FR2682080A1 - Method for automatic handling of large-capacity bottles, particularly bottles of liquified gas, and installation for implementing the method - Google Patents

Abstract

The invention relates to a method and an installation for automatic handling of large-capacity bottles, particularly bottles of liquidified gas. The method of the invention consists in: a) discharging en bloc, at a discharging station (PDG), the empty bottles which are arranged in a rack by transferring them in a lying-down position on a lateral container (CDG); b) destacking, one by one, the empty bottles which are lying down, using a manipulator robot (600), each bottle being deposited on a filling carriage (trolley) (CE) in order to be transferred to a filling and checking station; c) stacking, one by one, the full bottles which are lying down on the carriage (CE), using a manipulator robot (700), each full bottle being deposited in the lying-down position on a lateral container (CCG); d) transferring en bloc the full bottles which are lying down in an empty stand-by rack (C) on the palletisation line (100) at a charging (loading) station (PCG).

Description

 The present invention relates to the handling of large capacity cylinders, in particular of liquefied gas cylinders (LPG for example).

 As an indication, large capacity LPG cylinders have a length of around 1.4 meters, their weight being around 35 kg when empty and 70 kg when the cylinders are full.

 The handling of such bottles must therefore be organized, as far as possible, by mechanical means, in order to limit the manual intervention of the personnel concerned, in particular during filling and checking of the bottles.

 In the present description, the general term "handling" will be used to encompass the various operations intervening mechanically or manually, during the treatment of large capacity bottles arranged in a rack, the final step being the palletization of full bottles.

 The handling techniques used for small gas cylinders, in which the bottles always remain upright, and comprising two separate unloading and loading stations or a single unloading / loading station, such as that described in the document FR- A-2 223 277, are not entirely satisfactory for large capacity bottles Indeed, the length and the section of these bottles make that the standing position is not very stable during transfer maneuvers comprising a mechanical pushing of empty or full bottles .

 I1 also exist several handling techniques specially adapted to large capacity bottles, the bottles being placed in the supine position (on at least one layer) in a rack, but generally these techniques usually involve operations of transfer performed manually.

 We have thus proposed and used a technique using a special rack receiving bottles lying on inclined planes, said rack being associated with a pivoting cradle making it possible to tilt the first bottle from the queue extracted from the rack to place it in a standing position (vertical axis ), the operations of unloading empty bottles and loading full bottles being done at a single station.

 In addition to the need to provide a special rack (with extraction from the bottom of the rack of the first bottle in the queue and loading from the top of the rack) involving the presence of elevators, this technique has the drawbacks inherent in vertical transfer (difficulties when a bottle has been loaded upside down in the rack, and then finds itself upside down after tilting, which requires providing polarizers, instability of the bottles in the standing position), to which are added the complexity of the installation and a limitation of the rates (the rates are besides at the same time limited by the low capacity of the special racks used - in general six bottles at most - and by the presence of a single station with tilting frame to 90 "being used for both unloading and loading).

We have also proposed and used a technique allowing the use of traditional type lockers (whose capacity is of the order of nine to eleven LPG type elongated bottles), with an installation comprising a single loading / unloading station on tilting receiving table, as illustrated for example in the document
FR-A-2 561 619.

An installation of this type comprises a palletizing line with conveying device (a transfer path with jacks and two supply and discharge chains for full or empty bottles), a single pusher assembly for unloading / loading, a receiving tray tilting with the capacity of the rack (for example nine bottles, of which seven "in barrel" - axis oriented transversely - and two "in roll" - axis oriented longitudinally), and a tilting carriage mounted on rail allowing to add or recover the two bottles arranged in rolls
After transfer of the empty bottles from the rack to the receiving tray, the loaded tray is brought to the tilting station for the manual removal of the two rolled bottles and their positioning on the tilting trolley, after which the receiving tray is tilted to 90 " with its seven bottles arranged in a barrel to bring these bottles to the vertical position.

 One or two operators must then transfer the empty bottles individually, by rolling them on their base, to the empty bottles evacuation chain, then bring the full bottles one by one, still rolling them, and replace them on the receiver tray still tilted, after which the tray thus loaded is brought back to the horizontal for the positioning of the two bottles arranged in rolls, and finally the transfer is carried out for the loading of an empty rack.

 Such a technique can undoubtedly allow relatively high rates (especially if it is planned to stack the racks on two levels), but it still has the disadvantages already mentioned inherent to the vertical positioning of the bottles (in particular the risks of errors with bottles ending up upside down), and also involves numerous operations carried out manually (in practice, at least two men are necessary if we want to reach a satisfactory rate).

 The object of the invention is to design a handling method and an installation making it possible to eliminate the aforementioned drawbacks of known techniques, thanks to a high level of automation considerably limiting manual intervention.

 The object of the invention is also to design a method and an installation making it possible to use traditional racks for coated bottles, without the arrangement of rolled bottles being problematic, while completely eliminating the risks of errors in initial positioning. empty bottles in the rack.

 The object of the invention is also to design a method and an installation which is simple and reliable to use, with the safe presence of a single operator, who has no strenuous handling task to perform.

It is more particularly a process for automatic handling of large capacity bottles, in particular liquefied gas, in which the bottles are placed in the supine position on at least one layer in a rack, said rack being able to be moved on a palletizing line by a conveyor device at an empty bottle unloading station or a full bottle loading station, characterized by the fact that it consists of a) unloading in bulk at the unloading station bottles
boxes arranged in a rack by transferring them to the supine position
a global unloading container disposed laterally in the vicinity
of the palletizing line b) unstack one by one the empty bottles lying on the container
global unloading by means of a manipulator robot, each
empty bottle being placed automatically, in the supine position, on
a filling trolley arranged between the unloading station and the
loading station to be transferred to a filling and
control c) stack the full bottles lying on the cart one by one
filling returned to its original place by means of a robot manipulated
tor, each full bottle being deposited automatically, in
lying down, on a global load container arranged
laterally in the vicinity of the palletizing line d) bulk transfer the full bottles lying on the container
global loading in order to load them in an empty locker waiting on
the palletizing line at the loading station.

 Preferably, when it is a process in which the empty bottles to be unloaded from the rack are arranged partly in barrel (transversely) and partly in rolls (longitudinally), the destacking carried out during step b) comprises a preliminary rotation of approximately 90, in a horizontal plane, of the overall unloading container to unstack the bottles arranged in rolls without having to modify the position of the filling carriage.

 Advantageously also, when it is a process in which the full bottles to be loaded in a rack are to be disposed partly in barrel (transversely) and partly in rolls (longitudinally), the stacking carried out during the step c) involves, for the bottles in rolls, a rotation of about 90 "in a horizontal plane, of each bottle gripped by the associated manipulator robot, then a roll positioning of this bottle on the global loading container. Preferably then, the positioning rolling full bottles on the global loading container is carried out by depositing each bottle on this container, then rolling it on said container to its final position using for this purpose the means used for the bulk transfer of full bottles into an empty locker.

 I1 is also interesting that the manipulator robot having seized an empty unstacked bottle automatically brings this bottle to an intermediate waiting station near the filling cart, said bottle then being suspended in the supine (horizontal) position.

 Similarly, it is advantageous for the manipulator robot having deposited a full bottle on the overall loading container to automatically return to an intermediate waiting station near the filling trolley.

 More preferably, the empty bottle rack is initially placed on the palletizing line at a laying station provided upstream of the unloading station, and the full bottle rack is finally moved on the palletizing line at level of a depositing station provided downstream of the loading station, at least one intermediate waiting or laying / depositing empty bin station being also provided between the unloading station and the loading station.

The invention also relates to an installation for the implementation of an automatic handling process having at least one of the above characteristics, installation of the type comprising a palletizing line equipped with a conveyor device for ensuring the circulation of racks bottle, with an empty bottle unloading station and a full bottle loading station, said installation being characterized by the fact that it further comprises - a global unloading container and a loading container
overall arranged laterally in the vicinity of the palletizing line, and
on the same side of the latter - first pusher means enabling the bulk unloading of
empty bottles from the rack on the overall unloading container by
direct transfer of said bottles in the supine position; - second pusher means making it possible to load the
full bottles, in the supine position, of the loading container
overall on an empty rack waiting on the palletizing line - a handling gantry arranged above the containers
global unloading and global loading; - robotic handling means carried by the gantry, allowing
on the one hand to unstack the empty bottles from the container one by one
overall unloading by transferring them, in the supine position, to the level
an intermediate station associated with a filling cart, and other
part of stacking the full bottles one by one, transferring them
lying position on the global loading container.

 Preferably, the overall unloading container is equipped with a pivoting end barrier forming a stop for at least some of the empty bottles transferred as a whole to said container; in particular, the end barrier has a fixed lower part forming a stop for the bottles of the lower layer, and a tilting upper part forming a stop for the bottles of the upper layer or layers, said upper part being movable between a lowered position of stop and a raised release position by means of an associated jack or the like.

 According to another advantageous characteristic, the overall unloading container is mounted rotating about a vertical axis, and can rotate about 90 "in its plane to facilitate the unstacking of the bottles arranged in rolls.

 Preferably, the first pusher means comprise at least one pusher disposed on the other side of the palletizing line and actuated by associated means, and a pushing crossbar in particular, the pushing crossbar is removable, so as to ability to leave the closing bar usually associated with the lateral closing of the locker, the said pushing bar being carried either by a tilting support independent of the pusher, or by the pusher itself when the latter is actuated and passes under the closing bar , the separable connection of the removable bar to said tilting support or to said pusher being preferably provided by means of magnets.

 Advantageously also, the second pusher means comprise at least one pusher disposed behind the overall loading container and actuated by associated means.

 Preferably then, the pusher is additionally arranged in order to be able to optionally position at least one bottle in rolls on the overall loading container, when stacking the full bottles lying on said container; in particular, the pusher carries a blocking arm which can pivot about a horizontal axis, by actuation of associated means, between a raised retraction position and a lowered position for gripping a rolled bottle.

 According to another advantageous characteristic of the installation, the robotic handling means comprise a first handling robot associated with the destacking of the empty bottles from the overall unloading container, and a second handling robot, independent of the first, associated with the stacking of the full bottles on the global loading container.

 Preferably then, each robot manipulator comprises a carriage movable on the support gantry in a direction essentially parallel to the direction of movement of the palletizing line, and a gripping member carried by said carriage, said gripping member being movable vertically by associated motorized means also carried by said carriage. In particular, the gripping member can also rotate around its vertical axis, by an angle of approximately 90 "or 1800, depending on whether it is the stacking of the full bottles in rolls or the unstacking of the empty bottles wrongly oriented, thanks to an associated rotary actuator.

 Advantageously also, the aforementioned motorized means comprise a pneumatically controlled motor, acting on an endless screw ensuring the vertical displacement of the gripping member.

 According to a particularly advantageous characteristic, the gripping member is a curved plate connected to suction means, so as to ensure the gripping of a bottle when said means are actuated. It is therefore advantageous for each manipulator robot to include a safety device (vacuum reserve) maintaining the load in the event of the pneumatic supply to the installation being cut off.

 According to another advantageous characteristic, the installation further comprises a fixed guide structure disposed under the support gantry, between the overall unloading and overall loading containers, said fixed structure making it possible to guarantee correct and constant positioning for the carriage. filling.

Other characteristics and advantages of the invention will appear more clearly in the light of the description which follows and of the appended drawings, relating to a particular embodiment, with reference to the figures or - Figure 1 is a perspective view of installation in accordance with
the invention, enabling the handling method to be implemented
automatic according to the invention, the situation represented corresponding to the
end of stacking of full bottles (by the robot manipulator
associated) on the global loading container, before the bulk transfer
of these bottles in the empty rack which is waiting on the line
palletizing - Figure 2 is a schematic top view of the installation posts
of figure 1 (the handling gantry and the two robots
manipulators that it supports not being shown) - Figure 3 is an end view of the above installation (at the position of
overall unloading), as it occurs just after the unloading
empty bottles in bulk on the unloading container
global (which is here rotating), and Figure 4 illustrates the same view with the
backward movement of the overall transfer pusher and raising of the barrier
pivoting end having served as a stop during overall unloading - Figures 3a to 3c are partial views illustrating the use of a
removable crossbar associated with the pusher during unloading
overall leading to the situation illustrated in figure 3, with respective
a rest position, a helm position by the pusher
advancing into the locker, and an overall unloading position using
of the pusher equipped with its transverse pusher bar - Figure 5 is a side view of the installation (taken along arrow A
in Figure 4), as it appears after the overall unloading of
empty bottles, to better distinguish the gantry and the two
manipulator robots (the aforementioned pivoting end barrier and the
empty front bottle on the one hand, and the loading pusher
overall on the other hand, not being shown) - Figures 6 to 8 are end views of the above installation (at the station
overall loading), illustrating the unit stacking of the first two
bottles (rolls) on the global loading container, with
respectively the removal of a bottle on the container, the lifting of
the gripping member (suction plate), and the actuation of the global loading pusher equipped 'z for this purpose with a pivoting locking arm) - Figure 9 is a side view of the installation (taken along the arrow AT
in Figure 4), as it appears during destacking /
unitary stacking, one of the manipulator robots being at the level of the
filling trolley, for removing a full bottle arranged
on the said carriage, while the other is in the waiting position before the
placing an empty bottle on this filling cart.

 FIG. 1 illustrates an IMA automatic handling installation according to the invention, an installation which allows the implementation of the automatic handling method according to the invention.

 The IMA installation comprises, in a manner known per se, a palletizing line 100 equipped with a conveyor device for ensuring the circulation of bottle racks C of traditional type, with an unloading station for empty bottles and a loading station full bottles. We can see in Figure 1 the longitudinal support structure 101 of the palletizing line 100, the two conveyor chains 102, 103, which are driven by an actuating motor 105, which is preferably an electric gear motor, by via an end shaft 104. The chains 102, 103 rotate continuously, and the palletizing line 100 is fitted laterally with lifting shoes (generally by means of inflatable tubes), which allow a rack C to be slightly raised. , whether or not filled with large capacity bottles, in order to disengage said rack from the drive chains to stop it at any one of the stations of the automatic handling installation. A stopper 107 is also provided at the downstream end of the palletizing line 100, to stop the rack C which is normally filled with full bottles. The lockers C can be stopped above either of two fixed combs 106, each fixed comb constituting a support platform which can be raised by inserting it in the floor of the rack to slightly lift the bottles lying in said rack, with a view to leveling with the corresponding container aimed to facilitate the overall transfer of said bottles. In FIGS. 3 and 4, there is shown schematically such a support platform 106 ′ and its lifting cylinder 106 ", said platform being in the high position in FIG. 3 (for overall unloading) and in the low position on FIG. 4 (after overall unloading). The means for stopping the racks at one or other of the combs 106 are for example constituted by longitudinal bars (not shown), arranged in the vicinity of each of the chains of conveying and associated with flexible cylinders (such as inflatable tubes), with possibly also retractable stop fingers to have a precise stop of the lockers.

FIG. 1 makes it possible to distinguish the essential constituent elements of the IMA installation, the structure of which will be described for each of them in more detail in the description which follows. The IMA installation thus comprises - a global unloading container CDG and a container of
CCG global loading arranged laterally in the vicinity of the line of
palletizing 100, and on the same side thereof - first pusher means 200 making it possible to unload the whole
empty bottles B, B 'from rack C on the unloading container
global CDG by direct transfer of said bottles in the supine position - second pusher means 400 enabling the bulk loading of the
full bottles B, B ', in the supine position, of the loading container
global CCG on an empty rack C waiting on the palletizing line
100 - a handling gantry P arranged above the containers of
CDG global unloading and CCG global loading - robotic handling means 600, 700 carried by gantry P,
allowing on the one hand to unstack one by one the empty bottles B, B '
of the CDG global unloading container by transferring them, in position
lying down, at a PEC intermediate station associated with a trolley
filling machine, and on the other hand to stack the bottles one by one
full B, B ', by transferring them, in the supine position, onto the container
CCG global loading.

 It can thus be seen that the IMA automatic handling installation basically comprises a global unloading station for empty PDG bottles and a global loading station for full PCG bottles downstream from the first station. The successive arrangement of such stations, with the organization of a global transfer of empty bottles at the level of the first and full bottles at the level of the second, allows satisfactory rates. In addition, the gas cylinders B, B 'are permanently in the supine position (that is to say that their axis is essentially horizontal), so that this avoids any handling of upright bottles, and we reach to a high level of automation considerably limiting manual intervention. Such a structure thus makes possible the safe presence of a single operator, who in reality has no painful handling task to perform. Furthermore, racks C are of the traditional type for transporting bottles in the supine position (racks have been shown here allowing eleven bottles to be placed, nine of which are arranged in barrel, in two superposed layers, and two are arranged in rolls of each side of the stack of barrel bottles).

 We will come back later to the issue of the arrangement of gas cylinders in the lockers and on one or other of the CDG global unloading and CCG global loading containers: to simplify the description, reference is made to B the cylinders arranged in barrel (longitudinal axis oriented transversely to the racking direction of the racks on the palletizing line), and B 'the bottles arranged to roll (longitudinal axis oriented parallel to the aforementioned conveying direction).

The IMA installation thus allows the implementation of the automatic handling process of large capacity bottles according to the invention, process in which the bottles are placed in the supine position, on at least one layer, in a traditional type rack, said method being remarkable in that it comprises the successive stages consisting in unloading in a block at the level of the PDG unloading station the bottles
empty B, B 'arranged in a rack C by transferring them into position
lying on the CDG global unloading container
laterally in the vicinity of the palletizing line 100 unstack one by one the empty bottles B, B 'lying on the container
CDG global unloading by means of a robot manipulator 600,
each empty bottle being deposited automatically, in position
lying down, on a CE filling cart placed between the
PDG global unloading and the PCG global loading station for
be transferred to an external filling and control station stack one by one the full bottles B, B 'lying on the trolley
filling machine returned to its original place by means of a robot
manipulator 700, each full bottle being deposited automatically
lying down on the CCG global loading container
also arranged laterally in the vicinity of the palletizing line
100 ;; bulk transfer the full bottles B, B 'lying on the container
of CCG global loading, in order to load them in an empty compartment C in
waiting on the palletizing line 100 at the post of
PCG loading.

 The schematic view of FIG. 2 makes it possible to better understand the organization of the different stations of the IMA installation.

We distinguish in Figure 2 a succession of five stations which include the two basic PDG global unloading stations and PCG global loading previously mentioned. If we consider the direction (and direction) of bin circulation C on the palletizing line 100, direction denoted A, we successively find a station for installing an empty bottle rack PPC, the overall unloading station for these empty PDG bottles, an intermediate station for waiting or placing / depositing empty PPDC racks, the global loading station for full bottles
PCG, and finally a station for depositing full bottle racks PDC.I1 is important to note the lateral arrangement of the two containers of the installation, that is to say first of the overall unloading container
CDG, and then from the global loading container CCG, respectively at the level of the global unloading stations PDG and global loading PCG. It goes without saying, however, that the number of waiting positions can be further increased by providing additional intermediate positions, for example between PPC and CEO positions, and / or between positions.
PDG and PCG, and / or between PCG and PDC extensions.

The successive stages of the automatic handling process are shown diagrammatically in FIG. 2 using different arrows, organized as follows - a rack C of empty bottles is first put in place at the level of the
PPC station, as shown by arrow 10, and the bar is removed
side closure (not shown in this figure) which is on the side of the
bulk unloading and bulk loading containers - this empty bottle rack is then transferred by the
conveying of the palletizing line 100 at the level of the
global PDG unloading, for a bulk transfer of all
empty bottles B, B ', on the overall unloading container CDG,
as shown by the arrow Il, thanks to the pusher means 200,
which has been shown the double pusher 201 with the ends of
associated pushing 202 - the first manipulator robot (not visible in FIG. 2) then allows
a unit transfer of the bottles B, B 'from the unloading container
global CDG on the CE filling cart at the PEC station,
as shown by arrow 15 - the operator then only has to move the cart CE carrying a bottle B
or B 'lying on said carriage, in order to bring it to the level of organs
filling and control known per se (not shown here), such as
shown schematically by the double arrow 16, each empty bottle unstacked
being successively brought in to be filled and checked, then
brought back to the PEC station for the next stacking - another robot manipulator then performs the unitary stacking of
full bottles on the CCG global load container, such as
shown schematically by the arrow 17 - once the stacking of the bottles B, B 'is finished, the pusher means 400
carry out the global transfer of all the full bottles B, B 'to a
empty rack waiting on the palletizing line, as shown
by arrow 18 - the rack C loaded with full bottles B, B 'is then transferred to
level of the PDC station, where the side bar is replaced on the locker
closing, for removal of said filled locker, as shown schematically by the
arrow 19, which frees up space at the PCG station for another
empty rack to load full bottles.

 After overall unloading of the empty bottles at the PDG station, the emptied rack C is automatically transferred to the PPDC station, as shown by arrow 12 which is a waiting station, racks can possibly be placed or deposited at this PPDC item, as shown by arrows 13 and 14.

 FIG. 2 illustrates an arrangement of empty bottles on rack C with bottles B in barrel and bottles B 'in rolls. After the overall unloading of these empty bottles, the barrel bottles B are automatically located under the gantry, arranged according to the transfer line referenced B, which is parallel to the direction A of circulation of the racks on the palletizing line. However, the same does not apply to the two rolled bottles B ′, for which the destacking requires providing for a particular organization of the automatic handling installation. We could provide manipulating robots with the possibility of movement in the three orthogonal directions of an xyz trihedron (this trihedron has been represented in FIG. 1). However, the structure of the installation is considerably simplified if we use manipulator robots with only one possibility of movement parallel to the x-axis of the trihedron, along the above-mentioned horizontal line B, with naturally a possibility of vertical movement (z-axis) to go and grab the empty bottles lying down and lift them before transferring them individually .We achieve such an organization by providing that the CDG overall unloading container is mounted rotating around a vertical axis (axis 350 in Figures 3 and 4) and can rotate by about 90 "in its plane, to facilitate the destacking of empty bottles B 'arranged in rolls, as shown diagrammatically in FIG. 2 by arrows 20: after rotation of 90, the two rolled bottles B 'are then in the same position as the bottles B in barrel before rotation of said container (this position of the overall unloading container CDG is illustrated in dotted lines). The robotic manipulator ensuring the stacking operations unitary on the global loading container CCG is also preferably of the same type as the previous one, with a displacement of the robot along the horizontal line B, and a vertical displacement of the means for gripping the bottles: this then supposes a particular arrangement of the installation to be able to position the two rolled bottles B, B ′ on this global loading container CCG, and it will be seen later that it is advantageous to use the pushing means 400 for this purpose which in this case perform a function additional in addition to their primary function of global transfer of full bottles from the CCG global loading rack to an empty rack waiting s on the palletizing line.

We will now describe in more detail the various organs of the automatic handling installation IMA, at the level of the two fundamental stations of global unloading PDG and global loading
PCG.

 We will first of all describe the installation organs provided at the level of the global unloading station PDG with reference to FIGS. 3 and 4, some of these organs also being visible in the general view of the installation IMA in FIG. 1.

 FIG. 3 is a view of the installation as it appears just after the unloading of the empty bottles en bloc on the overall unloading container CDG (which is here rotating around its vertical axis 350), and FIG. 4 illustrates the same view with a retreat of the global transfer pusher 201 and the raising of a pivoting end barrier 305 which served as a stop during the overall unloading.

 We can see in Figures 3 and 4 the schematic structure of the pusher means 200, with the double pusher 201 actuated by associated means 203 (for example motorized means with pinions and racks) arranged on a fixed structure 205 adjacent to the line structure palletizing, but on the other side with respect to the CDG global unloading container. These means also include a sensor 204 (FIG. 3) corresponding to the limit switches of the double pusher 201. In FIG. 3, the double pusher 201 is in the maximum extension position, the pushing end 202 having pushed the bottles together B, B 'initially arranged on the rack C, acting both on the lower stage of bottles by means of the first rolled bottle B' than on the upper stage of bottles B arranged in barrel. global CDG is equipped with a pivoting end barrier 305 forming a stop for at least some of the empty bottles B, B ′ transferred as a whole to said container. This end barrier 305 here comprises a fixed lower part 306 forming a stop for the bottles of the lower layer, and a tilting upper part 307 forming a stop for the bottles of the upper layer or layers, said upper part being movable between a lowered position stop (position in Figure 3) and a raised release position (position in Figure 4) by means of an associated cylinder 308 or the like. Thus, the empty bottles B, B 'transferred as a whole from the rack C to the overall unloading container CDG, as shown diagrammatically by the arrow II (the final transfer position corresponding to FIG. 3) are leveled (longitudinally); then, the double pusher 201 is moved back, as shown schematically by the arrow 11 ', and the barrier 305 is raised, as shown schematically by the arrow 310 (this position of the mobile elements then being illustrated in FIG. 4). FIG. 4 also shows a sensor 309 associated with the tilting movement of the movable part 307 of the pivoting end barrier 305. We will also return later, with reference to FIGS. 3a to 3c, to the particular structure of the end 202 of the double pusher 201, the arrangement of which is provided so that the pusher assembly 201, 202 can enter a rack C of conventional type and organize the overall pushing of all the empty bottles to be transferred.

 As has been said above, the overall unloading container CDG is arranged here being mounted rotating about its vertical axis 350, being able to rotate about 90 "in its plane, to facilitate the destacking of the bottles B 'arranged rolls on said container. The CDG container thus comprises a platform 300 on which is provided a set of slats 301 constituting the upper face of the container on which the empty bottles are transferred. The pivoting platform 300 is mounted on a soleplate fixed 302 by means of a turret comprising a fixed lower element 303 and a mobile upper element 304, the latter element being rotatably integral with the platform 300. The rotating support assembly associated with the overall unloading container CDG is generally referenced 315.

 The pusher means 200 comprise at least one pusher 201 disposed on the other side of the palletizing line 100 relative to the overall unloading container and actuated by associated means 203, 204, as has been said above, and comprise preferably additionally a pushing cross bar. I1 should however - provide a particular arrangement of the pusher means so as to be able to leave in place the closing bar usually associated with the lateral closing of traditional lockers, and such an arrangement will be better understood by referring to Figures 3a to 3c.

We can see in Figure 3a a tilting support 220 mounted rotating around an axis 221 carried by the fixed structure 205, the pivoting of this support 220 being obtained here by means of a pneumatic cylinder 222 articulated at 223 on said fixed structure 205 The tilting support 220, which is independent of the pusher 201, has a U shape so as to be able to wrap the closing bar T of the rack C, said tilting support 220 thus being movable between a raised position (illustrated in solid line) outside at the lateral face of the locker C, and a lowered position (illustrated in dashed lines), after rotation of about 90, in which a branch of said tilting support penetrates inside the locker by spanning the closing bar T. This branch of the tilting support 220 here comprises one or more magnets 224 which make it possible to hold in place a transverse push bar 210. In the raised position of the tilting support 220, the louse bar ssage is thus external to the locker
C, and in the lowered position of said support, said push bar 210 is brought to the path of the front end 202 of the double pusher 201 (the actuation of the jack 222 is shown diagrammatically by the arrow 231, and the rotation of the tilting support 220 carrying the push bar 210 is shown diagrammatically by the arrow 230).

 After positioning the transverse pusher bar 210, the double pusher 201 is advanced (arrow 11) until its end 202, also equipped with magnets 206, comes into contact with the pusher bar 210 hitherto carried by the support 220: this position is illustrated in FIG. 3b, the subsequent advancement of the pusher with the transverse pusher bar 210 then carried by said pusher being illustrated in phantom. In FIG. 3c, the end 202 of the double pusher 201 contacts the bottles B, B 'arranged in the rack C, with on the one hand contact by a roller 207 with the rolled bottle B', and on the other hand contact by the pushing transverse bar 210 with the barrel bottles B of the upper layer. These means make it possible to easily carry out the overall unloading of the empty bottles, to arrive at the position illustrated in FIG. 3. When the double pusher returns 201, the transverse bar 210 is then moved back until it comes into contact with the magnets 224 carried by the pivoting support 220, said support then carrying the bar 210 while the double pusher continues to move back without the bar it wore; the pivoting support 220 is then raised with the bar which it carries by actuation of the associated jack 222, to its starting position illustrated in FIG. 3a.

 When the empty bottles B, B ′ have been transferred as a whole to the overall unloading container CDG, it is advisable to organize their unstacking by means of the robot manipulator 600 whose constituent elements will now be described.

 One could have provided a single manipulator robot responsible for ensuring both the destacking of the empty bottles placed on the overall unloading container CDG, and the stacking of full bottles to be placed on the overall loading container CCG. It is however preferable, as has been illustrated here, to provide a first handling robot associated with the destacking of the empty bottles B, B ', and a second handling robot identical to the first, associated with the stacking of the full bottles: this gives flexibility and speed effect for the handling process, thanks to the independence of the destacking and stacking operations.

 The robot manipulator 600 comprises a carriage 601 movable on the support gantry P in a direction B (shown in FIG. 2) which is parallel to the x axis of the trihedron shown in FIG. 1, and therefore parallel to the direction of movement A of the palletizing line, as well as a gripping member 610 carried by said carriage, said gripping member being movable vertically (that is to say along the z axis of the abovementioned trihedron) by associated motorized means also carried by the carriage 601. In Figures 3 and 4, there are shown two longitudinal rails 50 integral with the gantry P, on which the carriage 601 of the manipulator robot 600 moves by means of lateral rollers 602. The carriage 601 carries a structure 603 movable in vertical translation, with associated guides 606 which slide through said carriage, said structure carrying a motor 604 above, which is preferably a pneumatic motor (one could naturally provide a motor with hydraulic or electric control), acting on an endless screw 605 which ensures the vertical displacement of the gripping member 610 carried by a lower structure 607 integral with the above-mentioned structure 603.

The actuation of the motor 604 thus allows a vertical movement of the gripping member 610 along the axis 650 of said motor, said gripping member being thus movable between low positions of unitary gripping of the bottles B (or B 'after rotation of the CDG global unloading container), and a high position for transferring the seized bottle to the CE filling trolley. It is also advantageous to provide that the gripping member 610 can rotate, around an angle of 1800, around of the vertical axis 650: in fact, in the case of a bottle incorrectly positioned on the overall unloading container CDG (as is the case in FIG. 5 where there are four empty bottles with their caps and not their foot), the bottle gripped by the gripping member can then be brought back to its correct position (the foot of the bottle being on the operator's side) before being placed on the CE filling trolley.

Such a rotational movement of the gripping member 610 is ensured by a rotary actuator 608 carried by the structure 607, which actuator is preferably fitted internally with end-of-stroke damping means, in order to avoid a sudden impact in stop. Referring to Figure 1, we can further distinguish the cables 611 for controlling the pneumatic motor 604, cables the other end of which passes through an associated cable tray 612 supported by a horizontal chute 51 of the gantry P.

There is also a similar cable tray 618 associated with the vertical movement of the gripping member support. Finally, there is a block 609 carried by the carriage 601, which is a safety device (vacuum reserve) maintaining the load in the event of a cut in the pneumatic supply to the installation (this for the case where a plate is used. gripping by aspiration, as will be described later), said block also comprising an audible warning device making it possible to alert the operator of an abnormal situation.

 The second robot manipulator 700, which ensures the unitary stacking of the full bottles from the filling cart CE to the global loading container CCG, has here a structure exactly identical to that of the robot manipulator 600 previously described associated with the destacking operations. unit of empty bottles.

The homologous means of this second manipulator robot 700 are, for simplicity, assigned the same references as those of the first manipulator robot 600, being increased by one hundred, and will therefore not be described again.

 The gripping member 610 or 710 of the manipulator robot 600 or 700 could consist of a set of explosion-proof magnets (ADF), but it appears simpler, taking into account the pneumatic operation of the installation, to provide a system vacuum suction operating like a suction cup: each gripping member 610 or 710 is then in the form of a curved plate connected to suction means, said plate comprising a peripheral contact bead, so as to ensure the gripping of a bottle B or B 'when said suction means are actuated.

 We will now refer to FIG. 5, which is a side view of the installation (taken according to arrow A in FIG. 4), as it appears after the overall unloading of the empty bottles on the overall unloading container CDG.

 A distinction is made in particular between the constituent parts of each of the robot manipulators 600 and 700 described above, with, in addition, control sensors 614, 714 associated with the horizontal movement of the corresponding carriage (601 or 701), and sensors 615, 715 associated with the vertical movement of the corresponding gripping member (610 or 710).

 The bottles B arranged in a barrel rest on the surface 301 of the overall unloading container CDG, lateral barriers 320 being provided in the extension of the edges of the unloaded crate. A distinction is also made between the CE filling cart located at a PEC station, between the CDG global unloading containers and the CCG global loading containers. As illustrated here by way of example, the CE filling trolley has a structure 31 mounted on casters 32, and has a receiving cradle 33 on which a bottle B or B ′ can be placed by means of the robot. manipulator 600 previously described. The structure of the trolley CE is better visible in FIG. 1, where there is in particular a receiving cradle 33 (consisting for example of longitudinal bars with balls and end rollers), said cradle being tiltable thanks to an articulation around an axis 34 of the structure 31. A locking / unlocking lever 35 allows the operator to lock the cradle 33 in the desired angular position. As an indication, such a tilting cradle generally has a angular travel of the order of 100, including 70 "by lowering the end of the cradle grasped by the operator and 300 by raising this end (it is however possible to provide a d angular flapping even greater, if it is desired to tilt the cradle to the vertical during filling operations and / or control); the transport or filling position of the transported bottle will preferably be slightly inclined by lowering the cradle 33 by 10 relative to the horizontal, the bottle then preferably being supported by its foot against an end stop of said cradle ( when the empty bottle is "hat in front", the operator rotates it 1800 by controlling the rotation of the gripping member 610, to bring it "foot in front"). We also distinguish in FIG. 1 a fixed guide structure 40 disposed under the support gantry P, between the overall unloading containers CDG and overall loading CCG, said fixed structure making it possible to guarantee correct and constant positioning for the carriage. CE filling. The guide structure 40 also allows, in addition to the correct and constant positioning of the CE filling cart, the possibility of positioning an additional cart (not shown here), laterally adjacent to the CE filling cart, to facilitate the lifting the cradle in a horizontal position. The operator returning with a full bottle B or B 'carried by the CE trolley, after the filling and checking operations, can thus easily position the CE trolley again in a perfectly centered position relative to the gantry P, so that the gripping member 710 of the robot manipulator 700 automatically arrives in a correct position for gripping the bottle, with a view to unit filling on the global loading container CCG. Finally, in FIG. 1, a control console is distinguished 30, allowing the operator to order the removal, by the first robot manipulator 600, of an empty bottle B or B? on the filling cart CE, or the removal, by the second handling robot 700, of a full bottle B or B 'for unit stacking on the global loading container CCG. The control panel 30 also allows the operator to follow the various operations of global unloading, of filling the CDG container, of filling the CCG container, and of global loading, all these operations being carried out automatically.

We will now describe a possible mode of destacking of the bottles placed on the overall unloading container CDG, with reference to FIG. 5
This figure shows a bar 613 associated with the manipulator robot 600, being arranged in the vicinity of the gripping member by suction 610: this bar, pivotally mounted, serves as a sensor for detecting the presence of a bottle. The destacking of the bottles then begins by bringing the gripping member 610 to the right of a bottle arranged in barrel at one end of the upper layer (for example that of the left end) .The gripping member 610 is then lowered , to an intermediate level: if the bar 613 has detected the presence of a bottle (from the upper layer), the lowering is continued until the bottle is taken up by the gripping member 610, in which case the gripping member is then raised for a transfer from said bottle to the filling cart CE. Preferably, the robotic manipulator 600 having grasped an empty bottle automatically brings this bottle to an intermediate waiting station near the filling cart CE, said bottle then being suspended in the supine (horizontal) position. The operator can then, on request, complete the transfer by ordering the removal of this bottle on the CE filling cart (with a reorientation of the bottle if necessary to bring it "foot in front"). The robot manipulator 600 then goes back to the same position as before, then performs a horizontal scan at the level of the first layer of bottles until the bar detects the presence of a bottle to be unstacked, in order to thus perform a unitary unstacking of each of the bottles arranged in barrel of this layer. Continued destacking is carried out in the same way for bottles B arranged in a barrel, belonging to the lower layer.

 Once all the barrel bottles have been unstacked, it is then necessary to organize the unstacking of the two bottles B 'arranged in rolls: the overall unloading container CDG is for this purpose automatically rotated 90 "around its axis 350, as shown by the arrow 351, which allows these two bottles to be brought into a position corresponding to a barrel position, so that the descent and the horizontal translation of the gripping member 610 make it possible to detect the presence of one or the other When the bar 613 no longer detects bottles, which means that the rolled bottles have also been unstacked, the manipulator robot returns to its standby position, and the overall unloading container CDG is turned back 90 "to return to its original position.

We will now describe the operations for stacking full bottles, performed by means of the handling robot 700. Preferably, the handling robot 700, before gripping a full bottle
B, B 'on the CE filling cart, is automatically brought to the level of an intermediate waiting station near the CE filling cart.

 FIG. 5 makes it possible to distinguish the structure of the global loading container CCG, with its platform 500 (not rotating), surmounted by support slats 501 similar to those 301 of the global unloading container CDG. Lateral barriers 520 are also provided on the platform 500, to support the bottles arranged in barrel of the upper layer.

 As is easy to understand, it is necessary to organize the operations of stacking the full bottles so as to find the arrangement of these bottles which was that already provided for the empty bottles (with here nine bottles arranged in barrel and two bottles arranged in rolls).

It is therefore appropriate to organize the preliminary stacking operations which relate to the first two full bottles B 'arranged in rolls on the global loading container CCG, as will now be described with reference to FIGS. 6 to 8 - FIG. 6 :: the manipulator robot 700 having brought the bottle B or B '
in a central position (the vertical axis of the gripping member 710
being wedged on the central axis 550 of the platform 500) we then proceed to
a rotation of approximately 90 "in a horizontal plane of the seized bottle
by the gripping member, in order to bring the bottle B 'into a
position which corresponds to a layout in rolls, then we proceed to the
removal of this bottle on the CCG container (the removal position
corresponding to that illustrated in Figure 6); - Figure 7 the gripping member 710 is reassembled, the bottle B 'remaining
in its rolled position in the center of the CCG container - Figure 8: the bottle B 'is rolled on the container until it
final position (rear or front), preferably using for this purpose
the pusher means 400 provided for ensuring the bulk transfer of
full bottles B, B 'in an empty rack C. These pusher means 400
have a pusher 402 disposed behind the container
CCG global loading, by being mounted on a fixed structure 401, the
translational movement of said pusher, in a transverse direction,
being obtained by associated means (for example a group
404 gear motor, which can be pneumatic (a hydraulic unit or
naturally could be considered), associated with a
limit switch 405), the end 403 of the pusher 402 then being
additionally arranged to be able to position one or more
the other of the two bottles B 'on the global loading container
CCG, thanks to a locking arm 410 which can pivot around an axis
horizontal, by actuation of associated means (a
command 412 is illustrated in FIG. 8), between a raised position
retraction (and global transfer for the pusher) and a position
lowered grip on a rolled bottle B '.

 Thus, when the bottle B 'is placed in the position illustrated in FIG. 7, the pusher 402 is advanced to a central position illustrated in FIG. 8, the blocking arm 410 then being lowered to block the bottle rolls B ': the pusher 402 is then advanced or moved back (the bottle concerned by this recoil then being blocked against a support block 411 carried by the structure 402) so as to roll each of the two bottles B' up to to its final position.

Once the two bottles B ′ arranged in rolls in their final position on the global loading container CCG, it suffices to stack the bottles B arranged in barrel with the manipulator robot 700, these unitary stacking operations then being carried out in successive layers in the same way as the operations of destacking of empty bottles arranged in a barrel (but in this case according to a pre-established automatic succession without detection scanning), operations carried out by the robot manipulator 600 and previously described
FIG. 9 is a view similar to that of FIG. 5, showing the automatic handling installation according to the invention, as it occurs during unstacking / unitary stacking.

 Each robot manipulator 600, 700 is illustrated with its cable trays 612, 618 and 712, 718, and the possibilities of movement of each of them are illustrated by the arrows 620, 720 for movement along the horizontal axis x, and arrows 630, 730 for a displacement along the vertical axis z. In this figure, one of the manipulating robots (the robot 700) is at the level of the filling cart CE, for the removal of a full bottle B, B 'disposed on said cart, while the other (the robot manipulator 600) is in the waiting position before depositing an empty bottle B, B 'on this filling cart. The arrow 751 shows schematically the rotational movement at an angle of 90 "which is printed on the organ gripper 710 in the case of a bottle B 'to be stacked with a roll arrangement on the global loading container CCG (the rotation takes place along the axis 750 of the gripping member 710, which is coincides with the axis of the worm 706 of the actuating motor 704).

It is interesting to note that the stopping of one or the other of the manipulator robots 600, 700 in the standby position leaves completely free access to the PEC station, thus in no way hampering the operator responsible for handling the CE filling trolley to take an empty bottle B,
B 'to a filling and control station outside the installation, or bring a full bottle B, B' after filling and control, for stacking it on the overall unloading container CDG. In addition, any risk of accident in the event of a breakdown is eliminated for the operator.

 The installation which has just been described has multiple advantages which have already been mentioned above, and one can in particular note the safety and the flexibility of operation, as well as the very satisfactory rates which can be achieved.

 This resulted in an automatic handling process and an installation facility providing a high level of automation, considerably limiting manual interventions (interventions on the filling cart only), while allowing the use of lockers. traditional for coated bottles, and without the arrangement of bottles in rolls causing problems. In addition, the risks of positioning errors of empty bottles in the racks are completely eliminated, these can be easily brought back to the correct position on the filling trolley, before being subsequently stacked on the container. global loading. There is thus a method and an installation for use that is both flexible and reliable, with a sufficient presence, and in complete safety, of a single operator, who moreover has no painful task of handling at ensure.

 The invention is not limited to the embodiment which has just been described, but on the contrary encompasses any variant incorporating, with equivalent means, the essential characteristics of the process or of the installation set out above.

Claims (23)

 1 / Process for automatic handling of large capacity bottles, in particular liquefied gas, in which the bottles are placed in the supine position on at least one layer in a rack, said rack being able to be moved on a palletizing line by a conveying at an empty bottle unloading station or a full bottle loading station, characterized in that it consists of a) unloading in bulk at the unloading station (PDG) the  empty bottles (B, B ') arranged in a rack (C) by transferring them  lying on a global unloading container (CDG)  arranged laterally in the vicinity of the palletizing line (100) b) unstack one by one the empty bottles (B, B ') lying on the  global unloading container (CDG) by means of a robot  manipulator (600), each empty bottle being deposited automatically  lying down on a filling trolley (CE) arranged  between the unloading station (PDG) and the loading station (PCG)  to be transferred to a filling and control station (PEC) c) stack one by one the full bottles (B, B ') lying on the trolley  filling (CE) brought back to its original place, using a robot  manipulator (700), each full bottle being deposited automatically  lying down on a global load container (CCG)  arranged laterally in the vicinity of the palletizing line (100) d) bulk transfer the full bottles (B, B ') lying on the container  of global loading (CCG) in order to load them in an empty rack (C)  waiting on the palletizing line (100) at the post of  loading (PCG).  2 / A method of automatic handling according to claim 1, in which the empty bottles to be unloaded from the rack are arranged partly (B) in barrel (transversely) and partly (B ') in roll (longitudinally), characterized in that the unstacking carried out during step b) comprises a prior rotation of about 90, in a horizontal plane, of the overall unloading container (CDG) to unstack the bottles arranged in rolls (B ') without having to modify the position of the filling cart (CE).  3 / A method of automatic handling according to claim 1 or 2, in which the full bottles to be loaded into a rack are arranged partly (B) in barrel (transversely) and partly (B ') in roll (longitudinally), characterized by the fact that the stacking carried out during step c) comprises, for the rolled bottles (B '), a rotation of approximately 90 "in a horizontal plane, of each bottle gripped by the associated manipulator robot (700), then a roll positioning of this bottle on the global loading container (CCG).  4 / Automatic handling method according to claim 3, characterized in that the positioning in rolls of the full bottles (B ') on the global loading container (CCG) is carried out by depositing each bottle on this container, then making it roll on said container to its final position using for this purpose the means (400) used for the bulk transfer of full bottles (B, B ') in an empty rack (C).  5 / Automatic handling method according to one of claims 1 to 4, characterized in that the manipulator robot (600) having entered an empty bottle (B, B ') unstacked automatically brings this bottle at an intermediate station waiting near the filling cart (CE), said bottle then being suspended in the supine position (horizontal).  6 / Automatic handling method according to one of claims 1 to 5, characterized in that the manipulator robot (700) having deposited a full bottle (B, B ') on the global loading container (CCG) automatically returns to level of an intermediate waiting station near the filling cart (CE).  7 / automatic handling method according to one of claims 1 to 6, characterized in that the rack (C) of empty bottles is initially set up on the palletizing line (100) at a laying station (PPC) provided upstream of the unloading station (PDG), and the rack (C) of full bottles is finally moved on the palletizing line (100) at a deposition station (PDC) provided downstream of the station loading (PCG), at least one intermediate station for waiting or placing / depositing an empty rack (PPDC) being furthermore provided between the unloading station (PDG) and the loading station (PCG).  8 / Installation for the implementation of the automatic handling process according to one of claims 1 to 7, comprising a palletizing line equipped with a conveyor device for ensuring the circulation of bottle racks, with an unloading station for empty bottles and a full bottle loading station, characterized in that it further comprises - a global unloading container (CDG) and a container for  global load (CCG) arranged laterally in the vicinity of the line  palletizing (100), and on the same side thereof; - first pusher means (200) enabling the bulk unloading of  empty bottles (B, B ') from the rack (C) on the unloading container  global (CDG) by direct transfer of said bottles to position  lying down - second pusher means (400) making it possible to load the  full bottles (B, B '), in the supine position, of the container  global load (CCG) on an empty rack (C) waiting on the line  palletizing (100) ;; - a handling gantry (P) arranged above the containers  global unloading (CDG) and global loading (CCG) - robotic handling means (600, 700) carried by the gantry  (P), allowing on the one hand to unstack the empty bottles one by one  (B, B ') of the overall unloading container (CDG) by transferring them,  prone position, at an intermediate position (PEC) associated with a  filling cart (CE), and on the other hand to stack them one by one  full bottles (B, B '), transferring them in the supine position on the  global loading container (CCG).  9 / installation according to claim 8, characterized in that the overall unloading container (CDG) is equipped with a pivoting end barrier (305) forming a stop for at least some of the empty bottles (B, B ') transferred en bloc on said container.  10 / Installation according to claim 9, characterized in that the end barrier (305) comprises a fixed lower part (306) forming a stop for the bottles of the lower layer, and a tilting upper part (307) forming a stop for the bottles of the upper layer or layers, said upper part being movable between a lowered stop position and a raised release position by means of an associated jack (308) or the like.  11 / Installation according to one of claims 8 to 10, characterized in that the overall unloading container (CDG) is mounted rotating about a vertical axis (350), and can rotate by about 90 "in its plane to facilitate the destacking of the bottles (B ') arranged in rolls.  12 / Installation according to one of claims 8 to 11, characterized in that the first pusher means (200) comprise at least one pusher (201) disposed on the other side of the palletizing line (100) and actuated by associated means (203, 204), and a transverse push bar (210).  13 / installation according to claim 12, characterized in that the transverse push bar (210) is removable, so as to be able to leave the closing bar (T) usually associated with the lateral closing of the rack (C), said bar of pushing (210) being carried either by a tilting support (220) independent of the pusher (201), or by the pusher (201) itself when the latter is actuated and passes under the closing bar (T), the separable connection of the removable bar (210) to said tilting support (220) or to said pusher (201) being preferably ensured by means of magnets (224; 206).  14 / Installation according to one of claims 8 to 13, characterized in that the second pusher means (400) comprise a pusher (402) disposed behind the global loading container (CCG) and actuated by associated means (404 , 405).  15 / Installation according to claim 14, characterized in that the pusher (402) is additionally arranged to be able to optionally position in roll at least one bottle (B ') on the overall loading container (CCG), during stacking full bottles lying on said container.  16 / installation according to claim 15, characterized in that the pusher (402) carries a locking arm (410) which can pivot about a horizontal axis, by actuation of associated means (412), between a raised position of retraction and a lowered position of grip on a rolled bottle (B ').  17 / Installation according to one of claims 8 to 16, characterized in that the robotic handling means comprise a first handling robot (600) associated with the destacking of empty bottles (B, B ') of the overall unloading container (CDG ), and a second manipulator robot (700), independent of the first, associated with the stacking of full bottles (B, B ') on the global loading container (CCG).  18 / Installation according to claim 17, characterized in that each manipulator robot (600; 700) comprises a carriage (601 701) movable on the support gantry (P) in a direction (B) essentially parallel to the direction of movement (A) of the palletizing line (100), and a gripping member (610; 710) carried by said carriage, said gripping member being vertically movable by associated motorized means (604, 605; 704, 705) also carried by said carriage.  19 / Installation according to claim 18, characterized in that the gripping member (710; 610) can also rotate around its vertical axis (750; 650), at an angle of about 90 "or 1800, depending that it is respectively the stacking of the full rolled bottles (B ') or the destacking of the empty bottles (B, B'), thanks to an associated rotary actuator (708; 608).  20 / Installation according to claim 18 or 19, characterized in that the motorized means comprise a motor (604; 704) pneumatically controlled, acting on an endless screw (605; 705) ensuring the vertical movement of the member grip (610; 710).  21 / Installation according to one of claims 18 to 20, characterized in that the gripping member (610; 710) is a curved plate connected to suction means, so as to ensure the gripping of a bottle (B, B ') when said means are actuated.  22 / Installation according to claims 20 and 21, characterized in that each manipulator robot (600; 700) includes a safety member (609; 709) (vacuum reserve) maintaining the load in the event of a cut in the pneumatic supply of said installation.  23 / Installation according to one of claims 8 to 22, characterized in that it further comprises a fixed guide structure (40) arranged under the support gantry (P), between the overall unloading containers (CDG) and global loading (CCG), said fixed structure (40) making it possible to guarantee correct and constant positioning for the filling trolley (CE).