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.
Claims22
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;
- and
- a pad, mounted to the frame above the clamps, and transversely movable with a controller towards and away a level defined by the clamps, and that defines a reference surface for the controller determination of at least one of a real height of the pallet layer and a presence of a slip sheet on the pallet layer, by the pad moved by the controller towards the pallet layer.
A method for layer depalletizing comprising:
- moving a pad, with a controller, towards a top surface of the layer where the pad defines a reference surface for the controller determination of at least one of a real position of the top surface of the layer and a presence of a slip sheet on the layer, by the pad moved by the controller towards the layer;
- positioning clamps around the layer using the real position of the layer;
- using the clamps to grip and at least partially lift the layer;
- moving curtains under the layer;
- moving the layer with the clamps to a first area, while the curtains are maintained under the layer;
- and
- at the first area, removing the curtains from under the layer and the clamps releasing the layer.
A tool for layer depalletizing comprising:
- a frame for mounting the tool to a robot;
- a sensor movably mounted to the frame, the sensor being configured for sensing at least one of a real position of a layer and a presence of a slip sheet on the layer by moving relative to the frame towards a top surface of the layer;
- and
- clamps movably mounted to the frame and arranged around the layer, the clamps being configured to grip the layer based on the sensed real position of the layer or presence of the slip sheet on the layer.
Dependencies are inferred from the claim text.