, 14, 19, 23, 26, 29, 32, 35, 39, 42, 45) of a pallet to illustrate the filling the bottom forward taking into account the storage capacity of packages relative to each other. It is no longer a storage layer, but successive piles / layers, the packages being alternately placed by the robots. It goes without saying and as it also follows from the foregoing, the present invention is not limited to the more specifically described embodiments. On the contrary, it encompasses all the variants and in particular those where the pallet is not released at the loading station by the displacement of the carriage 28, but by retractable rails 10 on which the pallet has been placed. Also the package loading station comprising two rails for lateral support of the edges of a pallet, it retracts said rails to allow the descent of the pallet by the forklift. 15
    权利要求:
    Claims (17)
    [0001]
    REVENDICATIONS1. Device (1) for stacking parcels (2, 2 ', ...) of different sizes on a pallet (3), comprising means (10) for feeding an empty pallet, means (5, 6 ) loading said pallet empty to a loading station (13) and means (31) for discharging the pallet after loading, characterized in that it comprises a station (11) waiting for the empty pallet and fed to a first level (9) said upper level, horizontal pushing means of the empty pallet from the waiting station (11) to the loading station (13), and means (32) of vertical displacement of the pallet ( 3) comprising an elevator (33) arranged to grab the pallet from below at the loading station (13) and move it vertically downwards during loading between the first level (9) and a last level (29) said lower level, discharging the loaded pallet (30).
    [0002]
    2. Device according to claim 1, characterized in that the pallet feeding means comprise a support support support of the pallet movable horizontally between a retracted position of support of a new pallet, an intermediate position to the post a stand and a position at the loading station, said support being arranged to allow gripping from below, then after removal of said support, removal of the pallet by the elevator from below.
    [0003]
    3. Device according to any one of the preceding claims, characterized in that the loading means are arranged to load a first series (41) of packages (2, 2 ', ...), and then once said pallet gripping achieved, begin the vertical movement by allowing the packages to stack on the first series (41) by loading the pallet with loading level (44) constant or substantially constant.
    [0004]
    4. Device according to claim 3, characterized in that the loading means comprise at least one plate (38, 39) vertical blocking and lateral guiding packages (2, 2 ', ...) during their loading to form a vertical stack of parcels framed on at least a first level.
    [0005]
    5. Device according to any one of the preceding claims, characterized in that it comprises means (45) for coating the pallet with a plastic film as the vertical movement downwards of the loaded pallet.
    [0006]
    6. Device according to claim 5, characterized in that the means (32) of vertical displacement of the pallet being loaded comprise means (4) for controlling the descent of the pallet by steps of a given height, and the coating means (45) are arranged to coat by said plastic film the portion of parcels stacked opposite said height, before going down a next step.
    [0007]
    7. Device according to any one of the preceding claims, characterized in that it comprises means (4) for calculating and a memory arranged to host a database containing the characteristics of packages of different sizes to stack, dimensions, weight and ability to rank relative to each other, said calculation means being suitable for determining a particular storage order and spatial positions for packages to be stacked on said pallet from the contents of said database.
    [0008]
    8. Device according to any one of the preceding claims, characterized in that it comprises means for loading interlayer plates on the package piles being loaded.
    [0009]
    9. Device according to any one of the preceding claims, characterized in that the loading means comprise at least two robotic arms (5, 6) working alternately with each other.
    [0010]
    10. Device according to claim 9, characterized in that each arm (5, 6) is equipped with a gripper (7) fork (24) lower package support and a clamp (24 ') upper clamping blocking pressure of the package against the lower fork.
    [0011]
    11. A method of stacking packages of different sizes on a pallet, characterized in that it comprises the following steps: (i) bringing (61) an empty pallet (3) to a waiting station (11) located at a first level (9), (ii) the pallet (3) of the holding station (11) is moved horizontally to a loading station (13), (iii) it is started (63) to stack parcels on the pallet at said loading station, (iv) a lift truck (33) is moved vertically (64) and the pallet (3) is grasped from below at the loading station (13), (v) is continued (65) stacking the packages on the pallet by maintaining a level (44) of constant or substantially constant loading by vertical displacement (43) of the pallet being loaded between the first level (9) and a second level (48) corresponding to the complete stacking of the pallet, (vi) a next pallet (3 ') having been brought (66) to the waiting station (11), the pallet is lowered (67) first loaded at an evacuation station and simultaneously brings (61) said next pallet to the loading station (13), then steps (iii) to (vi) are repeated with said following pallet.
    [0012]
    12. The method of claim 11, characterized in that, the pallet is placed at the loading station by horizontal movement of a perforated support support of the periphery of the pallet, the pallet is lifted from below to release the support , we remove the perforated support and the pallet is lowered during loading.
    [0013]
    13. Method according to any one of claims 11 and 12, characterized in that the characteristics of the packages (2, 2 ') of different sizes to stack, dimensions, weight and capacity to rank with respect to each other, being stored in a database, a particular storage order and the spatial coordinates of the parcels to be stacked on the pallet are determined accordingly and said stacking is performed in said particular order and with said spatial positions from said data.
    [0014]
    14. Process according to any one of Claims 11 to 13, characterized in that the descent of the pallet being loaded is controlled by steps of a given height and the pallet is coated (64) with a plastic film. in parcel on a height opposite before 10 going down a next step.
    [0015]
    15. Method according to any one of claims 11 to 14, characterized in that the packages are loaded with at least two robotic arms (5, 6) in parallel from a single feed conveyor provided with a package distribution system with two separate gripping stations respectively assigned to each of the robots.
    [0016]
    16. Method according to any one of claims 11 to 15, characterized in that at least one plate is loaded on the packages before continuing and / or finishing the loading of the pallet.
    [0017]
    17. Method according to any one of claims 11 to 16, characterized in that a first rear portion of the pallet is loaded on a first height, before a front part, and so on on a second height up to a second. nth height corresponding to the total filling of the planned loading. 30
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    FR2587311A1|1987-03-20|Method and installation for automatic handling and temporary storage of stacked packets of semi-finished sheet products
    WO2018122568A1|2018-07-05|Robotised palletisation
    EP3720794A1|2020-10-14|Production of batches of products for palletizing in layers
    FR2773551A1|1999-07-16|Pallet magazine for fork lift truck
    WO2021084009A1|2021-05-06|Palletisation and depalletisation system and method
    EP3595991A1|2020-01-22|Production of batches of products for palletizing in layers
    EP3710387A1|2020-09-23|Robotised palletisation device provided with a separator store
    FR3070681A1|2019-03-08|TRANSFERRING A BATCH OF PRODUCTS BETWEEN A TRAY AND THE TOP OF AT LEAST ONE PALLET
    EP3257795A1|2017-12-20|Provision of cut-outs
    FR3055890A1|2018-03-16|DEVICE AND METHOD FOR GROUPING AND TRANSFERRING PALLET BOXES OF BATCHED PRODUCTS
    FR2665149A1|1992-01-31|METHOD FOR PROTECTING A LOAD PLACEMENT PLAN AND DEVICE FOR IMPLEMENTING SAID METHOD.
    FR2832393A1|2003-05-23|Palletizing machine for stacks or parcels of books has carriage with removable base, on to which books are fed, vertical bar mounted on horizontal rail pushing carriage to position above pallet
    同族专利:
    公开号 | 公开日
    ES2703675T3|2019-03-12|
    EP3227189B1|2018-09-26|
    FR3029174B1|2018-10-05|
    WO2016087760A1|2016-06-09|
    EP3227189A1|2017-10-11|
    引用文献:
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    US3844422A|1969-12-29|1974-10-29|I Smith|Pallet loading machine|
    US4058225A|1976-02-02|1977-11-15|Bernt Owe Janson|Method for loading a layer of goods on a movable supporting means and a pallet loader for carrying out the method|
    FR2436727A1|1978-09-22|1980-04-18|Laessig Foerdertech Hamburg|Pallet loading system for packets or sacks - has horizontal roller track and two comb-shaped horizontal platforms adjustable in both horizontal and vertical directions|
    US4778323A|1985-09-13|1988-10-18|Besser Company|Bag palletizing system and method|
    EP0999156A1|1998-11-03|2000-05-10|Nedpack|Apparatus and method for automatic stacking of products on a pallet|
    JPH10120178A|1996-10-17|1998-05-12|Okuma Mach Works Ltd|Loading device|
    US5908283A|1996-11-26|1999-06-01|United Parcel Service Of Americia, Inc.|Method and apparatus for palletizing packages of random size and weight|
    DE10313577B4|2003-03-26|2009-01-08|Witron Logistik + Informatik Gmbh|Automated system and method for storing and picking articles|
    WO2010059923A1|2008-11-21|2010-05-27|Dematic Corp.|Stacking apparatus and method of multi-layer stacking of objects on a support|
    DE102009011294B4|2009-03-02|2020-12-24|Kuka Roboter Gmbh|Palletizing of packages using a manipulator|
    DE102009011296B4|2009-03-02|2021-11-25|Kuka Roboter Gmbh|Loading a loading device with packages|
    DE102009003564A1|2009-03-04|2010-09-09|Krones Ag|System, method and operating unit for creating mixed layers for pallets|
    DE102010060327A1|2010-11-03|2012-05-03|Dematic Gmbh|Manual method and apparatus for loading a load carrier with articles|
    NL2005765C2|2010-11-26|2012-05-30|Vanderlande Ind Bv|DEVICE FOR PROVIDING A PRODUCT TO A MANIPULATOR AND A SYSTEM AND A METHOD FOR AUTOMATED LOADING A CARRIER.|
    JP5633500B2|2011-11-04|2014-12-03|株式会社安川電機|Cargo handling device and cargo handling method|
    DE102012106111A1|2012-07-06|2014-01-09|Dematic Gmbh|Device for multilayer stacking a pad|
    NL2009808C2|2012-11-14|2014-05-15|Vanderlande Ind Bv|METHOD FOR AUTOMATICALLY ACCORDING TO COLLECTION ORDERS FROM A WAREHOUSE ON A CARRYER AT THE PLACE OF A COLLECTION LOCATION OF PRODUCTS.|CN109775376B|2018-12-29|2021-07-23|上海新时达机器人有限公司|Robot unstacking method for irregular random materials|
    WO2020178625A1|2019-03-05|2020-09-10|Grupo Bimbo S.A.B. De C.V.|Automated system for handling containers with product loading|
    DE102019113129B4|2019-05-17|2021-12-30|Illinois Tool Works Inc.|PACKAGING MACHINE FOR ARRANGING ELEMENTS, PREFERABLY CARTONS, ON PALLETS, AND METHOD FOR DOING THIS|
    CN113415638B|2021-08-23|2021-11-19|烟台杰力自动化设备有限公司|Automatic wood stacking processing production line|
    法律状态:
    2015-12-16| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-03| PLSC| Publication of the preliminary search report|Effective date: 20160603 |
    2016-12-06| PLFP| Fee payment|Year of fee payment: 3 |
    2017-12-04| PLFP| Fee payment|Year of fee payment: 4 |
    2019-11-20| PLFP| Fee payment|Year of fee payment: 6 |
    2020-11-20| PLFP| Fee payment|Year of fee payment: 7 |
    2021-11-18| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1461716A|FR3029174B1|2014-12-01|2014-12-01|DEVICE AND METHOD FOR STACKING PACKAGES OF DIFFERENT SIZES.|
    FR1461716|2014-12-01|FR1461716A| FR3029174B1|2014-12-01|2014-12-01|DEVICE AND METHOD FOR STACKING PACKAGES OF DIFFERENT SIZES.|
    ES15817456T| ES2703675T3|2014-12-01|2015-11-30|Device and procedure for stacking packages of different sizes|
    PCT/FR2015/053266| WO2016087760A1|2014-12-01|2015-11-30|Device and method for stacking packages of different sizes|
    EP15817456.5A| EP3227189B1|2014-12-01|2015-11-30|Device and method for stacking packages of different sizes|
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