Abstract
A case manipulator system and a method for using the same. A case manipulator system, comprising: a first location of a case; a second location, the second location comprising a guiding means for guiding the case into or out of a container; and a case manipulator comprising a moveable support movable from a first position above the first location to a second position above the second location, and a paddle assembly having at least a first pair of paddles, the paddle assembly arranged to move the at least first pair of paddles relative to the moveable support, the case manipulator system arranged such that: a case in the first location is accessible by the case manipulator, the case manipulator system controllable to engage with the case and move the case from the first location to the second location, and insert the case into a container at the second location.
Claims
1. A method of moving a case from a first location to a second location, the method comprising: when a case manipulator is in a first position, controlling a paddle assembly to lower a first pair of paddles such that the first pair of paddles is positioned between a pair of case flaps; moving the first pair of paddles, the moving the first pair of paddles comprising: engaging with the pair of case flaps outwardly in an x-direction; pushing or pulling the pair of case flaps inwardly in the x-direction; folding the pair of case flaps over and downwardly in a z-direction on an outside of the case; positioning a second pair of paddles at opposing folded top edges of the case by moving the second pair of paddles downwardly in the z-direction, or positioning the second pair of paddles at opposing sides of the case by moving the second pair of paddles inwardly in the x-direction; and clamping the case between the first pair of paddles or the second pair of paddles inwardly in the x-direction; moving a movable support from the first location to the second location; positioning the case within a guiding means at the second location; releasing the case; and inserting the case into a container at the second location, wherein performing the controlling, moving, moving positioning, releasing, and inserting steps in reverse order removes the case from the container at the second location and places the case at the first location.
2. The method of moving a case from a first location to a second location of claim 1, wherein at least one of the controlling, moving, moving positioning, releasing, and inserting are performed in a y-direction and the z-direction by the second pair of paddles to engage with each side of the case.
3. The method of moving a case from a first location to a second location of claim 1, wherein after the positioning the case within the guiding means at the second location and before the releasing the case, at least one of the first or second pair of paddles is used to move the case vertically.
4. The method of moving a case from a first location to a second location of claim 1, further comprising a first step of using a first conveyor to present the case to or receive the case from the case manipulator.
5. The method of moving a case from a first location to a second location of claim 4, further comprising a first step of using a second conveyor to move the container to be positioned under the guiding means.
6. A case manipulator system for use in an automated storage and retrieval system and for carrying out the method of claim 1, the case manipulator system comprising: a first location for one or more cases; a second location, wherein the second location comprises a guiding means for guiding the one or more cases into or out of a container; and a case manipulator comprising: a moveable support, the movable support configured to move from a first position above the first location to a second position above the second location; and a paddle assembly comprising at least a first pair of paddles, the paddle assembly arranged to move the at least first pair of paddles relative to the moveable support horizontally in an x-direction and vertically in a z-direction, wherein: the case manipulator is arranged such that the case in the first location is accessible by the case manipulator, the case manipulator system controllable to engage with the case and move the case from the first location to the second location, the case manipulator system controllable to insert the case into the container at the second location, or the case manipulator system is arranged such that the case in the container at the second location is accessible by a box manipulator, the case manipulator controllable to remove the case from the container and place the case at the first location.
7. The case manipulator system of claim 6, wherein the case manipulator is controllable to: engage with and fold one or more case flaps; or grip opposing sides of the case to lift the case.
8. The case manipulator system of claim 6, wherein the second location comprises a second conveyor operable to present a container under the guiding means.
9. The case manipulator system of claim 6 the paddle assembly further comprising a second pair of paddles, wherein: the paddle assembly is configured to move the second pair of paddles horizontally in a y-direction and vertically in the z-direction; the first pair of paddles and the second pair of paddles are independently operable; or each paddle of the first pair of paddles and each paddle of the second pair of paddles is independently operable.
10. The case manipulator system of claim 6, wherein the second location comprises one or more guides for guiding containers into a position in the second location.
11. The case manipulator system of claim 6, wherein: the guiding means is a stationary funnel; or the guiding means is a retractable locator.
12. The case manipulator system of claim 6, wherein: each paddle of the first pair of paddles has an inverted L-shape; one or more paddle of the first pair of paddles comprises a hooked distal end; or one or more paddle of the first pair of paddles comprises a gripping means.
13. The case manipulator system of claim 6, further comprising a control utility.
14. The case manipulator system of claim 6, wherein the first location comprises a first conveyor operable to present the case to the case manipulator.
15. The case manipulator of claim 14, wherein the first conveyor comprises an indexing means to ensure that a plurality of cases are sufficiently spaced to open and fold down case flaps.
Description
DESCRIPTION OF THE DRAWINGS
[0086] These and other aspects of the invention will now be described, by way of example only, and with reference to the accompanying drawings, in which:
[0087] FIG. 1 illustrates a partially opened case and a case manipulator, where the paddles of the case manipulator are inserted between the case flaps;
[0088] FIG. 2 illustrates a fully opened case and a case manipulator, where the case flaps have been folded down, parallel with the case sides, and on each side the paddles of the case manipulator are engaged with the upper folded edge of the case;
[0089] FIG. 3 illustrates the path of a pair of paddles and the sequence of movements the paddles move through during operation of the case manipulator;
[0090] FIG. 4 illustrates a detailed view of the x-direction movement mechanism of a single paddle;
[0091] FIG. 5 illustrates a detailed view of the y-direction movement mechanism of a single paddle;
[0092] FIG. 6 illustrates a detailed view of the z-direction movement mechanism of a single paddle;
[0093] FIG. 7 illustrates a detailed view of a paddle assembly having a first or x-direction pair of paddles;
[0094] FIG. 8 illustrates a detailed view of a paddle assembly having a second or y-direction pair of paddles;
[0095] FIG. 9 illustrates a view of the paddle assembly;
[0096] FIG. 10 illustrates a view of a tote or container;
[0097] FIG. 11 illustrates a case manipulator system having a first conveyor to present cases, a second conveyor to present totes or containers comprising case guides and container guides, and a case manipulator;
[0098] FIG. 12 illustrates a case manipulator system, where a case is presented to the case manipulator;
[0099] FIG. 13 illustrates a case manipulator system, where a case is gripped by the case manipulator and a container is being moved into location;
[0100] FIG. 14 illustrates a case manipulator system, where a case is within a funnel above a container;
[0101] FIG. 15 illustrates a case manipulator system, where a case is inserted in a container;
[0102] FIG. 16 illustrates a case manipulator system, where a case is inserted in a container;
[0103] FIG. 17 illustrates a case manipulator system, where a case is inserted in to a container and the case manipulator is gripping the case;
[0104] FIG. 18 illustrates an alternative case manipulator system having a first conveyor to present cases, a second conveyor to present totes or containers comprising case guides and container guides, and a case manipulator;
[0105] FIG. 19 illustrates the case manipulator of the alternative case manipulator system gripping a case;
[0106] FIG. 20 illustrates the movement of a container towards the case manipulator of the alternative case manipulator system;
[0107] FIG. 21 illustrates the placement of a case in the container using the alternative case manipulator system;
[0108] FIG. 22 illustrates detailed view of an alternative paddle assembly, having a first or x-direction pair of paddles and a second or y-direction pair of paddles;
[0109] FIG. 23 illustrates a detailed view of a paddle assembly having a bracing structure;
[0110] FIG. 24 illustrates another detailed view of a paddle assembly having a bracing structure;
[0111] FIG. 25A illustrates a perspective view of a second paddle type, shaped to fit around a corner of a case; FIG. 25B illustrates an alternative arrangement of a case manipulator, where the paddles are directed to the corners of a case;
[0112] FIG. 26A illustrates a view of a third paddle type having a pair of swivel forks and a flip spacer; FIG. 26B illustrates another view of a third paddle type having a pair of swivel forks and a flip spacer;
[0113] FIG. 27A illustrates a schematic view of a paddle assembly having a variation of the third type of paddle having a single swivel fork and a wedge gripper, wherein the swivel fork is perpendicular to the wedge gripper; FIG. 27B illustrates a schematic view of a paddle assembly having a variation of the third type of paddle having a single swivel fork and a wedge gripper, wherein the swivel fork is aligned with the wedge gripper;
[0114] FIG. 28A illustrates a fourth type of paddle or end effector having a claw end; FIG. 28B illustrates a pair of claw arms for opening the flaps of a case;
[0115] FIG. 29 illustrates an urging means for pushing a case into a central position on the conveyor;
[0116] FIG. 30 shows a case that has been delivered to a case manipulator, as part of a system for executing a sequence of movements;
[0117] FIG. 31 shows flaps being opened by a first pair of claws, as part of a system for executing a sequence of movements;
[0118] FIG. 32 shows a different type of paddle that has been positioned on the outside of the case to enable lifting and moving, as part of a system for executing a sequence of movements;
[0119] FIG. 33 shows a case that has been placed in a container, as part of a system for executing a sequence of movements;
[0120] FIG. 34 illustrates schematically the processes of combining a case and a container;
[0121] FIG. 35 illustrates a manipulator system, similar to the system shown in FIGS. 30-33;
[0122] FIG. 36 illustrates a possible arrangement of two substantially half-sized cases nested within a container; and
[0123] FIG. 37 illustrates a possible arrangement of two substantially half-sized first cases, nested within a second full-sized case, nested within a container.
[0124] In the figures, like features are denoted by like reference signs where appropriate.
DETAILED DESCRIPTION
[0125] The following embodiments represent preferred examples of how the invention may be practiced, but they are not necessarily the only examples of how this could be achieved. These examples are described in sufficient detail to enable those skilled in the art to practice the invention. Other examples may be utilized and structural changes may be made without departing from the scope of the invention as defined in the appended claims.
[0126] In the following description, some specific details are included to provide a thorough understanding of various disclosed embodiments. One skilled in the relevant art, however, will recognize that embodiments may be practiced without one or more of these specific details, or with other methods, arrangements, components, materials, etc. In some instances, well-known structures associated with end effectors and/or robotic manipulators, such as processors, sensors, storage devices, network interfaces, workpieces, tensile members, fasteners, electrical connectors, mixers, and the like are not shown or described in detail to avoid unnecessarily obscuring descriptions of the disclosed embodiments.
[0127] Unless the context requires otherwise, throughout the specification and the appended claims, the word comprise and variations thereof, such as, comprises and comprising are to be construed in an open, inclusive sense; that is, as including, but not limited to.
[0128] Reference throughout this specification to one, an, or another applied to embodiment or example, means that a particular referent feature, structure, or characteristic described in connection with the embodiment, example, or implementation is included in at least one embodiment, example, or implementation. Thus, the appearances of the phrase in one embodiment or the like in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments, examples, or implementations.
[0129] Moreover, direction references and any other terms having an implied orientation are given by way of example to aid the reader's understanding of the particular examples described herein. They should not be read to be requirements or limitations, particularly as to the position, orientation, or use of the invention unless specifically set forth in the appended claims. Similarly, wording such as movement in the n-direction and any comparable wording, where n is one of x, y or z, is intended to mean movement substantially along or parallel to the n-axis, in either direction (i.e., towards the positive end of the n-axis or towards the negative end of the n-axis).
[0130] Similarly, connection references (e.g., attached, coupled, connected, joined, secured, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. As such, connection references do not necessarily infer that those two elements are directly connected and in fixed relation to each other, unless specifically set forth in the appended claims.
[0131] FIGS. 1 and 2 illustrate case 200 of the type described above in the background section, and a case manipulator 101 as disclosed herein.
[0132] In FIG. 1, the case is partially open with the flaps 201 upright and partially folded out, and the x-direction paddles 103 and the y-direction paddles 104 of the case manipulator are inserted between the case flaps. In FIG. 2, the case has been fully opened by the paddles of the case manipulator. As may be seen in FIG. 2, the flaps have been pushed out and over the upper edge of the case such that the upper edge is folded and the flaps are parallel with the sides of the case. As shown, the paddles are positioned with the horizontal leg of the inverted L-shape engaged with the folded edge, and the vertical part of the paddle holding the flaps against the sides of the case. The paddles are positioned substantially centrally on each side.
[0133] FIG. 3 illustrates the path of a pair of paddles, and the arrows show the sequence of movements each paddle moves through during operation of the case manipulator. The pathway is shaped substantially like an inverted question mark (?). The motion may be smoothly executed as a single movement, or the motion may comprise a series of discrete steps. In any event, it will be appreciated that the motion starts with a downward z-direction movement to position the paddles between the flaps, then an outward (x- or y-direction) and followed by a downward (z-direction) movement to push the flaps over the sides of the case. Finally, the motion may end with an inward movement to hold the flaps parallel with the sides of the case and to locate the paddles in contact with the case.
[0134] FIGS. 4-6 illustrate various views of a single paddle 105 in more detail. In particular, each paddle comprises an inverted L-shaped formation 106 for interacting with the cases. As will be apparent, the formation has a substantially horizontal part, and an elongate substantially vertical part, where the horizontal part is located closest (proximal) to the movement mechanisms. As noted elsewhere in this disclosure, the L-shaped formation may have additional features to assist in manipulating the flaps of a case, and to assist in manipulating a case as a whole.
[0135] The paddle further comprises an x- or y-respective movement mechanism 107, and the z-direction movement mechanism 108. The movement mechanism may comprise any linear movement means. In the figures these are shown as an assembly with alignment rods, and an actuating rod such as a screw rod. The screw rod is driven by a motor. Other actuating means may comprise a tooth, belt, rack and pinion, belt and pulley, a pneumatic actuator etc. The skilled person will be familiar with various actuators that would be suitable.
[0136] FIGS. 7-8 illustrate detailed views of a paddle assembly 102, having a first or x-direction pair of x-direction paddles 103 and a second or y-direction pair of y-direction paddles 104. Each paddle of the first and second pair of paddles may comprise a single paddle 105 as illustrated in FIGS. 4-6. As may be seen in FIGS. 7-8, the paddle assembly comprises a panel having slots, through which the x-direction paddles 103 and y-direction paddles 104 extend. The paddles of each pair of paddles are located on opposed sides, and have the horizontal part of the L-shaped formation directed to the center of the paddle assembly. The paddles are able to travel in x- or y-directions in their respective slots. The paddles are able to extend in the z-direction through their respective slots.
[0137] It will be appreciated that the parts of the paddle and the paddles assembly may be constructed from plastics, metals or any suitable materials. They may be manufactured by conventional means such as molding and machining, or 3D printing etc. The skilled person will be able to select suitable parts and method of manufacture according to the intended use of the case manipulator system.
[0138] FIG. 22 illustrates an alternative type of paddle assembly 102. Similar to the paddle assembly shown in FIGS. 7-8, the paddle assembly 102 in FIG. 22 has a first or x-direction pair of x-direction paddles 103 and a second or y-direction pair of y-direction paddles 104. In this arrangement, the elongate slot for the pair of x-direction paddles 103 extends continuously across the width of the paddle assembly 102. In contrast, the elongate slot for each of the pair of y-direction paddles 104 is not continuous, and is interrupted by the x-direction slot. The y-direction paddles each comprise a single paddle 105 with respective movement mechanisms 107 as illustrated in FIGS. 4-6, whereas, the x-direction pair or paddles comprise an alternative (single) movement mechanism 114, which is shared between the pair of x-direction paddles 103 and has a dual lead screw or screw rod that drives each of the pair of x-direction paddles 103. The continuous length of lead screw between the paddles, allows the x-direction paddles 103 to have a greater range of movement, extending beyond the center of the paddle assembly 102.
[0139] FIGS. 23-24 illustrate a further modification to the paddle assembly 102, where a brace 115 is provided over the x-direction paddles 103. The brace 115 adds rigidity to the paddle assembly 102, and stability to the x-direction paddles 103 when used to lift or grip a case.
[0140] FIG. 25A illustrates a perspective view of another type of paddle 301 and arrangement where the paddles 301 are shaped to fit around a corner of a case. As illustrated in FIG. 25A the paddle 301 has a simple right-angle shape. FIG. 25B illustrates the paddles 301 directed to each of the corners of a case 200. In this figure, the diagonally extending dashed lines indicate the direction of travel of the paddles. Here the direction of travel is rotated by approximately 45 about a z-axis such that the paddles 301 are paired across diagonally opposite corners of the case 200, rather than opposing sides. Optionally, additional supports 302 may be seen along the long side of the case 200. These additional supports 302 may be part of the manipulator assembly to help center the case 200.
[0141] FIGS. 26A-26B illustrate views of a third type of paddle, a y-side paddle 303. The y-side paddle 303 is shown at the distal end of a z-direction movement mechanism 305 and is intended for use on a side of a case (not shown). At the distal end of the paddle itself, there is a pair of swivel forks 304, in the configuration where the swivel forks 304 are arranged such that they would be parallel with the side of a case. It will be appreciated that in other embodiments, the third type of paddle, the y-side paddle 303, may have only a single swivel fork rather than a pair.
[0142] In addition, at the distal end of the paddle, between the pair of swivel forks 304 is a wedge 306. As explained and shown below in respect of FIG. 31, the wedge can be used to open a flap of a fan flap case. As shown, the wedge 306 extends beyond the level of the swivel forks 304 in a first position. The wedge 306 is biased in this first position, typically with a spring. The wedge 306 may be pushed to a second position where wedge 306 is retracted into the arm and the lip 309 is substantially level with the swivel forks 304.
[0143] A top plate 308 of the paddle may be used to locate at the top edge of a case, as indicated in more detail below.
[0144] FIGS. 27A-27B illustrate a schematic view of a paddle assembly having a variation of the third type of paddle, the y-side paddle 303. In FIGS. 27A-27B, a pair of y-side paddles 303 are connected together and each has a single swivel fork 304, a wedge gripper 310. In FIG. 27A the swivel forks 304 are perpendicular to the wedge gripper 310 and in FIG. 27B the swivel forks 304 are aligned with the wedge gripper 310. The wedge gripper 310 comprises suction cups 311 to assist in holding a case. Alternatively, a high surface fiction or other features may be used on the inside surface of the wedge grippers 310. The use of swivel forks 304 ensure that a case is supported from the bottom, whilst the wedge grippers ensure the case is also supported from the side. Hence, the handling of the case is improved.
[0145] A fourth type of paddle, an x-side paddle 312 is illustrated in FIGS. 28A-28B. As can be seen in FIG. 28B the paddle 312 has a claw end 314 at the end on arm 313. The arm 313 may extend in an x- or y-direction, and is mounted on a vertical movement mechanism 315. FIG. 28A illustrates a pair of x-side paddles 312 together with a case 200.
[0146] FIGS. 9-10 illustrate views of the paddle assembly and a tote or container. As shown in FIGS. 9 and 10, the x-direction paddles 103 and y-direction paddles 104 align with the inside of the tote or container. This ensures that the case can be precisely placed within the tote or container.
[0147] FIG. 11 illustrates an overview of a case manipulator system, and FIGS. 11-16 illustrate substantially the sequence of actions for manipulating a case and moving the case from a first location to a second location in a container, or removing a case from a container.
[0148] As illustrated in FIG. 11, a first conveyor 109 for presenting cases 200 is located above a second conveyor 110 for presenting containers or totes 250. The second conveyor extends beyond the limit of the first conveyor, such that both the first conveyor and the second conveyor are accessible by the case manipulator located above the conveyors. The case manipulator is able to move linearly between two positions, a first position above the first location at the end of the first conveyor, sized for a case to occupy (empty as shown in FIG. 11) and a second position above the second location on the second conveyor where a tote may be located. The conveyors are used to present cases and totes to the case manipulator as they are needed. Although the second conveyor is shown as parallel to the first conveyor, it will be appreciated the conveyers may not be parallel to one another.
[0149] FIG. 29 illustrates an urging means 318 for pushing a case into a central position on the conveyor. When a case is positioned adjacent to the bar 319, the mechanism is activated to push the case against a stop and hold the case in position.
[0150] FIG. 12 is an end view of the case manipulator system where a case is positioned at the end of the first conveyor directly under the case manipulator. As may be seen in the figure, the first and second pairs are paddles are positioned so that they may be lowered between the flaps of the case. Accordingly, the case manipulator may fold the flaps over the sides of the case, as described above.
[0151] FIG. 13 is again an end view of the case manipulator system. As may be seen in FIG. 13, the flaps of the case have been folded down, and the case is gripped by the two pairs of paddles. The pairs of paddles have been lifted such that the case has been lifted from the first conveyor. Furthermore, the case manipulator has begun to move the case to be positioned within the funnel 111. The funnel comprises first and second halves, positioned on each side of the second conveyor.
[0152] FIG. 14 shows a detail of the second conveyor, the funnel and the case manipulator in use. The case manipulator is gripping a case, as shown in FIG. 13. In FIG. 14, a tote has been moved into position under the funnel. The guides 112 ensure that the tote is correctly positioned in the y-direction, and the guide 113 (indicated in FIGS. 12-13) ensures that the tote is correctly positioned in the z-direction. The case is positioned between the funnel, which helps to center the case and guide the case into the tote.
[0153] FIG. 15 shows a wider view for the manipulator system and FIG. 16 shows the second conveyor, the funnel and the case manipulator in more detail. In FIG. 15, the case is no longer held by the second pair of paddles, as these would not fit through the funnel. Instead, the funnel continues to hold the flaps down, and squeezes the longer sides of the case together. Due to the relative dimensions between the cases and the funnel, the first pair of paddles are used to push the case through the funnel into the tote below. The first pair of paddles continue to push the case until the case is fully inserted into the tote. In this example, the dimension of the tote and case allow for the case to be positioned within the tote while the first pair of paddles are still engaged with the case. Finally, the paddles can be removed from the case and the tote, and the second conveyor may move on the combined tote and inserted case.
[0154] The case manipulator system may then reset ready to combine the next case and tote.
[0155] FIG. 17 shows the case manipulator interacting with a combined tote and case in an alternative location where the funnel is not present.
[0156] The arrangement shown in FIG. 17 may be at a location where totes and cases are separated. In such a location, a first pair of paddles are used to extend into the combined tote and case, between the outer edge of the tote and the inner edge of the tote. Paddles may then be controlled to grip the case and lift the case from the tote.
[0157] Alternatively, the arrangement shown in FIG. 17 may be an alternative arrangement for combining cases and totes, for example, where the relative dimensions of the cases and totes are such that there is enough space that alignment of the case and tote is not as critical. In this alternative situation, the funnel may be unnecessary for inserting the case into the tote.
[0158] FIGS. 18-21 illustrate a second arrangement of a case manipulator system, and having similar features as the arrangement disclosed in connection with FIGS. 1-17. In order, FIGS. 18-21 show the sequence of movements of the case manipulator system 100. In this arrangement, rather than the case 200 being pushed down between the funnel 111, when the case is located between the funnel, a section of the second or lower conveyor of the second location is raised with a container 250 in place. This action, with the case held in place by the x-direction paddles 103 and y-direction paddles 104 forces the case into the tote. The combined tote and case may then be moved on at the level of the first or upper conveyor, or the movable section of conveyor may be lowered and the combined tote and case may be moved on at the lower level.
[0159] FIGS. 30-33 illustrate a case manipulator system 316 in use, and FIG. 35 illustrates the case manipulator system 316 with a variation of the guiding means 317. The case manipulator system 316 comprises a pair of y-side (or x-side) paddles 303, a pair of x-side (or y-side) paddles 312.
[0160] In FIG. 30 a case 200 has been delivered to the case manipulator system 316 by the conveyor. It will be appreciated that an urging means 318 (FIG. 35) can be used with the case manipulator system to hold the case in place. In FIG. 31 the pair of x-side paddles 312 and the pair of y-side paddles 303 are inserted between the case folds. The urging means 318 (FIG. 35) is used to hold the case 200 in position while the claws of the x-side paddles 312 are used to open the case flaps. First, the x-side paddles 312 are used to pull open the x-side flaps, and then the y-side paddles 303 are the used to open and fold the y-side flaps, lip 309 (best seen in FIG. 32) at the distal end of the wedge 306 is used to assist in opening the y-side flaps.
[0161] Once the flaps have been folded down parallel with the side of the case, the y-side paddles 303 are extended down and the swivel forks 304 are rotated such that the case may be supported on the swivel forks 304 and lifted, as shown in FIG. 32.
[0162] The case is then moved across by the case manipulator system 316 to above the empty container 250 pushed into the container through the guiding means 317, FIG. 33.
[0163] In FIG. 35, the case 200 is shown with the flaps already folded down. The x-side paddles 312 are positioned above the case 200, and the y-side paddles 303 are positioned above the container 250. From the view in FIG. 35, it will be appreciated how the x-side paddles are movable between a position above where the case 200 is shown to a position above where the container 250 is located.
[0164] FIG. 34 illustrates schematically the sequence of the process of combining a case and a container. The left-hand side of the diagram shows plan views of the case manipulator system 316, where a case 200 (box) moves in sequence from 1-2-3. The right-hand side, similarly shows plane views, with the y-x plane above the z-x plane, and the sequence shown across the two rows from left to right (. As can be seen the case is moved into position 2 where it is between x-side paddles 312, and centralized with the urging means 318. First the x-side paddles 312 are used to open the case, and fold the x flaps, and then the y-side paddles 303 are used to fold the y flaps. The y-side paddles 303 are extended down below the bottom of the case. The swivel forks 304 are rotated to support the case. The case is then lifted to position 3 where it is lowered through guiding means 317 into the container 250.
[0165] FIG. 36 illustrates a possible arrangement of two substantially half-sized cases 200a nested within a container 250. As illustrated the half-sized cases 200a are proportioned such that they may be arranged side-by-side within the container 250. In the illustrated example, the half-sized cases 200a are open, with their flaps folded down such that the contents of the half-sized cases 200a are accessible from above the container 250. It will be appreciated, similar closed half-sized cases in side-by-side arrangement could be nested in the container 250 for storage or sortation purposes, for example.
[0166] FIG. 37 illustrates another possible arrangement of two substantially half-sized cases 200a, nested within a second full-sized case 200, nested within a container 250. In the illustrated example, each of the half-sized cases 200a and full-sized case 200 are open, with their flaps folded down such that the contents of the two half-sized cases 200a are accessible from above the container 250. It will be appreciated that any of the half-sized cases 200a or full-sized case 200 may be closed if it is not required that the contents are accessible.
[0167] It will be appreciated that variations of the case manipulator system as disclosed herein, and additional well-known optional features would enable arrangements such as those illustrated in FIGS. 36-37. Further, other combinations and arrangements of cases are conceivable, depending on the required use. It will be understood that the above description of is given by way of example only and that various modifications may be made by those skilled in the art. Although various embodiments have been described above with a certain degree of particularity, or with reference to one or more individual embodiments, those skilled in the art could make numerous alterations to the disclosed embodiments without departing from the scope of this invention.
[0168] Whilst endeavoring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance, it should be understood that the applicant claims protection in respect of any patentable feature or combination of features referred to herein, and/or shown in the drawings, whether or not particular emphasis has been placed thereon.
