MXPA96003944A - Stacking device for layers on a palette and paletizac device - Google Patents

Abstract

The present invention relates to a device for stacking layers on a pallet, which comprises a device for bringing layers to be stacked, means for gripping layers, comprising a nacelle whose bottom is constituted by a curtain and in which the The nacelle comprises a lateral loading opening of the layers, at least two receiving movements of the vanes in the process of being constituted, a command means, especially a programmable automaton or orthogonal three-axis cartesian robot, which comprises a mobile arm and means for driving and guiding the means for gripping layers. The invention also claims the robot for stacking the layers on a pallet contained in said device.

Description

STACKING DEVICE OF LAYERS ON A PALETTE AND PALLETIZATION DEVICE. The present invention relates to a device for stacking layers on a pallet, and to a palletizing device comprising a layer stacking device of that type. It is known, on the one hand, the flexible realization of pallets with very reduced rates. Especially, manual palletization allows for heterogeneous pallets or incomplete pallets. However, it results in a high cost price, low palletizing schemes and consequently pallets whose stability can not always be guaranteed. On the other hand, palletisers are known that can maintain high rates adapted for the realization of long series of identical homogeneous pallets. However, the large distribution industry, especially the agro-food industry, tends to diversify the sales units (U.V.) that result from the diversification of packaging products offered to customers.

In addition, distributors try to minimize their deposit, and consequently to pass orders of the exact number of desired sales units, even if that number does not necessarily correspond to a number of complete homogeneous pallets. Accordingly, the object of the present invention is to provide means for palletizing at a high rate a large variety of elementary sales units regrouped in various ways on various pallets. It is also an object of the present invention to provide means for performing with high rhythm heterogeneous pallets, each carrying various types of elementary sales units organized or not in homogeneous layers.

It is also an object of the present invention to provide means for making incomplete pallets. It is also an object of the present invention to provide means for making pallets that correspond to a plurality of palletizing schemes simultaneously or alternatively. It is also an object of the present invention to provide palletizing means which have a reduced accumulation in the ground. It is also an object of the present invention not to lose practically production time in the changes during the alternate realization of pallets constituted by sales units of different natures. It is also an object of the present invention to provide palletizing means whose rate can be adapted to the output rate of a production and / or packaging chain. These objects are achieved according to the invention by the use of a flexible and reconfigurable device in a real time of constitution of layers and / or of a flexible and / or reconfigurable device in real time of stacking the layers on one or on several pallets in constitution course. The flexible device for forming the layers comprises, for example, a programmable robot with a mobile arm, provided with batching means, a conveyor for the continuous transfer of sales units and a conveyor with a large width for evacuating the layers. towards a layer stacking means. The layer stacking device according to the invention comprises, for example, layer formers, a three-axis Cartesian robot X, Y, Z provided with full-layer grasping and deposition means on the preceding layer of a pallet in progress of constitution.

The use of a flexible device allows, if desired, to communicate relevant information on the constitution of the layers or on the stacking of the layers on pallets to the various robots of the device according to the present invention. They communicate, for example, to the robots of constitution of layers the information relative to the geometric characteristics of the lots, the identification of elementary lots corresponding to the different layers to be constituted, the eventual fragility of certain units of sale, the palletization scheme to be adopted, the tool or the tools for grasping batches to be used, the orientation of the sales units that arrive on a conveyor, etc. The stacking robot of the layers receives information on the various layers to be stacked, the various homogeneous or heterogeneous pallets to be assembled, the geometrical characteristics of the various layers, the tool or the gripping tools to be used, the need possible deposits intercalated between the successive layers of the pallets in the course of constitution, the fragility of the layers, the locations in which the pallets must be constituted, etc. The pallet automatic transfer carts in the process of being constituted and / or the palletised loads receive the information on the location of the pallet to be evacuated, the pallet deposition site, the optimal path to follow between the palletization site of the pallet. the pallet in the process of constitution or of the palletized load and the deposition site of the pallet in the process of constitution or of the palletised load, the type of pallets to be handled, the possible fragility of the pallet in the process of being constituted or of the load palletized to be transferred, etc. This information is loaded remotely to the programmable automata at one time or, advantageously, as they become relevant from a computerized production planning and / or flow management system. As a variant, a central computer that has such information directly ensures the controls of the various devices according to the invention. The main object of the invention is a robot for stacking the layers of elementary sales units on a pallet, according to a palletization scheme, comprising: a) a device for bringing layers to be stacked; b) means for gripping layers; c) at least two pallet receiving sites in the process of being constituted; d) a control means, especially a programmable automaton; e) means for driving and guiding the means for gripping layers to deposit the layer held by the layer gripping means, according to the command received from the control means, on a preceding layer of a pallet in the process of being constituted or on the pallet if the layer grasped by the layer gripping means is intended to become the first layer of a palletized load, arranged in any one of said, at least two, pallet receiving locations. The invention also has as its object a robot, characterized in that said robot is tui robot Cartesian portico of three orthogonal axes. Another subject of the invention is a robot, characterized in that the means for gripping layers comprises a nacelle whose bottom is constituted by a curtain and in which the nacelle comprises a lateral loading opening of the layers. Another object of the invention is a robot, characterized in that the means for gripping layers comprises forming means which ensure the cohesion of the layer in the process of being deposited on the pallet in the course of being constituted. Another object of the invention is a robot, characterized in that the device for bringing the layers to be stacked comprises a conveyor whose width is substantially the same, preferably slightly greater than the width of the layers that can be grasped by the gripping means. layers.

Another object of the invention is a palletizing device, characterized in that it comprises a robot according to the invention and at least one robot for the constitution of layers on a device for bringing layers towards the layer stacking robot. Another subject of the invention is a device, characterized in that the layer-building robot comprises a mobile arm and in which said devices comprise at least one load-carrying conveyor to the layer-forming robot. Another subject of the invention is a device, characterized in that it comprises two layering robots arranged symmetrically on both sides of the device for bringing layers to be stacked towards the layer stacking robot. Another object of the invention is a device, characterized in that the robot or layer-building robots comprise means for automatically changing batch-holding tools. Another object of the invention is a high-speed palletizing device, characterized in that it comprises a plurality of palletizing devices according to the invention arranged in parallel as well as means for feeding the sales units, under command, of at least two said palletizing devices. Another object of the invention is a palletising method, characterized in that it employs a device according to the invention. Another object of the invention is a method for producing heterogeneous pallets comprising a plurality of types of stacked layers, characterized in that it comprises the steps consisting of: a) loading in a computer system the scheme of stacking the layers of a heterogeneous pallet; b) deposit the first layer or the first layers of the pallet with the help of a layer stacking device; c) evacuate by means of an automatic trolley commanded by said computer system, the palette in the process of being constituted from the layer stacking device, while awaiting the availability, in a layer stacking device, of other types of layers that must be stacked on the heterogeneous palette; d) bringing the pallet in the process of constitution to the layer stacking device that has layers that must be stacked on the heterogeneous pallet in the process of being constituted; e) repeating steps c) and d) until the complete constitution of the heterogeneous palette; f) evacuate the heterogeneous palette completed from the layer stacking device. Another object of the invention is a method, characterized in that, during step c), the pallet in the process of constitution is evacuated to a dynamic storage area and in which, during step d), the pallet in the process of being constituted is taken again in the dynamic storage area to be taken to the layer stacking device. The invention will be better understood by means of the following description and the appended figures given as non-limiting examples, and in which: Figure 1 is a plan view of the preferred embodiment of a layer-forming device according to the present invention; invention; Figure 2 illustrates an example of layers formed by the device of Figure 1; Figure 3 is a flow chart of a layer formation campaign; Figure 4 is a perspective view of the preferred embodiment of a layer stacking device according to the present invention; Figure 5 is a plan view of a layer pressing device of the layer stacking device of Figure 4; Figure 6 is a vertical section view according to VI-VI of the device of Figure 5; Figure 7 is a flow chart explaining the deposition of layers according to the invention; Figure 8 is a plan schematic view of an exemplary embodiment of a palletizing device according to the present invention; Figure 9 is a flow chart explaining the operation of the palletizing device according to the present invention; Figure 10 is a plan view of a battery of palletizing devices of Figure 8 disposed at the exit of a production line; Figure 11 is a plan view of a flexible palletizing workshop according to the present invention. In Figures 1 to 11, the same references were used to designate the same elements. In figure 1, a device for forming layers according to the present invention can be seen, comprising at least one, advantageously two robots 1, each comprising a mobile arm 3 provided with pressing means of the elementary sales units 5 which they form the batches 6 to be palletized, which move according to the arrow 7 on a conveyor 9, preferably a reduced thrust conveyor. The width of the conveyor 9 is sufficient to allow the transport of all the elementary sales units 5 that can be palletized with the aid of the device according to the present invention. A conveyor 11 for receiving and forming layers that move according to the arrow 13 has a width L greater than the width of the conveyor 9, substantially equal and preferably slightly greater than the width L 'of the larger pallets which can be constituted by the device according to the present invention. In the illustrated example, the device comprises arranged, face to face, on each side of the conveyor 11 for receiving the layers 15, a robot 1 associated with a conveyor 9 for bringing the elementary sales units 5. In this case, the The left robot constitutes the left half of each layer, while the right robot constitutes the right half of each layer. Thus, not only is the rhythm of layering doubled with respect to the use of a single robot, but two robots 1 having arms 3 whose range is less than the width L of the conveyor 11 can be employed. It is understood that the use of a single robot or the use of a plurality of robots arranged on one side or advantageously on both sides of the layer receiving conveyor 11 does not depart from the scope of the present invention. Advantageously, robots 1 with mobile arms with 4 degrees of freedom are used, as for example the robot A520i of the manufacturer FANUC. However, the use of other types of robots, such as for example robots mounted on a gantry, does not fall outside the scope of the present invention. In the exemplary embodiment shown in FIG. 1, each robot 1 is arranged between the conveyor 11 for receiving layers 15 and a conveyor 9 for bringing sales units. Advantageously, the end of each conveyor 9 brings possible elementary sales units 5 not removed by the robots 1 in a reception tank 17 intended in particular to store possibly non-conforming elementary sales units, such as, for example, the damaged, especially disconnected, sales units. , or poorly placed. As a variant, as illustrated in FIGS. 8 and 10, the conveyors 9 and 11 are juxtaposed, the robots 1 being arranged at the end of the conveyor 9, which makes it possible to reduce the course of the arm 3 to deposit the lots of sales units. on the receiving and layer making mat 11. It should be noted that the device according to the invention allows to constitute not only homogeneous layers, but also heterogeneous layers comprising various types of sales units 5 which preferably have the same height. In a variant not illustrated, the conveyors 9 are closed-loop conveyors fed with various types of sales units 5, continuously and / or on demand, for example from a packaging or production chain. Each conveyor 9 can serve one or more robots 1. Each robot 1 identifies the sales units 5 that pass over the conveyor 9 and take the batches 6 that are necessary to form the layer 15 requested. In a first variant embodiment, the layer receiving and layering mat 11 is immobile during the phase of constitution of a layer by the robots 1. In an advantageous variant, the receiving and layer forming mat 11 advantageously moves at a constant speed. The coordinates of the depositions fingers various batches constituting each layer take into account the displacement of the conveyor 11. The position on the conveyor 11 of a batch to be deposited is calculated by the robot 1 from the position of the batch in the layer and of the position of the layer on the conveyor 11 at the time of deposition. Advantageously, acquisition means, especially photoelectric cells, ultrasound detectors or an artificial vision device, arranged above the conveyor 11, make it possible to control the effective position of the layer 15. An example of a vane in the process of being constituted. 'is illustrated in dotted line in figure 1. Advantageously, robots 1 start by constituting the rows below the layer. In figure 2, an example of layer 15 constituted by the device of figure 1 can be seen. The batches Al a to A18 were deposited by the robot 1 disposed to the left of the conveyor 11 in the figure 1. The lots Bl to B18 were deposited by the robot 1 arranged in figure 1 to the right of the conveyor 11. It should be noted that the arrangement of the lots deposited by the robot on the left is not necessarily the same as that of the lots deposited by the robot on the right. The references 1.1 to 1.5 designate the origin of the arm 3 of the robots 1 in relation to the conveyor 11 for receiving and forming layers during the movement of the latter. The mixed strokes 19 symbolize the position of the arm during the deposition of lots. In the illustrated example, the sales units A3, A6, B5, B6, B7, B10, B13 and B16 were individually deposited, while the robots 1 were deposited in batches of two. It should be noted that the fast-paced deposition is facilitated by the maintenance of spaces 21 between batches, spaces that will be advantageously reduced or that will be canceled during the conformation of the layer 15. In FIG. 3, a flowchart of the preferred example can be observed. carrying out the method of constituting layers according to the present invention.

In 23, the robots' programmable automaton 1 or a supervision computer loads the data related to the palletization campaign to be carried out. It should be noted that the device according to the present invention makes it possible to generalize the classical notion of "palletizing campaign". The campaign can correspond to the palletization of a part of a customer's order, of a customer's order, of several orders of a customer, of certain parts of several orders of several customers or of multiple orders of several customers. It is, in fact, a few layers and / or a pallets to be made at any given time. The flexibility of the palletizing tool according to the present invention makes it possible to free itself from the production and palletising organizations of known type, especially palletizing by homogeneous pallets mono-products. However, in order not to disturb the already established production plans and the customs of those responsible for palletization, the realization of various pallets can be operated in a classical manner, that is, the different types of sales units one after the other. In an advantageous variant, the device according to the present invention allows, by sending and / or taking on the conveyors 9 the desired batches, little by little constituting the necessary layers in the constitution of the homogeneous or heterogeneous pallets. It goes to 25. In 25, the robots' programmable automaton 1 loads (or calculates) the scheme or the palletization schemes to be made. It goes to 27. In 27, the programmable automaton determines the tool or tools to be used depending on the elementary sales units to be treated. Advantageously, the adapted tool is automatically loaded, for example from a drum or from a tank that can be reached by the end of the arm 3 of each robot 1. In a variant, the adapted tool is loaded by an operator, for example by invitation of the robot. Advantageously, the robot verifies the convenience of the requested tool with the necessary tool to carry out the campaign loaded in 23. It goes to 29. In 29, an initialization of the campaign and especially the commissioning of the transporters is carried out. and 11. It is passed to 31. In 31 the initialization of the layer to be treated is carried out. It goes to 33. In 33, the detection of batches 6 to be palletized, especially sales units. Advantageously, a proof of the convenience of the sales unit brought by the conveyor 9 with the sales unit necessary for the constitution of the layer is carried out at 35 and 37. At 35, verification is effected, for example by shape recognition, by a device arranged above the conveyor 9 or any other method, the convenience of the batch type 6, its orientation and its state. In case of incovenience, it is passed to 37. In case of convenience, it is passed to 39. In 37, the robot does not take the non-compliant lot 6, which will be rejected to the reception depot 17. The robot performs a necessary temporization for the reception of lot 6 following. If it is verified that it is necessary, the robot sends a request signal of momentary paralysis of the reception conveyor and of the constitution of the layers 11. It goes to 39. In 39, the arm 3 of the robot 1 takes a lot 6, by example, a sales unit Goes to 41. In 41, the programmable robot of the robot 1 calculates the deposition position of the batch 6 taken in 39. It moves to 43. In 43, the robot 1 effects the deposition on the conveyor 11 of the batch taken at 39. It is passed to 45. At 45, the programmable robot of the robot 1 determines whether the layer 15 in the process of being constituted is complete. The determination can be made by calculating the batches 6 deposited and / or verified by acquisition of data by detectors not represented. If it is determined that no, it is passed to 33. If it is determined that yes, it is passed to 47. In 47, the robot's programmable automaton 1 determines by calculation, comparing the number of layers constituted in relation to the number of layers required, if the palletization campaign loaded in 23 is finished. If it is determined not to, it is passed to 49. If it is determined that yes, it is passed to 31. It should be noted that, at 31, the next desired layer is initialized, which is not necessarily the same as the preceding layer. The initialization of the various layers 31 corresponds to the characteristics of the campaign loaded in 23 and of the scheme or of the palletization schemes loaded in 25. In 49, the programmable robot of the robot 1 sends an end-of-task message allowing the stopping of the conveyors 9 and 11. It goes to 51.

In 51 the campaign of constitution of layers is finished. In a variant, at the end of a campaign, in 47, a new campaign is linked to 23. The layers formed on the conveyor 1 are transported as they are constituted towards a device for constituting layers. It can be, for example, a layer stacking device of a palletiser of known type. Advantageously, a flexible layer stacking robot according to the present invention is used, of which an example is illustrated in FIG. 4. The robot 53 is stacking layers is, for example, a Cartesian robot with 3 degrees of freedom according to the axes X, Y and Z orthogonal. The robot 53 comprises a frame 55 which extends above a layer receiving area 57.2, for example from the bottom end of the conveyor 11 of FIG. 1, as well as above at least one, for example two , three, four (as illustrated) or more palletizing zones 57.1, 57.3, 57.4, 57.6 by stacking successive layers. In the example illustrated in Figure 4, the bottom end of the conveyor 11 substantially reaches the middle of the layer stacking device 53, two palletizing sites 57.1 and 57.3 being arranged on each side of the conveyor 11. Advantageously, according to it is symbolized by the arrows 71, two locations 57.1 and 57.3 can be evacuated from the front, that is, in opposition to the arrival of the conveyor 11, the two other locations 57. 4 and 57.6 being evacuated laterally. In a variant, one of the palletization sites 57, for example the site 57.6, can be replaced by a deposit of interleaves that can be distributed between two layers by the layer grasping devices 63 or by a device for distributing the layers. interspersed The frame 55 comprises, for example, a rectangular frame 59 carried at its four corners by uprights 61. A layer pressing device 63 is mounted in horizontal translation along the X axis parallel to the large sides of the frame 59 and along the Y axis parallel to the small sides of the frame 59, as well as in vertical translation along the Z axis parallel to the uprights 61, on a height at least equal to that of the largest palletized load that one wants to be able to build. In the example illustrated in Figure 4, the robot 53 comprises a bridge 65 that rolls on the large sides of the frame 59 and which in turn carries a bridge 67 that rolls on the bridge 65 parallel to the small sides of the frame 59. the bridge 67 is mounted on a column 69 provided with an up and down mechanism, for example a rack (not shown), of the layer pressing device 63. Depending on the type of palletized loads, it is possible, for example, to use layer pressing devices 63 of the suction, magnetic, fork type or, advantageously, of curtains as illustrated in FIGS. 5 and 6. The device 63 comprises a frame 73, for example sheet metal, hooked to column 69 of the layer stacking robot. Advantageously, the frame 73 comprises a side opening 74 for loading a layer of packages to be palletized. A curtain 75 formed by two half-curtains 75.1 and 75.2 constituted by rollers substantially joined by the edges, extending over the entire width of the device 63 parallel to the opening 74, is driven by a motor 77 by two chains 79 connected to each other so as to form a closed loop. The rollers of the curtain 75.1 are connected to the upper rod of the chains 79 and the rollers of the curtain 75.2 are connected to the lower rod of the chains, in such a way that the dragging of the chains in the opposite direction to the needles of the The clock produces the opening of the semi-curtains 75.1 and 75.2 and, on the other hand, the rotation in the sense of the clockwise causes its approximation and closure, so that they form the base of the device 63 that holds a layer 15 to be stacked. Advantageously, the device 63 comprises shapers that allow to reduce the spaces 21. The lateral shaper comprises parallel arms 81 and 83 of lateral conformation maneuvered by a pneumatic jack 85 acting on a set of rods comprising a bar 87 mounted in rotation in around a point 89 located midway between fixing points 91 and 93 of the rods 95 and 97 respectively connected to the shaping arms 81 and 83.

As illustrated in mixed strokes, the extension of the jack 85 ensures the rotation of the bar 87 and the parallel approach of the arms 81 and 83 which, taking support on the opposite faces of the layer 15, ensure reduction or, advantageously, the disappearance of the spaces 21. In an advantageous variant (not shown), the lateral shaping rods 81 and 83 are driven by a motor provided with an encoder which allows a positioning by command, especially by programming. A front shaping bar 99, located opposite the opening 74, is driven by a motor 101, provided with a position encoder, by means of a chain 103. A shaping bar 105 behind the side of the opening 74 is driven by an engine 107, provided with an encoder in position, by means of a chain 109. The rear shaping bar 105 can be set aside to a reference position 105.1 in Figure 6, so as to allow the bringing of a layer 15. through the opening 74, and a reference position 105.2 corresponding to the formation of a layer 15 in place in the layer pressing devices 63.

The layer pressing device 63 is carried by the gantry robot 53 to its layer receiving position 57.2, aligned with the end of the conveyor 11. In a variant, the layer stacking robot 53 may be advantageously equipped with a rotating device. of the layer presser that allows the modification by command of the orientation, for example over 90 ° of the layer to be stacked. The layer is pushed into the double curtain 75 of the layer pressing device 63 and is supported on the front shaping bar 99 thus securing its first spatial reference. The rear shaping bar 105 passes from the receiving position 105.1 to the forming position 105.2 and rests on the layer ensuring its second reference. The pressing device 63 rises to its raised position and then moves horizontally to position itself above the receiving pallet. The raised position can correspond to the maximum height that the layer pressing device 63 can reach. In an improved variant, the raised position can correspond to the minimum height that allows the deposition of the current layer on the preceding layer or on the pallet without risk of collision with any element of the robot 53 or of a pallet in the process of being constituted . During the path of the layer pressing device 63, the lateral shaping rods 81 and 83 laterally compact the layer thus ensuring a third reference. When the layer pressing device 63 has been placed above the receiving pallet, it descends and stops at a reduced height above the preceding layer, for example one centimeter. Semi-curtains 75.1 and 75.2 move apart symmetrically, thus depositing the layer which is always guided on all four sides by the forming bars 81, 83, 99 and 105. The pressing device 63 illustrated in FIGS. 5 and 6 is particularly efficient, since it allows the automatic adaptation to the format of the layers to be stacked, the semi-roller curtains 75 allow the transfer of composite layers of any type of packages, the transfer being carried out with complete safety avoiding the risk of falling of packages. However, the use of other types of layer pressing devices 63 does not depart from the scope of the present invention. Likewise, the robot 53 can be provided with a plurality of layer pressing devices 63 that can be used alternatively. The device 63 that is not in use is advantageously stored on one of the sites 57, for example on the site 57.4. The robot 53 selects the layer gripper device 63 best suited for handling the layers to be stacked. An example of a campaign for layer stacking by the robot 53 will now be explained. The layer pressing device 63 is placed on the extension of the conveyor 11 (or of a transfer conveyor, not shown)., the opening 74 facing the conveyor 11. The first layer is pushed by the pusher 110 on the curtain 75 of the layer pressing device 63, then transferred to a pallet arranged at 57.1. This operation is resumed until the palette is fully loaded. The following layers are deposited on a pallet arranged in 57.3. The evacuation of the palletised load from the location 57.1 according to the arrow 71 is carried out in concealed time during the palletization of the pallet at the location 57.3. In the same way, when the pallet of site 57.3 is fully loaded, the following layers will be deposited on a new pallet brought between times to site 57.1. In 57.4 it is possible, simultaneously, to constitute a heterogeneous pallet or an incomplete pallet that is fed in alternation with the palletization of the pallets in 57.1 or 57.3. When the pallet is arranged at 57.4, the robot 53 ensures the deposition of the number of layers of the current campaign corresponding to the order.

A palletized load is called heterogeneous when all the layers that constitute it are not identical. A palletized load is called incomplete when it comprises a number of layers lower than that of the other palletised loads corresponding to the same palletization scheme, or when the last layer comprises a number of sales units lower than that of the other layers.

An incomplete palletized load allows you to complete an order from a customer in order to supply the desired number of sales units. It should be noted that the feeding of the robot 53 of FIG. 4 by the layer-making device of FIG. 1 makes it possible to send a succession of different layers 15 on the conveyor 11. In such a case, each of the locations 57 allows the constitution of heterogeneous palletized loads. Even in such a case, one of the sites 57, for example the site 57.4, can be loaded with a palletized load partially constituted with a view to completing it by layers of different natures, to form a heterogeneous palletized load. The robot 53 according to the present invention can be equipped with interleaving deposition means. For example, the layer pressing device 63 comprises means, in particular folding suction cups (not shown), which allow the transfer of interleaves from an interleaf deposit located, for example, at 57.6, onto a layer of a palletized load. in the process of being constituted. In a variant embodiment that allows a faster flow rate, a distributor 111 (figure 8), for example rotating, allows the transfer of an interleaving on the layer arriving through the conveyor 11. In a variant embodiment, the robot 53 comprises means (not shown) of internal transfer of empty pallets or of palletized loads between the various locations 57. It is understood that the use of other types of layering robots 53, such as, for example, two-axis gantry robots, robots Cartesian of three axes on rails, robots of two articulated arms with vertical vertical displacement called mask robots or robot mask on rails, as well as polyarticulated or spherical robots, does not leave the frame of the present invention. The layer stacking robot 53 of FIG. 4 is particularly flexible insofar as it comprises a plurality of locations 57 (57.1, 57.3, 57.4 and 57.6) of which at least one is intended to receive a pallet of the load palletized in the process of being constituted, the other sites 57 being able to receive different applications, such as serving as a deposit for devices 63 layer pressers or interleaving tanks. Advantageously, the robot 53 comprises means for detecting the presence of a pallet, the lack of empty interleaving and / or detection of non-compliant layers, especially of damaged layers or that comprise damaged packages. In Figure 7, an operating flowchart of the layer stacking robot 53 can be observed. At 113, a supervisory computer and / or the programmable robot of the robot 53 receives, for example, from a production management computer, information about the palletization campaign to be carried out. This information refers especially to the layer pressing device 63 to be used, the applications of the various locations 57 as position point, the presence of heterogeneous pallets, etc .; the dimensions of the layers to be treated, the number of layers per pallet, the number of pallets, the number and position of the interleaves, the orientation of the layers, etc. In the course of the campaign, this information may eventually be completed by some particular information, especially on the presence of a heterogeneous palette to be completed. It is passed to 115. In 115, the stacking of the layers on the pallets corresponding to the various locations 57 used as a layer deposition site is initialized. In the example illustrated in figure 4, the number i of sites 57 used for the constitution of layers corresponding to the initializations of the pallets 115.1 to 115. i is comprised between 2 and 4. In a variant, the number i of types of pallets that can be initialized in the stage 115 is not linked to the number of locations 57 of the robot 53. Advantageously, at 113, the supervising computer and / or the programmable robot of the robot 53 receives the palletization scheme of all types of palletised loads whose palletization was assigned to the present palletization campaign. Thus, a single site 57 can, successively and automatically, in the course of a single campaign, be used to perform various types of palletized loads, thanks to the possibilities of changing pallets offered by the user of automatic carts, especially guided by wire . It goes to 117.

At 117, the detection or, advantageously, the identification of the layer 15 arriving from the conveyor 11 is carried out. It is passed to 119. At 119, the conformity of the layer is verified. If the layer is not conformed it is passed to 121. If the layer is conformed it is passed to 123. In 121, the evacuation of the non-conformal layer, for example of a dislocated layer, of a layer comprising damaged packages is ensured, a layer having a different orientation to the intended layer or a layer that does not correspond to the current palletization scheme. From 121 it is passed to 117. In 123, the layer 15 brought by the conveyor 11 is grasped. It is passed to 125. In 125 the conformation of the layer 15 is secured. It goes to 127. In 127, the deposition of the layer is carried out on a palette in the process of being constituted. It is passed to 129. At 129, it is determined whether the deposited layer is the last layer of a palette. If it is determined that it is not, it is passed to 117. It is determined that if it is, it is passed to 131. In 131, it is verified if it is not at the end of the campaign. If this is the case, it goes to 133, which causes the robot 53 to stop working. If it is not, it goes to 135.

In 135, the determination of the following palette is made. It is passed to 115 to initialize the corresponding palette to the location 57 of the next palette. In a variant, the step of determining the next pallet is carried out after step 127 of layer deposition, which allows the alternative deposition of layers on a plurality of pallets. The arrow 137 symbolizes the reception of a set of palletizing a heterogeneous pallet, for example a pallet arranged in 57.4. In figure 8, an exemplary embodiment of a flexible palletizing device IFP according to the present invention can be observed, which associates an analogous layer-making device to the device illustrated in figure 1, but which comprises conveyors 9 for bringing sales units 5 adjacent to the conveyor 11 for the formation of layers that feed layers to be stacked to a layer stacking robot 53, analogous to that illustrated in FIG. 4. In the illustrated example, the conveyor 11 for reception and constitution of layers opens into the middle of the large side of the robot 53 at site 57.5 '. For the layer grasping devices that ensure a vertical grip, the layers 15 are taken at the location 57.5 '. On the other hand, the double-sided curtain device 63, illustrated in FIGS. 5 and 6, advantageously comprises a loading area 57.2 'located in the alignment of the end of the conveyor 11. In this embodiment, a pusher 110 is disposed opposite the location 57.2 '. The pusher 110 moves away first to allow a layer 15 to pass over the conveyor 11 to the location 57.5 ', and then descends and pushes the layer into the opening 74 of the layer pressing device 63.

The feeding of empty pallets and the evacuation of the palletised loads from the robot 53 can be done manually. However, it is advantageous to use an automatic empty pallet feeding device, for example an empty pallet distributor 137 comprising an overhead conveyor. The evacuation of palletised loads is advantageously carried out by autonomous and automatic trucks or pallet trucks 139. These trolleys can be guided, for example, by a mark on the ground (guide line, carriage guided by wire, etc.) or by electromagnetic or other signals (laser-guided cars, etc.). In 143, the various tools that can equip the arms 3 of the robots 1 have been illustrated. In figure 8, the robots 1 are provided with articulated arms 3, the circles 141 symbolizing the reach of the arms 3. In figure 9 , a flow chart illustrating an example of operation of a device of figure 8 arranged, for example, can be observed, at the end of a production line. At 145, a computer in charge of flow management receives, for example, a data collection or, advantageously, an application for managing orders placed by customers, the characteristics of a palletization campaign. It goes to 147. In 147, the flow management computer or production supervision determines the palletization schemes corresponding to the sales units ordered by the customer and communicates the schemes of layer formation to the robots 1 and the schemas of layer stacking to the robot 53. It can also, without departing from the scope of the present invention, produce production instructions sent to a production or packaging line (not shown). It goes to 149. In 149, the sales units to be sent on the conveyors are determined 9. It is passed to 151. In 151, the sending in sequence of the sales units on the conveyor or the conveyors is initialized. it goes to 153. In 153, the robots 1 indicate whether the arrival rhythm of the sales units 5 on the conveyors 9 is compatible with the constitution of layers. If this is not the case, turn to 155. If this is the case, turn to 157. In 155, the feed rate of the conveyors is slowed down 9. It goes to 158. In 158, a delay is generated that allows the robot 1 again take a steady-state rhythm. It goes to 159 and 161. In 157, the feed flow is increased to the maximum by the conveyors 9 of sales units 5. In a variant, the conveyors 9 have a fixed speed and are designed to accumulate the sales units, ensuring thus a regulation in case of decrease in the speed of the robots 1 that constitute the layers. It goes to 159 and 161. In 159, the robots 1 ensure the constitution of layers. Step 159 corresponds, for example, to the flow chart of Figure 3. It is passed to 161. In 161, from the moment in which the first layer 15 is received by the conveyor 11, the robot 53 ensures the stacking of the layers and the constitution of palletized loads. Step 159 starts before step 161, then these two steps overlap in time to the stacking of the last layers after the stop of step 159. Step 161 corresponds, for example, to the flowchart of figure 7. It is passed to 163 and 167. In 167, the evacuation of the transfer of the full palletised loads is ensured. It goes to 169. In 163, the evacuation and transfer of incomplete heterogeneous pallets that will be directed towards another IFP (in 164) that deals with the sales units necessary to complement the pallet, or towards a dynamic storage (in 165) is ensured. ) that will keep it until an IFP deals with the necessary sales units. Some heterogeneous palettes can therefore be made in several campaigns with temporary storage between each campaign. In 13 l ,? during the stacking of the next desired layers, the incomplete pallets are sent again from the dynamic storage 165 to the stacking of the layers 161. In 169, the labeling of the palletized loads is advantageously ensured. It is passed to 171. In 171 the overpackaging of the palletized loads is advantageously ensured.

It goes to 172. In 172, it is communicated to the production management system or flow management, the location and the characteristics of the various pallets of the campaign with a view to its transfer to a means of transport, for example to trucks. It goes to 173. In 173, it is verified if one is at the end of the campaign. If this is not the case, it goes to 149. If this is the case, it goes to 175. In 175, information regarding the possible sales units or layers rejected is communicated to the computer system of production management or flow management. It goes to 177. In 177, the evacuation of the sales units and / or any rejected layers is ensured. It goes to 179. In 179, the palletization campaign is finished. It is understood that the use of the devices according to the present invention without labeling or overpacking does not depart from the scope of the present invention. In the same way, the labeling of the pallets can be effected, without departing from the scope of the present invention, by the robot 53 with the aid of a label printing device, comprising, for example, an alphanumeric inscription completed by a code of bars and associated with a label application device. It should be noted that, once the formation of layers has been initialized, this operation is carried out simultaneously with the layer stacking, which is thus done in hidden time. In the same way, once at least one palletized load has been constituted, the evacuation of the palletized loads (step 167), its labeling (step 169) and its overpack (stage 171), and its storage, are carried out in time hidden. In a variant, especially in the case of short palletizing campaigns, the overpacking can start after the end of the palletizing campaign. Modern production chains, especially beverage bottling chains and their grouping into sales units, reach extremely high rates. The flexible palletizing devices according to the present invention can be directly fed by the output of a production line to palletize the real time, that is, without intermediate storage, produced sales units. To increase the rhythms, the individual rhythm of the robots 1 and 53 can be increased first. If this solution is not adapted or is not sufficient, the robots 1 and / or the robots 53 arranged in series or in parallel can be used. It should be noted that the reduced surface area on the floor occupied by the devices according to the present invention facilitates the constitution of large palletizing units. Figure 10 shows a palletising unit comprising, arranged in parallel, four flexible palletizing islands IFP of Figure 8 fed with sales units that form the elementary packages through the outlet 181 of a production line. In the illustrated example, output 181 of the production line feeds parallel two packing or grouping units 183. Each unit 183, for example by means of interconnected conveyors and comprising means for directing the sales units towards the flexible palletizing islands IFP to be used, feeds the two conveyors 9 of two flexible palletizing islands IFP. Advantageously, the distance between two consecutive flexible IFP pallet islets is substantially equal to the width necessary for the passage of a trolley or a pallet truck 139 serving in alternation the locations 57.6 and 57.4 of the two consecutive flexible pallet islets. In this compact arrangement, the four flexible palletizing islands IFP occupy a width for example substantially equal to 28 meters. The parallel or battery arrangement of the flexible pallet islets allows to improve flow management by applying the sales units to one or several IFPs according to the flow of the production line or the importance of the order to be filled. One of the flexible islets of production can be temporarily stopped to perform a provisional maintenance by passing its task to the other flexible pallet islets. further, it is possible to use a small number of flexible IFP production islets at the beginning and complete with other flexible pallet islets as needed. The robots 53 of the flexible pallet islets are fed with empty pallets, for example by fork trucks or pallet trucks, by means of aerial distributors or by an automatic set of carts guided by wire. The homogeneous or heterogeneous palletized loads are evacuated by fork trucks, pallet trucks or carts guided by wire or guided by laser beams. The use of autonomous trolleys, for example guided by wire or guided by laser beams, is particularly advantageous as a complement to the flexible islets of palletizing placed in parallel, insofar as they allow programming for each palletization campaign, without loss of time, the applications and the optimal paths to be carried out by each cart, especially for the heterogeneous pallets constituted in the locations of various robots 53. In a first variant of embodiment, the heterogeneous pallets are made by sending them to the same flexible pallet islet , of the sales units that should constitute the different types of layers of the heterogeneous pallets. However, in order not to disturb the palletizing customs, the feeding flow of the flexible pallet islets can be organized, in order to avoid or limit to the maximum the interlacing of different types of packages or layers treated by each of the islets flexible palletizing In such a case, each type of package will be sent to a flexibe islet of different palletization. However, this does not prevent the automatic constitution of heterogeneous pallets by using the procedure illustrated in FIG. 11. The palletizing monitoring computer 185 receives a command for the realization of n heterogeneous pallets which it applies to the available carriages 139. An empty pallet is brought, for example, to the location 57.4 of a robot 53 of a flexible pallet islet that receives the layers 15 that should constitute the layer or the lower layers of the heterogeneous pallet. After the constitution of the lower layers, a carriage 139 ensures the recovery of the partially loaded pallet and its routing towards one of the sites 57, for example to the location 57.4 of the robot 53 of the flexible pallet islet that constitutes the next layer or layers. The operation can be renewed until the constitution of the complete pallet comprising all the types of layers desired, to be then routed towards labeling, then to the overpacking station 187, before being stored in an evacuation zone 189 or advantageously shifted directly on a means of transport 191, for example on a truck. For campaigns that foresee the constitution of a number of heterogeneous pallets higher than the number of cars 139 available, a zone 193 of dynamic storage of the pallets in the process of being constituted is applied. The carriages 139, under command of the monitoring computer 185, deposit in a indicated and identified location a heterogeneous pallet in the process of being constituted, to recover it at the moment in which one of the flexible pallet islets will be fed with layers that are necessary for complete the palette. It should be noted that, according to the production plan of the factory, the pallet in the process of being constituted can remain for a considerable time, which can reach several hours or several days, in the zone 193 of dynamic storage. Advantageously, the flexible pallet islets directly feed, for example by means of trolleys 139 and / or conveyors 188, the overpacking stations 187. However, in a variant, all or some palletized loads can remain first in the storage area. dynamic 193 before its transfer by car 139 to an overpacking station.

In the example illustrated in Figure 11, a first carriage 139 transfers a pallet in the process of being constituted between the dynamic storage area 193 and the flexible pallet of IFP1, a second carriage 139 transfers a pallet in the process of being constituted or a loading Palletized from the flexible pallet islet IFP3 to the dynamic storage area 193, a third carriage 139 transfers a palletized load between the dynamic storage area 193 and an overpackage station 187, and a fourth car 139 transfers a pallet under construction between the flexible palletizing island IFP2 and the flexible palletizing island IFP3.

Advantageously, the computer 185 allows to simulate a palletization campaign before its launch in order to visualize the inconsistencies or problems that may be encountered or, instead, to estimate the time required to carry out the palletization campaign, in order to be able to indicate to a customer or customers the delivery times of the palletized loads ordered. It is understood that the performance of loads without pallets, constituted by a stack of layers, does not depart from the framework of the present invention. The present invention is applied to the maintenance in the storage and transportation of products, especially at the end of the production line. The present invention is mainly applied to the maintenance in the storage and transport of products that come from a flexible production line.

Claims (1)

1. CLAIMS 1. Robot for stacking layers of elementary sales units on a pallet, according to a palletization scheme, comprising: a) a device for bringing layers to be stacked; b) means for gripping layers; c) at least two pallet receiving sites in the process of being constituted; d) a command means, especially a programmable automaton; e) means for driving and guiding the means for gripping layers, for depositing the layer grasped by the means for gripping layers, according to the command received from the command means, on a preceding layer of a pallet in the process of constitution or on the pallet if the layer grasped by the layer gripping means is intended to become the first layer of a palletized load, arranged in any one of said, at least two, pallet receiving locations. 2, - Robot according to claim 1, characterized in that said robot is a Cartesian gantry robot with three orthogonal axes (X, Y, Z). 3. Robot according to claim 1 or 2, characterized in that the means for gripping layers comprises a nacelle whose bottom is constituted by a curtain and in which the nacelle comprises a lateral loading opening of the layers. (4) Robot according to any one of the preceding claims, characterized in that the means for gripping layers comprises forming means (81, 83, 99, 105) that ensure the cohesion of the layer being deposited on the pallet in course of constitution 5. Robot according to any one of the preceding claims, characterized in that the device for bringing layers to be stacked comprises a conveyor whose width (L) is substantially equal, preferably slightly greater than the width (L ') 6. The palletizing device characterized in that it comprises a robot according to any one of the preceding claims and at least one robot for the constitution of layers on a conveyor device. Layers for the layer stacking robot 7. Device according to claim 6, characterized in that the layer-forming robot comprises a mobile arm and that said devices comprise at least one conveyor for bringing the packages to the layer-building robot. 8. Device according to claim 6 or 7, characterized in that it comprises two robot constitution layers arranged symmetrically on both sides of the device for bringing layers to be stacked towards the layer stacking robot. 9. Device according to claim 6, 7 or 8, characterized in that the robot or layer-forming robots comprise means for automatic change of tools for gripping the batches. 10. High-speed palletizing device, characterized in that it comprises a plurality of palletizing devices (IFP) according to any of claims 6 to 9, arranged in parallel, as well as a means of feeding units of sale, under command , of at least two of said palletizing devices (IFP). 11. Palletization procedure, characterized in that it employs a device according to any one of the preceding claims. 12. - Process according to claim 11 for carrying out heterogeneous pallets comprising a plurality of types of stacked layers, characterized in that it comprises the steps consisting of: a) loading in a computer system the scheme of stacking the layers of a heterogeneous pallet; b) deposit the first layer or the first layers of the pallet with the help of a layer stacking device; c) evacuate by an automatic trolley commanded by said computer system, the palette in the process of constitution of the layer stacking device, in the expectation of availability in a layer stacking device, of other types of layers that must be stacked on top of the heterogeneous palette; d) bringing the pallet in the process of constitution to the layer stacking device (53) which has layers that must be stacked on the heterogeneous pallet in the process of being constituted; e) repeating steps c) and d) until the complete constitution of the heterogeneous palette; f) evacuate the complete heterogeneous pallet from the layer stacking device. 13. Method according to claim 12, characterized in that, during step c), the pallet in the process of constitution is evacuated to a dynamic storage area and in which, during step d), the pallet in the process of being constituted is taken again in the dynamic storage area to be taken to the layer stacking device.LEGEND IN FIGURES FIGURE 3 23 Campaign 25 palletization scheme 27 tools 29 conveyor start-up 31 layer initialization 33 UV detection 35 UVOK 37 temporization and stopping of the layer conveyor. 39 UV capture 41 calculation of the deposition position 43 UV deposition 45 full layer 47 end of campaign 49 transporter arrest 51 END FIGURE 7 113 Campaign 115.1 palette initialization 1 115. i palette initialization i 117 layer identification 119 layer OK 121 evacuation 123 layer grip 125 conformation 127 layer deposition 129 last layer 131 end of campaign 133 FIN 135 next pallet determination FIGURE 9 145 Campaign 147 palletization scheme 149 determination of the UV to be sent 151 sequential shipment of the UV on the conveyor of UV 153 pace OK 155 UV conveyor speed reduction. 157 maximum speed of the UV transporter. 158 delay 159 build up of layers 161 stack of layers 163 evacuation of incomplete heterogeneous pallets 164 to another IFP 165 dynamic storage 167 evacuation of incomplete homogeneous or heterogeneous pallets 169 labeling of pallets 171 overpackage 172 location and characteristics of the paddles of the campaign 173 end of campaign 175 UV rejected 177 evacuation of UV rejected 179 END