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WO2009043151A1 - Outil de déchargement de couche de produits sur une palette - Google Patents

Outil de déchargement de couche de produits sur une palette Download PDF

Info

Publication number
WO2009043151A1
WO2009043151A1 PCT/CA2008/001731 CA2008001731W WO2009043151A1 WO 2009043151 A1 WO2009043151 A1 WO 2009043151A1 CA 2008001731 W CA2008001731 W CA 2008001731W WO 2009043151 A1 WO2009043151 A1 WO 2009043151A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
tool
layer
products
actuator
Prior art date
Application number
PCT/CA2008/001731
Other languages
English (en)
Inventor
Marc Ducharme
Jean-François Forget
Guillaume Racine
Sylvain-Paul Morency
Robert Jodoin
Original Assignee
Axium Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Axium Inc. filed Critical Axium Inc.
Publication of WO2009043151A1 publication Critical patent/WO2009043151A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the present invention generally concerns palletizing. More specifically, the present invention concerns a layer depalletizing tool.
  • a mechanism which allows picking products one at a time on a pallet.
  • Another tool is known to depalletize a full layer, which includes a platform mounted to a robot via a mounting assembly and which is provided with motorized rollers at the distal end of the platform that act as friction elements which allow for the insertion of the platform under the layer to depalletize.
  • a problem with such a depalletizing tool from the prior art is that the motorized rollers are less effective when the products that form the layer to pick are heavier than a certain weight. Indeed, the platform moving forward towards such a heavy load faces too much resistance from the products, which results in the platform causing damage thereto.
  • Figure 1 is a left perspective view of a layer depalletizing tool according to a first illustrative embodiment of the present invention; the tool being illustrated mounted to a robot and adjacent a pallet full of products;
  • Figure 2 is a front perspective isolated view of the tool from
  • Figure 3 is a left perspective view of the friction belt assembly of the tool from Figure 1 ;
  • Figures 4 is a side elevation of the tool from Figure 1 , illustrated without the robot;
  • Figure 5 to 11 are partially schematic side elevations of the tool from Figure 1 , illustrating the operation thereof to depalletize a full layer of a pallet.
  • a depalletizing tool for depalletizing a layer of products on a pallet.
  • the tool is mounted to a robot via a frame, the robot allowing movements of the tool relatively to the pallet.
  • the tool includes a platform secured to the frame and provided with a motorized conveyor at the distal end thereof for inserting at least partially the platform under the layer of products and for raising the products onto the platform while the tool is moved towards the distal end of the layer by the robot.
  • the tool may include a pusher also mounted to the frame over the platform for selectively applying selected pressure onto the products while the platform is inserted under the layer of products.
  • a tool for depalletizing a layer of products on a pallet the layer having a proximate end and a distal end, the tool comprising:
  • a platform mounted to the frame and having proximate and distal ends for insertion, from the proximate end thereof, under the layer of products, and for receiving the layer of products between the proximate and distal ends of the platform;
  • a conveyor mounted to the platform at the proximate end thereof so that the conveyor and the platform generally lie in a same plane i) for inserting at least partially the platform under the layer of products from the proximate end of the layer and ii) for raising the products onto the platform while the tool is moved towards the distal end of the layer by the robot; and [0017] a pusher slidably mounted to the frame over the platform for movement along a first axis generally parallel to the platform; the pusher being for selectively applying pressure onto the products while the platform is inserted at least partially under the layer of products.
  • a tool for depalletizing a layer of products comprising:
  • a platform mounted to the frame and having proximate and distal ends; the platform being for insertion, from the proximate end thereof, under the layer of products, and for receiving the layer of products between the proximate and distal ends of the platform;
  • a friction belt assembly mounted to the platform at the proximate end thereof so that the friction belt assembly and the platform generally lie in a same plane i) for inserting at least partially the platform under the layer of products from the proximate end of the layer and ii) for raising the products onto the platform while the tool is moved towards the distal end of the layer by the robot.
  • a tool 10 for depalletizing a layer 12 of products 14 on a pallet 16 will now be described with reference to Figures 1 and 2.
  • the pallet is positioned next to a fixed stopper 18 and separated by spacers 20, the reason of which will be described hereinbelow.
  • the tool 10 comprises a mounting frame 22, a platform 24 mounted to the frame 22, a pusher 25 slidably and pivotably mounted to the frame 22 for selectively applying pressure onto the products 14 of the first layer 12, and a friction belt assembly 26 secured at the distal end 28 of the platform 30.
  • a mounting frame 22 mounted to the frame 22
  • a pusher 25 slidably and pivotably mounted to the frame 22 for selectively applying pressure onto the products 14 of the first layer 12, and a friction belt assembly 26 secured at the distal end 28 of the platform 30.
  • the platform 24 includes a series of parallel rods 32 defining a proximate end 34 and a distal end 36 for the platform 24 and being assembled by a semi-rectangular frame 38 on three sides and by the friction belt assembly 26 on the side of the platform 24 defined by its distal end 36.
  • the semi- rectangular frame 38 can be seen as being part of the mounting frame 22.
  • Each rod 32 includes a generally flat side which is so mounted to the frame 38 so that the rods 32 define together a generally even product receiving surface 40.
  • the distal end 36 of each rod 32 includes a tapered tip 42 for facilitating the insertion of the platform under the first layer 12 of products 34 as will be described hereinbelow in more detail.
  • the frame 22 allows mounting the platform 24 and more generally the tool 10 to a robot 44 for their displacement relative to the pallet 16.
  • the frame 22 is generally arc-shaped and includes a central top portion 46, including a generally centered robot coupling portion 48, and two side arm portions 50, each extending perpendicularly from the central portion 46 on opposite sides thereof.
  • the platform 24 is fixedly mounted to the frame 22 via its frame 38 to both side arm portions 50 therebetween so as to define a small angle with the central top portion 46. This angle defines a pitch angle ⁇ of the platform.
  • the pitch angle ⁇ can for example be five (5) degrees. A person skilled in the art would however appreciate that such a pitch angle may vary, for example, relatively to the pitch angle of the robot 44.
  • a pitch angle of zero degree can be provided between the platform 24 and the central portion 46 of the frame 22 while the robot 44 will be operated so as to yield a resulting pitch angle between the platform 24 and the layer 12.
  • the resulting pitch angle, in operation, between the platform 24 and first layer 12 can be null.
  • a robot such as model RB7600 400 kg from ABB, with a 2.5 m reach, can be used.
  • Other robot type can also be used providing for the functionalities described herein.
  • the model and type of robot used may vary, for example, depending on the application.
  • the frame 22 can have other configurations than the illustrated arc-shaped configuration to allow operatively mounting the platform 24 and pusher 25 to the robot 44.
  • the pusher 25 is in the form of a plate slidably mounted to the top portion 46 of the frame 22 via a first actuator 52 and pivotably to the first actuator via an actuator sub-assembly 54 (which can be better seen in Figure 4 and following).
  • the face of the pusher 25 is provided with friction elements, in the form of rubber foams 56, secured to the plate using fasteners or adhesive.
  • the first actuator 52 is in the form of a pneumatic rodless cylinder, including an elongated beam 58 provided with first longitudinal sliding elements 60 on both lateral sides thereof and second complementary sliding elements 62 mounted also on both sides.
  • the elongated beam 58 is so fixedly mounted to the central top portion 46 of the frame 22 via L-brackets 64-64' that the beam 58 is in a parallel relationship with the platform 24. Since a pneumatic rodless cylinder is believed to be well known in the art, it will not be described furtherin.
  • the actuator sub-assembly 54 includes a second pneumatic cylinder 66 slidably mounted to the first actuator 52 in parallel relationship therewith via two mounting plates 68 secured to the second sliding elements 62.
  • the plate 25 is mounted to a rectangular frame 70 (see Figure 4), which is pivotably mounted to the bottom portion of the mounting plates 68 via a pivot 72 and slidably secured to the moving end 74 of the second actuator 66.
  • the actuator sub-assembly 54 renders the top portion of the plate 25 tiltable relatively to its bottom.
  • the pneumatic rodless actuator 52 allows reciprocating movement of the actuator sub-assembly 54 along the beam 58, and therefore of the pusher 25 along the platform 24.
  • the plate 25 is mounted to actuator 52 via the sub-assembly 54 so that it is movable along the length of the platform 24 thereover.
  • the plate 25 is so sized as to extend laterally generally along the width of the platform 24 and has a height which covers substantially the distance between the actuator 52 and the platform 24.
  • the distance between the pneumatic actuator 52 and the fixed platform 24 is at least greater than the height of the layer 12 to pick.
  • the friction belt assembly 26 includes a beam 76, a plurality of idler rolls 78 mounted thereto along its length on one side thereof, a rod 80 rotatably mounted to the beam 76 in parallel relationship therewith and including sprocket wheels 82 registered with the idler rolls 78 to receive endless belts 84 therewith.
  • the friction belt assembly 26 is powered by a motor 86, which is secured to the beam 76.
  • the friction belt assembly 26 is mounted to the platform 24, at the distal end 36 thereof, and more specifically to the semi-rectangular frame 38, via sliding elements 88.
  • the friction belt assembly 26 is made movable from a retracted position to an extended position by a pneumatic actuator 90 also secured to the frame 38.
  • the friction belt assembly 26 is positioned relative to the platform 24 so that the endless belts 84 are interposed between the rods 32. While in the retracted position (see for example in Figure 2), the distal ends of the belts 84 are aligned with the tips 42 of the rods 32. In the extended position (see for example Figure 5), the endless belts 84 are moved beyond the tips 42. [0044]
  • the friction belt assembly 26 is not limited to the illustrated embodiment of Figure 3. For example, other mechanisms can be provided to motorize the endless belts 84.
  • the tool 10 is first approached adjacent to the pallet 16 by the robot 44 (see arrow 92).
  • the friction belt assembly 26 is put in its retracted position using the cylinder 90 (see arrow 93), and pressure is applied to the cylinders 52 and 66 (see arrows 94 and 96).
  • the pusher 25 is then positioned by the actuator sub-assembly 54 beyond the tips 42 of the rods 32.
  • the tool 10 is moved forward by the robot 44 (see arrow 92) until the pusher 25 touches the front row of products 14 of the layer 12 and then it slightly goes back.
  • the detection of the contact of the pusher 25 with the products 14 is achieved, for example, by a read switch (not shown) on the actuator 66.
  • the stopper 18 then allows preventing the layer 12 from falling on the ground.
  • the tool 10 is then elevated by the robot 44 (see arrow 100) so as to raise one side of the first row of products 14 using the friction of the pusher 25. This creates a gap 102 to insert the belt assembly 26. It is to be noted that pressure is still applied on the cylinders 52 and 66. The motor 86 of the belt assembly 26 is then energized. Of course, the motor 86 of the friction belt assembly 26 could have been energized before but with no effects.
  • the use of the pusher 25 allows lifting the first row of products 14 during the insertion of the friction belt assembly 26 thereunder. This eases the insertion of the friction belt assembly 26 under the products 14, further preventing the friction belt assembly 26 from damaging the products 14 during this step. These advantages of the use of the pusher 25 are more important for heavier products.
  • the pusher 25 then moves back under the product constraint, while the actuator 52 still applies pressure.
  • This pressure is however gradually lowered while the products 14 are moved inside onto the platform 24 to avoid excessive pressure between the last product row and the stopper 18.
  • the pressure on the actuator 52 is also lowered so as to allow movement of the sub-assembly 54 away from the distal end of the platform 24 as the tool 10 is moved towards the distal end of the layer 12 by the robot 44.
  • the rotation of the belts 84 raises any product along the way so as to avoid any jamming.
  • the cylinder 90 of the friction belt assembly 26 acts as a spring. Indeed, when one or more boxes 14 are raised on the belts 84, the boxes 14 are moved back towards the proximate end 34 of the platform 24 under the cylinder pressure. This prevents slowing the forward movement of the robot 44.
  • the belt assembly 26 is moved from its extended position to its retracted position after reaching the stopper 10 so as to allow the products 14 to go further on the platform 24.
  • the motorized belts 84 of the friction belt assembly 26 stop and the actuator 52 also stops to apply pressure on the product layer 12.
  • a safety feature is added to the tool 10 so as to further prevent any damage to the products 14 during its depalletization by the tool 10.
  • the pressure is monitored on the actuators 52, 66 and 90.
  • the tool 10 through its controller (not shown) verifies if a first pressure beyond a specified threshold is detected. If such is the case, the forward movement of the robot 44 is slowed while such abnormal pressure remains. If a further abnormal pressure is detected, then the robot 44 stops and an alarm is triggered, calling for a manual intervention.
  • the platform 24 is first positioned adjacent another pallet (not shown), a conveyor (not shown) or to any structure configured and chosen to received the layer 12 of products 14 from the platform 24.
  • the tool 10 is then positioned by the robot 44 so that the platform 24 is slightly inclined.
  • the actuator 52 is energized so as to move the pusher 25 from the proximate end 34 of the platform 24 to the distal end 36 thereof so as to force the products 14 out of the platform 24 along the same path.
  • the friction belts 84 are energized so that they rotate in the opposite direction than described hereinabove, thereby contributing to forcing the products 14 out of the platform 24.
  • the tool 10 can be used to depalletize further layers of the pallet after the top layers thereof have been removed.
  • the friction belt assembly 26 is replaced by motorized rollers assembled to the platform 24 and motorized similarly to the sprocket wheels 82 described herein. These rollers can be covered or made, for example, of any well-known friction material such as polymeric resin.
  • any conveyor assembly (not shown) , motorized or not.can be provided at the distal end of the platform to contribute to the insertion of the platform at least partially under the layer of products from the proximate end of the layer and for raising the products onto the platform while the tool is moved towards the distal end of the layer by the robot.
  • the platform 24 and pusher 25 can be operatively mounted to a gantry type robot (not shown);
  • the pusher can be omitted, for example in application where the products are light and/or heavy-duty.
  • a depalletizing tool according to the present invention can be used to depalletize any types of stackable products, including uneven layers including layers provided with holes in the pallet layer, open boxes, open can trays, stretch wrap trays, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

L'invention porte sur un outil de déchargement pour décharger une couche de produits sur une palette. L'outil est monté sur un robot par l'intermédiaire d'un bâti, le robot permettant des mouvements de l'outil par rapport à la palette. L'outil comprend une plateforme montée sur le bâti et se trouve muni d'un convoyeur motorisé à l'extrémité distale de celle-ci pour insérer au moins partiellement la plateforme sous la couche de produits et pour soulever les produits sur la plateforme pendant que l'outil est déplacé vers l'extrémité distale de la couche par le robot. Selon un mode de réalisation précis, l'outil comprend un pousseur également monté sur le bâti sur la plateforme pour appliquer de façon sélective une pression sur les produits tandis que la plateforme est insérée sous la couche de produits.
PCT/CA2008/001731 2007-10-04 2008-09-30 Outil de déchargement de couche de produits sur une palette WO2009043151A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US97740207P 2007-10-04 2007-10-04
CA60/977,402 2007-10-04

Publications (1)

Publication Number Publication Date
WO2009043151A1 true WO2009043151A1 (fr) 2009-04-09

Family

ID=40525799

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2008/001731 WO2009043151A1 (fr) 2007-10-04 2008-09-30 Outil de déchargement de couche de produits sur une palette

Country Status (1)

Country Link
WO (1) WO2009043151A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105397825A (zh) * 2015-12-25 2016-03-16 广东水利电力职业技术学院 周转箱用的侧提底托式搬运机械手及搬运方法
IT201600107836A1 (it) * 2016-10-26 2018-04-26 Famatec S P A Testa prensile per bagagli ed affini ed apparecchiatura di sollevamento provvista di tale testa prensile
EP3495293A1 (fr) * 2013-05-17 2019-06-12 Intelligrated Headquarters LLC Déchargeur de cartons robotique
US10464762B2 (en) 2013-05-17 2019-11-05 Intelligrated Headquarters, Llc PLC controlled robotic carton unloader
US10597234B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
US10597235B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
EP3838816A1 (fr) 2019-12-18 2021-06-23 Premium Robotics GmbH Dispositif ainsi que procédé de dépalettisation d'une marchandise en vrac d'un empilement stationnaire
JP2021116163A (ja) * 2020-01-27 2021-08-10 トーヨーカネツ株式会社 自動出荷方法及び装置
US20220250863A1 (en) * 2019-08-12 2022-08-11 L&P Swiss Holding Gmbh Machine For Unstacking Objects
WO2022268569A1 (fr) * 2021-06-21 2022-12-29 Teknologisk Institut Outil de travail robotique et système robotisé de manipulation de viande destiné à être utilisé dans des abattoirs

Citations (11)

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CA933961A (en) * 1970-11-19 1973-09-18 Yamashita Iron Works Ltd. Unloading machine
US3819068A (en) * 1973-01-02 1974-06-25 Fmc Corp Boom conveyor
UST998009I4 (en) * 1978-10-27 1980-09-02 Handling devices
US4453874A (en) * 1982-12-22 1984-06-12 Internationale Octrooi Maatschappij "Octropa" Bv Article-handling apparatus
US4911608A (en) * 1987-06-03 1990-03-27 B. A. T. Cigarettenfabriken Device for lifting at least one material stack
US5222857A (en) * 1991-06-04 1993-06-29 Murata Kikai Kabushiki Kaisha Process and apparatus for picking up a load from a stack
US5524747A (en) * 1993-06-01 1996-06-11 Digitron Ag Method and apparatus for taking up articles
US5683222A (en) * 1994-06-06 1997-11-04 Digitron Ag Method for taking up articles
US6746203B2 (en) * 2001-03-30 2004-06-08 Axium, Inc. Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same
CA2595816A1 (fr) * 2005-02-18 2006-08-24 Csi Industries B.V. Dispositif depalettiseur
WO2008014532A1 (fr) * 2006-08-03 2008-02-07 TGW Transportgeräte GmbH Dispositif de transport pour dépalétiser des marchandises empilées sur un support de marchandises

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA933961A (en) * 1970-11-19 1973-09-18 Yamashita Iron Works Ltd. Unloading machine
US3819068A (en) * 1973-01-02 1974-06-25 Fmc Corp Boom conveyor
UST998009I4 (en) * 1978-10-27 1980-09-02 Handling devices
US4453874A (en) * 1982-12-22 1984-06-12 Internationale Octrooi Maatschappij "Octropa" Bv Article-handling apparatus
US4911608A (en) * 1987-06-03 1990-03-27 B. A. T. Cigarettenfabriken Device for lifting at least one material stack
US5222857A (en) * 1991-06-04 1993-06-29 Murata Kikai Kabushiki Kaisha Process and apparatus for picking up a load from a stack
US5524747A (en) * 1993-06-01 1996-06-11 Digitron Ag Method and apparatus for taking up articles
US5683222A (en) * 1994-06-06 1997-11-04 Digitron Ag Method for taking up articles
US6746203B2 (en) * 2001-03-30 2004-06-08 Axium, Inc. Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same
CA2595816A1 (fr) * 2005-02-18 2006-08-24 Csi Industries B.V. Dispositif depalettiseur
WO2008014532A1 (fr) * 2006-08-03 2008-02-07 TGW Transportgeräte GmbH Dispositif de transport pour dépalétiser des marchandises empilées sur un support de marchandises

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10829319B2 (en) 2013-05-17 2020-11-10 Intelligrated Headquarters, Llc Robotic carton unloader
EP3495293A1 (fr) * 2013-05-17 2019-06-12 Intelligrated Headquarters LLC Déchargeur de cartons robotique
US10464762B2 (en) 2013-05-17 2019-11-05 Intelligrated Headquarters, Llc PLC controlled robotic carton unloader
CN105397825A (zh) * 2015-12-25 2016-03-16 广东水利电力职业技术学院 周转箱用的侧提底托式搬运机械手及搬运方法
US10597234B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
US10597235B2 (en) 2016-10-20 2020-03-24 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
US10906742B2 (en) 2016-10-20 2021-02-02 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
IT201600107836A1 (it) * 2016-10-26 2018-04-26 Famatec S P A Testa prensile per bagagli ed affini ed apparecchiatura di sollevamento provvista di tale testa prensile
US20220250863A1 (en) * 2019-08-12 2022-08-11 L&P Swiss Holding Gmbh Machine For Unstacking Objects
US11932505B2 (en) * 2019-08-12 2024-03-19 L&P Swiss Holding Gmbh Machine for unstacking objects
EP3838816A1 (fr) 2019-12-18 2021-06-23 Premium Robotics GmbH Dispositif ainsi que procédé de dépalettisation d'une marchandise en vrac d'un empilement stationnaire
DE102019220027A1 (de) 2019-12-18 2021-08-19 Premium Robotics Gmbh Vorrichtung sowie ein Verfahren zum Entpalettieren eines Stückgutes aus einem stationären Stapelverbund
JP7392223B2 (ja) 2020-01-27 2023-12-06 トーヨーカネツ株式会社 自動出荷方法及び装置
JP2021116163A (ja) * 2020-01-27 2021-08-10 トーヨーカネツ株式会社 自動出荷方法及び装置
WO2022268569A1 (fr) * 2021-06-21 2022-12-29 Teknologisk Institut Outil de travail robotique et système robotisé de manipulation de viande destiné à être utilisé dans des abattoirs

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