Tray gripper head
A method and device for unstacking a stack of trays, each tray having pockets and edge portions. A holder frame above the stack has suction heads which engage the eggs of the uppermost tray of the stack. A carrier unit above the holder frame has oppositely opposed grippers which engage sides of the uppermost tray. The holder frame is connected to the carrier unit by one or more spacer rods which are freely moveable in a channel in the carrier unit so as to permit three degrees of movement relative thereto. The carrier unit may also be moveably suspended in a second carrier unit above it. Support rods may extend downwardly from the carrier unit to engage the tray.
1. A method for unstacking a stack of trays,
wherein each tray is provided with a relief of pockets with edge portions and loaded with eggs,
wherein a matrix of suction heads engages the eggs of an uppermost tray of the stack,
wherein at least two oppositely arranged grippers engage sides of the uppermost tray,
wherein a gripper head comprising the suction heads is moved between a take-up location and a delivery location,
wherein use is made of a configuration comprising a first carrier unit in which a holder frame is movably suspended through at least one spacer, the suspension allowing movement of the suction heads in at least three degrees of freedom, and
wherein the gripper head comprises a second carrier unit in which the first carrier unit is moveably suspended through at least one second spacer rod, the suspension allowing movement in at least three degrees of freedom.
2. A method according to claim 1 , wherein a relative position, distance and/or displacement between the first carrier unit and the second carrier unit is detected.
3. A method according to claim 1 , wherein during pickup of a tray the suspension allows movement of the first carrier unit from a first unskewed position of the first carrier unit to a second skewed position of the first carrier unit.
4. A method according to claim 3 , including compensating for a skewed tray position.
5. A gripper head for unstacking a stack of trays, each tray provided with a relief of pockets with edge portions and loaded with eggs, the gripper head provided with a holder frame,
having included therein a matrix of suction heads, the suction heads, during pickup, transfer and deposition of one tray, being placed on the eggs and engaging them with suction,
having connected therewith at least two oppositely arranged grippers for engaging, simultaneously with the eggs, the tray at corresponding sides during pickup, transfer and deposition of the tray, and
having at least a mast piece which extends perpendicularly with respect to the matrix and is connected with at least an arm for displacing the gripper head between a take-up location and a delivery location,
the gripper head furthermore comprises a first carrier unit in which the holder frame is movably suspended through at least one spacer, the suspension allowing movement in at least three degrees of freedom, and
wherein on at least each of two opposite sides of the first carrier unit, at least one support extends in the direction of a spacer, while at pickup the support finds a point of support on a corresponding edge portion of the relief of the respective tray.
6. A gripper head for unstacking a stack of trays, each tray provided with a relief of pockets with edge portions and loaded with eggs, the gripper head provided with a holder frame,
having included therein a matrix of suction heads, the suction heads, during pickup, transfer and deposition of one tray, being placed on the eggs and engaging them with suction,
having connected therewith at least two oppositely arranged grippers for engaging, simultaneously with the eggs, the tray at corresponding sides during pickup, transfer and deposition of the tray, and
having at least a mast piece which extends perpendicularly with respect to the matrix and is connected with at least an arm for displacing the gripper head between a take-up location and a delivery location,
the gripper head furthermore comprises a first carrier unit in which the holder frame is movably suspended through at least one spacer, the suspension allowing movement in at least three degrees of freedom, and
including a second carrier unit, in which said first carrier unit is moveably suspended through at least one second spacer, the suspension allowing movement in at least three degrees of freedom.
7. A gripper head according to claim 6 , wherein said at least one second spacer comprises a rod which extends in the pickup direction, and which is freely movable through a fitted hole in a plate body of the second carrier unit, the plate body extending perpendicular to the mast piece.
8. A gripper head according to claim 7 , wherein the at least one second spacer is fixedly connected with the holder frame.
9. A gripper head according to claim 6 , including at least one sensor provided to detect a relative position and/or distance and/or displacement between the first carrier unit and the second carrier unit.
10. A method of unstacking a stack of trays which contain eggs, comprising the steps of:
engaging the eggs of the uppermost tray of the stack with a matrix of suction heads on a holder frame, wherein the holder frame engages a carrier unit located above the holder frame by means of at least one spacer which passes through a hole in the carrier unit which is wider than the spacer, such that the holder frame can move vertically relative to the carrier frame,
engaging the uppermost tray with grippers which are connected to and extend downwardly from the carrier unit, and
including securing the top tray in position, while being picked up, by support rods which extend down from the holder frame, parallel to the said spacer to engage the uppermost tray.
11. A method according to claim 10 , wherein the relative movement between the holder frame and the carrier unit allow the grippers to grip the uppermost tray even if that tray is skewed from the horizontal.
12. A method according to claim 10 , including the step of pushing off the tray below the uppermost tray while picking up the uppermost tray.
13. A gripper head for unstacking a stack of trays, each tray provided with a relief of pockets with edge portions and loaded with eggs, the gripper head provided with a holder frame, comprising;
a matrix of suction heads which engage the eggs on the uppermost tray,
at least two oppositely arranged grippers for engaging the tray at corresponding sides,
a first carrier unit which is connected through at least one first spacer with said holder frame so as to be movable in at least three degrees of freedom, and
a second carrier unit in which the first carrier unit is moveably suspended through at least one second spacer, the suspension allowing movement in at least three degrees of freedom.
14. A gripper head according to claim 13 , wherein the at least one first spacer is fixedly connected to the holder frame.
15. A gripper head according to claim 13 , wherein on opposite sides of the first carrier unit, at least one support rod extends downwardly, while at pickup, to engage a corresponding edge portion of the respective tray.
16. A gripper head according to claim 13 , wherein the at least one first spacer is freely moveable through a channel and a plate body in the holder frame.
17. A gripper head according to claim 13 , wherein the at least one second spacer is freely moveable through a channel and a plate body in the second carrier unit.
18. A gripper head according to claim 17 , wherein the at least one second spacer is fixedly connected with the first said carrier unit.
19. A gripper head according to claim 13 , including at least one sensor which detects a relative position and/or distance and/or displacement of the first carrier unit and the second carrier unit.
20. A gripper head according to claim 13 , including a mast piece which extends perpendicularly with respect to the matrix and is connected with at least an arm for displacing the gripper head between a take-up location and a delivery location, and wherein the mast piece includes a length adjustment device.
21. A gripper head according to claim 13 , wherein a push-off element for pushing off a sub-adjacent tray at pick-up is connected to at least two oppositely arranged grippers, whereby only the tray to be picked up is engaged and picked up.
22. A gripper head according to claim 21 , wherein each push-off element is connected with its respective gripper so as to be downwardly slideable.
23. A gripper head according to claim 21 , wherein the push-off element at its upper end is further pivotably connected for engaging and picking up a next sub-adjacent tray upon sliding out and pivoting of the push-off element.
24. A gripper head for unstacking a stack of trays, each tray loaded with eggs comprising;
a holder frame positionable over the stack, the holder frame having a matrix of suction heads,
at least two oppositely arranged grippers connected to a carrier unit and extending downwardly therefrom to engage edges of the uppermost tray,
at least one spacer fixed to the holder frame and extending through a hole in the carrier unit, permitting the spacer to move vertically relative to the carrier unit, and
including at least one support rod fixed to and extending downwardly from the holder frame, parallel to at least one spacer, to engage the edge of the uppermost tray during pick-up of the uppermost tray.
25. A gripper head according to claim 24 , wherein when the uppermost tray is skewed from the horizontal because of non-uniformed sized eggs in the stack, the carrier unit and the grippers are moveable to permit the grippers to grip the edges of the skewed uppermost tray.
26. A gripper head according to claim 24 , including a second carrier unit above the said carrier unit, at least one second spacer fixed to the said carrier unit and passing through a hole to the second carrier unit so as to be moveable vertically relative to the second carrier unit.
27. A gripper head according to claim 24 , including a mast above and operatively engageable with the carrier unit to lift and lower the carrier unit and the holder frame.
28. A gripper head according to claim 24 , including push-off elements on each gripper for pushing off a tray below the uppermost tray during pick-up, whereby only the uppermost tray is picked up.
29. A gripper head according to claim 28 , wherein the push-off element is connected with a gripper so as to be substantially downwardly slidable.
30. A gripper head according to claim 28 , wherein the push-off element is at its upper end further pivotably connected for engaging and picking up the tray below the uppermost tray upon sliding out and pivoting of the push-off element.