Robotic method for loading cases

A robotic method for loading cases (Et) on a packaging line (Lg) from cases contained in a closed parallelepiped container,

• and wherein each of said cases (Et) comprising four fold lines (L1, L2, L3, L4) configured to enable the storage of the cases in their laid-flat position (P1), and enable unfolding of the case around the four fold lines (L1, L2, L3, L4) in a volume-formed position (P2) where the case defines a tubular volume with at least one mouth (Eb) enabling filling of the case, the case having closure flaps (Vf) configured to enable closure of said mouth
• and wherein the cases (Et) are received in the container (Ca) in their laid-flat position (P1), in parallel against each other in the form of a row of cases, extending between two opposite faces of the parallelepiped container, called first face (F1) and second face (F2), the row of cases laid flat having a first case (En) of the row, laid flat, disposed parallel to the first face (F1) of the container, opposite the first face (F1), and a last case (Etd) of the row laid flat, parallel to the second face (F2), opposite the second face, the cases extending according to the direction of the fold lines between a third face (F3) and a fourth face (F4) of the container, opposite to one another, a fifth face (F5) and a sixth face (F6) defining the bottom and the lid of the container and wherein said method is implemented by an installation comprising a robotic arm (1) handling a gripping system (2) having a motor-driven clamp (3) with two jaws consisting of a first jaw (30) and a second jaw (31), as well as an actuation mechanism configured to spread apart and bring the two jaws close to each other,
• in which method it is proceeded with the loading of the packaging line (Lg), after opening of the container (Ca) by:
• /d/ insertion of the first jaw (30) of the clamp between the first face (F1) of the container and the first case (Et1) of the row of cases and, insertion of the second jaw (31) of the clamp between the last case (Etd) of the row of cases and the second face (F2) of the container, and approach of the first jaw (30) and of the second jaw (31) then inserted in the container until seizing up the row of cases,
• /e/ piloting of the robotic arm so as to extract the row of cases from the container grasped by the motor-driven clamp (3) and load the packaging line (Lg) with the row of cases, after the release of the row of cases by spreading apart the two jaws (30, 31) of the motor-driven clamp,
• and wherein the first face (F1) and the second face (F2) of the container respectively having portions (db) protruding in height extending above the row of cases, on the side of the opening of the open container, the method providing, prior to /d/, for:
• the positioning of the distal ends respectively of the first jaw (30) and of the second jaw (31) facing the protruding portions (db) of the first face (F1) and of the second face (F2) of the container, and,
• the control of the drive mechanism to spread the two jaws (30, 31) of the motor-driven clamp apart and thus spread the first face (F1) apart from the second face (F2) of the container, while generating, on the one hand, a first interspace (It1) between the first face (F1) and the first case (Et1) of the row of cases, and, on the other hand, a second interspace (It2) between the last case (Et2) and the second face (F2) of the row
• and so that at /d/ the insertion of the first jaw (30) of the motor-driven clamp between the first face (F1) of the container and the first case (Et1) of the row and, the insertion of the second jaw (31) of the clamp between the last case (Et2) of the row and the second face (F2) of the container are performed through the descent of the first jaw and of the second jaw respectively in the first interspace (It1) and the second interspace (It2).