• 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:

    公开号:NL2014808A
    申请号:NL2014808
    申请日:2015-05-15
    公开日:2016-03-15
    发明作者:Jan Verkuijl Simon
    申请人:Moba Group Bv；
    IPC主号:
    专利说明:

    Title: Gripper for trays
    The present invention relates to a gripper and to a method for picking up, transporting and depositing, substantially rectangular eggs, or similar products, loaded trays, for example a stack of such trays, such, e.g. tray is engaged at tray edges thereof on opposite sides, as described in the preamble of claims 1 and 5.
    A gripper for picking up trays, more in particular a single tray, is known from EP 1832534. A detail is described therein in which way hinged parts of an engaging frame are, as it were, folded around a tray. Such a tray is often made of cardboard and therefore flexible, but particularly when exposed to moisture it is very weak and unstable when picking up a usual load of eggs with total weights between 1.5 and 2.5 kg on average, depending on the type (20 or 30 positions for eggs) ), egg size, namely S, M, L, X, XL, and so on. In order to guarantee reliable processing and handling of loaded trays as much as possible, the hinged carrier edges shown are bent inwards under the ends of such a tray for support.
    Moreover, this gripper is not suitable for picking up stacks, both because then the trays will sag and the edge for this provides insufficient support, and because the space between the central gripper frame and a tray offers no further stacking space.
    Furthermore, a gripper is known from EP 1220784 for processing stacks of egg trays. This document explains how such a stack is completely enclosed in a frame of hinged rods, the stack being supported at the bottom on two opposite longitudinal sides with support edges turned to a support position. For example, so-called "piano hinges" can be used for these supporting edges.
    With this framework, on the one hand, support is provided on both longitudinal sides and transversely thereto on both stacking end faces, and on the other hand, by said narrow confinement of the stack, this framework offers the possibility of placing it in a closely fitting box, also called 'outer box'. place. It is noted that when this stack is placed in such a box, when the said supporting edges are pivoted away, the stack moves freely down a short distance from this frame before it lands on the bottom of the box.
    Moreover, it has been found that the rod system which encloses the stack at the transverse ends thereof, although it presses very close to the stack, nevertheless gives friction with the box wall in narrow boxes and thus damages the boxes.
    It will be clear to any expert that safe picking up is furthermore complicated by the material from which trays are made, usually cardboard, or plastic. In particular, the cardboard trays, which are often used due to their low cost price, enhance their firmness at even the slightest wetting, while sagging in stacks cannot be prevented.
    It has been found that the grippers described above do not adequately meet the requirements of the user, namely the frequent use of such cardboard trays, even several times in succession, and the processing of stacks.
    Moreover, it will be clear that picking up a stack of trays is further complicated because account has to be taken of their shape, whereby a subsequent tray in the stack is always rotated a quarter of a turn relative to the previous one.
    In order to reliably pick up and move trays, the gripper according to the invention is characterized in that on the inside of each said gripper plate, a tight fitting and hinged connection to it is included, a plate piece with corresponding inwardly directed lower edges, each gripper plate and plate piece form a pinch gripper, wherein the lower edges and the lower edge pieces take mutually adjustable distances with the aid of the said operating unit and when gripping the said tray on the said tray edges finger-pinch and pinch.
    It has been found that with this pinching and clamping such a tray, and even a stack, can be picked up and moved very reliably.
    In particular, it has been found that both a single tray and stacks of trays can be picked up and moved in a very suitable and reliable manner without disturbing the stack or damaging the eggs.
    With great advantage, this not only improves automatic packaging, but also avoids heavy manual lifting.
    The clamping pinching and picking up of boxes with specially arranged foldable edges is known from GB2017035. It is described in detail therein that these edges or flaps have to be pushed in the right direction in order to take a suitable position in order to be clamped and picked up in that position with claws.
    For trays as above, this is entirely unsuitable, because the edges of a tray are themselves part of the tray and therefore also shape the final nests, because each type of tray, or even each tray, has a slightly different width and angle for such trays. has tray edges, and - because pushing slightly against such an edge can considerably damage such a nest, and therefore the corresponding egg therein.
    In addition, the gripper GB2017035 has such a frame with a claw mechanism connected thereto that it is not possible to accommodate multiple layers.
    Furthermore, from EP2500152 a gripper is known which comprises well-chosen parts for performing two functions, a first function in which side plates pick up egg boxes at opposite sides in order to subsequently place them in a so-called 'outer box', and a second function wherein the upright walls of the aforementioned 'outer carton' are clamped.
    Both of the aforementioned methods of clamping and picking up are not suitable for trays where gripping fingers must be able to clamp the tray edges at the same time around the eggs and at a specific angle.
    In further exemplary embodiments, the gripper according to the present invention has one or more of the following features: that the operating unit further comprises a stop and a compression spring; that the spacer further comprises a vertically downwardly directed push plate; and that the operating unit further comprises a servo motor.
    The present invention further provides a method for picking up, transporting and depositing, substantially rectangular, eggs or similar products loaded trays, for example a stack of such trays, wherein such, for example corresponding lower, trays are engaged at tray edges on opposite sides thereof, with gripper plates each having an inwardly directed lower edge, and with for each gripper plate on the inside thereof, plate pieces closely fittingly and hingedly connected thereto, with correspondingly inwardly directed lower edge pieces, wherein an engagement plate and a plate piece an forming a gripper, wherein the gripper is movable to and fro between a starting position and a gripping position, wherein in the starting position the two gripper grippers are pivoted outwardly, away from both sides of said tray, and wherein for each gripper gripper the gripping plate and the gripping plate pla piece take a certain mutual distance, and wherein in the engagement position the two pinch grippers are translated at least to each other and to each side of the said tray, are turned inwards, and the tray is pinched at the said tray edges and engages between the said towards each other hinged engagement plates and plate pieces.
    With the above-mentioned controlled movements of at least translation and rotation over well-defined spacers, trays, and also stacks of trays, for example trays intended for collecting eggs, can be processed very reliably.
    In the following, the invention will be described in more detail with reference to a drawing, in which, FIGURE 1 shows a schematic side view of an exemplary embodiment of the gripper according to the present invention in the starting position; FIGURE 2 shows a schematic side view of the same exemplary embodiment in a first intermediate position prior to engagement; FIGURE 3 shows a schematic side view of the same exemplary embodiment in a second intermediate position prior to engagement; FIGURE 4 shows a schematic side view of the same exemplary embodiment in the engagement position; FIGURE 5 shows a schematic isometric view of a portion of the gripper, inclined upwards from below, hereinafter referred to as a gripper; and FIGURE 6 shows an isometric view from above obliquely of an egg tray which is very commonly used.
    In all of these FIGURES, the same parts or directions are designated by the same numbers and references.
    Reference is first made to FIGURE 6 which shows an isometric view, from obliquely above, of a rectangular tray 100 for eggs E. In the embodiment shown, such a tray 100 has about thirty egg nests 101, in a pattern of 5x6 eggs E.
    Each egg nest or nest 101 comprises four nesting walls 101 - 1, 2, 3, 4 perpendicular to each other, with columns 102 at the corners of a nest 101. A distinction is made between center columns 102-1 and half columns 102-2 which are situated, are bounded in the center and on four sides respectively by at least parts of walls 101, and at the location of two opposite edges of the tray 100 and connect to only three walls 101. All columns 102 are substantially tapered up to a this example horizontal support 102 - 3.
    It is possible to speak of rows and columns, in which in FIGURE 6 it has been chosen to call the six eggs E shown a row. Perpendicular thereto are the columns, each with five lasts 101.
    Such a rectangular tray 100 has four, two by two opposed, side edges 103, i.e. in the column direction with an even number, namely 6, columns 102, more particularly half-columns 102-2, with side edges 103-2, and in the direction of travel with an odd number, i.e. seven, columns 102, more particularly center columns 102-1, with side edges 103-1.
    As is generally known, such trays 100 are stacked, alternately rotated a quarter of a turn, so that an underside of a stacked tray, more particularly the bottom parts of egg nests, rests on a support surface 102-3.
    This method of stacking has been chosen in the usual manner so that the eggs E generally protrude above the columns 102 so that when stacked, the upper side of the eggs of an underlying tray are tightly surrounded by the nests of the stacked tray and are thus protected.
    In FIGURE 6 an end piece 103-20 of the even side edge 103-2 is indicated. There are four of these, namely, at each even side edge 103-2, and at each end thereof.
    As will be explained hereinafter, pinch grippers according to the present invention will clamp such a tray 100, or also a stack of trays, and the lower finger-fingered ones thereof, precisely at these locations.
    In FIGURE 1, a gripper 1 is indicated in a starting position to pick up a stack 2 of trays 21, 22 with gripper blades on left and right sides in this FIGURE, it being noted that details of the trays are numbered differently than in FIGURE 6.
    More in particular, gripper 1 comprises a frame 10 which is connected, for example, to a mast or a robot arm, which is well-known to each skilled person, and which can thereby reach a spatial area for picking up, transporting and depositing loads again.
    As shown in FIGURE 1, eggs E are placed in end nests 21a of this tray 21. Furthermore, this tray 21 has two opposite side edges or tray edges 2 lb, one of which can be seen in this view, and two slightly inclined upwards side edges or tray edges 21c.
    It is precisely these upstanding tray edges 2c, in particular end pieces thereof, namely the pieces 103-20 of FIGURE 6, are used to pick up such a tray 21.
    A further tray 22 is placed on this tray 21, as explained above, rotated by a quarter turn because of the known geometry of such trays. A raised or raised side edge or tray edge 22b of this tray 22 can be seen in view.
    In more detail, the gripper blades comprise two gripper plates 11a, b, with hinged pivotal shafts 15a, b attached therein, two plate pieces 14a, b, wherein the plates 11 can be rotated about axes 12 (with left, right, 12a, 12b, respectively) The plates 11a, b and plate pieces 14a, b shown fit closely together, each with their ends, lower edges 13a, b and lower edge pieces 16a, b.
    The shafts 12, 15 mentioned here are substantially perpendicular to the plane of the drawing, or, in other words, these shafts 12, 15 are substantially parallel to the opposite edges where the trays 21 are engaged and picked up.
    The combination of parts 11 and 14 is also called a pinch grab.
    In the exemplary embodiment shown here, the plates 11a, b and plate pieces 14a, b are kept at a distance by compression springs 18a, b, before being brought into a clamping or squeezing position in a further step, partly guided by the geometry of tray, in the tray. in particular the shape of its endings ..
    It is further noted that the dimensions of the plates 11a, b and positions of the pinch grippers are chosen such that they are always moved along the eggs E and a tray 100 (in FIGURE 6) is always finger-pinched and pinched at the said end pieces 103-20 , as will be explained in more detail below.
    More specifically, it is indicated how in subsequent steps shown in FIGURES 2 and 3 the engagement position according to FIGURE 4 is finally achieved.
    In order to get into the engagement position according to FIGURE 4, also with reference to FIGURES 2 and 5, the pinch grippers 11, 14 are first rotated inwards around their axes 12 with the lower edge pieces 16a, b generally against the underside of the end-ends of the upper tray 22 and next to the eggs E at the level of the lower tray 21. It will be clear to any person skilled in the art that the geometry of such trays 21, 22 as adjoined above, with a stack 2 as shown here, allows such room for movement for the finger-shaped lower edges 16a, b.
    In a subsequent step as shown in FIGURE 3, the pinch grippers are slightly lowered so that the lower edge pieces 16a, b are brought substantially against the raised edges 2c of the tray 21. These lower edge pieces 16a, b will then be guided in their movement by the aforementioned end-ends of the stacked tray. In particular, the compression springs 18a, b allow suitable guidance and positioning. As seen in FIGURE 3, the height displacement generally relates to very small distances, and, depending on the type of tray, this will also not always be necessary. In particular where the upstanding tray edges 21c are relatively long, the aforementioned downward movement of the gripper 1 can be omitted.
    In a subsequent movement, the situation according to FIGURE 4, the engagement position, is achieved. In the movement referred to here, the pinch grippers 11, 14 are moved in on both sides in the direction of the arrows T, which indicate translation directions, whereby the plate pieces 14 are brought on both sides against stops 17a, b of a central stop plate 17 and the gripper plates 11 are pulled tightly against these plate pieces 14.
    For this situation, the said tightening is adjusted so that the tray edges 21c are clamped and clamped between said lower edges 13 and lower edge pieces 16, wherein, as explained above, gripping the tray, in the case of a single, or the lower one in, case of a stack, occurs precisely at the end pieces 103-20 (see FIGURE 6).
    It may be clear to any person skilled in the art that the translation and rotation of parts of the pinch grippers can be carried out in various ways, namely pneumatically, hydraulically, electromagnetically, or also with servomotors. This also applies to the mutual movement of plates and plate pieces.
    Moreover, it will be clear that such grippers 1 are designed such that stop plates suitable for each type of tray can be mounted in a suitable manner, in particular the width, as seen in the views according to FIGS. 1-4, being intended.
    Furthermore, in FIGURE 1 of the stop plate 17, ends 30a, b are also referred to, also referred to as spacers, which, after placing a single tray or a stack, remain positioned on an edge of the then present upper tray while the pinch grippers of the tray or stack. This ensures that the stack, and in particular the mutual positioning of the trays, is not disturbed.
    For the sake of clarity, the above-mentioned gripping of trays or a single tray has been discussed. This always concerns the clamping engagement of a single tray, and this tray can form the bottom of a stack, wherein the stack can consist of two or more trays. It will be clear to any person skilled in the art that the dimensions of the plates 11, 14 will be appropriately chosen for this purpose.
    For carrying out the movements, for example the order thereof, several embodiments can be chosen as indicated above. For adjusting the suitable distances, limitations and controls will be applied in a generally known manner.
    It will be clear to any person skilled in the art that minor changes to the components and sequences as set forth in the claim are possible without thereby falling outside the scope of these claims. LEGENDA 1 gripper 2 tray stack 21 lower tray 21a, b, c einest, tray edge, raised tray edge 22 stacked tray 22a, b nest, edge 10 frame 11 a, b gripper plates 12a, b axes 13a, b lower edges 14a, b sheet pieces 15 a , b hinge shafts 16a, b lower edge pieces 17 stop plate 17a, b stop plates 18 a, b compression springs 30 spacers 100 tray 101 einest 101 - 1, 2, 3, 4 nest walls 102 columns 102 - 1 center columns 102 - 2 half columns 102 - 3 support surface 103 side edges 103 - 1 odd side edge 103 - 2 even side edge 103-20 end piece E egg T translation direction R rotation direction
    权利要求:
    Claims (5)
    [1]
    CLAIMS 1. Grab for picking up, transporting and depositing substantially rectangular eggs, or similar products, loaded trays, for example a stack of such trays, wherein such, for example corresponding lower, tray is engaged at tray edges thereof opposite each other located sides, wherein the gripper comprises a frame, with on the one hand a connecting piece to an arm or mast, and on the other hand an operating unit for rotating and translating at least two oppositely arranged round, substantially on two sides of such a tray, parallel axes rotatable gripper plates for the above-mentioned engagement, and - wherein the gripper plates each comprise an inwardly directed lower edge, characterized in that on the inside of each said gripper plate, a plate piece is fitted, fittingly and hingedly connected thereto, with corresponding inwardly directed lower edge pieces wherein each gripper plate e n plate piece forms a pinch gripper, wherein the lower edges and the lower edge pieces take mutually adjustable distances with the aid of the said operating unit and, upon engagement, the said tray is clamped and pinched fingerwise on said tray edges.
    [2]
    Gripper according to claim 1, characterized in that the operating unit further comprises a stop and a compression spring.
    [3]
    3. Gripper according to claim 2, characterized in that the spacer further comprises a vertically downwardly directed push plate.
    [4]
    Gripper according to claim 1, characterized in that the operating unit further comprises a servo motor.
    [5]
    5. Method for picking up, transporting and depositing substantially rectangular eggs, or similar products, loaded trays, for example a stack of such trays, wherein such, for example corresponding lower, tray is engaged at tray edges thereof opposite each other located sides, with gripper plates each having an inwardly directed lower edge, and with for each gripper plate on the inside thereof, plate pieces closely fittingly and hingedly connected thereto, with correspondingly inwardly directed lower edge pieces, wherein a gripping plate and a plate piece form a pinch gripper, the pinch grippers are movable to and fro between a starting position and an engaging position, wherein in the starting position the two pinch grippers are turned outwards, away from both sides of the said tray, and wherein for each pinch gripper the engaging plate and the plate piece have a specific mutual mutual distance inn and wherein in the engagement position the two pinch grippers are translated at least to each other and to each side of the said tray, are turned inwards, and the tray is clamped and gripped at the said tray edges between said engaging engagement plates and plate pieces pivoted towards each other .
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2842895B1|2016-03-30|Palletizer
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    US8172292B1|2012-05-08|Arm tool for packing trays in boxes
    NL8104018A|1982-03-16|DEVICE FOR TRANSMITTING EGGS.
    EP1832534B1|2009-09-09|Gripper
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    US6923486B1|2005-08-02|Gripper for lifting a stack
    NL2014808B1|2016-07-25|Gripper for trays.
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    US20020005646A1|2002-01-17|Apparatus for releasing items within a confined space
    NL8502276A|1987-03-16|METHOD FOR STORING AND THEN COMPILING ORDERS, CONTAINING CRATES OR PLASTIC BASKETS AND SIMILAR PACKED ARTICLES.
    EP2847113B1|2016-03-02|Apparatus for palletizing bottles or similar containers
    GB2353776A|2001-03-07|Stacking and destacking of nestable containers
    AU2018255507A1|2019-11-07|Retractor gripper
    NL2023207B1|2020-12-02|Device and method for close-fittingly arranging a cover over a box
    NL2009178A|2012-10-12|ORDER COLLECTION OF CUT FLOWERS AND / OR PLANTS WITH A ROBOT.
    WO2011162601A1|2011-12-29|Method and gripper for moving products
    NL1034270C1|2009-02-23|Product packaging boxes handling device, has lock arm with movable part hat is movable between two positions where movable part is in contact with flap in two flap positions, respectively
    NL2010895B1|2016-07-15|Robot grab.
    RU2732112C1|2020-09-11|Method and device for emptying of different types of trays filled with rod-shaped products of tobacco industry, and conversion unit for change of tray configuration
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    WO2015112018A1|2015-07-30|Gripper unit for gripping, picking up, transporting, and discharging boxes
    同族专利:
    公开号 | 公开日
    NL2014808B1|2016-07-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US8172292B1|2009-11-04|2012-05-08|SACMI USA, Ltd.|Arm tool for packing trays in boxes|
    WO2013055208A2|2011-10-10|2013-04-18|Moba Group B.V.|Conveyor for trays|
    WO2013055211A1|2011-10-10|2013-04-18|Moba Group B.V.|Tray gripper head|
    法律状态:
    2021-01-06| MM| Lapsed because of non-payment of the annual fee|Effective date: 20200601 |
    优先权:
    申请号 | 申请日 | 专利标题
    EP14001737|2014-05-16|
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