Tool, depalletizer including the tool, and method for depalletizing mixed load products

A depalletizing cell comprising:

• an infeed conveyor for providing a mixed pallet load to be depalletized;
• a pallet unloading station;
• and
• a robot equipped with a tool for depalletizing mixed pallet load article units from the mixed pallet load disposed at the pallet unloading station, the tool comprising:
• a frame for mounting the tool to a robot;
• a first grip assembly, movably connected to the frame, and having a grip face with a predetermined orientation defining a substantially plane grip interface in a first direction interfacing and engaging with a surface of a pallet load article unit, the surface substantially facing the first direction, wherein the first grip assembly is movable, relative to the frame, in the first direction between gripping and ungripping positions;
• a second grip assembly, movably connected to the frame, and with at least a grip contact point oriented to interface with and generate a grip force, on another surface of the pallet load article unit, in a direction angled to the first direction, the second grip assembly being movable substantially in the angled direction and configured so as to effect, in combination with the first grip assembly, stable hold and pose of the pallet load article unit in a predetermined position, with respect to the frame, substantially upon contact with the pallet load article unit;
• and
• an article unit seat member, movably mounted to the frame, and disposed in opposition to at least one of the first grip assembly and the second grip assembly, wherein the hold of the pallet load article unit by the first grip assembly and the second grip assembly secures the pallet load article unit in the predetermined position against sliding seating contact of the article unit seat member against the pallet load article unit.

A tool for depalletizing mixed pallet load article units, the tool comprising:

• a frame for mounting the tool to a robot;
• a substantially planar grip array, movably connected to the frame, and having a grip face with a predetermined orientation defining a grip interface interfacing and engaging, in a first direction, an area of a pallet load article unit surface substantially facing the first direction, wherein the substantially planar grip array is movable, relative to the frame, in the first direction between gripping and ungripping positions;
• a substantially linear grip array, movably connected to the frame, and with at least a grip contact point oriented to interface with and generate a grip force, against a different surface of the pallet load article unit, in a direction angled to the first direction, the substantially linear grip array effecting, in combination with the substantially planar grip array, stable hold and pose of the pallet load article unit in a predetermined position, with respect to the frame, substantially upon contact with the pallet load article unit;
• and
• an article unit seat member, movably mounted to the frame, and opposed to at least one of the substantially planar grip array and the substantially linear grip array, wherein the hold of the pallet load article unit by the substantially planar grip array and the substantially liner grip array secures the pallet load article unit in the predetermined position against dislodgement from moving the article unit seat member against the pallet load article unit.