NO346887B1

NO346887B1 - Apparatus and system for adapting at least one roll container from a nestable configuration to a fillable configuration, and a jig for guiding at least one part of a roll container

Info

Publication number: NO346887B1
Application number: NO20200909A
Authority: NO
Inventors: Svein Søyland
Original assignee: Robotnorge As
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2023-02-13
Also published as: NO20200909A1

Description

APPARATUS AND SYSTEM FOR ADAPTING AT LEAST ONE ROLL CONTAINER FROM A NESTABLE CONFIGURATION TO A FILLABLE CONFIGURATION, AND A

JIG FOR GUIDING AT LEAST ONE PART OF A ROLL CONTAINER

The present invention relates to an apparatus for adapting a roll container from a nestable configuration to a fillable configuration. The present invention also relates to a jig for guiding at least one part of a roll container being adapted from a nestable configuration to a fillable configuration by an apparatus. Moreover, the present invention relates to a system for adapting at least one roll container from a nestable configuration to a fillable configuration.

In activities related to retail supply chains, a roll container, also known as roll cage, is a well-known device for transporting objects. This device is useful when transporting objects between locations, such as between a distribution centre and a shop. In these situations, the roll container is typically filled at one location, moved/pushed into a vehicle, such as a truck or a train, which transports the roll container to the delivery location, and then moved/pushed from the vehicle to the delivery location. Further situations are known in which a roll container is useful, such as when transporting objects between locations within a structure, such as factory or a warehouse. The main advantages of using a roll container relate to its reduction in the need for manual handling of objects and the increase in distribution efficiency, for example by increasing the number of objects that can be transported in a single trip and thus reducing the number of needed trips.

When emptied, some roll containers are capable of being nested with other roll containers such that a row of emptied roll containers is formed with a reduced space occupation. This is typically achieved by folding and / or adapting a few parts of each emptied roll container and then fitting the adapted roll containers onto each other such that these form a row. From the moment a roll container has been emptied until it is needed again, the possibility of nesting empty roll containers is advantageous along several points of a distribution chain. First, a set of nested roll containers occupies less space and therefore reduces the need for storage space. Secondly, a row of nested roll containers, with for example 20 or 30 roll containers, can be more easily handled and moved by a single person, and this improves the efficiency of transporting and manoeuvring empty roll containers.

There are many known roll container models and types that can be nested into a row. An example of a roll container is the one produced by the company K. Hartwall Oy Ab with the product name “4-high frontload Dairytainer”. This type of roll container is also shown in the figures of WO 81/01820 A1: figures 1, 2, 3 and 4 show elevation views of a roll container in a fillable configuration; and figures 6 and 7 show top views of the roll container in a nestable configuration.

However, when an empty roll container from a row of nested roll containers is to be used for transporting objects, it can be challenging to adapt the roll container so that it may be filled with objects. This preparation typically involves the steps of pulling an empty roll container out of a row of nested roll containers and adapting the pulled roll container to a fillable configuration, i.e. a configuration in which the roll container can be filled with objects for transportation. The fillable configuration is typically achieved by unfolding, unlocking and/or adapting some parts of the roll container.

In practice, many drawbacks are observable in known approaches for the step of adapting a roll container from a nestable configuration to a fillable configuration.

A known category of approaches involves providing automated mechanisms arranged in an assembly line with multiple stages, the arrangement of automated mechanisms receiving a row of nested roll containers and generating roll containers in fillable configurations. Many actuators are needed to apply forces to and manoeuvring the parts of a roll container while the latter is moved through the assembly line. These actuations adapt the roll container into its fillable configuration, and their implementation tends to mimic what a human being would do to adapt a roll container into its fillable configuration. Typical actuators are pneumatic cylinders for extending and retracting arms and electric motors. There is also a need to develop and produce many parts for the assembly line that may be usable in only a single specific assembly context, such as a developing a rotatable arm that is shaped in a certain way which is specifically suitable for passing through a certain space formed within a specific model of one type of roll container. These highly specific implementations can be undesirable due to their lack of applicability to more situations, the typical high cost and the implementational effort that is required.

Although known solutions according to this type of approach can be used for adapting a roll container from its nestable to its fillable configuration, many disadvantages are observed. Due to the high complexity and number of devices involved, there is often a need for continued maintenance and repair. Also, when pneumatic cylinders are used, there is a need to provide a pneumatic infrastructure in place. This, in turn, imposes strong restrictions in terms of where this part of the assembly line can be provided. Also, this solution is typically very expensive, not only to create and install initially but also to maintain over time.

The invention will now be disclosed.

According to a first aspect of the invention, there is provided an apparatus for adapting a roll container from a nestable configuration to a fillable configuration, the apparatus comprising an industrial robot for moving the roll container in at least one degree of freedom and rotating the roll container in at least one degree of freedom. The industrial robot is configured to carry out the steps of: lifting the roll container; and rotating the roll container such that at least one part of the roll container folds due to the weight of the part when the roll container is being rotated.

It has been realised that it is possible to unfold and adapt parts of a roll container in an efficient manner by lifting and rotating/maneuvering the roll container using an industrial robot, and also that it is possible to make use of only these mechanical operations to adapt the roll container from a nestable to a fillable configuration. In particular, it is possible to adapt a roll container from a nestable to a fillable configuration by rotating the roll container such that at least one of its parts folds due to the weight of the part when the roll container is being rotated. These realisations defy the perception that a safe handling of a roll container must always imply that the roll container’s wheels are in contact with a floor or, at most, that the roll container is manoeuvred in an upright position.

In the following, the rotation movements of a roll container are referred to using the terms: roll, pitch and yaw. These terms are well known and typically used when describing, for example, the principal axes of an aircraft or of a spacecraft. Roll, pitch and yaw are terms referring to the rotations around the three-dimensional axes that move with the roll container and rotate relative the Earth along with the roll container.

The step of rotating the roll container may comprise rotating the roll container around the pitch and yaw axes.

In one embodiment, the industrial robot is configured to carry out the step of rotating the roll container such that the foldable part of the roll container becomes unlocked due to the weight of the foldable part when the roll container is being rotated. This configuration embodiment is suitable for roll containers comprising at least one mechanism for locking a rotation of a foldable part of the roll container due to the weight of the foldable part.

The industrial robot may be further configured to carry out the step of grabbing and pulling a roll container from a row of nested roll containers. Also, the step of grabbing and pulling a roll container may comprise grabbing the roll container by its rear side, which is a configuration embodiment that is suitable for roll containers comprising a rear side.

According to a second aspect of the invention, there is provided a jig for guiding at least one part of a roll container being adapted from a nestable configuration to a fillable configuration by an apparatus as described above for the first aspect of the invention, wherein the jig comprises a shape for guiding a part of the roll container when the roll container is moved against the jig by the industrial robot.

The shape of the jig may comprise a portion for guiding a lateral part of the roll container when the industrial robot simultaneously moves and rotates the roll container against the jig. Also, the shape of the jig may comprise a portion for guiding a foldable part of the roll container in a folding motion when the industrial robot moves the roll container against the jig. Moreover, the jig may comprise an inward facing hook for holding a slidable part of the roll container. The jig may also comprise at least one inward facing protrusion for folding a foldable part of the roll container when the roll container is moved against the jig by the industrial robot such that the inward facing protrusion enters an interior space of the roll container and folds the foldable part.

The jig may comprise at least one sensor for detecting a passage of a part of the roll container, the at least one sensor being horizontally aligned and at a position with such a height and depth on the jig that the passage of the part of the roll container is detectable when the roll container is rotated to an upright position. Also, the jig may comprise at least one sensor for detecting a part of the roll container, the at least one sensor being horizontally aligned and at a position on the rear of the jig with such a height that the part of the roll container is detectable when a slidable part of the roll container is in physical contact with the inward facing hook.

According to a third aspect of invention, there is provided a system for adapting at least one roll container from a nestable configuration to a fillable configuration, the system comprising the apparatus described above for the first aspect of the invention, and the jig described above for the second aspect of the invention.

The industrial robot of the apparatus may be configured to carry out the step of moving the roll container against the jig, such that a part of the roll container is guided by a shape of the jig. Also, the industrial robot of the apparatus may be configured to carry out the step of simultaneously moving and rotating the roll container against the jig such that a lateral part of the roll container is guided by a portion of a shape of the jig.

Moreover, the industrial robot of the apparatus may configured to carry out the step of moving the roll container against the jig, such that a foldable part of the roll container is guided by a portion of a shape of the jig in a folding motion. The industrial robot of the apparatus may also be configured to carry out the step of moving the roll container such that a slidable part of the roll container is held by an inward facing hook of the jig. Also, the industrial robot of the apparatus may be configured to carry out the step of moving the roll container against the jig, such that a foldable part of the roll container is folded by an inward facing protrusion of the jig entering an interior space of the roll container.

Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 is a perspective view of a system embodiment during a situation where a roll container in a nestable configuration is going to be adapted into a fillable configuration;

Figures 2A–B are elevation views of a roll container being lifted by an apparatus

embodiment;

Figures 3A–F are elevation (3A, 3B, 3D, 3F) and top (3C, 3E) views of a lifted roll container being rotated and also being simultaneously moved and rotated against a jig embodiment;

Figure 4 is perspective view of jig embodiment including a sensor detecting that the front door of the roll container has been rotated correctly;

Figures 5A–D are elevation (5A, 5C) and top (5B, 5D) views of a lifted roll container being moved against a jig embodiment while a foldable part of the roll container is guided in a folding motion;

Figures 6A–B are an elevation (6A) and top (6B) views of a lifted roll container being moved while a slidable part of the roll container is held by an inward facing hook of a jig embodiment; and

Figure 7 is a perspective view of a jig embodiment including a sensor detecting that the bottom plate has been rotated correctly;

Figures 8A–B are an elevation (8A) and top (8B) views of a roll container being moved against a jig embodiment while three foldable parts of the roll container are folded by three inward facing protrusions of the jig embodiment entering an interior space of the roll container.

Turning now to the figures, these show a system embodiment 1 and its features at several moments of an adaptation process, in which one type of roll container 400 is adapted from a nestable configuration to a fillable configuration. The roll container 400 that is shown in the figures is of the type “dairytainer”, which is referred in the initial portion of the present description. The choice to show this type of roll container 400 in the figures should not be perceived in a restrictive manner and instead should be taken as showing that an apparatus embodiment 200 according to the present invention can adapt many types of roll containers 400 without an inventive skill from a skilled person being needed to do so. Illustrating the adaptation of the “dairytainer” roll container 400 in the figures serves the purpose of showing a roll container 400 that requires mechanical operations beyond lifting and rotation motions applied to the roll container 400. It will be obvious for a skilled person to consult the present description and start adapting simpler types of roll containers 400 from a nestable configuration to a fillable configuration by only carrying out lifting and rotation motions (see for example the roll container shown in the figures of the document EP 0106703 A2).

Figure 1 shows a system embodiment 1. On the right-hand side , Figure 1 shows an apparatus embodiment 200 including an industrial robot 201. The apparatus 200 is in a state in which the industrial robot 201 is grabbing a roll container 400, which can be seen in the center of the bottom half of Figure 1. Also, the roll container 400 is shown in a nestable configuration while having its wheels contacting the same floor on which the industrial robot 201 is installed. Moreover, in front of the roll container 400, a jig embodiment 300 is shown on the left-hand side of Figure 1, and the jig 300 will be used for aiding the apparatus 200 during the mechanical operations carried out to adapt the roll container 400 from a nestable to a fillable configuration.

The industrial robot 201 shown in Figure 1 can move and rotate the roll container 400 in three dimensions, which includes motions such as lifting, translational and rotation. This type of freedom of movement is typically described as providing six degrees of freedom: three degrees of freedom for translational movements, and three degrees of freedom for rotational movements. The skilled person will see that the industrial robot embodiment 201 can be implemented in many other ways. In a simplest embodiment, the industrial robot is suitable for moving the roll container 400 in at least one degree of freedom, such as a vertical or inclined axis, and rotating the roll container 400 in at least one degree of freedom. The skilled person will see that such an embodiment can be implemented without requiring inventive skill, and that it is sufficient for adapting some types of roll containers 400 from a nestable configuration to a fillable configuration. In further embodiments of the industrial robot 201, more degrees of freedom can be provided, for moving and/or rotating. Such an increased freedom of movement is applicable to both the simplest embodiment as well as the industrial robot embodiment 201 shown in the figures.

Thus, Figure 1 gives an illustration of an initial state of the adaption process of a roll container 400 from a nestable configuration to a fillable configuration. This initial state is observable after an optional operation of taking the role container 400 out of a row of nested roll containers 400, such an operation being assumed, in the context of Figure 1, to have been done before-hand or not at all, depending on the circumstances in which the system embodiment 1 is being used. In one embodiment, the system 1 may include an apparatus 200 such that this step of taking a roll container 400 out of a row of nested roll container 400 is performed by the industrial robot 201, which is configured to carry out that step.

Figure 2A shows the same situation that is shown in Figure 1 from an elevation view. The main illustrative difference between these two figures is that the apparatus 200 shown in Figure 1 has been hidden from Figure 2A, thus leaving only the jig embodiment 300, shown on the left-hand side of Figure 2A, and the roll container 400 in a nestable configuration, shown on the right-hand side of Figure 2A. Moreover, the apparatus 200 has also been hidden from the remaining figures for illustrative purposes in order to improve the visualization of the mechanical operations applied to the roll container 400. In Figures 4 and 7, the apparatus 200 is shown again.

The following parts of the roll container 400 are observable in Figure 2A: a rear side 401, shown on the side of the roll container 400 that is most distant from the jig 300; one of the two lateral sides 404a (only one of the sides is visible in the elevation view shown in Figure 2A); a front door 402, which is presented in its nestable configuration and pivoted out such that it is parallel to the lateral side 404a shown in Figure 2A; and a bottom plate 403.

The bottom plate 403 is shown with a vertical orientation, pointing upwards, and pivoted such that it is parallel to the rear side 401. This configuration is part of the specific type of role container 400 that is illustrated in the figures, and is provided by a pivoting means near the rear side 401 that allows the bottom plate 403 to rotate around an horizontal axis and also by a mechanism for locking the rotation of the bottom plate 403 at an upright orientation due to the weight of the bottom plate 403. In some roll container embodiments 400, such a locking mechanism is achieved by providing the pivoting means with an axial slot and the bottom plate 403 with a lateral pin that enters the axial slot when the bottom plate 403 is at the desired locking angle. Such a mechanism is further unlockable by moving the bottom plate 403 in an axial motion such that the lateral pin moves out of the axial slot and thus unlocks the rotation of the bottom plate 403.

In order to adapt the roll container 400 from the nestable configuration that is shown in Figures 1 and 2A to a fillable configuration, one requirement is therefore unlocking the rotation of the bottom plate 403 and then rotating it such that it forms the bottom of the roll container 400. This mechanical operation will be accomplished throughout the moments illustrated in the following figures.

Also, the roll container 400 may contain a gravity-based locking mechanism for keeping the front door 402 still when the latter is in its nestable configuration, as shown in Figure 2A. Such a locking mechanism (not visible in the Figures) can be implemented by providing the front door 402 with a pivoting and slidable means that enables the front door 402 to pivot around and slide along a vertical axis parallel to the front edge of the lateral side 404a. Also, a slot or metallic pocket is provided on the lateral side 404a and a pin shaped protrusion is also provided on the front door 402 such that it enters the slot or pocket and therefore locks the front door 402 against the lateral side 404a. Many other locking mechanism embodiments are available.

When the roll container 400 includes such a gravity-based locking mechanism for keeping the front door 402 parallel to the lateral side 404a, another requirement is therefore unlocking the rotation of the front door 402 and then rotating it around the front edge of the lateral side 404a such that it forms the front of the roll container 400. This mechanical operation could also be accomplished in the moments illustrated in the following figures.

Figure 2B shows the roll container 400 from Figure 2A after it has been lifted by the apparatus 200. It is observable that the lifting motion that has been applied to the roll container 400 was a linear one (without any rotation being applied to the roll container 400) and that the parts of the roll container 400, e.g. the front door 402 and the bottom plate 403, remain with the same relative orientations as those that are observable in Figure 2A. Consequently, the roll container 400 has been lifted to a position suitable for applying further mechanical operations to the roll container 400.

Figure 3A shows the roll container 400 after it has been rotated almost 180 degrees around its pitch axis when starting from Figure 2A. This orientation was accomplished by the actuation of the apparatus 200. It can be seen that the rear side 401, which was the side of the roll container 400 that was most distant from the jig 300 in Figures 2A–B, is now the side that is nearest to the jig 300.

It is also observable that, due to the rotation applied to the roll container 400, some parts have moved and/or unfolded due to their weight. A first part that rotated is the front door 402, which is now extended out and in substantial alignment with the lateral side 404a. This type of mechanical operation, in which moving parts of the roll container 400 move due to their weight and to how the roll container 400 is rotated, is the main type of operation that can be done by the apparatus 200 in order to do the adaptation from a nestable configuration to a fillable configuration. As mentioned above, some types of roll containers 400 can be completely adapted from a nestable configuration to a fillable configuration by carrying out just this type of operation. In the particular example that is shown in Figure 3A, the bottom plate 403 has also rotated, which is now shown with a slight rotation and no longer parallel to the rear side 401. The bottom plate 403 became unlocked due the axial movement caused by its weight and the substantially upsidedown orientation that is shown in Figure 3A. Thus, the apparatus 200 unlocked the rotation of the bottom plate 403 with the help of gravity. Moreover, if the front door 402 included a gravity-based locking mechanism for the nestable configuration as described above, then this would also had been unlocked. The front door 402 would have slid along the lateral side 404a such that it got unlocked, and it would have pivoted around the front edge of the lateral side 404a until it obtained the configuration shown in Figure 3A. Therefore, also in this respect it is possible to say that the apparatus 200 would have unlocked the rotation of the front door 402 with the help of gravity.

In other words, the apparatus 200 has lifted the roll container 400 and rotated it in a manner that causes at least one movable part of the roll container 400 to get loosened, if necessary, to get unlocked, and to move. The apparatus 200 then takes advantage of these reactions in the movable parts of the roll container 400 and continues doing so until the fillable configuration is achieved. One benefit of performing the adaptation of the roll container 400 in this manner is that there is no longer a need for highly specific actuators that are applicable only at a certain moment and to a certain part of the roll container 400. Instead, the motions provoked by the apparatus 200 are applicable to all movable parts of the roll container 400. Also, this solution is advantageous in that the installation and maintenance efforts are significantly reduced.

The following mechanical operation may be further applied by the apparatus 200 with the purpose of producing folding motions on the two lateral sides 404 and on the bottom plate 403 such that these rotate into their configurations according to the fillable configuration of the roll container 400. This mechanical operation is shown in Figures 3B to 3F, and the jig 300 is used for improving the accuracy of the mechanical operation carried out by the apparatus 200.

In the moment shown by the elevation and top views in Figures 3B and 3C, respectively, the roll container 400 is moved against the jig 300 and rotated clockwise around its pitch axis. Figure 3B shows the elevation view of the resulting rotation of the roll container 400 when starting from the orientation shown in Figure 3A, and Figure 3C shows the top view of the situation shown in Figure 3B. It can be seen that the roll container 400 has been moved against the jig such that a portion of the lateral sides 404a, 404b has entered the interior space of the jig 300. Also, it is observable in Figure 3B that the bottom plate 403 has now rotated further towards its orientation where the bottom of the roll container is formed. Moreover, the two lateral sides 404a, 404b shown in Figure 3C still possess a slight opening angle in their rotation and must be further closed before forming the bottom of the roll container 400 in the fillable configuration. In order to obtain a better perception of the folding actuation accomplished thus far for the lateral sites 404a, 404b, the folding angles of the lateral sides shown in Figure 1 can be visually compared with the folding of angles of the lateral sides 404a, 404b shown in Figure 3C.

In the moments shown in Figures 3D, 3E and 3F, the roll container 400 has been rotated further around the pitch axis while being simultaneously moved against the jig 300. In Figure 3E, it can be seen that the lateral sides 404a, 404b are now perpendicular to the rear side 401. Also, the bottom plate 403 shown in Figures 3D and 3F has now accomplished the intended position, thus forming the bottom of the roll container between the two lateral sites 404a, 404b. Moreover, it can be seen throughout the Figures 3D, 3E and 3F that the front door 402 remained substantially perpendicular to the rear side 401 and followed the rotation motion of the roll container 400 without getting stuck with any part of the jig 300.

Jig embodiments 300 include a shape for guiding parts of the roll container 400 when the latter is moved against the jig 300. In the jig embodiment 300 shown in the figures, some aspects of the shape are implemented using a base structure onto which several bent metal bars are attached. However, many other jig designs can be accomplished in order to provide the same shape related effects. Moreover, the shape of the jig 300 shown in the figures includes further features for achieving various mechanical interactions, such as guiding, folding and vertically holding at least one part of the roll container 400, and that particular combination is suitable for the “dairytainer” type of roll container. This jig embodiment 300 should not be taken in a restrictive manner, as the apparatus 200 can adapt some types of roll containers from a nestable configuration to a fillable configuration without the need for a jig 300. In some other types of roll containers 400, the jig 300 may be useful for only guiding a part of the roll container 400 when the latter is moved against the jig 300. Yet, other types of roll containers may require a jig 300 to also be suitable for guiding a lateral part of the roll container 400 when the latter is simultaneously moved and rotated against the jig 300.

Figure 4 shows a jig embodiment 300 including a sensor 304 for detecting that the front door 402 has opened correctly. This optional jig embodiment 300 is suitable for the type of roll container 400 that is shown in the figures but may not be useful for other roll containers that do not include a front door. The roll container 400 can be seen at a moment between the moments illustrated in Figures 3D and 3F. In particular, the roll container 400 is being rotated around its pitch axis towards an upright position by the apparatus 200. During this movement, the front door 402 passes in front of the sensor 304 if it has been open correctly. This signal generated by the sensor 304 may then be used by the apparatus 200 as a control condition for continuing the adaption process. Conversely, the lack of this signal may serve as a control condition for the apparatus 200 to stop, or even abort, the adaptation process and optionally sounding an alarm and/or perform other activations.

The sensor 304 for detecting the passage of the opened front door 402 can be implemented in many ways. One option is to provide an Infra-Red, laser or other light sensor horizontally aligned at such an height and depth on the jig 300 that a correctly opened front door 402 is capable of intersecting the sensor’s 304 beam when the roll container 400 is being rotated. Other types of sensors could be implemented on the same position but taking advantage of the metallic properties of the roll container 400, such as an inductive sensor. A skilled person will see many alternatives in this respect.

After continuing the mechanical operation of rotating the roll container 400 around the pitch axis, the apparatus 200 has now accomplished a disposition of the roll container 400 in an upright position partially within the jig 300. This disposition is illustrated in Figure 5A. The rear side 401 is again the side of the roll container 400 that is the most distant from the jig 300.

Figures 5B to 5D show a mechanical operation that has the purpose of closing the front door 402. This is accomplished due to the configurations of the industrial robot 201 of apparatus 200 to move the roll container 400 against the jig 300 such that the front door his guided in a folding motion towards its close orientation. The guidance of that folding motion is accomplished by the folding guide 301, which is visible in the top left portion of the elevation view show in Figure 5A and on the bottom left portion of the top view shown in Figure 5B. The folding guide 301 of the jig 300 includes a curved edge 301a (visible in Figure 5B) that is used by the apparatus 200 for folding the front door 402 as the roll container 400 is further pushed into the jig 300.

Figures 5C and 5D show an intermediate moment in which the front door 402 is sliding against and being guided by the curved edge 301a of the folding guide 301. It can also be seen by comparing Figure 5B with Figure 5D that the roll container 400 has been pushed into the jig 300. Specifically, this can be observed by comparing the length of each of the lateral sides 404a, 404b that is seen inside the jig 300 in each of the two figures.

This approach for initiating the closing motion of the front door 402 therefore accomplishes a solution of a passive kind, which does not require actuators, such as electrical components or components based on a compressed fluid, to be provided on the jig 300. This approach is also advantageous in that a reduced effort is needed in terms of production, installation and maintenance of the jig 300.

Figures 6A and 6B show the mechanical operation carried out by the apparatus 200 to shut the front door 402 and further adapt it so that it stays shut by a locking mechanism provided by the type of roll container 400 shown in the figures. The roll container 400 may include a front door 402 that is both pivotable around and slidable along a vertical axis, and also a mechanism for locking the front door 402 when a portion of the front door 402 is moved over a pin or into a slot. Such a pin or slot may be provided on the lateral side 404b against which the front door 402 closes, and the portion of the front door 402 that locks into the pin or slot may be a matching protrusion suitable for locking with the pin or slot. For roll containers 400 with this type of locking mechanism for the front door 402, the jig embodiment 300 shown in Figure 6A includes an inward facing hook 302 that is usable by the apparatus 200 for holding the front door 402 in a vertical position while the roll container 400 is moved.

It can be seen in Figures 6A and 6B that the roll container 400 is entirely inside the jig 300 and that the vertical position of the roll container 400 is now under the folding guide 301 that was mentioned above while describing Figures 5A to 5D. The lower vertical position of the roll container 400 relative to the folding guide 301 can be seen in the bottom left corner of Figure 6B. Also, the roll container 400 is being pushed against the jig 300 at the same time it is being vertically slid. It is observable on the left upper portion of Figure 6A that the inward facing hook 302 is entering through the front door 402 and holding the latter while the apparatus 200 vertically slides the roll container 400 against the jig 300. This therefore accomplishes the activation of the locking mechanism, and that will keep the front door 402 shut in roll containers 40 that include this type of locking mechanism.

In one embodiment, the jig 300 may include a sensor 305 for detecting that the bottom plate 403 has been unfolded correctly and is now forming the bottom of the roll container 400. Such a jig embodiment 300 is shown in Figure 7, in which the apparatus 200 is shown on the left-hand half of the figure and the rear of the jig 300 is shown on the righthand half. The moment shown in Figure 7 is illustrated in both Figures 6A and 6B.

The sensor 305 for detecting that the bottom plate 403 has been unfolded correctly is similar to the sensor 304 that has been mentioned above while describing Figure 4. The main difference is the position on the jig 300. The sensor 305 for the bottom plate 403 is horizontally aligned at a position on the rear of the jig 300 and at such an height that the bottom plate 403 intersects the sensor 305 when the front door 402 is in contact with the inward facing hook as shown in the Figures 6A and 6B. The reaction of the apparatus 200 to the detection of the bottom plate 403, or lack of it, is also similar the reaction described for the sensor 304 in Figure 4: the apparatus 200 either continues the adaption process if the bottom plate 403 is detected or stops, or even aborts, the process if no detection is achieved.

A further mechanical operation that may be implemented by the apparatus 200 is shown in Figures 8A and 8B. Some roll containers 400 may include inner shelves 405 for storing products more compactly therein, and the adaptation from a nestable configuration to a fillable configuration may further require unfolding these inner shelves 405. For this purpose, the jig embodiment 300 shown in the figures includes inward facing protrusions 303 that can be used by the apparatus 200 for unfolding the inner shelves 405.

It can be seen in Figure 8A that the apparatus 200 moved the roll container 400 to a lower vertical position relative to the inward facing hook 302. At this height, the apparatus 200 rotated the row container 400 around its yaw axis such that the inner shelves 405 are folded by the inward facing protrusions 303 entering the interior space of the roll container 400. In the top view shown in Figure 8B, it is observable that the inner shelves 405 are rotated to their supporting orientations and that the inward facing protrusions are entering through the lateral side 404a of the roll container 400.

This approach accomplishes a simple solution for unfolding several inner shelves 405 in parallel. Also, no electrical components, such as actuators, need to be provided on the jig 300 in order accomplish the unfolding of the inner shelves 405, therefore enabling a solution of a passive type.

Generally, the terms used in this description and claims are interpreted according to their ordinary meaning the technical field, unless explicitly defined otherwise. Notwithstanding, the terms “comprises” and “comprising” and variations thereof mean that the specified features, steps or integers are included. These terms are not interpreted to exclude the presence of other features, steps or integers. Furthermore, the indefinite article “a” or “an” is interpreted openly as introducing at least one instance of an entity, unless explicitly stated otherwise. An entity introduced by an indefinite article is not excluded from being interpreted as a plurality of the entity.

The features disclosed in the foregoing description, or in the following claims, or in the accompanying drawings, expressed in their specific forms or in terms of a means for performing the disclosed function, or a method or process for obtaining the disclosed results, as appropriate, may, separately, or in any combination of such features, be utilised for realising the invention in diverse forms thereof.

While the invention has been described in conjunction with the embodiments described above, many equivalent modifications and variations will be apparent to those skilled in the art when given this disclosure. Accordingly, the embodiments of the invention set forth above are considered to be illustrative and not limiting. For example, the references to nestable roll containers throughout the description above are considered illustrative and not limiting. The roll container with the product name 4-high frontload dairytainer is mentioned in the initial part of the present description only for the purpose of given an example of a nestable roll container without any implication that it may be limiting to the scope of the invention. Various changes to the described embodiments may be made without departing from the scope of the invention.

Reference numbers

1: system

200: apparatus

201: industrial robot

300: jig

301: folding guide

301a: curved edge

302: inward facing hook

303, 303a, 303b, 303c: inward facing protrusion 304: front door sensor

305: bottom plate sensor

400: roll container

401: rear side

402: front door

403: bottom plate

404, 404a, 404b: lateral side

405: inner shelf

Claims

1. An apparatus (200) for adapting a roll container (400) from a nestable configuration to a fillable configuration, the apparatus (200) comprising:

- an industrial robot (201) for moving the roll container (400) in at least one degree of freedom and rotating the roll container (400) in at least one degree of freedom, wherein the industrial robot (201) is configured to carry out the steps of:

- lifting the roll container (400); and

- rotating the roll container (400) such that at least one part of the roll container (400) folds due to the weight of the part when the roll container (400) is being rotated.

2. The apparatus (200) according to claim 1, wherein the step of rotating the roll container (400) comprises rotating the roll container (400) around the pitch and yaw axes.

3. The apparatus (200) according to any of the preceding claims, wherein the roll container (400) comprises at least one mechanism for locking a rotation of a foldable part (402, 403) of the roll container (400) due to the weight of the foldable part (402, 403), and

wherein the industrial robot (201) is configured to carry out the step of:

- rotating the roll container (400) such that the foldable part (402, 403) of the roll container (400) becomes unlocked due to the weight of the foldable part (402, 403) when the roll container (400) is being rotated.

4. The apparatus (200) according to any of the preceding claims, wherein the industrial robot (201) is further configured to carry out the step of:

- grabbing and pulling a roll container (400) from a row of nested roll containers (400).

5. The apparatus (200) according to claim 4, wherein the roll container (400) comprises a rear side (401), and

wherein the step of grabbing and pulling a roll container (400) comprises grabbing the roll container (400) by its rear side (401).

6. A jig (300) for guiding at least one part of a roll container (400) being adapted from a nestable configuration to a fillable configuration by an apparatus (200) as described in any of the preceding claims,

wherein the jig (300) comprises a shape for guiding a part of the roll container (400) when the roll container (400) is moved against the jig (300) by the industrial robot (201).

7. The jig (300) according to claim 6, wherein the shape of the jig (300) comprises a portion for guiding a lateral part (404, 404a, 404b) of the roll container (400) when the industrial robot (201) simultaneously moves and rotates the roll container (400) against the jig (300).

8. The jig (300) according to any of the claims 6 to 7, wherein the shape of the jig (300) comprises a portion (301) for guiding a foldable part (402) of the roll container (400) in a folding motion when the industrial robot (201) moves the roll container (400) against the jig (300).

9. The jig (300) according to any of the claims 6 to 8, wherein the jig (300) comprises an inward facing hook (302) for holding a slidable part (402) of the roll container (400).

10. The jig (300) according to any of the claims 6 to 9, wherein the jig (300) comprises at least one inward facing protrusion (303, 303a, 303b, 303c) for folding a foldable part (405) of the roll container (400) when the roll container (400) is moved against the jig (300) by the industrial robot (201) such that the inward facing protrusion (303, 303a, 303b, 303c) enters an interior space of the roll container (400) and folds the foldable part (405).

11. The jig (300) according to any of the claims 6 to 10, wherein the jig (300) comprises at least one sensor (304) for detecting a passage of a part of the roll container (400), the at least one sensor (304) being horizontally aligned and at a position with such a height and depth on the jig (300) that the passage of the part of the roll container (400) is detectable when the roll container (400) is rotated to an upright position.

12. The jig (300) according to any of the claims 9 to 11, wherein the jig (300) comprises at least one sensor (305) for detecting a part of the roll container (400), the at least one sensor (305) being horizontally aligned and at a position on the rear of the jig (300) with such a height that the part of the roll container (400) is detectable when a slidable part (402) of the roll container (400) is in physical contact with the inward facing hook (302).

13. A system for adapting at least one roll container (400) from a nestable configuration to a fillable configuration, the system comprising:

- the apparatus (200) described in any of the claims 1 to 5; and

- the jig (300) described in any of the claims 6 to 12.

14. The system according to claim 13, wherein the industrial robot (201) of the apparatus (200) is configured to carry out the step of:

- moving the roll container (400) against the jig (300), such that a part of the roll container (400) is guided by a shape of the jig (300).

15. The system according to any of the claims 13 to 14, wherein the industrial robot (201) of the apparatus (200) is configured to carry out the step of:

- simultaneously moving and rotating the roll container (400) against the jig (300) such that a lateral part (404, 404a, 404b) of the roll container (400) is guided by a portion of a shape of the jig (300).

16. The system according to any of the claims 13 to 15, wherein the industrial robot (201) of the apparatus (200) is configured to carry out the step of:

- moving the roll container (400) against the jig (300), such that a foldable part (402) of the roll container (400) is guided by a portion (301) of a shape of the jig (300) in a folding motion.

17. The system according to any of the claims 13 to 16, wherein the industrial robot (201) of the apparatus (200) is configured to carry out the step of:

- moving the roll container (400) such that a slidable part (402) of the roll container (400) is held by an inward facing hook (302) of the jig (300).

18. The system according to any of the claims 13 to 17, wherein the industrial robot - moving the roll container (400) against the jig (300), such that a foldable part (405) of the roll container (400) is folded by an inward facing protrusion (303, 303a, 303b, 303c) of the jig (300) entering an interior space of the roll container (400).