Tool and method for layer depalletizing

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 a real position of the top surface of 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.