Tool and method for layer depalletizing
AssigneeSymbotic Canada, ULC
InventorsSylvain-Paul Morency, Marc Ducharme, Robert Jodoin, Tristan Pashley, Francis Levesque, Jean-Francois Forget
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Abstract
The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.
Claims20
A tool for layer depalletizing comprising:
- a frame for mounting the tool to a robot;
- clamps movably mounted to the frame to grip a pallet layer;
- curtains mounted to the frame below the clamps and being disposed so as to move relative to the clamps under the pallet layer while the pallet layer is gripped by the clamps, where a pressure on the clamps against the pallet layer is automatically adjusted by a controller depending on a movement resistance of the curtains against products in the pallet layer with the curtains movement relative to the clamps for insertion under the pallet layer.
A curtain assembly mounted to a layer depalletizing tool under clamps thereof comprising:
- two curtains, each defined by a plurality of rolls mounted in tracks so as to be slidably movable under a pallet layer while the pallet layer is gripped by the clamps;
- each of the plurality of rolls extending transversally to directions of movement of the curtains;
- each of the two curtains including a front end equipped with at least one rotatable friction element that contacts the pallet layer extending from one side of the pallet layer to another opposite side of the pallet layer and connects more than one roll of the plurality of rolls.
A method for automatic layer depalletizing comprising:
- positioning clamps, with a controller, around at least one layer to depalletize;
- with the controller, using the clamps to grip and at least partially lift the at least one layer;
- with the controller, moving curtains under the at least one layer, and relative to the clamps, while monitoring a displacement of the curtains so that if the displacement of the curtains relative to the clamps is indicative of a product blocking the movement of the curtains, then automatically, with the controller, applying less pressure on the clamps;
- with the controller, moving the layer with the clamps to a selected area, while the curtains are maintained under the at least one layer;
- and
- at the selected area, with the controller, removing the curtains from under the at least one layer and the clamps releasing the at least one layer.
Dependencies are inferred from the claim text.