WO2014090275A1

WO2014090275A1 - Apparatus, system and method for conveying goods

Info

Publication number: WO2014090275A1
Application number: PCT/EP2012/074946
Authority: WO
Inventors: Ulf Tore BREKKE
Original assignee: Skala Robotech As
Current assignee: Skala Robotech As
Priority date: 2012-12-10
Filing date: 2012-12-10
Publication date: 2014-06-19
Anticipated expiration: 2015-06-10

Abstract

Provided is an apparatus, system and method for conveying goods from a first station to second station that utilises a pick-up head (52) which in use is positioned directly above or adjacent to a goods item (100) to allow at least one extendible means (40) to move from a first position to a second position. Specifically, the length of said extendible means (40) is defined by the width of the palletized goods (100) or defined by half the width of the palletized goods thus providing the advantage of requiring reduced operational area compared to known techniques.

Description

Apparatus, System and Method for conveying goods

Field of the Invention

The invention relates to the field of movement of goods such as shipping containers or boxes from a picking station to a pallet station. More particularly, the invention provides an apparatus that includes an extendible means that after deployment conforms to the shape of a fork for conveying goods. Further, the invention relates to a system for arranging goods on a pallet and a method for conveying goods to be palletized.

Background of the Invention In recent years, palletizing of goods by use of a robotic system has become increasingly common due to decreased running costs, improved flexibility within distribution facilities, and the global demand of products relying on efficient supply-chain procedures. In practice, goods such as containers or boxes of different sizes, shape or content arrive from a feed-in conveyor and, according to a specific distribution program, are moved and precisely placed in layers on a pallet.

Moreover, the palletizing of goods by means of a robotic system requires the careful design of systematic equipment such as conveyors, robots, packing stations, pallet stations and so on with such equipment arranged in a logical and sequential manner. Further, the positional relationship between each piece of equipment is of paramount importance to ensure that the space in a factory setting or a distribution centre is efficiently utilized such that the conveyance of goods is not hindered. In a factory setting or a distribution centre, goods to be palletized are generally supplied from an in-feed supply conveyor and loosely arranged on storage shelves of a picking station, with the goods subsequently moved by means of a robotic arm. A pick-up head comprising several fork-like protuberances may be attached at a free end of the robotic arm to move the goods from the picking station. Typically, a pallet is dimensioned to be 0.8 x 1.2m.

Commonly, to aid the conveyance of goods, the storage shelves forming part of picking station may include separate roller bars of predefined distance which rotate, either freely or by means of a motor, in the direction of a pallet station. Such roller bars are therefore utilized to correctly place the goods in a

predetermined position prior to be moved by means of a robotic arm for palletizing. Importantly, for effective movement of the goods from the picking station to the pallet, the width of the fork-like protuberances must be at least the width or less than the predefined distance between the separate roller bars such that the fork-like protuberances can, in effect, be arranged under the goods arranged on the picking station.

Typically however, in a factory setting or distribution centre several or multiple supply lines are provided to meet demand and to justify the expenditure of the use of such robotic systems. Accordingly, the movement of the robotic arm is synchronized with the speed of supply lines which constantly supply goods to be palletized. That is, the movement of the robotic arm and the distance between a picking station and a pallet station establishes the speed at which the supply line can run.

More particular however, and to aid in the correct pick and placement of the supplied goods, the base of the robot is generally fixed to the factory or distribution centre floor such that the movement of the robotic arm can be controlled with precision. Typically, the lifting head is attached to the robotic arm and has several degrees of freedom to access the goods on the picking station and arranging them on a pallet. However, in a factory setting or distribution centre, it is common that multiple supply lines are provided. In such a situation, the base of the robot would be fixed in position whilst the lifting head adapted to access each supply line, in particular the goods on the picking station. Generally therefore, the supply lines and more importantly the picking stations would be arranged in parallel with the distance between each supply line determined at least by the dimensions of the robotic arm and the lifting head. Clearly therefore, such dimensional limitations increases the space required for palletizing the goods, said space in effect being used only for allowing access to and from the picking station. That is, the space being required so that the pick-up head can access the goods from the side of the goods. One described lifter for loads is described in US4865516 (Focke et al) in which a load carrier can be moved up and down, with an articulated swivel arm provided on whose free end an element is arranged for seizing objects, the up and down or lifting and lowering movements of the load carrier being effected along a vertical guide, in particular along upright columns. However, the lifting and lowering of the object is limited to up and down movement.

In EP0131555 (Concetti), a palletizer for articles is disclosed which comprises a variable inclination conveyor belt capable of feeding said articles onto an adjustable height roller plane, from which they are removed individually by a clamp assembly which by means of geared motors and guides is moveable along three directions orthogonal to one another, two horizontal and one vertical, and may be rotated about its own vertical axis, to be loaded in an ordered fashion in several layers on a pallet which automatically slides on suitable roller planes from a storage position to a loading position and from the latter to a delivering position. However, such an arrangement requires a relatively large area to operate since the conveyor belt directly feeds the adjustable roller plane.

From the foregoing, it can be seen that conveying devices such as seen in a factory setting or distribution centre have provided improvements to the movement of goods whilst not considering the impact and the availability of floor space, thus there remains important limitations in the technology that is presently being available. It is an object of the present invention to provide an apparatus for conveying goods to be arranged on a pallet such that operational space is reduced. Further, it is an object of the present invention to provide a system that arranges goods on a pallet by utilising said apparatus. Furthermore, an object of the present invention is a method for conveying goods to be palletized.

Summary of the Invention

This object is achieved by the apparatus of claim 1. With regards to the system, this object is achieved by the subject-matter of claim 37. With regards to the method, this object is achieved by the subject-matter of claim 38.

The present invention provides an apparatus for conveying goods from a first station to a second station comprising at least one extendible means and at least one lifting means wherein the at least one extendible means is adapted to be conveyed from a first position to a second position and further elevatably- conveyed by means of the lifting means when in said second position. Moreover, the horizontal footprint of at least one extendible means is increased when said extendible means is adapted to be conveyed from said first position to said second position providing the advantage of requiring less operational space compared to known systems, thus further allowing picking stations to be brought closer together. In particular, such an approach efficiently utilizes the available floor space in a factory setting. In one embodiment of the present invention, the at least one extendible means may comprise a chain which, in a horizontal plane, is self-supporting. That is, such a chain may bend by 90 degrees by a guiding means such as a sprocket interfacing with the chain to extend in a horizontal plane. In particular, in a non- deployed position the footprint of a pick-up is reduced compared to known pick- up heads. In another embodiment, the extendible means may comprise a telescopic arm which may extend in a horizontal plane. Further, the at least one extendible means is adapted to be conveyed from a first position to a second position by a driving means and extend underneath an item of goods to be palletized. The driving means may be under the control of a motor in communication with a processor unit such that the speed of deployment is controlled. Optionally however, the driving means may be pneumatic cylinders adapted to convey at least one extendible means from a first position to a second position. Further provided is a compactor unit to ensure that goods remain on extendible means when e.g. pick-up head conveys goods from a picking station to a pallet station. Compactor unit may comprise a hub unit adapted to house at least two lateral extendible arms, so that the at least two lateral extendible arms have an extendible length determined by at least half the dimension of goods and further wherein vertical compactor arms depend from a peripheral end of each of said at least two lateral extendible arms. That is, the vertical compactor arms define an area suitable for receiving an item of goods. Each arm may be operable separately. Optionally however, compactor unit may be adapted to extend perpendicularly from pick-up head such that it is parallel to at least one extendible means. However, compactor unit provides the advantageous effect of ensuring that goods remain arranged on the extendible means when pick-up head is conveyed from a picking station to a pallet station by application, for example, of a retractive force therebetween. Further, the pick-up head is adapted to be positioned directly above a goods item when said at least one extension means is in a first position or alternatively, the pick-up head may be adapted to be positioned adjacent to a goods item when said at least one extension means is in a first position, thus the footprint of the pick-up head required to convey a goods item from a picking station to a pallet station is reduced compared to known pick-up heads.

In a further embodiment of the present invention, the at least one bendable chain may be housed within said at least one telescopic arm. Furthermore, and arranged at a distal end of the said at least one self-supporting chain is an engagement means which may be in communication with a reciprocal

engagement means arranged at a distal end of the at least one telescopic extension means. That is, such an arrangement allows the at least one telescopic extension arm to extend in communication with the position of self-supporting chain. Such a configuration allows the at least one telescopic extension means to extend and retract by means of the at least one chain. Further, such an arrangement provides strength and further rigidity to the pick-up head. An additional benefit is provided, in the event of a failed chain, that operation of the pick-up head can continue since the at least one chain is arranged within the at least one telescopic extension means. Optionally, the telescopic extending means may be a hydraulic cylinder adapted to drive the chain and further to support the goods to be conveyed.

To further emphasize the advantages of the present invention i.e. namely that the pick-up head requires less operational space, the length of the extendible means may be defined by the width of the palletized goods, or the length of said extendible means may be defined by half the width of the palletized goods such that the pick-up up head may be adapted to be positioned directly above a goods item to convey items from a picking station to pallet station, or the pick-up head may be adapted to be positioned adjacent to a goods item to convey items from a picking station to pallet station.

The bendable chain may in a first position be stored in a magazine arranged on a lifting means. Further, the pick-up head may comprise a chain guiding means provided with a cleaning element to allow self-cleaning of dust, swarf, and general particles which result from general wear of the at least one extendible means. Such a feature reduces the likelihood of depositing unwanted material on the goods item. Further provided, and to avoid unintentional bending of chain a guiding channel comprising wings is provided between each roller bar. In particular, a free end of chain comprises a projected tongue adapted to cooperate with wings of the guiding channel to limit vertical movement of chain when said chain is conveyed from first position A to second position B. Moreover, projected tongue is adapted to overhang second side wall of pallet station when at least one extendible means is at second position B to allow pick-up head to lift goods item from picking station to pallet station. Further described is a system for conveying goods from a first station to a second station, wherein said goods are conveyed using the apparatus of claim 1.

Furthermore, a method for conveying goods from a first station to a second station is described such that the pick-up head comprising at least one extendible means is introduced from a position directly above or adjacent an item of goods such that the pick-up head requires less operational space that known methods.

Moreover, the at least one extendible means is conveyed from a first position to a second position such that at least one extendible means is arranged to be underneath an item of goods, with the item of goods being elevatably-conveyed from a first station to a second station and further optionally compacting the goods prior to conveying to a pallet station.

The present application also describes the use of a horizontally extendible means in an apparatus or system for conveying goods from a first station to a second station.

Brief description of the Drawings A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments by way of example only, in which the principles of the invention are utilized, and the accompanying drawings of which : Figure 1 shows a simplified perspective view of a known pick-up head attachable to a free end of a robotic arm for moving goods from a picking station to a pallet station.

Figure 2 shows a simplified perspective view of an exemplary picking station comprising individual roller bars for conveying goods along the picking station.

Figure 3 shows a self-supporting chain arranged in a first position for use in the apparatus, system and method according to an embodiment of the present invention.

Figure 4a shows a side view of a first and a second self-supporting chain of a pick-up head arranged in a second position and further arranged underneath an item of goods to be conveyed according to an embodiment of the present invention.

Figure 4b shows in detail an exemplary self-supporting chain interposed between a guiding means and a driving means according to an embodiment of the present invention.

Figure 5 shows perspective view of elements of a pick-up head comprising an array of one-way bendable chains positioned in a first position and arranged either side of a pallet and further showing a compactor according to an

embodiment of the present invention.

Figure 6 shows a side view of a pick-up head arranged to convey goods, with the pick-up head comprising a plurality of self-supporting chains arranged in a first position A and compactor unit comprising cross-member in a deployed position according to an embodiment of the present invention.

Figure 7a shows parallel arranged roller bars separated by distance of at least the width of chain, between which is a guiding channel comprising wings is arranged according to an embodiment of the present invention. Figure 7b shows a cross-sectional view depicting a chain comprising a tongue and arranged within guiding channel and in particular wings thereof according to an embodiment of the invention.

Figure 7c shows a chain in position B with tongue overhanging end of the guiding channel according to an embodiment of the invention.

Figure 7d shows a side view of Figure 7c, showing chain in resting position B with tongue overhanging second side wall of picking station according to an

embodiment of the invention.

Figure 7e shows chain in position B and lifted from the general area of roller bars of picking station according to an embodiment of the invention.

Figure 8a shows a side view of a first and a second self-supporting chain of a pick-up head arranged in a second position and further arranged underneath an item of goods to be conveyed according to a second embodiment of the present invention.

Figure 8b shows in detail an exemplary self-supporting chain interposed between a guiding means according to a second embodiment of the present invention.

Figure 9a shows side view of another embodiment of a pick-up head provided with extendible telescopic means and further arranged underneath an item of goods to be conveyed according to a third embodiment of the present invention.

Figure 9b shows a perspective view of a pick-up head comprising an array of telescopic means according to an embodiment of the present invention.

Figure 10a shows a pick-up head according to an embodiment of the present invention.

Figure 10b shows the pick-up head of Figure 10a with at least one extendible means or fingers in an extended position according to an embodiment of the present invention.

Figures 11a and l ib shows a side view of a pick-up head according to the prior art compared to a pick-head according to the embodiments of the present invention. Figure 12 shows schematic view of a system for conveying goods from a picking station to a pallet by means of a pick-up head attached to a robotic arm according to embodiments of the present invention.

Detail Description of the Invention

Figure 1 shows a simplified perspective view of a known pick-up head 2 attachable to a free end of a robotic arm (not shown) for moving goods from at least one first station such as a picking station to a second station such as a pallet station. Pick-up head may form part of a system such as seen in Figure 11 for conveying items from said at least one picking station to a pallet station. Pick-up head 2 comprises a cross-member such as a yoke support 4 which aids, in general, to support and separate a plurality of lateral rigid fingers 6 which permanently extend in a general horizontal plane. Yoke support 4 also provides a natural stop to limit the movement of an item placed on pick-up head 2. Plurality of pick-up fingers 6 function to support items such as goods, boxes, cartons and so on from a picking station (not shown) to a pallet station (not shown). In particular, the plurality of pick-up fingers extend a distance X which is defined as being at least half the width of the item to be conveyed from the picking station to a pallet station. As will be described later, distance X also defines the minimum separating distance between picking stations.

Further, the equidistance between each pick-up finger 6 provides strength for conveying goods from said at least one picking station. Fingers 6 have a width A determined by the required carrying weight and dimensions of the goods to be conveyed. Pick-up head 2 comprising a plurality of fingers 6 may be made of metal or composite non-deformable plastic. As shown in the present figure, pickup head 2 may be attachable to a free end of a robotic arm or a multi-axis manipulator such as a X-Y-Z gantry or portal crane by means of an articulated joint 8 such that said pick-up head 2 can be manipulated in a correct position to convey an item from a picking station to a pallet station. That is, pick-up head 2 is introduced from a side of goods 100 for conveying to a second station.

Figure 2 shows a simplified perspective view of an exemplary picking station 10 comprising feed-in end 12 and a stop end 14 and forming part of a system for conveying items to a pallet station by means of pick-up head 2. Items such as goods are conveyed from picking station 10 after reaching stop end 14 and are generally conveyed by means of a side introduced pick-up head 2. Picking station 10 further comprises a first side wall 16a and a second side wall 16b separated by means of a plurality of roller bars 18 which are adapted to support and convey goods (not shown) from feed-in end 12 to stop end 14. That is, plurality of roller bars 18 may rotate by means of a motor 55 (shown in Figure 6) providing a controlled drive speed. Optionally however, height of feed-in end 12 relative to a supporting surface may be higher than stop end 14 such that goods may be conveyed by gravitational forces.

Plurality of roller bars 18 are connected to first side wall 16a and to second side wall 16b by means of a plurality of vertical extending flanges 20 which provide generally a plurality of 'U' shaped recesses 22 on first side wall 16a and/or second side wall 16b. Optionally, slots 19 are arranged proximal to second side wall 16b to allow chain 40 to be introduced between roller bars 18 when in second position B as will be described later. Optionally, plurality of flanges 20 may only be provided on a first side wall 16a such that the height of second side wall 16b may be greater than flanges 20 of first side wall 16a. That is, second side wall 16b may be considered as a guide for ensuring that items conveyed from feed-in end 12 to stop end 14 remain within the confines of picking station. Further, an area generally defined as being perpendicular in a horizontal plane to stop end 14 i.e. first side wall 16a, provides an exit point for goods item to be removed from picking station 10 by means of pick-up head 2.

Further, the distance between a plurality of flanges 20 may be defined to be at least greater than the width A of pick-up fingers 6 of pick-up head 2 such that in operation, pick-up fingers 6 can be manipulated between each of a plurality of roller bars 18 i.e. through the 'U' shaped recesses 22 when a goods item is supported by roller bars 18. That is, a plurality of pick-up fingers 6 may be disposed underneath an item of goods and subsequently moved, initially, in a general vertical direction and then to a pallet station. As will be further described later, the separating distance between each roller bar 18 is determined by at least the width of chain 40. As can be further seen in Figure 2, picking station 10 is restrained from movement by means of supporting legs 23 attached to a supporting surface. Accordingly, fixed position of picking station 10 may be programmed into a controller of robotic arm 30 (shown in Figure 11) running a dedicated computer program.

Figure 3 shows an extendible means such as a chain 40 comprising a plurality of elongated links 42, and positioned in a first position A. Chain 40 forms part of a pick-up head 52 (shown more clearly in Figure 5) which may be articularly connected to a free end of a robotic arm. Chain 40, by means of plurality of elongated links, is capable of being bent in only one rotational direction according to an embodiment of the present invention. That is, by means of links 42, chain 40 may be self-supporting in a horizontal plane. In particular, chain 40, such as a linear chain, may be moved from a first position A to a second position B (shown in detail in Figure 4a) by a driving means 44 such as a rotatable wheel comprising engaging teeth with interface with links 42. Chain 40 may be stored in a coil whilst in position A in a storage area such as a magazine 51 arranged in a vertical plane of pick-up head 52. In particular, driving means 44 may be considered as a driving wheel when controlled by a motor (not shown) to move chain 40 to a second position B. Chain 40 in second position B extends in a general horizontal plane and, as discussed, by means of links 42 is self-supporting thus increasing the horizontal footprint of chain 40. Length of chain 40 in second position B may be determined by the width of the palletized goods. In particular, length of chain 40 in second position B may be at least half the width of goods 100 to be conveyed.

For reasons of clarity, only one chain 40 is shown but it is envisaged that a plurality of chains 40a, 40b, 40c, 40d, and so on are provided and arranged to form a pick-up head 52 as depicted in Figure 5. That is, a plurality of chains 40a, 40b, 40c, 40d may be provided which, when extended to second position B, provide a plurality of lateral rigid fingers 56 to support goods 100 when conveyed from a picking station 10 to a pallet station. Pick-up head 52 also comprises a cross-member such as a yoke support 54 which aids, in general, to support and separate said plurality of chains. That is, yoke support 54 traverses plurality of chains 40a, 40b, 40c, 40d, and so on to provide rigid support to pick-up head 52.

Further shown in Figure 3 is a chain guiding means 46, the purpose of which is to ensure that chain 40 extends to the second position B in a general horizontal plane. Chain guiding means 53 may form part of yoke support 54 thus traversing and supporting a plurality of chains in extended second position B. Additionally depicted in the current figure is a cross member 80, the purpose of which will be discussed later. Figure 4a shows a side view of a first and a second self-supporting chain of a pick-up head 52 arranged in a second position B, said first and a second self- supporting chain arranged underneath goods 100 according to an embodiment of the present invention. In the current figure, pick-up head 52 comprises a pair of plurality of extendible fingers 56 of length generally equal to half the width of the goods to be conveyed. As can be further seen in the current figure, extendible fingers 56 are arranged in the extended second position B, to be placed underneath goods 100. That is, a pair of a plurality of extendible fingers 56 are introduced from opposite sides of goods 100 i.e. first position A and then conveyed by means of a driving means 44 to second, horizontal position B after pick-up head 52 has been introduced directly above goods 100. Accordingly, the introduction of a plurality of chain to position B allows the extendible fingers 56 to be introduced from either or both sides of goods 100 with the horizontal footprint of each chain increasing accordingly. Such an arrangement limits the required working area of a pick-up head 52 which allows the number of picking stations to be increased in, for example, a factory setting. Preferably, the plurality of chains are introduced to opposite sides of goods 100 and conveyed from position A to position B simultaneously such that uncontrolled movement of goods item is avoided. Moreover however, the introduction of extendible chains from opposite sides of goods 100 allows the load capability of pick-up head 52 to be increased, in particular if the fingers thereof overlap.

Figure 4b shows in detail an exemplary self-supporting chain interposed between a chain guiding means and a chain driving means. Said exemplary self-supporting chain is in second position B after pick-up head 52 has been introduced directly above goods 100 according to an embodiment of the present invention. Each chain forming part of pick-up head 52 has a chain guiding means 53. In the current embodiment, chain guiding means 53 is depicted as an 'L' shaped conduit such that chain is not interrupted when moving from position A to position B. In particular, chain guiding means may be provided with a cleaning element to allow self-cleaning of dust, swarf, and general particles which result from general wear of chain. Further, chain guiding means 53 may additionally be provided with a sensor to detect the position of each chain relative to the other of the plurality of chains in pick-up head 52 to allow a controller i.e. of robot to adjust and synchronize the relative positions of each chain. Moreover, chain guiding means may further be provided with a sensor to determine the current operating condition of each chain. Such sensor may be connected to a processor by means of a wired connection or a wireless connection. Preferably, and to increase the mean time between failure of connections between sensor and a corresponding controller, a wireless connection is preferably utilized.

Figure 5 shows a perspective view of a pick-up head 52 comprising an array of one-way bendable chains positioned in a first position and arranged at opposite side of goods 100 and further comprising a compactor unit 70 according to an embodiment of the present invention.

Compactor unit 70 comprises a hub unit 72 that houses at least two lateral extendible arms 74. Hub unit 72 may however have three or four lateral extendible arms such that each arm, in particular opposing positioned arms, may be operated separately. Although not depicted in the current figure, hub unit is articularly joined to a free end of a robotic arm or an X-Y-Z manipulator. Hub unit 72 may be controlled by a system controller of an automated system of conveying a goods item from a picking station 10 to a pallet station. In particular, hub unit 72 of compactor 70 controls each arm 74 such that they can be extended or retracted based on the dimensions of goods 100.

The at least two lateral extendible arms 74 may be arranged at an angle of 180 degrees from each other in the horizontal plane and have an extendible length determined by at least half the dimension of goods 100 to be conveyed. However, if, for example, four lateral extendible arms are provided, then these may be arranged at an angle of 90 degrees from each other in the horizontal plane.

Depending from a peripheral end 76 of each of the at least two, but preferably four lateral extendible arms 74 are vertical compactor arms 78 which define an internal area suitable for receiving an item of goods. Optionally provided are cross-members which, in the current figure, are depicted as items 80 and 82 and further arranged perpendicular to at least two, but preferably four, vertical compactor arms 78. Cross-members 80, 82 may be of sufficient dimension to extend the length and width of goods 100 such that a controlled retractive force from hub unit 72 is distributed evenly to goods 100, thus retaining goods 100 within compactor unit 70 and on extendible means such as fingers of a pick-up head. That is, vertical compactor arms 78, controlled by means of hub unit 72 may be arranged to compact goods item when for example pick-up head is adapted to convey more than one item of goods to a pallet station. Each vertical arm may be operated separately by means of hub unit acting on the lateral extendible arms. In particular inner dimensional area of defined by cross member 80, 82 is generally limited to equal the outer dimension of a pallet, for example 0.8 x 1.2m. Goods may be compacted before extension means are conveyed to second position or alternatively thereafter. Further, vertical compactor arms 78 in a retractive state provide a gripping interface to goods 100 to allow the load on pick-up head 52, 62, 92 to be distributed between compactor 70 and chains 40a, 40b, 40c, 40d and so on. In such a configuration, the number of chains required to support goods 100 and thus the Bill of Materials of pick-up head 52 is reduced, providing an advantageous effect in terms of cost.

Figure 6 shows a side view of a pick-up head 52 arranged to convey goods 100, with pick-up head 52 comprising a plurality of self-supporting chains arranged in a first position A and compactor unit 70 comprising cross-member 80, 82 arranged in a deployed position according to an embodiment of the present invention. As can be further seen, pick-up head 52 comprising compactor unit 70 is positioned directly above goods 100 with extension means arranged in a non- deployed state. That is, and optionally, cross-members 80, 82 of compactor unit 70 may in a first conveying step be operated to compact several items of goods whilst positioned on picking station 10 and in a second step allow operation of extendible means 56 such that they extend to second position B i.e. placed underneath goods item. Accordingly, and in an optional third step, the

deployment of the number of extendible means 56 may then be dependent on the outer dimension of the total size of goods item. Further optionally, the

deployment of the number of extendible means 56 may be dependent on the total weight of goods 100.

Figure 7a shows parallel arranged roller bars 18 separated by distance of at least the width of a chain 40. Shown in phantom on a free end of chain 40 is a projected tongue 48 according to an embodiment of the present invention.

Preferably, positioned between each roller bar 18 is a guiding channel 21 comprising wings 27a, 27b. In particular, the width of projected tongue 48 of chain 40 is defined to be at least greater than the width of chain 40 and in addition, to be generally less than the internal dimension Z between wings 27a, 27b as is shown in cross-sectional view of Figure 7b. During movement of chain from position A to position B i.e. from first side wall 16a to second side wall 16b of picking station, chain 40 comprising tongue 48 is accommodated within guiding channel 21 and within wings 27a, 27b respectively such that unintentional bending of chain 40 towards goods 100 is prevented. That is, projected tongue 48 cooperating with wings of guiding channel is adapted to limit vertical movement of chain when said chain is conveyed from first position A to second position B. Further, since guiding channel 21 is enclosed between wing 27a, 27b, chain 40 is supported in event of failure. Figure 7c shows chain 40 in position B with tongue 48 overhanging end of guiding channel 21 to allow vertical movement of chain 40. Figure 7d, a side view of Figure 7c, shows a chain 40 in resting position B i.e. between roller bars 18 which are removed for the purposes of clarity. In particular, tongue 48 can be seen overhanging second side wall 16b of picking station 10 when chain is in position B and which further allows, as seen in Figure 7e, chain 40 to be lifted from the general area of roller bars 18 and thus from guiding channel 21.

Optionally, each projected tongue 48 may further have an upward arranged lip (not shown) to engage with a corresponding recess in goods 100 that is to be moved thus ensuring that goods 100 are not inadvertently displaced when conveyed from a picking station to a pallet station.

Figure 8a shows a side view of a first and a second self-supporting chain of a pick-up head in position B and arranged to support an item of goods to be conveyed from a picking station to a pallet station according to a second embodiment of the present invention.

In the present embodiment, a plurality of self-supporting chains 40 forming part of pick-up head 62 may be moved i.e. forced from a first position A to a second position B and retracted by means of pneumatic controllers 60. As depicted, each chain of a plurality of chains is in the extended position B and placed underneath a goods item to be conveyed to a pallet station after pick-up head 62 is positioned directly above goods 100. In particular, each chain may be associated with an individual pneumatic controller 60 or a pneumatic controller may control several chains. Pneumatic controllers 60 ensure that each chain 40 may be locked in position when fully extended. Pneumatic cylinders are controlled by means of a controller running a dedicated software program and arranged for example within a robot. User control of robot may be by a user interface panel arranged on robot or at a dedicated workstation.

In a stored position, i.e. position A, each chain of a plurality of chain may be coiled and arranged in a storage compartment such as a magazine (not shown) or stored within a pneumatic controller to decrease the footprint of pick-up head 62. Alternatively, pneumatic controllers 60 may be arranged a position remote from pick-up head 62 such as on robotic arm or elsewhere within, for example a factory setting such that maintenance of each controller is simplified.

Further provided, and depicted in the current figure and more clearly in Figure 8b, is a guiding means 63 which is provided as, for example, an 'L' shaped conduit. Guiding means 63 are provided for each of a plurality of chains 40 to enable each chain 40 to be positioned from position A to position B for conveying a goods 100 from a picking station to a pallet station. Guiding means 63, in addition, allows a plurality of chains to be moved from second position B to first position A when pick-up head is moving from pallet station to picking station. Further, guiding means provide lateral support for chain 40 when in second position B. As previously discussed, guiding means 63 may be provided with various sensors to monitor, for example the wear of each chain, and/or monitor the position of each chain relative to the others of pick-up head 62. Guiding means 63 may also be in the form of a free-turning cog.

In a further embodiment of the present invention, and depicted in Figure 9a, a further extendible means 90 is provided forming part of a pick-up head 92. In particular, extendible means 90 may be provided as a telescopic means adapted to extend at least half the width of an item to be conveyed in a horizontal plane, thus providing lateral rigid fingers 96 of pick-up head 92. As in the previous embodiments, a plurality of extending means are provided forming a part of pickup head 92.

Each section of telescopic extending means may be made from a metal, a high rigidity, non-deformable plastic or a combination of both. As can be further seen in the current figure, each telescopic extending means may be extended by means of a controller such as, for example, a pneumatic controller 94 after pick- up head 92 is positioned directly above goods 100. The horizontal footprint of telescopic extending means is then increased. Retraction of each extendible means 90 may be provided by means of, for example, a stepper motor driving a plurality of geared wheel arranged inside each segment of extendible means 90. Cross-member 80 is also depicted, the function of which has been previously discussed, and forms part of compactor unit 70 to retain goods 100 when conveyed from picking station to pallet station.

In a further arrangement, it is envisaged that telescopic extending means may further comprise a self-supporting chain similar to that previously discussed such that telescopic extending means is strengthened. Further, a self-supporting chain arranged within telescopic extending means may allow control i.e. extension and retraction of each section thereof. That is, self-supporting chain may comprise an engagement means arranged at a distal end thereof and being in communication with a reciprocal engagement means arranged at a distal end of said at least one telescopic extension means such that footprint of said at least one telescopic extension arm depends on position of engaged at least one bendable chain. Such a configuration provides a greater carrying capacity of pick-up head and reduces the number of chains required, thus the weight of the pick-up head on robot head. Optionally, the telescopic extending means may be a hydraulic cylinder adapted to drive the chain and further to support the goods to be conveyed.

Figure 9b shows a perspective view of pick-up head 92 comprising an array of telescopic means positioned underneath an item to be conveyed according to an embodiment of the present invention. Further provided, and as described previously, is a compactor unit 70 forming part of pick-up head 92 thus providing a retentive means in cooperation with array of extendible telescopic means for conveying of goods from a picking station to a pallet station. Figure 10a shows a pick-up head 102 according to an embodiment of the present invention which may be conveyed by means robotic arm or a multi-axis manipulator such as a X-Y-Z gantry or portal crane (not shown). Pick-up head 102 may optionally comprise a compactor unit 70 being of a dimension sufficient to extend the length and width of goods (not shown) to be conveyed to a pallet station and may be rigidly connected or hingably connected to pick-up head 102. Optional, compactor unit 70 may comprise a plurality of bendable chains, bendable at an angle of 90 degrees with respect to chain 40 which, when in an extended position, remain perpendicular with respect to pick-up head 102.

Further shown in the present figure and disposed within pick-up head 102 is a pair of plurality of extendible fingers 56 which, in the current figure, are arranged in position A.

Further optionally provided is a cross-member 80 which is further arranged perpendicular to extended fingers 56. Cross-members 80 may be of sufficient dimension to extend the length and width of goods 100 such that goods 100 disposed on extended fingers 56 are distributed evenly on pick-up head 102, and further to protect goods 100 from interfering with chain guiding means 46. Figure 10b shows the pick-up head 102 of Figure 10a with extendible means or fingers 56 in an extended position. As can be seen in the present figure, fingers 56, when in the extended position B, are arranged parallel to compactor unit 70. In particular, such an arrangement allows goods 100 to be arranged within the space defined by the extended fingers and unit 70 of pick-up head 102.

Figures 11a and l ib shows a side view of a conventional pick-up head forming part of a goods conveying system compared to an exemplary pick-up head 52, 62, 92, 102 according to embodiments of the present invention. As can be seen in Figure 11a, known pick-up head 2 may be attachable to a free end of a robotic arm (not shown) for moving goods 100 from at least one picking station to a pallet station.

As discussed previously, pick-up head 2 comprises a plurality of pick-up fingers 6 which function to support items such as goods, boxes, cartons and so on from a picking station (not shown) to a pallet station (not shown). In particular, the plurality of pick-up fingers extend a distance X which is defined as being at least half the width of the item to be conveyed from the picking station to a pallet station since pick-up head 2 must be introduced from the side of goods 100. That is, since the pick-up fingers 6 are rigid i.e. made of a metal and/or non- deformable plastic, the separating distance between successive parallel arranged picking stations is thus at least dependent on the length of pick-up fingers 6 forming part of pick-up head. The total area required for each pallet station is at least two times the width of goods 100 since the fingers of pick-up head 2 are introduced from opposite sides of goods 100.

Conversely however and shown in Figure l ib, the total area required utilizing a pick-up head 52, 62, 92, 102 according to embodiments of the present invention, is limited to the width of goods 100 to be conveyed to a pallet station since the extendible means i.e. the supporting fingers of pick-up head 52, 62, 92 are conveyed to a position B either from a vertically stored position A or from a horizontal telescopic position after pick-up head 52, 62, 92 is introduced directly above goods 100 or as an alternative from the side of goods 100 with pick-up head 102.

Figure 12 shows a schematic view of a system for conveying goods from a picking station to a pallet station by means of a pick-up head attached to a robotic arm according to embodiments of the present invention. In a first aspect, goods items are supplied by means of conveyors to feed-in end 12 of a pallet station. It is envisaged that a plurality of goods items to be conveyed are fed onto roller bars 18 of picking station and arranged to stop at stop end 14. Accordingly, pick-up head according to embodiments of the present invention is directly above goods 100 such that compactor unit 70 comprising cross-member portions 80, 82, by means of hub unit 72 compact goods 100 together. Extendible means 56 are then introduced and move from a first position A to second position B such that they are arranged between rollers 18 and underneath compacted goods item for upwardly conveyance from a picking station to a pallet station. Extendible means 56 then return to the un-extended position i.e. position A with cross-members portion 80, 82 being released such that pick-up head can be conveyed back to pallet station. Such a system may be controlled by a controller running a dedicated software program and further controlled by a user operative.

Claims

1. An apparatus for conveying goods from a first station to a second station comprising :

at least one extendible means;

at least one lifting means;

wherein said at least one extendible means is adapted to be conveyed from a first position to a second position and further elevatably-conveyed by means of said lifting means when in said second position.

2. The apparatus according to claim 1, wherein a horizontal footprint of at least one extendible means is increased when said extendible means is adapted to be conveyed from a first position to a second position.

3. The apparatus according to any of the preceding claims, wherein said extendible means comprises a chain further comprising a plurality of links.

4. The apparatus according to any of the preceding claims, in particular claim 3, wherein said at least one chain, in a horizontal plane, is self-supporting.

5. The apparatus according to any of the preceding claims, in particular claim 4, wherein said at least one chain is a one-way bendable chain.

6. The apparatus according to any of the preceding claims, wherein said extendible means comprises a telescopic arm.

7. The apparatus according to any of the preceding claims, wherein said second position is a horizontally extendible position.

8. The apparatus according to any of the preceding claims, wherein said at least one chain is adapted to be bent by means of a guiding means.

9. The apparatus according to any of the preceding claims, wherein said at least one chain is adapted to be bent by said guiding means at an angle of approximately 90degrees.

10. The apparatus according to any of the preceding claims, wherein said at least one extendible means is adapted to be conveyed from a first position to a second position by a driving means.

11. The apparatus according to any of the preceding claims, in particular claim 10, wherein said driving means is a rotational driving means which comprises engaging teeth which engage with said plurality of chain links.

12. The apparatus according to any of the preceding claims, in particular claim 11, wherein driving means is adapted to rotate by means of a motor.

13. The apparatus according to any of the preceding claims, in particular claim 11, wherein driving means is freely rotatable.

14. The apparatus according to any of the preceding claims, wherein said driving means is a pneumatic cylinder which is adapted to convey at least one telescopic extendible means from a first position to a second position.

15. The apparatus according to any of the preceding claims, wherein said at least one bendable chain is housed within said at least one telescopic arm.

16. The apparatus according to any of the preceding claims, wherein said extendible means in said first position is in a vertical plane and said extendible means in a second position is in a horizontal plane.

17. The apparatus according to any of the preceding claims wherein said extendible means in said first position is in a horizontal plane and said extendible means in a second position is further extended in said horizontal plane.

18. The apparatus according to any of the preceding claims, wherein said extendible means forms part of a pick-up head adapted to convey an item of goods from a first station to a second station.

19. The apparatus according to any of the preceding claims in particular claim 18, wherein said first station is a picking station and said second station is a pallet station.

20. The apparatus according to any of the preceding claims, wherein said pick- up head further comprises a compactor unit.

21. The apparatus according to any of the preceding claims, in particular claim

20, wherein said compactor unit comprises a hub unit adapted to house at least two lateral extendible arms having an extendible length determined by at least half the dimension of goods and further wherein vertical compactor arms depend from a peripheral end of each of said at least two lateral extendible arms.

22. The apparatus according to any of the preceding claims, in particular claim

21, wherein said vertical compactor arms define an area suitable for receiving an item of goods.

23. The apparatus according to any of the preceding claims, in particular claim 21, wherein optional cross-members are arranged perpendicular to at least two vertical compactor arms.

24. The apparatus according to any of the preceding claims, in particular claim 23, wherein optional cross-members are of sufficient dimension to extend the length and width of goods.

25. The apparatus according to any of the preceding claims, in particular claim 21, wherein each extendible arm may be separately operable.

26. The apparatus according to any of the preceding claims, in particular claim 20, wherein said compactor unit is adapted to extend perpendicularly from pick- up head.

27. The apparatus according to any of the preceding claims, in particular claim 26, wherein said compactor unit in extended position is parallel to at least one extendible means.

28. The apparatus according to any of the preceding claims, in particular claim 20, wherein compactor unit is adapted to provide an even retractive force on goods item thus retaining goods item on pick-up head when said pick-up head is adapted to convey more than one goods item from a first station to a second station.

29. The apparatus according to any of the preceding claims, wherein said vertical compactor arms in a retractive state provide a goods gripping interface to allow goods load on pick-up head to be distributed between compactor and extendible means.

30. The apparatus according to any of the preceding claims, wherein said pickup head is adapted to be positioned directly above or adjacent to a goods item when said at least one extension means is in a first position.

31. The apparatus according to any of the preceding claims, wherein said at least one self-supporting chain comprises an engagement means arranged at a distal end thereof and being in communication with a reciprocal engagement means arranged at a distal end of said at least one telescopic extension means such that footprint of said at least one telescopic extension arm depends on position of engaged at least one self-supporting chain.

32. The apparatus according to any of the preceding claims, wherein said extendible means is provided as an array comprising at least three extendible means.

33. The apparatus according to any of the preceding claims, wherein the length of said extendible means is defined by the width of the palletized goods

34. The apparatus according to any of the preceding claims, wherein the length of said extendible means is defined by half the width of the palletized goods.

35. The apparatus according to any of the preceding claims, wherein the bendable chain in a first position is stored in a magazine arranged on said lifting means.

36. The apparatus according to any of the preceding claims, wherein the bendable chain in a first position is stored on said lifting means.

37. The apparatus according to any of the preceding claims, wherein a guiding channel comprising wings is provided between each roller bar.

38. The apparatus according to any of the preceding claims, in particular claim 37, wherein a free end of chain comprises a projected tongue adapted to cooperate with wings of guiding channel to limit vertical movement of chain when said chain is conveyed from first position A to second position B.

39. The apparatus according to any of the preceding claims, in particular claim

36. wherein free end of chain comprises a projected tongue adapted to overhang second side wall of pallet station when at least one extendible means is at second position B.

40. A system for conveying goods from a first station to a second station, wherein said goods are conveyed using the apparatus of claim 1.

41. A method for conveying goods from a first station to a second station comprising the steps of:

(a) introducing a pick-up head comprising at least one extendible means from a position directly above an item of goods; or optionally in step (b),

(b) introducing a pick-up head comprising at least one extendible means from a position directly adjacent an item of goods; (c) conveying said at least one extendible means from a first position to a second position such that at least one extendible means is arranged to be underneath an item of goods;

(d) elevatably-conveying said item of goods from a first station to a second station;

(e) and further comprising the optional step of compacting said goods.

42. Use of a horizontally extendible means in an apparatus or system for conveying goods from a first station to a second station.