Abstract
A device for removing straps from boxes, such as a strap encircling a box, includes at least one tentacle or gripping device for creating contact to a strap which is to be removed from a box, at least one first guide for guiding the strap away from the tentacle or gripping device, and at least one first guide drive for driving the first guide. A strap to be removed may be cut before or during the time a tentacle or gripping device engages with the strap.
Claims
1.-15. (canceled)
16. A device for removing straps from boxes, such as a strap encircling a box, the device comprising: a) at least one tentacle or gripping device for creating contact to a strap which is to be removed from a box, b) at least one first guide for guiding the strap away from the tentacle or gripping device, c) at least one first guide drive for driving the first guide and d) at least one position mechanism connected to the at least one tentacle or gripping device for positioning at least the tentacle or gripping device towards a side of a box and wherein the position mechanism can contract to avoid the tentacle or gripping device engages too much with the box.
17. The device according to claim 16, further comprising at least one holder or runner for positioning the tentacle or gripping device next to a box.
18. The device according to claim 16, wherein the at least one position mechanism is capable of directing the at least one tentacle or gripping device and the at least one holder or runner towards a box, and the at least one position mechanism is also capable of contracting to reduce a force made between the box and the tentacle or gripping device and/or to reduce the force made between the box and the holder or runner.
19. The device according to claim 16, further comprising at least one second guide for guiding the strap towards the first guide.
20. The device according to claim 16, wherein the at least one tentacle or gripping device comprises a land to be guided towards a box on a box side from where at least one strap is to be removed.
21. The device according to claim 16, wherein the at least one tentacle or gripping device, the at least one holder or runner and the at least one second guide are connected or controlled in a way such that they simultaneously can be directed towards or away from a box.
22. The device according to claims 19, wherein the at least one position mechanism is directing/positioning the at least one tentacle or gripping device, the at least one holder or runner and the at least one second guide.
23. The device according to claim 16, further comprising a cutting device located to be capable of cutting a strap before or simultaneously with this strap being in contact with the at least one tentacle or gripping device.
24. A system for cutting and removing straps from boxes, such as a strap encircling a box, the system comprising: a) a device for removing straps from boxes according to claim 16, b) a cutting device for cutting a strap before or simultaneously with this strap being in contact with the at least one tentacle or gripping device.
25. The system according to claim 24, wherein the cutting device comprises a knife capable of cutting a strap, such as a plastic strap.
26. The system according to claim 24, wherein the system further comprises an inlet conveyor or inlet conveyor belt and an outlet conveyor or outlet conveyor belt for conveying boxes with at least one strap towards and boxes without straps away from the device for removing straps from boxes.
27. The system according to claim 26, wherein the cutting device is located under, above or along a side of a box under transport and at a box side having side lengths or widths being parallel to the transport direction.
28. The system according to claim 24, further comprising: a robot connection unit capable of connecting the system to a robot arm with at least four axis, a robot arm, and a control unit for controlling the robot arm with the device for removing straps from boxes, and/or a vision system for obtaining images of the boxes with straps, and an image processing unit for processing obtained images to perform an output signal being an input signal for the control unit for controlling the robot arm.
29. A method of removing at least one strap from a box, comprising: a) cutting the at least one strap to obtain two ends of each of the at least one strap, b) removing the at least one cut strap by use of the cutting device of claim 16.
30. The method according to claim 29, using a system for cutting and removing straps from boxes including a cutting device for cutting a strap before or simultaneously with this strap being in contact with the at least one tentacle or gripping device, or directing by a robot arm at least one box encircled by a strap pass the cutting device such that the strap engages with the tentacle or gripping device and is removed from the box.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0046] FIG. 1 illustrates a side view of a device for removing straps from boxes.
[0047] FIG. 2 illustrates a side view of a device for removing straps from boxes, where the cover plate is removed.
[0048] FIG. 3 illustrates the position a system of incoming boxes from where straps are to be removed by a device for removing straps from boxes.
[0049] FIG. 4 illustrates a device for removing straps from boxes where two top parts can be integrated in one device.
[0050] FIG. 5 illustrates a first position of a device for removing straps from boxes having two straps.
[0051] FIG. 6 illustrates a second position of a device for removing straps from boxes having two straps.
[0052] FIG. 7 illustrates a third position of a device for removing straps from boxes having two straps.
[0053] FIG. 8 illustrates a fourth position of a device for removing straps from boxes having two straps.
[0054] FIG. 9 illustrates a side view of a device for removing straps from boxes, where the cover plate has been removed.
[0055] FIG. 10 illustrates a perspective view of a device for removing straps from boxes.
[0056] FIG. 11 illustrates an enlarged view of parts of a top part of a device for removing straps from boxes.
[0057] FIG. 12 illustrates an enlarged view of the upper part of a device for removing straps from boxes.
[0058] FIG. 13 illustrates a part of a processing line where boxes are opened, and straps are removed from the boxes before the boxes are emptied.
DETAILED DESCRIPTION OF THE DRAWINGS
[0059] FIG. 1 illustrates a side view of a device 1 for removing straps from boxes. A gripping device such as tentacle 4 are located to engage with straps when the tentacle 4 and the straps pass each other. A land 9 of the gripping device may make contact with the side of a box from where one or more straps are to be removed. Runners 6 are positioned to get in touch with the outer side of the box, which may be of expanded polystyrene (Styrofoam), and secure the gripping device such as the tentacle 4 do not enter too deep into the box side. Running beneath the tentacle 4 are a second guide 8, which when getting in touch with a strap guides this strap towards and into the lower part of the device 1. The main part of the device 1 is covered by a cover plate 10.
[0060] FIG. 2 illustrates a side view of a device for removing straps from boxes, where the cover plate as shown in FIG. 1 is removed. The top part of the device is as described in relation to FIG. 1 with tentacle or gripping device 4 with a land 9, holder or runner 6 and a second guide 8 running in the direction of the arrow and guides straps towards and into the lower part of the device 1, where the strap will be guided to the first guide 5, which may be endless belts and running in the direction indicated by the arrows of which one is marked 13. The first guide 5 comprises in this embodiment two units e.g. two belts running in opposite direction and thus pulling in same direction as indicated. A pressing member 12 related to each first guide 5 presses the one part of the first guide 5 towards the other part of the first guide 5 securing a strap will stay in the first guide 5 and that a pulling force is applied to pull the strap away from the box. The first guide 5 is driven by first guide drive 14. The top part 15 of the device which is encircled by the dotted line and comprising the tentacle or gripping device 4, the holder or runners 6 and the second guide 8 is movable connected to the main part of the device below the encircled features. A position mechanism 7 such as a cylinder provides a force to the top part 15 securing the device 1 and especially the tentacles or gripping device 4 gets in contact to a box and straps surrounding the box. The force provided by the position mechanism 7 is adjusted such that the top part 15 moves into the main part of the device 1 to avoid destroying the box, as if this happens objects such as food items may drop out of the box or be contaminated. Positioning arms 11 secure the top part 15 when moving down and up stays in the correct position and is capable of pulling a strap from the second guide 8 to the first guide 5 or if the position mechanism 7 is in a compressed or contracted position and the top part 15 is mostly inside the main part of the device 1 the strap may be caught directly by the first guides 5 after engaged with the tentacle or gripping device 4.
[0061] In the shown embodiment the encircled features i.e. the top part 15 can move down such that the second guide 8 is hidden inside the device and only the first guide 5 is used for guiding the strap away from the tentacle or gripping device 4. The device 1 may also be constructed with only the first guide 5 i.e. without the second guide 8 and without the features giving the movable connection between the top part and the main part of the device.
[0062] FIG. 3 illustrates the position of incoming boxes 3 from where straps 2 are to be removed by a device 1 for removing straps from boxes. In this embodiment the device 1 for removing straps from boxes is mounted in a frame 16, which may be located in between two conveyors e.g. two conveyor belts or the structure e.g. the frame 16 may support an outfeed end of a first conveyor belt and an infeed end of a second conveyor belt and in a gap between the outfeed end of the first conveyor belt and an infeed end of the second conveyor belt the upper part 15 of the device 1 may be located. In such an embodiment the outfeed end of the first conveyor belt would be located under the box 3 and an infeed end of the second conveyor belt would be located on the other side of the top part 15 of the device 1. The embodiment is illustrated to be capable of handling two boxes 3 at a time, though only one box 3 is shown. Guideways 17 are positioned along each line where boxes 3 are transported. Illustrated are only guideways 17 for the line where a box 3 is located. A cutting device (not shown) may be located on one box side being parallel to the transport direction as indicated by arrow 18. Such a cutting device may e.g. be located to cut the straps 2 at the upper part of the box 3 which with the illustrated box will be at the lid. A strap 2 should preferably be cut before or no later than when a tentacle or gripping device 4 engages with the strap to avoid the box 3 is squeezed together when the device 1 pulls the strap 2 away from the box 3. The movable function of the top part 15 of the device 1 secures a tentacle or gripping device 4 will engage with the strap 2 when passing the tentacle or gripping device 4 and the movable function together with the holder or runner will at the same time secure the tentacle or gripping device 4 does not enter too much into the bottom of the box 3.
[0063] FIG. 4 illustrates a view of a device 1 for removing straps from boxes, in which device l′s two top parts can be integrated in one unit. Only the top part of the device 1 is fully illustrated in the back part and this part is described in respect of FIGS. 1 and 2. Also shown are second guide drives 20 driving the second guide 8. A set of two positioning arms 11 is illustrated for each part of the device 1 as is cover plates 10 on the outside of the device. A motor 19 for powering the first guide drives (not shown) is illustrated.
[0064] FIG. 5 illustrates a first position of a device for removing straps from boxes having two straps 2′, 2″. A tentacle or gripping device 4 engages with a first strap 2′ on a box 3 having two straps 2′, 2″. At this time the first strap 2′ is cut along the lid at the top of the box 3. The device 1 is moving from right towards left and/or the box 3 is moving from left towards right to have the tentacle or gripping device 4 to engage with the first strap 2′.
[0065] FIG. 6 illustrates a second position of a device for removing straps from boxes having two straps 2′, 2″. The first strap 2′ is released from the box 3 and is moved by the second guide 8 towards the first guide 5. The second strap 2″ is still around the box 3.
[0066] FIG. 7 illustrates a third position of a device for removing straps from boxes having two straps 2′, 2″. The first strap 2′ is being pulled away from the box 3 by the first guide 5. The tentacle or gripping device 4 and the second strap 2″ is approaching each other, and the second strap 2″ may at this time be cut along the lid at the top of the box 3.
[0067] FIG. 8 illustrates a fourth position of a device for removing straps from boxes having two straps 2′, 2″. The first strap 2′ is fully removed from the box 3 and is pulled away by the first guide 5. The tentacle or gripping device 4 has engaged with the second strap 2″ which will be removed in a similar way as described with the first strap 2′.
[0068] FIG. 9 illustrates a side view of a device for removing straps from boxes from where e.g. the cover plates are removed. Numbers are as in preceding figures. Illustrated is a top part 15 where the holder or runner 6 are solid and can slide along the box when removing a strap from a box. The second guide 8 is illustrated as a band having carriers to drag the strap downwards into the device when the second guide 8 is running. Motors 19 are for driving the first and second guide drives.
[0069] FIG. 10 illustrates a perspective view of a device for removing straps from boxes as shown in FIG. 9. Illustrated is a device capable of removing two straps at a time, which may be two straps from one box or one strap from two different boxes.
[0070] FIG. 11 illustrates an enlarged view of parts of a top part of a device for removing straps from boxes. Illustrated is a device capable of removing two straps at a time, though the holder or runner 6 is only present at the part being located in the front. Hereby the second guide 8 and the protruding carriers are clearly illustrated at the part being located in the back. The second guides 8 are in a retracted or push down position with a short distance from the tentacle or gripping device 4 to the first guide 5. As indicated by the length of the second guide 8, this part can be located further upwards and still being capable of directing straps from the tentacle or gripping device 4 to the first guide 5 by the action of the second guide 8. The second guide 8 is driven by a second guide drive in the direction of the arrows. Carriers 30 are illustrated on the second guide 8.
[0071] FIG. 12 illustrates an enlarged view of the upper part of a device for removing straps from boxes where straps are being caught and drawn away from a box. Shown is an inlet opening between the holder or runner 6 and the tentacle or gripping device 4. When a strap (not shown) is directed downwards by the tentacle or gripping device 4, a carrier 30 of the second guide 8 engages with the strap and due to the running effect of the second guide 8 directs the strap further downwards towards the first guide 5 where the two running guides will further drag the strap downwards in the direction of the arrows 13 indicating the running direction of the first guide 5.
[0072] FIG. 13 illustrates a part of a processing line where boxes are opened, and straps are removed from the boxes. Shown is a system 21 arranged for opening and emptying EPS boxes 3 having a body part and a lid, the system furthermore being arranged for removing one or more food items, such as fish and ice from the boxes. When entering the system, the boxes 3 are surrounded by one or two straps 2 located in the vertical plane around the boxes to secure the lid to the body part. The system comprises a gripper 22 for handling one or two boxes at a time, and the gripper comprises holding means for holding the body part and holding means for holding the lid. The holding means for holding the lid may also comprise one or more knives suitable to cut the straps located around the boxes. The holding means of the gripper 22 are arranged for orienting and/or displacing the lid with respect to the body part so as to open the box with the lid, and orienting the body part (e.g., by turning it upside down) so as to allow gravity to remove the one or more food items from the box. The figure furthermore shows a robot 23 whereupon both holding means for holding the body part and the lid are mounted. Boxes 3 are generally arranged on pallets 24 and located in a pallet infeed conveyor 25, which conveys through an entry gate 26, whereupon sensors are arranged for detecting an arrangement of boxes 3 on pallet 24, which arrangement is provided to a processor for controlling the robot 23. Once boxes 3 are ready for emptying, the gripper 22 grips body part and the lid part of one or two boxes. The robot then lifts the boxes, cuts the straps located around the box 3, and directs the box 3 towards and pass a device 1 for removing straps to remove the straps from the boxes, and then proceed to a receiving area 27 (showing fish having been emptied out of preceding box) where the items such as fish are directed out of the box 3. Emptied boxes are placed on a box outfeed conveyer 28. Emptied or partially emptied pallets can be removed by pallet outfeed conveyor 29. Boxes which should not have content removed e.g. due to defect boxes may be located on the pallet outfeed conveyor 29.
[0073] It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description.
