• 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:
    Method for handling parcels (20) of parallelepipedal general shape capable of being stored on a support surface in the state adjoined by its rear face and by one (205) of its lateral faces, said first lateral face (205) , with a third surface. Said method comprises: - a step of moving the package (20) in the direction, a lateral offset of the front (203) of said package (20) relative to the adjacent third surface, or a lifting of the facade (203) of said package (20) relative to the support surface, by means of a spreader (3) positionable in contact with the freely accessible surface of said package (20) to create a space (21) between the package ( 20), and the adjacent third surface, or the support surface of said package (20), and - a step of introducing a transfer member (8) into the space (21) created using the spacer (3).
    公开号:FR3041947A1
    申请号:FR1559515
    申请日:2015-10-06
    公开日:2017-04-07
    发明作者:Pascal Denoel；Olivier Ruelle；Franck Blot；Gilles Riboulet
    申请人:Sapelem SAS；
    IPC主号:
    专利说明:

    The present invention relates to a method and a load handling device, called a package.
    It relates more particularly to a method and a device for handling parcels of generally parallelepiped shape, each package comprising a top face, a bottom face, a front face or facade, a rear face and two side faces connecting the front and the rear face, said package being able to be stored on a support surface, in the state attached by its rear face to a third surface, said rear, such as a first package or a wall and by one of its faces lateral said first side face, to a third surface, said side, such as another package, and to have a freely accessible surface in the form of the front face and / or the top and / or the opposite side face, called second side face to the first side face of the package.
    Each package may correspond to one and the same object stored in the unit, such as for example a bulk material storage bag, or to a batch of objects, such as for example a batch of boxes, the objects being able to be identical or different within the same batch. The result is packages that can be more or less flexible and whose faces can be full or formed full and empty. The difficulty lies in the handling of such packages, which are frequently stored in pallets and must be destocked. It is generally impossible to take them by the single face of the top and simply lift them, because of the heterogeneity of the face of the top and the lack of existence of universal gripper. The absence of two parallel free faces generally makes handling difficult.
    To solve this problem of manipulation, it has been imagined to manipulate products by tilting, as illustrated by the European patent EP 1 656 314. However, some packages are fragile, and the switchover generates a significant risk of damage or loss a product of the lot.
    An object of the invention is therefore to provide a method and a handling device of the aforementioned type, whose designs allow the handling of any type of package, while limiting the risk of damage to the package. For this purpose, the subject of the invention is a load handling method, called a parcel, of parallelepipedal general shape comprising a top face, a bottom face, a front face or facade, a rear face and two lateral faces connecting the facade and the rear face, said package being able to be stored on a support surface in the state attached by its rear face and by at least one of its lateral faces, said first side face, to at least one third surface, such as a wall or another package, and to have a freely accessible surface in the form of the front face and / or the top and / or the lateral face, said second side face, opposite to the first side face of the package characterized in that said method comprises: - a step of moving the package in the direction, a lateral offset of the front of said package relative to the adjacent third surface, or a lifting of the facade said package relative to the support surface, using a member called positionable spacer in contact with the freely accessible surface of said package to create a space between the package, and the adjacent third surface, or the support surface of said package, and a step of introducing a transfer member, into the space created using the spacer, and positioning said transfer member in bearing contact against the first accessible side face or the face. from below said package.
    Thanks to the invention, the handling of a flexible or rigid package free of two parallel free surfaces and having a freely accessible surface formed at most of the front face and / or the face of the top and / or the second side face the package is no longer a problem. The two-step handling of the package, by first making one of the faces of the package accessible before contact of said face with a transfer member allows subsequent handling of the package easier. The design of the spacer makes it possible to make the underside or the first lateral face of the package previously contiguous to the lateral face of another package or of another surface, such as a wall, accessible.
    Preferably, said method comprises a step of positioning an auxiliary transfer member opposite the second side face of the package.
    The presence of this auxiliary transfer member allows in particular, in the positioned state of the transfer member in bearing contact against the first side face made accessible of the package, a catch of the package between the transfer member and the auxiliary transfer member acting as jaws.
    Preferably, the step of positioning an auxiliary transfer member operating before the step of moving the package with the aid of the spacer, the step of moving the package in the direction of a lateral shift the facade of said package with respect to an adjacent third surface, such as the lateral face of an adjacent package, using said positionable spacer in contact with the freely accessible surface of said package to create a space between the package and the surface adjacent third operates until positioning of the second side face of the package, in bearing contact against the auxiliary transfer member forming limit stop and, at the end of the step of introduction of the transfer member in the space created using the spacer and positioning said transfer member in bearing contact against the first side face made accessible from said package, said package is positioned between e the transfer member and the auxiliary transfer member. The use of the auxiliary transfer member both as an abutment member and as a transfer member results in a simplification of the method and the associated device.
    Preferably, said method comprises, after the step of positioning said transfer member in bearing contact against the first side face made accessible of said package, a step of moving drive by lifting the package with the aid of the transfer member and the auxiliary transfer member in bearing contact with the side faces of the package they frame.
    Preferably, the method comprises, before the step of moving the package in the direction of a lateral offset of the facade with respect to the lateral face of an adjacent package, a step of determining the position of at least one part of the freely accessible surface of the package.
    Preferably, the step of moving the package in the direction of a lateral offset of the facade with respect to the adjacent third surface, such as the lateral face of an adjacent package, is effected by pivoting the package around a so-called vertical axis substantially perpendicular to the support surface of the package by means of the positionable spreader in contact with the freely accessible surface of said package formed by the front of the package, preferably the vertical half of the front of the package adjacent to the second side of the package.
    This vertical axis about which the package is rotatable generally extends near the corner of the package formed by the rear face and the second side face of the package, and is frequently formed by the top of said corner.
    Preferably, the spacer is a rotary member and the step of moving the package in the direction of a lateral offset of the facade with respect to the adjacent third surface, such as the lateral face of an adjacent package, operates by means of said positionable spacer in contact with the freely accessible surface of said package, preferably the front of the package, by frictional contact between the spacer and said facade. This results in a safer move.
    Preferably, the spacer and the transfer member are formed by the same rotary member, and said method comprises, after the step of moving the package in the direction of a lateral shift of the facade with respect to the third surface adjacent, such as the lateral face of an adjacent package, with the aid of said positionable spacer in contact with the freely accessible surface of said package, and before the step of introducing the transfer member into the created space using the spacer and positioning said transfer member in bearing contact against the first side face made accessible of said package, a tilting step of the rotary member constituting the spacer and the organ transfer device for the passage of said rotary member of the spacer configuration in which the axis of rotation of said rotary member extends perpendicularly to the support surface of the package to the transfer member configuration t in which the axis of rotation of said rotary member is inclined from a high point close to the rear face of the package to a low point close to the front of the package for a displacement in the sense of lifting the package, to the positioned state of the rotary member forming the transfer member in bearing contact against the first side face made accessible of said package. Again, the versatility of the rotatable member capable of forming both the spacer and the transfer member allows simplicity of all. As a result, the spacing, like the transfer, takes place by frictional contact between the rotary member constituting the spacer or the transfer member, and a face of the package.
    Preferably, the method comprises a step of determining the position of the created space before introduction of the transfer member in said space. This determination step can be performed by detection and / or calculation.
    Preferably, said method comprises a step of taking up the package with the aid of an endless conveyor belt that can be positioned in the space left free between the transfer member and the auxiliary transfer member. The invention also relates to a load handling device, called parcel, of parallelepipedal general shape and comprising a top face, a bottom face, a front face or facade, a rear face and two side faces connecting the facade and the rear face, said package being able to be stored on a support surface in the state joined by the rear face and by one of its lateral faces said first side face with a third surface, such as a wall or another package, and to have a freely accessible surface in the form of the front face and / or the top and / or the side face said second side face opposite to the first side face of the package, characterized in that said device comprises mounted on a support frame: - a member intended to come into contact with the freely accessible surface, preferably the front face, of the package and called spacer, - driving means in placement of the spacer, - a transfer member, - drive means in displacement of the transfer member, - a control unit, said control unit being configured to control the drive means in displacement of the spreader so as to bring the spacer into contact with the freely accessible surface of the package and, in the positioned state of the spacer in contact with the freely accessible surface of the package, move the package in the direction of a lateral shift the facade of said package relative to the adjacent third surface, such as the side face of an adjacent package, or a lifting of the front of said package relative to the support surface, to create a space between the package, and the adjacent third surface, or the support surface of said package, this control unit being further configured to control the moving drive means of the transfer member so as to introduce uire the transfer member in the space created using the spacer, and to position the transfer member in bearing contact against the first side face or the bottom face made accessible from said package. Again, the presence of a spacer and a transfer member makes handling easy, due to the presence, after the action of the spacer, two free parallel faces on said product.
    Preferably, the displacement drive means of the spacer comprise drive means in displacement on itself of the spacer and drive means in displacement of the spacer between at least two positions at least for moving said spacer between a position in contact with the package and a position away from the package. The spacer is therefore a rotary member. It is thus possible to obtain a displacement of the package by frictional contact between the spacer and a face, preferably the front of the package.
    Preferably, the retractor is an endless loop band, and the means for moving the retractor on itself include at least two rollers around which the endless band is wound, at least one rollers being a motorized roller and the axes of rotation of the rollers extend in a so-called vertical plane substantially perpendicular to the ground support plane of the support frame in the configuration of use of the spacer.
    This configuration of the axes of rotation of the rollers which extend in a substantially perpendicular plane, that is to say perpendicular to more or less ten degrees, to the ground support plane of the support frame, allows easy movement to pivoting of the package around a vertical axis perpendicular to the support surface of the package, in particular when the contact between the spacer and the package is at the vertical half of the front of the package adjacent to the second side of the package .
    Preferably, the displacement drive means of the spacer between at least two positions comprise, on the one hand, a movable plate carrying said spacer, said plate being mounted on said mobile support frame up and down and in one direction so-called horizontal, perpendicular to the direction of rise and fall, on the other hand, drive means moving said spacer on the plate in a direction perpendicular to the directions of horizontal movement and up and down said movable plate.
    Preferably, the device comprises an auxiliary transfer member and displacement drive means of said auxiliary transfer member.
    Preferably, the auxiliary transfer member has a protruding portion of the spacer, in the mounted state of the spacer and the auxiliary transfer member on said support frame, this portion projecting from said auxiliary transfer member being able to form a limit stop of the package in the positioned state of the spacer in bearing contact on the front of said package. The transfer member is thus a versatile member, able to form both an end stop and a transfer member.
    Preferably, the transfer member and the auxiliary transfer member have, in the mounted state on the support frame, at least one configuration in which they extend opposite one another in the manner of jaws, and are through their moving drive means, adapted to be mounted movable in the direction of a rapprochement and a spacing from one another. This configuration can allow easy movement of the package.
    Preferably, the transfer member and the auxiliary transfer member are rotary members and have at least one configuration in which they are each mounted on the support frame rotated about an axis inclined from a high point away from the frame support towards a low point close to the support frame to allow in the bearing contact position of the transfer member and the auxiliary transfer member against the lateral faces of the package a displacement, in the direction of a lifting of said package.
    The transfer of the package from one position to another can thus be effected by frictional contact between the package and the transfer member and the auxiliary transfer member, while generating during this contact, a lifting action. parcel to help the package to cross for example the nose of a tray on which the package must be brought.
    Preferably, the transfer member and the auxiliary transfer member are each formed by an endless loop band.
    The displacement drive means of the transfer member or the auxiliary transfer member respectively comprise means for moving said device itself and means for moving said member between at least two members. positions, at least for the displacement of said member between a position in contact with the package and a position away from the package, in that the drive means moving on itself of the transfer member or the organ of auxiliary transfer comprise at least two rollers around which the constituent strip of said organ winds endlessly, at least one of the rollers is a motorized roller, and in that the axes of rotation of the rollers extend, in a configuration of use of said member, in a so-called vertical plane substantially perpendicular to the ground support plane of the support frame forming with said support plane on the ground of the frame, an English e configured to allow displacement by lifting the package in the enclosed state of the side faces of the package between the transfer member and the auxiliary transfer member forming jaws.
    Preferably, the spacer and the transfer member are common and formed by the same member, preferably rotatable.
    This rotary member is adapted to be rotated about a rotation axis of variable orientation, in particular with adjustable inclination for the passage of said rotary member from the spacer configuration to the transfer member configuration, depending on the orientation of said axis.
    Preferably, the device comprises means for determining the position of at least a portion of the freely accessible surface of the package and the control unit is configured to control the drive means in displacement of the spacer, and of the auxiliary transfer member when present, according to the data provided by the position determining means.
    In particular, the control unit is configured to control the drive means in displacement of the spacer, so as to allow positioning of the spacer in bearing contact on the front of the package and to control the means of displacement drive of the auxiliary transfer member, so as to allow positioning of the auxiliary transfer member opposite the second side face of the package.
    The device comprises, in particular, means for determining the position of the front of the package to be handled, and the control unit is configured to control the moving drive means of the spacer according to the data provided by said means for determining a position, so as to bring the spacer in contact with the front of the package, preferably with the vertical half of the front of the package adjacent to the freely accessible face of the package.
    Preferably, the device comprises means for determining the position of the space created by the spacer. The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which: FIG. 1 represents a perspective view of a handling device according to the invention before manipulation of the packages to handle. FIG. 2 represents a perspective view of the handling device of FIG. 1 during the step of feeding the retractor of the device in bearing contact with the front of the package and the auxiliary transfer member in FIG. look at the second side of the package. FIG. 3 represents a view from above of the handling device during the course of moving the package by the spacer in contact with the front of the package, in FIG. view of creating a space between the first side face of the package and the side face of the adjacent package. - Figure 5 shows a top view of the handling device in a position of the transfer member ready to be introduced into the space between the first side face of the package and the side face of the adjacent package. - Figure 6 shows a perspective view of the rotary member constituting the spacer and the transfer member during the passage of said rotary member of the spacer configuration to the transfer member configuration. - Figure 7 shows a perspective view of the handling device illustrating the passage of the rotary member constituting the spacer of the spacer configuration to the transfer member configuration. FIG. 8 represents a view from above of the handling device in the introduced state of the transfer member in the space created between the first lateral face of the package and the lateral face of the adjacent package. FIG. 9 represents a perspective view of the handling device of FIG. 8. FIG. 10 represents a view from above of the device in the disposed state of the package between the transfer member and the auxiliary transfer member. - Figure 11 shows a perspective view of a handling device at the end of transfer of the package, after recovery of the package by a conveyor belt integrated in the receiving tray of the package.
    As mentioned above, the manipulation device 1 object of the invention allows the handling of loads called parcels 20, generally parallelepiped shape.
    Each package 20, which may correspond to an object stored in the unit or several objects stored in a batch, comprises a top face 201, a bottom face 202, a frontage 203, a rear face 204 and two side faces 205, 206 connecting the facade 203 and the rear face 204.
    The package 20 is able to be stored on a support surface 207 in the state of its rear face 204 with a first package or a wall or any other third surface called said third rear surface and one of its lateral faces called first lateral face 205 to a second package, in particular to the lateral face of this package, or to a wall or to any other third surface, said third surface, lateral or adjacent, so that said package to be handled presents at most one accessible surface comprising the face before 203, the top face 201 and the second side face 206 opposite the first side face 205, excluding two faces parallel to each other.
    To allow easy handling of such a package 20, the device therefore comprises a support frame 2 having a ground support plane 17 and, mounted on said support frame 2, a spacer 3 adapted to come into contact with the frontage 203 of the package 20, means 4, 5 for moving the spacer 3, a transfer member 8, means 9, 10 for moving the transfer member 8 and a control unit 16.
    In the example shown, the device 1 further comprises an auxiliary transfer member 11 and moving means 12, 13 for moving said auxiliary transfer member 11.
    In the example shown, the spacer 3 is a rotary member and the drive means 4, 5 in displacement of the spacer 3 comprise drive means 4 in displacement on itself of the spacer 3 and means 5 for moving the spacer 3 between at least two positions at least for moving said spacer 3 between a position in contact with the package 20 and a position away from the package 20.
    In particular, the spacer 3 is a band 31 in endless loop and the drive means 4 in displacement on itself of the spacer 3 comprise two rollers 41 around which the endless band 31 is wound. One of the rollers 41 is a roller driven in rotation by means of a motor 42, this motor 42 being connected to said roller 41 by a belt transmission 43 for transmitting the rotational movement of the motor shaft 42 audit roll 41.
    The axes XX 'of rotation of the rollers 41 extend in a so-called vertical plane substantially perpendicular to the ground support plane 17 of the support frame 2 in the configuration of use of the spacer 3. By substantially perpendicular, is meant perpendicular to more or less 10 degrees.
    The drive means 5 for moving the spacer 3 between at least two positions comprise, on the one hand, a movable plate 51 carrying said spacer 3, said plate 51 being mounted on said mobile support frame 2 in upward and downward movement and following a so-called horizontal direction perpendicular to the direction of rise and fall, on the other hand means 541, 542 for moving said spacer 3 on the plate 51, in a direction perpendicular to the directions of horizontal movement and up and down the mobile tray 51.
    Said spacer 3 forms with the rollers 41 around which the spacer strip wraps, an assembly coupled to the plate 51 by a connecting piece 19.
    In the example shown, the support frame 2 has the shape of a mast resting on a floor plate. The underside of this plate forms the ground support plane 17 of the support frame 2.
    The plate 51 is mounted to move up and down along the support frame 2 by sliding along the mast using means 52 for driving up and down formed here by a winch disposed at the top of the mast and whose cable is fixed indirectly to said plate to allow upward and downward movement of the plate depending on the winding or unwinding of the cable. Of course, other means of driving up and down the plateau could have been envisaged, without departing from the scope of the invention.
    The plate 51 is connected to the mast of the support frame 2 by an arm perpendicular to the mast and coupled by meshing with a slider of the mast for a movement of the arm in a direction perpendicular to the mast. This meshing forms the drive means 53 for moving the plate in a so-called horizontal direction of the plate. Again, this meshing system which incorporates a motorized rotary gear, could have been replaced by any other type of actuator, such as cylinder or others, to allow a horizontal movement of said plate. The spacer 3 is further mounted on said movable plate 51 in a direction perpendicular to the directions of horizontal movement and up and down of the movable plate, namely in a direction parallel to said longitudinal edge of the plate 51 of which the spacer 3 is partially projection.
    The displacement drive means of said spacer 3 along this direction parallel to the longitudinal edge of the plate 51 are here formed by a worm 541 carried by the plate and a nut 542 fixedly mounted at the connecting piece 19 between the plate 51 and the assembly formed by the spacer 3 and the drive means 4 in displacement of the spacer 3 on itself.
    The motorized worm 541 and the nut 542 thus allow a linear displacement of the assembly formed by the spacer and its drive means 4 moving on itself.
    As mentioned above, the device further comprises a transfer member 8 and an auxiliary transfer member 11.
    In the example shown, the transfer member 8 and the auxiliary transfer member 11 are also each formed by a loop 81, 111 in an endless loop.
    The drive means 9, 10 for moving the transfer member 8 or 12, 13, respectively, of the auxiliary transfer member 11 comprise means 9, 12 for moving said unit and said means 10, 13 for moving said member 8, 11 between at least two positions for moving said member between a position in contact with the package 20 and a position away from the package 20.
    The means 9, 12 for moving the transfer member 8 or the auxiliary transfer member 11 on itself comprise at least two rollers 91, 121 around which the band 81, 111 constituting said member 8, It wraps endlessly. The roller 91 is a motorized roller using the motor 92 coupled to said roller by an endless transmission 93.
    The roller 121 is likewise a motorized roller using the motor 122 coupled to said roller by an endless transmission 123.
    The axes YY 'of rotation of the rollers extend, in the configuration of use of the transfer member 8 and the auxiliary transfer member 11, in a so-called vertical plane substantially perpendicular to the ground support plane of the frame support 2 forming with said frame support plane on the ground an angle configured to allow movement by lifting the package in the enclosed state of the lateral faces of the package between the transfer member and the auxiliary transfer member forming jaws . This angle, represented in a in the figures, is generally between 15 ° and 45 °.
    As the transfer member 8 and the auxiliary transfer member 11 are carried by the mobile plate 51 carrying the spacer 3, a portion of the means 10 for moving the transfer member 8 between two positions and a part of the moving drive means 13 of the auxiliary transfer member 11 between two positions are formed by said movable plate 51.
    The drive means 10 for moving the transfer member 8 between at least two positions further comprise a worm assembly 101 / nut 102 similar to that described above for the spacer, the screw 101 being merged with the screw 541 and nut 102 with nut 542.
    The drive means 13 for moving the auxiliary transfer member 11 between at least two positions comprise a worm assembly 131 carried by the plate 51 and extending parallel to the screw 541 or the screw 101. and a nut 132 carried by a connecting piece of the assembly formed by the auxiliary transfer member 11 and its drive means 12 moving on itself to said plate, for a movement back and forth of the body 11 of auxiliary transfer in a direction parallel to the longitudinal edge of the plate 51, similarly to the spacer 3 and the transfer member 8.
    Because the transfer member 8 and the auxiliary transfer member 11 extend opposite one another in the state mounted on the support frame 2 and in particular in the state coupled to the plate 51 mobile extending protruding from the same longitudinal edge of the plate, these bodies form the equivalent of jaws movable by their drive means, in particular the worm / nut system described above, in the sense of a rapprochement and a separation from one another. The spacer 3 and the transfer member 8 form a single rotary member, since the band 31 of the spacer is also the band 81 of the transfer member 8.
    Likewise, the means 4 for driving the self-displacement of the spacer form the drive means 9 in displacement on itself of the transfer member 8. Thus, the rollers shown at 41 for the spacer or at 91 for the transfer member 8 are common.
    This roller / strip assembly forms an assembly pivotally mounted relative to the support frame 2 about an axis 6, parallel to the ground support plane 17 of the support frame 2 and parallel to the longitudinal edge of the platform of the spacer 3 and the transfer member 8 protrude, for the passage of said set of spacer configuration in which the axes of rotation of the rollers extend perpendicularly to the ground support plane of the support frame and the running direction of the band s extends parallel to the ground support plane of the support frame, to the transfer member configuration in which the rollers extend inclined relative to the ground support plane of the frame with a high point remote from the plate 51 or the support frame 2 and a low point close to the support frame 2 or the plate 51, and the running direction of the band is inclined to generate a movement in the direction of a penny. removal of the package when the transfer members 8 and 11 auxiliary transfer are in contact with the side support of the package they frame. This transition from one configuration to another is illustrated in particular in FIG.
    The pivotal movement is obtained using a jack 7 disposed at the part 19 of connection between plate 51 and spacer 3 or 8 transfer member.
    It is also noted that the auxiliary transfer member 11 has a portion 112 projecting from the spacer 3 in the mounted state of the spacer and the auxiliary transfer member 11 on said support frame 2, this part 112 being protrusion of said auxiliary transfer member 11 being able to form a limit stop of the package 20 in the positioned state of the spacer 3 in bearing contact on the front 203 of said package 20, as will be described hereinafter .
    The device further comprises means 14 for determining the position of at least a portion of the freely accessible surface of the package 20 and the control unit 16 is configured to control the drive means 4, 5 in displacement of the spacer 3 and 12, 13 of the auxiliary transfer member 11, according to the data provided by the position determination means 14 to allow positioning of the spacer 3 in bearing contact on the front 203 of the package 20 and the auxiliary transfer member 11 facing the second side face of the package.
    The device comprises, in particular, means 14 for determining the position of the frontage 203 of the package 20 to be handled, and the control unit 16 is configured to control the drive means 4, 5 in displacement of the retractor according to the data provided by said position determining means, so as to bring the spacer into contact with the facade 203 of the package 20, preferably with the vertical half of the frontage 203 of the package adjacent to the freely accessible lateral face 206 of the package parcel.
    Similarly, the device comprises means 14 for determining the position of the second lateral face 206 of the package and the control unit 16 is configured to control the means 12, 13 for moving the transfer member 11 auxiliary, so as to bring the auxiliary transfer member 11 facing the second side face 206 of the package.
    In the example shown, these means 14 for determining at least a portion of the freely accessible surface of the package comprise an image sensor, such as a camera. These means for supplying input data to the control unit could have been equivalently formed by a data input interface called the man / machine interface and / or a predefined data storage memory. Thus, the man / machine interface could have included a tactile keyboard and / or a screen for the introduction of data representative of the position of the freely accessible surface of the package to be handled.
    Similarly, the control unit 16 comprises electronic processing means and / or data processing, such as a microprocessor, associated with a working memory. When the expression "the control unit is configured for" is used, it means that the microprocessor includes instructions for performing the action. The control unit 16 further comprises, in a manner known per se, means for transmitting control signals towards the moving drive means of the transfer member 8 or the auxiliary transfer member 11 or of the spacer 3. The control unit 16 may be formed of one or more modules. In the case of several modules, each module can be dedicated to an element of the device or not.
    As will be described hereinafter in the description of the operation of the device, the spacer 3 is able to create, during its operation, a displacement of the package generating a space 21 between the package 21 and an adjacent package. This space 21 can be detected. For this purpose, the device comprises means 15 for determining the position of the space 21 created by the spacer 3. These means 15 for determining the position are here formed by a position sensor mounted integral with the displacement in va and comes from the spacer along the longitudinal edge of the plate 51 of which the spacer 3 protrudes. This position sensor is an infrared sensor which detects a vacuum when the spacer 3 is moved along the plate 51, as will be described hereinafter.
    The data provided by the sensor is sent to the control unit 16 which is configured to, from said data, drive the moving drive means of the transfer member 8.
    In practice, the operation of the device is therefore as follows: the position of the facade 203 and the second side face 206 of the package are determined using for example the image sensor such as a camera. The control unit 16 therefore drives the drive means in displacement of the spacer 3 and the auxiliary transfer member 11 and in particular the displacement of the movable plate 51 to bring into contact the constituent strip of the spacer 3 with the facade of the package to be handled and the constituent band of the auxiliary transfer member 11 opposite the second side face of the package, as shown in Figure 2, from the data provided by the image sensor.
    This bearing contact between the rotating strip of the spacer and the front of the package takes place at the area of the strip formed by the connecting portion of the strip between the forward strand of the strip and the return strand of the strip. the band. This bearing contact generates a lateral shift of the front of the package, as shown in FIG. 3. This lateral offset causes the creation of a space 21 between the first lateral face 205 of the package and the adjacent lateral third surface formed here by the side face of the adjacent package. This lateral shift takes place to a position in contact with the second side face 206 of the package against the protruding portion 112 of the auxiliary transfer member 11, this protruding portion 112 forming a limit stop of the package.
    Note that in this position as shown in Figure 4, the constituent band of the auxiliary transfer member 11 does not rotate. The spacer 3 and the auxiliary transfer member 11 are, via the movable plate 51, driven in displacement in the direction of a spacing of the package and the spacer 3 is, via its worm and nut, separated from the auxiliary transfer member 11 to come to be positioned opposite the space 21 created. This space 21 is marked with the aid of the fixed position sensor 15 traveling back and forth from the spacer 3.
    In the position in which the spacer 3 is opposite the space 21, as illustrated in FIG. 5, the configuration of the rotary member constituting the spacer is modified to switch to the transfer member configuration at the using the cylinder 7. The transfer member 8 and the auxiliary transfer member 11 are, via the movable plate 51 controlled by the control unit 16, driven in displacement in the direction of a bringing the package up to a position in which they frame the package and are in bearing contact against the side faces of the package.
    In this position, the rotational drive of the constituent strips of said transfer members 8, 11 causes the parcel to advance between said members, until it is brought onto a conveyor belt integrated in the plate 51. This conveyor belt takes the relay of the transfer organs and ensures the continuation of the transport of the package.
    权利要求:
    Claims (18)
    [1" id="c-fr-0001]
    1. Load handling method, called parcel (20), of parallelepipedal general shape comprising a top face (201), a bottom face (202), a front face or facade (203), a rear face (204) and two lateral faces (205, 206) connecting the facade (203) and the rear face (204), said package (20) being able to be stored on a support surface (207) in the state adjoined by its rear face ( 204) and at least one (205) of its side faces, said first side face (205), to at least one third surface, such as a wall or another package, and to have a freely accessible surface under the shape of the front face (203) and / or the top (201) and / or the lateral face (206), said second lateral face (206), opposite to the first lateral face (205) of the package (20) characterized in that said method comprises: - a step of moving the package (20) in the direction of a lateral offset of the facade (203) of said package (20) relative to the adjacent third surface, or lifting the facade (203) of said package (20) relative to the support surface (207), using a member called spacer (3). ) positionable in contact with the freely accessible surface of said package (20) to create a space (21) between the package (20), and the adjacent third surface, or the support surface (207) of said package (20), and - a step of introducing a transfer member (8) into the space (21) created by means of the spacer (3) and positioning said transfer member (8) in bearing contact against the first side face (205) made accessible or the underside (202) of said package (20).
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that said method comprises a step of positioning an auxiliary transfer member (11) facing the second side face (206) of the package (20).
    [3" id="c-fr-0003]
    3. Method according to the preceding claim, characterized in that the step of positioning an auxiliary transfer member (11) operates, before the step of moving the package (20) with the aid of the retractor (3), the step of moving the package (20) in the direction of a lateral offset of the facade (203) of said package (20) relative to an adjacent third surface, such as the side face of a package (20) adjacent, with the aid of said spreader (3) positionable in contact with the freely accessible surface of said package to create a space (21) between the package (20), and the adjacent third surface, operates up to positioning the second lateral face (206) of the package (20) in bearing contact against the auxiliary transfer member (11) forming a limit stop, and in that, at the end of the step of introducing the transfer member (8) into the space (21) created using the spacer (3), and positioning of said transfer member (8) in bearing contact against the first lateral face (205) made accessible from said package (20), said package is positioned between the transfer member (8) and the member (11) of auxiliary transfer.
    [4" id="c-fr-0004]
    4. Method according to one of claims 2 or 3, characterized in that said method comprises, after the step of positioning said member (8) transfer in bearing contact against the first side face (205) made accessible said package (20), a displacement driving step by lifting the package (20) by means of the transfer member (8) and the auxiliary transfer member (11) in bearing contact with the lateral faces (205, 206) of the package (20) that they frame.
    [5" id="c-fr-0005]
    5. Method according to one of the preceding claims, characterized in that the step of moving the package (20) in the direction of a lateral shift of the facade (203) relative to the adjacent third surface, such as the side face of an adjacent package (20) .s'operates by pivoting the package (20) about a so-called vertical axis, substantially perpendicular to the surface (207) support package (20), using the spreader (3) positionable in contact with the freely accessible surface (203) of said package formed by the front of the package, preferably the vertical half of the front of the package adjacent to the second side face (206) of the package (20).
    [6" id="c-fr-0006]
    6. Method according to one of the preceding claims, characterized in that the spacer (3) is a rotary member and in that the step of moving the package (20) in the direction of a lateral shift of the facade (203) relative to the adjacent third surface, such as the lateral face of an adjacent package, is effected by means of said spacer (3) positionable in contact with the freely accessible surface of said package, preferably the facade ( 203) of the package (20), by frictional contact between the spacer (3) and said front (203).
    [7" id="c-fr-0007]
    7. Method according to one of the preceding claims, characterized in that the spacer (3) and the member (8) of transfer are formed by the same rotary member, and in that said method comprises, after the step moving the package (20) in the direction of a lateral offset of the facade (203) relative to the adjacent third surface, such as the lateral face of an adjacent package (20), with the aid of said spacer ( 3) positionable in contact with the freely accessible surface of said package, and before the step of introducing the transfer member (8) into the space (21) created using the spacer (3) and positioning said transfer member (8) in bearing contact against the first lateral face (205) made accessible from said package (20), a step of inclining the rotary member constituting the spacer (3) and the transfer member (8) for the passage of said rotary member of the spacer configuration in which e the axis of rotation of said rotary member extends perpendicular to the support surface (207) of the package (20) to the transfer member configuration in which the axis of rotation of said rotary member is inclined from a high point close to the rear face (204) of the package (20) to a low point close to the front (203) of the package for a displacement in the direction of lifting the package in the positioned state of the rotary member forming the body ( 8) in bearing contact against the first lateral face (205) made accessible from said package (20).
    [8" id="c-fr-0008]
    8. Method according to one of the preceding claims, characterized in that it comprises a step of determining the position of the space (21) created before introduction of the member (8) transfer in said space (21) .
    [9" id="c-fr-0009]
    9. Device (1) for handling a load, called parcel (20), of parallelepipedal general shape and comprising a top face (201), a bottom face (202), a front face or front (203), a face rear (204) and two lateral faces (205, 206) connecting the front (203) and the rear face (204), said package (20) being able to be stored on a support surface (207) in the contiguous state by the rear face (204) and by one (205) of its lateral faces, said first lateral face (205), with a third surface, such as a wall or another package (20), and presenting a surface freely accessible in the form of the front face (203) and / or the top (201) and / or the side face, said second side face (206) opposite the first side face (205) of the package (20), characterized in that said device comprises mounted on a support frame (2): a member intended to come into contact with the freely accessible surface, preferably erence the front face (203) of the package (20) and called spacer (3), means (4, 5) for moving the spreader (3), - a transfer member (8), means (9, 10) for driving the transfer member (8) in displacement, - a control unit (16), said control unit (16) being configured to control the means (4, 5). driving the spreader (3) in such a way as to bring the spacer (3) into contact with the freely accessible surface of the package (20) and, in the positioned state of the spacer in contact with the surface freely accessible package (20), move the package (20) in the direction of a lateral offset of the facade (203) of said package (20) relative to the adjacent third surface, such as the side face of a package (20) adjacent, or lifting the facade (203) of said package (20) relative to the support surface (207), to create a space (21) between the package (20), and the surface (20) this adjacent third, or the surface (207) support of said package (20), this control unit (16) being further configured to control the means (9, 10) for moving the member (8) transfer so as to introduce the transfer member (8) into the space (21) created by means of the spacer (3) and to position the transfer member (8) in bearing contact against the first lateral face (205) or the underside (202) made accessible from said package (20).
    [10" id="c-fr-0010]
    10. Device according to claim 9, characterized in that the means (4, 5) driving the displacement of the spacer (3) comprises means (4) for driving on the spreader itself. (3) and means (5) for moving the spacer (3) between at least two positions at least for moving said spacer (3) between a position in contact with the package (20) and a position discarded from the package (20).
    [11" id="c-fr-0011]
    11. Device according to one of claims 9 or 10, characterized in that the spacer (3) is a band (31) in an endless loop, in that the means (4) driving on the move- even of the spacer (3) comprise at least two rollers (41) around which the endless band (31) is wound, at least one of the rollers (41) being a motorized roller and in that the axes ( XX ') of rotation of the rollers (41) extend in a so-called vertical plane substantially perpendicular to the ground support plane (17) of the support frame (2) in the configuration of use of the spacer (3).
    [12" id="c-fr-0012]
    12. Device according to one of claims 9 to 11, characterized in that it comprises an auxiliary transfer member (11) and means (12, 13) for moving movement of said auxiliary transfer member (11).
    [13" id="c-fr-0013]
    13. Device according to claim 12, characterized in that the auxiliary transfer member (11) has a portion (112) projecting from the spacer (3) in the mounted state of the spacer and the member (11) auxiliary transfer on said support frame (2), this portion (112) projecting from said auxiliary transfer member (11) being adapted to form a limit stop of the package (20) in the positioned state of the spacer (3) in bearing contact on the front (203) of said package (20).
    [14" id="c-fr-0014]
    14. Device according to one of claims 12 or 13, characterized in that the member (8) for transfer and the auxiliary transfer member (11) have, in the mounted state on the support frame (2) to less a configuration in which they extend opposite one another in the manner of jaws, and are via their means (10, 13) for moving drive adapted to be mounted movably in the meaning of a rapprochement and a distance from each other.
    [15" id="c-fr-0015]
    15. Device according to claim 14, characterized in that the member (8) for transfer and the auxiliary transfer member (11) are rotary members and have at least one configuration in which they are each mounted on the support frame (2) rotated about an axis (YY ') inclined from a high point away from the support frame (2) towards a low point close to the support frame (2) to allow, in a bearing contact position of the transfer member (8) and the auxiliary transfer member (11) against the lateral faces (205, 206) of the package (20), a displacement, in the sense of an uprising, of said package (20). ).
    [16" id="c-fr-0016]
    16. Device according to one of claims 9 to 15, characterized in that the spacer (3) and the member (8) of transfer are common and formed by the same member, preferably rotatable.
    [17" id="c-fr-0017]
    17. Device according to one of claims 9 to 16, characterized in that it comprises means (14) for determining the position of at least a portion of the freely accessible surface of the package (10) and in that the control unit (16) is configured to control the displacement drive means (4, 5) of the spacer (3) and the auxiliary transfer member (11), when present, in according to the data provided by the position determination means (14).
    [18" id="c-fr-0018]
    18. Device according to one of claims 9 to 17, characterized in that it comprises means (15) for determining the position of the space (21) created by the spacer (3).
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    同族专利:
    公开号 | 公开日
    FR3041947B1|2020-02-07|
    WO2017060597A1|2017-04-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JPS59149234A|1983-02-08|1984-08-27|Daifuku Co Ltd|Method of separating box-like objects|
    EP0548545A1|1991-12-23|1993-06-30|Digitron AG|Method and device for picking up an article|
    ES2255824A1|2004-07-29|2006-07-01|It Infotec Robotics, S.L.|Pallet unloading device has robot arms which take out wrapped packages or boxes from pallet and carry these packages or boxes to conveyor belt on adjacent station|
    US20070280812A1|2006-05-17|2007-12-06|Axium Inc.|Tool and method for mixed palletizing/depalletizing|
    WO2008040037A1|2006-10-02|2008-04-10|TGW Transportgeräte GmbH|Apparatus for, and method of, removing articles|
    WO2014181285A1|2013-05-10|2014-11-13|Sir S.P.A.|Method and appliance for repalletizing shrink-wrapped packs of plastic bottles|
    WO2015132720A1|2014-03-04|2015-09-11|Sir S.P.A.|Gripper with movable jaw and suction device|
    CN108328346A|2017-12-21|2018-07-27|深圳市鸿益达供应链科技有限公司|One kind turning pile system|
    CN108341273A|2017-12-21|2018-07-31|深圳市鸿益达供应链科技有限公司|Full-automatic de-stacking system|
    JP2020172358A|2019-04-09|2020-10-22|川崎重工業株式会社|Robot hand, robot and robot system|
    法律状态:
    2016-10-20| PLFP| Fee payment|Year of fee payment: 2 |
    2017-04-07| PLSC| Publication of the preliminary search report|Effective date: 20170407 |
    2017-09-14| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-22| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-30| PLFP| Fee payment|Year of fee payment: 5 |
    2020-10-31| PLFP| Fee payment|Year of fee payment: 6 |
    2021-10-26| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1559515|2015-10-06|
    FR1559515A|FR3041947B1|2015-10-06|2015-10-06|LOAD HANDLING METHOD AND DEVICE, CALLED PACKAGE|FR1559515A| FR3041947B1|2015-10-06|2015-10-06|LOAD HANDLING METHOD AND DEVICE, CALLED PACKAGE|
    PCT/FR2016/052531| WO2017060597A1|2015-10-06|2016-10-04|Method and device for handling a load known as a parcel|
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