Robotized transport and transfer system

Abstract

A system and a method for maintaining, transferring and transporting a flexible package. The system includes a manipulating system, preferably a five axis robot, for transferring and displacing the flexible package and a lift-assist platform positioned within a reach of the manipulating system for transporting the package and for supporting a weight of the flexible package. The system may be used more specifically for the transport and transfer of upright flexible packages. The system simplifies the tool supported by the robot, thus allowing use of a smaller robot.

Claims

1. A system for transporting a filled flexible package, having a top with an open mouth and a bottom, towards a flexible package closing system, the system comprising: a displacing system comprising: a support conveyor receiving the bottom of the filled flexible package and supporting a substantial portion of a weight of the filled flexible package during lateral displacement thereof towards a second position in an upright configuration, and a vertical motion assembly to selectively raise and lower at least a portion of the support conveyor respectively towards and away from the bottom of the filled flexible package located at a first position, the first position being vertically and laterally spaced-apart from the second position; a multi-axis robot having a gripper configured to grasp the top of the filled flexible package at the first position and maintain the top of the filled flexible package during displacement thereof towards the second position; and a controller operatively connected to and synchronizing motion of the vertical motion assembly, the support conveyor, and the multi-axis robot.

2. The system as claimed in claim 1, wherein at least a portion of the support conveyor further comprises a flexible package receiving surface and the vertical motion assembly selectively raises and lowers the flexible package receiving surface towards into contact with and away from contact with the bottom of the filled flexible package at the first position, the flexible packaging receiving surface supporting the substantial portion of the weight of the filled flexible package when in contact therewith at the first position.

3. The system as claimed in claim 2, wherein the gripper is mounted above the flexible package receiving surface and maintains the top of the filled flexible package during displacement and transfer thereof towards the second position.

4. The system as claimed in claim 1, wherein the controller synchronizes the multi-axis robot with a respective displacement of each of the vertical motion assembly and the support conveyor.

5. The system as claimed in claim 1, wherein the first position is proximate to a flexible package filling unit configured to fill the flexible package.

6. The system as claimed in claim 1, wherein the gripper maintains a shape of the top of the filled flexible package between the first position and the second position.

7. A system for transporting a filled flexible package, having a top with an open mouth and a bottom, towards a flexible package closing system, the system comprising: a lift-assist platform comprising a vertical motion assembly and being displaceable vertically towards and into contact with the bottom of the filled flexible package located at a first position; a support conveyor receiving the bottom of the filled flexible package and supporting a substantial portion of a weight of the filled flexible package, in an upright configuration, during lateral displacement thereof towards a second position, the second position being vertically and laterally spaced-apart from the first position; a multi-axis robot having a gripper configured to grasp the top of the filled flexible package at the first position and maintain the top of the filled flexible package during displacement thereof towards the second position; and a controller operatively connected to and synchronizing motion of the lift-assist platform and the multi-axis robot.

8. The system as claimed in claim 7, wherein the lift-assist platform further comprises a flexible package receiving surface operatively connected to the vertical motion assembly and the vertical motion assembly selectively raises and lowers the flexible package receiving surface toward into contact with and away from contact with the bottom of the filled flexible package at the first position, the flexible package receiving surface supporting the substantial portion of the weight of the filled flexible package when in contact therewith at the first position.

9. The system as claimed in claim 7, wherein the controller synchronizes the multi-axis robot with a displacement of the lift-assist platform.

10. The system as claimed in claim 7, wherein the first position is proximate to a flexible package filling unit configured to fill the flexible package.

11. The system as claimed in claim 7, wherein the gripper is mounted above the lift-assist platform and maintains the top of the filled flexible package during displacement and transfer thereof towards the second position.

12. The system as claimed in claim 7, wherein the gripper maintains a shape of the top of the filled flexible package between the first position and the second position.

13. A system for transporting a filled flexible package, having a top with an open mouth and a bottom, towards a flexible package closing system, the system comprising: a displacing system comprising: a support conveyor receiving the bottom of the filled flexible package and supporting a substantial portion of a weight of the filled flexible package during lateral displacement thereof towards a second position in an upright configuration, and a vertical motion assembly selectively raisable towards a bottom of the filled flexible package located at a first position, the first position being vertically and laterally spaced-apart from the second position; a multi-axis robot having a gripper configured to grasp the top of the filled flexible package at the first position and maintain the top of the filled flexible package during displacement towards the second position; and a controller operatively connected to and synchronizing motion of the vertical motion assembly, the support conveyor, and the multi-axis robot.

14. The system as claimed in claim 13, wherein the vertical motion assembly comprises a flexible package receiving surface being selectively raisable toward into contact with and lowerable away from contact with the bottom of the filled flexible package at the first position, the flexible package receiving surface supporting the substantial portion of the weight of the filled flexible package when in contact therewith at the first position.

15. The system as claimed in claim 14, wherein the gripper is mounted above the flexible package receiving surface and maintains the top of the filled flexible package during displacement and transfer thereof towards the second position.

16. The system as claimed in claim 13, wherein the controller synchronizes the multi-axis robot with a respective displacement of each of the vertical motion assembly and the support conveyor.

17. The system as claimed in claim 13, wherein the first position is proximate to a flexible package filling unit configured to fill the flexible package.

18. The system as claimed in claim 13, wherein the gripper maintains a shape of the top of the filled flexible package between the first position and the second position.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) These and other objects and advantages of the invention will become apparent upon reading the detailed description, provided merely by way of non-limitative examples, and upon referring to the drawings in which:

(2) FIG. 1 is a perspective view of the system according to a preferred embodiment of the present invention;

(3) FIG. 2 is another perspective view of the system shown in FIG. 1;

(4) FIG. 3 is another perspective view of the system shown in FIG. 1;

(5) FIG. 4 is another perspective view of the system shown in FIG. 1;

(6) FIG. 5 is a front view of the system shown in FIG. 1;

(7) FIG. 6 is a back view of the system shown in FIG. 1;

(8) FIG. 7 is a left side view of the system shown in FIG. 1; and

(9) FIG. 8 is a right side view of the system shown in FIG. 1.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

(10) As shown in FIGS. 1 to 8, the present invention provides a system (100) for transferring and transporting a flexible package (102). The system (100) includes a multi-axis robot (101) for transferring and displacing the flexible package (102) between a first position (namely a filling point) and a second position (namely a closing point). The system also includes a lift-assist platform (104) for transporting the flexible package (102). The lift-assist platform (104) substantially supports a weight of the flexible package (102). The lift-assist platform (104) comprises a displacing system (4) for displacing and supporting the flexible package (102) upright between the first and second positions. The platform (104) is positioned within reach of the multi-axis robot (101).

(11) Preferably, the multi-axis robot (101), in certain configurations, maintains the flexible package (102) between the first position and the second position.

(12) Preferably, the system (100) comprises a central controller (3) for synchronizing motion of the multi-axis robot (101) and the lift-assist platform (104).

(13) Preferably, the multi-axis robot (101) is a five axis robot (1).

(14) Preferably, the multi-axis robot (101) comprises a gripper (8) continuously maintaining a shape of at least a portion of a top of the flexible package (102) between the first and second positions.

(15) Preferably, the gripper (8) comprises opposite side clamps (108) for grasping the flexible package (102). One of the opposite side clamps acts like an opposable thumb simulating the movement of a human hand for better manipulation of the flexible package.

(16) Preferably, the displacing system (4) is a conveyor system (4).

(17) According to the present invention, there is also provided a method for transferring and transporting a flexible package (102), comprising the steps of:

(18) a) providing a system (100) comprising: a multi-axis robot (101) for transferring and displacing the flexible package (102) between a first position and a second position; a lift-assist platform (104) for transporting the flexible package (102), the lift-assist platform substantially supporting a weight of the flexible package (102), the lift-assist platform (104) comprising a displacing system (4) for displacing and supporting the flexible package (102) upright between the first and second positions, the platform (104) being positioned within reach of the multi-axis robot; a semi-automatic bagger (9) proximate the first position for filling the upright flexible package (102); and a closing system (7) positioned proximate the second position;

(19) b) filling the flexible package (102) with a substance, using the semi-automatic bagger (9);

(20) c) bringing together sidewalls of a top of the filled flexible package (102) in a package-closing configuration with the semi-automatic bagger (9);

(21) d) raising the lift-assist platform (104) to substantially support the weight of the filled flexible package (102);

(22) e) grasping and maintaining a shape of the top of the filled flexible package (102) in the package-closing configuration with the multi-axis robot (101);

(23) f) releasing the filled flexible package (102) from the semi-automatic bagger (9);

(24) g) displacing the filled flexible package (102) towards an inlet of the closing system (7), through synchronized motion of the multi-axis robot (101) and the lift-assist platform (104), the displacing system (4) of the lift-assist platform (104) displacing the flexible package (102) laterally towards the closing system (7);

(25) h) aligning the top of the flexible package (102) with the inlet of the closing system (7); and

(26) i) transferring the flexible package (102) from the multi-axis robot (101) to the closing system (7).

(27) Preferably, the flexible package (102) is a bag (10) and the robot (1) continuously maintains an upper part of the bag (10).

(28) As better shown in FIG. 3, in a preferred embodiment of the invention, a robot (1) with a gripper (8) is placed on a support (2) which holds the controller (3). The platform (102) is preferably a support conveyor (4) (also referred to technically as a peripheral axis) mounted on the support (2). A servomotor (5) drives the up/down movement of the support conveyor (4). An exit conveyor (6) is located next to the support conveyor (4). A closing system (7) (preferably a sewing machine) is located over the exit conveyor (6). A semi-automatic bagger (9) is placed in front of the support conveyor (4).

(29) Description of an Operational Cycle:

(30) The system preferably operates according to the following steps: A filled bag (10) is ready at the spout (11) of the semi-automatic bagger (9); Sidewalls of the top of the filled bag are brought together in a package-closing configuration and the gussets are shaped by the spout of the bagger; The support conveyor (4) raises to support the weight of the filled bag (10) while the robot (1) moves to grab the top of the filled bag (10); The spout (11) releases the filled bag; Using its gripper (8), the robot (1) maintains the shape of the top of the filled bag (10) and keeps it vertical; In a synchronous motion, the support conveyor (4) moves down, the belt (12) of the support conveyor (4) starts moving to transfer laterally the bag to the closing system (7) and the robot (1), using its gripper (8), aligns the top of the bag (10) and transfers it to the closing system (7).

(31) In one preferred embodiment of the present invention, the closing system (7) is a sewing machine which is an assembly of driving belts and a sewing head. The driving belts are used to support the top of the bag closed and drive the top of the bag at the correct speed to perform a good stitching. However, the closing system may use any number of different closing methods including adhesives, stitching, stapling, sealing, or adding a closure member, among others.

(32) Preferably, when the bag (10) is being transferred to the closing system (7), the robot (1) and the belt (12) of the support conveyor (4) move at the same speed as the driving belts of the closing system.

(33) Preferably, when the bag is transferred to the closing system, the bottom of the filled bag rests on an exit conveyor (6) adjacent to the support conveyor (4). The belt (13) of the exit conveyor (6) also moves at the same speed of the driving belts of the closing system (7).

(34) The addition of the platform with a support conveyor in combination with the five axis robot results in a reduction in the required capabilities of the robot as it no longer has to be designed to support the weight of the items or bags being manipulated. The robot simply has to be designed for the specific manipulation operations it has carried out. This reduction in the required capabilities of the robot through the addition of the platform results in cost savings since a simpler robot may be used for the application.

(35) As mentioned above, the system according to the present invention can be provided as a module that can then be retrofitted to an existing bagger and closing systems.

(36) Although preferred embodiments of the present invention have been described in detail herein and illustrated in the accompanying drawings, it is to be understood that the invention is not limited to these precise embodiments and that various changes and modifications may be effected therein without departing from the scope or spirit of the present invention.