Spreader tab gripper, depalletizing device equipped with such a gripper, and associated depalletizing method

Abstract

Spreader Tab Gripper, Depalletizing Device Equipped with Such a Gripper, and Associated Depalletizing Method. The present invention relates to a gripper (3) for a depalletizing device, comprising a gripper body (8) carrying, at its base, at least one retractable flat support member and, in its upper part, a pressing member configured to grasp a package to be depalletized. The gripper (3) further comprises, at the base of the gripper body (8), a retractable, beveled spreader tab (17) connected to a spreader tab movement module (18) configured, during a deployment phase, to lower, advance, and then raise the spreader tab (17) so as to spread one of the edges of the package to be depalletized away from the layer on which it rests before the deployment of at least one support member under the package. Depalletize. Figure to be published with the abbreviation: Figure 6

Description

Title of the invention: Spreading Tab Gripper, Depalletizing Device EQUIPED WITH SUCH A GRIPPER, AND ASSOCIATED DEPALETTIZATION PROCESS

[0001] The present invention relates to the field of depalletizing devices, and in particular to a spreader tab gripper for a depalletizing device, to a depalletizing device equipped with such a gripper, and to an associated depalletizing process.

[0002] When handling goods, such as packages or stacks of printed material, pallets are generally used, with said packages being placed on the pallets either manually by an operator or automatically by a palletizing robot. Similarly, when depalletizing packages from the pallet, the packages can be removed from the pallet either manually by an operator or automatically by a depalletizing robot.

[0003] Since the printed materials consist of notebooks or books that are not joined together, are elastic and asymmetrical, or even slippery, with respect to each other inside the package, the task of depalletizing is made complex for a depalletizing robot and therefore requires complex grippers.

[0004] Depalletizing robots are known to automatically depalletize strapped packages, such as strapped printed materials, using a gripper that detects the strapping tie of the package to be depalletized and then lifts the package with the gripper by grasping the strapping tie on the top face of the package. However, the use of this type of existing robot is limited since it cannot handle unstrapped packages.

[0005] There are also depalletizing robots that automatically depalletize packages using a gripper equipped with a lateral gripper that grasps an entire row of packages on an interleaving sheet and slides it along the sheet to a horizontal support on the gripper. However, this type of existing robot cannot depalletize packages one by one on the pallet, nor can it depalletize packages arranged in a crisscross pattern on a pallet. Indeed, with this type of existing robot, all layers of the pallet must be identical, and all packages in the same row must also be identical. Furthermore, with this type of existing robot, there is a risk of damaging the packages or the seams of the printed materials and / or causing Ink transfer occurs when the row of packets slides along the side gripper. Furthermore, these robots are often designed for two-dimensional (2D) movement because they are equipped with a pantograph to maintain a horizontal position. These robots are inexpensive and smaller in size, but they have gripping reliability issues because they do not allow for gripper tilting or 3D movements or trajectories.

[0006] Thus, there is no depalletizing robot on the market that can depalletize any type of printed material package arranged on a pallet according to any palletization plan.

[0007] The present invention aims to resolve the drawbacks of the prior art by proposing a spreader tab gripper for a depalletizing device, the spreader tab of which allows, prior to grasping a package to be depalletized, to spread one of the edges of the package to be depalletized away from the layer on which it rests, which allows the depalletizing device equipped with the spreader tab gripper to be able to grasp any type of printed material packages arranged on a pallet according to any palletization plan.

[0008] The present invention therefore relates to a gripper for a depalletizing device, said gripper being configured to be carried by a robotic arm of a depalletizing device, said gripper comprising a gripper body carrying, at its base, at least one retractable flat support member having a retracted position inside the gripper body and a deployed position at the front of the gripper body, the gripper body further carrying, in its upper part, a pressing member configured to move in line with at least one support member in the deployed position, the at least one support member in the deployed position and the pressing member being configured to grasp between them a package to be depalletized, the at least one support member being horizontal and the pressing member being vertical in a transport position of the gripper, said gripper further comprising, at the base of the gripper body,a retractable, beveled spreader tab arranged parallel to at least one support member and connected to a spreader tab movement module configured, during a spreader tab deployment phase, to lower the spreader tab below the plane of at least one support member, advance the spreader tab to the front of the gripper body, and then raise the spreader tab above the plane of at least one support member so as to separate one of the edges of the package to be depalletized from the layer on which it rests before the deployment of at least one support member under the package to be depalletized, and configured, during a spreader tab retraction phase, to retract the spreader tab inside the gripper body.

[0009] Thus, after the robotic arm of the depalletizing device approaches the gripper to one of the edges of the package to be depalletized and then tilts the gripper towards said package, the deployment of the spreader tab (along a substantially U-shaped trajectory) under said edge of the package to be depalletized makes it possible to lift said edge of the package so as to create a gap in which at least one support member of the gripper can be deployed so that the package rests on at least one deployed support member of the gripper, the lowering of the gripping member of the gripper then allowing the gripper to seize the package to move it towards a depositing surface.

[0010] The tilting of the gripper is possible through the use of a 3D robotic arm, enabling 3D trajectories of the gripper in space. In contrast, in the prior art, existing robotic arms are often 2D and therefore do not allow the gripper to be tilted or to have 3D trajectories via different sequences in space or with learning based on the position of the packages.

[0011] The inclination of the gripper during gripping and the particular beveled shape of the spreader tab ensure that the package to be depalletized is kept separate from the layer on which it rests after the spreader tab has been deployed, while also preventing the spreader tab and at least one support element from damaging the package and / or the layer on which it rests during their deployment.

[0012] More specifically, during the deployment phase of the spreader tab, the spreader tab is first lowered so as to come into contact with the lower layer (namely, an interleaving sheet or another pack of printed material) on which the pack of printed material rests. If the layer to be depalletized is not the last layer of the pallet (i.e., the lowest layer), the spreader tab presses against the lower layer (interleaving sheet or lower pack) as it is lowered, thus creating a gap between the lower layer and the edge of the pack to be depalletized. Then, as the spreader tab advances, it enters this gap, and the spreader tab is then raised to lift the corresponding edge of the pack to be depalletized, which subsequently allows at least one support element to be deployed under the pack without damaging the lower layer or the pack itself.The gripper can optionally complete this movement by tilting back even further thanks to its 3D movement.

[0013] For the packages in the lowest layer on the pallet, the same sequence as previously described can be used (except that no space / gap is created during the lowering of the spreader tab due to the hardness of the pallet, which is generally made of wood; the spreader tab then slides on the pallet or an interleaving sheet as the spreader tab advances to become to be inserted under the package), otherwise the package can also be lifted by the spreader tab by inserting it against the thickness of the printed package, or the package can be slightly lifted by at least one support element barely out of the gripper before the spreader tab is deployed.

[0014] The different stages during the grasping of the package by the gripper are carried out, using the robotic arm of the depalletizing device, with a three-dimensional (3D) movement (in particular, by tilting the gripper relative to the horizontal) and not flat, said 3D movement being able to be different in robot trajectory sequence as well as in spreader tab / support member or support member / spreader tab exit sequence depending on the type of packages to be depalletized and the particular palletization plan of the packages on the pallet.

[0015] Optionally, the vertical front face of the gripper could be used to slide the package to be depalletized onto the lower layer (for example, the interleaf) before the deployment of the spreader tab and at least one support member.

[0016] The present invention thus makes it possible to have a depalletizing device with the widest possible operating spectrum on the production of palletized packages, the gripper being adapted to all types of packages and all types of palletizing plans.

[0017] According to a particular feature of the invention, the spreader tab movement module comprises a first cylinder configured to move the spreader tab forward / backward, and a second cylinder configured to lower / raise the spreader tab.

[0018] Thus, the spreader tab can be moved forward, backward, upward or downward by actuating either of the first and second cylinders of the spreader tab movement module arranged inside the gripper body.

[0019] Preferably, the first cylinder is arranged horizontally between the gripper body and a spreader mitre carriage, and the second cylinder is arranged vertically between the spreader mitre carriage and the spreader mitre.

[0020] According to a particular feature of the invention, the gripper further comprises at least one package detection sensor to be depalletized from among: at least one infrared sensor; at least one laser sensor; and at least one camera.

[0021] Thus, at least one package detection sensor is a vision system enabling the precise position of the package(s) to be depalletized to be detected.

[0022] In addition, at least one package detection sensor is used during the approach phase of the gripper in order to detect its distance from the package to be depalletized before the robotic arm tilts the gripper.

[0023] According to a particular feature of the invention, at least one retractable support member consists of two parallel retractable blades forming a fork, the spreader tab being arranged between said two blades.

[0024] Thus, the two horizontal blades forming a fork allow for better support of the package on them, said horizontal blades being retractable inside the gripper body so as to allow the seized package to be placed on a deposit surface.

[0025] According to a particular feature of the invention, the pressing member consists of at least one pressing cylinder, optionally carrying a pressing pad opposite at least one support member.

[0026] Thus, once at least one support member is deployed under the package to be depalletized, the package is gripped by the gripper by lowering the rod of at least one pressing cylinder until its free end (or pressing pad) is in contact with the top of the package, which ensures that the package is blocked between the at least one deployed support member and the at least one pressing cylinder of the gripper.

[0027] The package is thus grasped in the direction of its thickness and not in the direction of its width, which makes it possible to overcome the difficulties created by the back of the printed materials.

[0028] According to a particular feature of the invention, the gripper further comprises two pivoting arms mounted on either side of the gripper body, each of the two pivoting arms carrying at least three suction cups, each pivoting arm, in its deployed position, carrying the suction cups under at least one horizontal support member to form a horizontal suction plane for the suction cups, the gripper being configured to deploy the two pivoting arms so as to grasp by suction an interleaf using the suction cups.

[0029] Thus, the two pivoting suction cup arms allow an interleaf to be grasped by suction and removed from the pallet to begin the depalletizing of the next lower layer of packages.

[0030] Each pivoting arm can, for example, carry three suction cups arranged to form a triangle, or four suction cups arranged to form a cross.

[0031] According to a particular feature of the invention, the gripper further comprises a package retention member configured, prior to the deployment phase of the spreader tab, to hold the edge of the package to be depalletized opposite to that facing the gripper.

[0032] Thus, when the package is grasped, the package retaining device holds the printed material package at the edge opposite to that lifted by the spreader tab (like a second robotic hand), which allows, in particular for the first layers of the pallet (i.e., the lowest layers for (where the spreader tab cannot create a sufficient gap / interstice by pressing on the lower layer due to the proximity of the wooden pallet), to prevent the prints of the seized package from coming apart during package seizure.

[0033] According to a particular feature of the invention, the package retention device comprises a cantilevered support arranged at the front of the gripper body and carrying a stop element configured, prior to the deployment phase of the spreader tab, to come into contact with at least one of the edge of the package to be depalletized opposite to that facing the gripper and the top of the package to be depalletized on the side of the edge opposite to that facing the gripper.

[0034] Thus, when grasping the package, the stop element of the package retaining device makes it possible to retain the package of prints at the edge opposite to that lifted by the spreader tab (as a second robotic hand would do), which makes it possible, in particular for the first layers of the pallet (i.e., the lowest layers for which the spreader tab cannot create a sufficient gap / interstice by pressing on the lower layer due to the proximity of the wooden pallet), to prevent the prints of the grasped package from disassembling during the grasping of the package.

[0035] According to a particular feature of the invention, the package retaining member further comprises a vertical displacement device configured to vertically move the stop element so that it comes to rest against at least one of the edge of the package to be depalletized opposite to that facing the gripper and the top of the package to be depalletized on the side of the edge opposite to that facing the gripper.

[0036] The vertical displacement device can, for example, be a cylinder whose free end of the rod serves as a stop element which comes against the opposite edge of the package to be depalletized (or the top of the package near said opposite edge) when the cylinder is deployed, so as to prevent the package from slipping or escaping when being grasped.

[0037] According to a particular feature of the invention, the package retention device further comprises a horizontal displacement device configured to horizontally move the stop element along the cantilevered support.

[0038] The horizontal displacement device thus makes it possible to automatically adjust the position of the stop element on its cantilevered support according to the type of package to be gripped, so as to position the stop element at the edge of the package to be depalletized opposite to that opposite the gripper.

[0039] The horizontal displacement device may, for example, take the form of a carriage on which the stop element is mounted, said carriage being movable in translation along the cantilevered support via a chain driven by sprockets which are themselves driven in rotation by means of a motor.

[0040] It should be noted that the package retention device could also not include a horizontal displacement device, in which case the position of the stop element on the cantilevered support would then be pre-set by an operator, without departing from the scope of the present invention.

[0041] The present invention also relates to a depalletizing device comprising at least one multi-articulated robotic arm carrying a gripper as described above, said at least one multi-articulated robotic arm being configured to tilt the gripper relative to the horizontal prior to grasping a package to be depalletized such that, after the spreading of one of the edges of the package to be depalletized by the spreader tab when the gripper is tilted by the at least one multi-articulated robotic arm, the at least one support member is deployed under the package to be depalletized while being tilted relative to the horizontal.

[0042] Thus, the multi-articulated robotic arm of the depalletizing device allows the gripper to perform three-dimensional movements like a hand would in front of a package to pass under the package and grasp it.

[0043] Depalletizing is done package by package, thus ensuring that the product being depalletized is handled carefully during handling thanks to the gripper's wide range of motion. In contrast, existing depalletizing devices pick up several packages at once, which has the drawback that if a package has a slightly different shape or arrangement from the other packages being picked up, there is a risk of it falling during handling. These existing devices therefore create unreliability, unlike the depalletizing device according to the present invention, which depalletizes package by package.

[0044] The 3D multi-articulated robotic arm allows in particular the spreading tab and at least one support member to be inclined relative to the horizontal, so that the spreading tab, when deployed, acts as a lever under the edge of the package in order to lift it to allow the introduction of at least one support member under the package without damaging the latter or the lower layer.

[0045] According to a particular feature of the invention, at least one multi-articulated robotic arm is equipped with an artificial vision module connected to at least one of the at least one package-to-depalletize detection sensor of the gripper and an optical detection system configured to detect the three-dimensional plane of the packages on the pallet to be depalletized, the artificial vision module being configured to analyze, by artificial intelligence, the position and shape of the package(s) to be depalletized and to define, based on the analysis, an appropriate trajectory for the mounted gripper by at least one multi-articulated robotic arm for grasping each of the package(s) to be depalletized successively.

[0046] Thus, the artificial vision module makes it possible to detect the precise position of the package(s) to be depalletized and to decide the operation to be carried out for each package according to the detection result.

[0047] The robotic arm can thus retrieve each package according to a different trajectory and strategy, depending on the type of package and the position of the package on the pallet.

[0048] The depalletizing device according to the present invention thus makes it possible to depalletize packages (such as stacks of magazines) on a pallet using the robotic arm without prior knowledge of the palletization plan of the pallet, the artificial vision module making it possible to model the pallet of packages by artificial intelligence.

[0049] The use of artificial vision to analyze the position of the packages on the pallet makes it possible to position the gripper accurately in relation to the package to be grasped.

[0050] The depalletizing device can thus determine by vision the digital data, shape of the packages (perfect back glued, stapled booklet, strapped package, etc.) in addition to other data (theoretical plans, etc.), then choose a picking sequence for each package according to the position of the latter and the type of production.

[0051] The artificial vision module thus makes it possible to generate the 3D digital plan of the packages on the pallet as soon as the pallet enters the depalletizing machine, using one or more cameras which are either on the gripper (i.e., the camera or cameras of at least one sensor for detecting the package to be depalletized), or on a fixed structure (for example, grids and posts) of the depalletizing machine (i.e., the camera or cameras of the optical detection system), or even on both.

[0052] It should be noted that a simplified version of the machine vision module could also be used without departing from the scope of the present invention. In this simplified version, an operator would use pallet mapping software to reconstruct the theoretical digital layout of the packages to be depalletized on the pallet so that it is similar to that of the packages actually present on the pallet. The gripper could then approach the theoretical coordinates calculated by the software, and then laser, infrared, or camera sensors could be used to recalibrate the gripper with respect to the theoretical coordinates each time a package is picked up.

[0053] Therefore, packages on any type of pallet layer plan can be depalletized by the depalletizing device according to the present invention.

[0054] According to a particular feature of the invention, the artificial vision module is configured to define the appropriate trajectory of the gripper by machine learning.

[0055] Thus, using a machine learning decision process, the computer vision module can determine, based on the position and / or layer of the package to be grasped, the appropriate 3D trajectory approach scheme for depalletizing the package by the gripper.

[0056] The present invention thus enables the use of differentiated learning sequences and differentiated branching depending on the position of the package on the layer, the layer on the pallet, and the type of production. The machine vision module can, for example, make decisions regarding 3D trajectories in space (and therefore not limited to flat movements) and picking scenarios based on criteria and strategies pre-recorded or pre-learned by technicians according to production situations.

[0057] By way of example, the step of analyzing the pallet to be depalletized by the depalletizing device can be as follows:

[0058] - the operator brings a full pallet into a picking station equipped with the device depalletizing;

[0059] - the artificial vision module of the depalletizing device models the Top view palletization plan to determine where to start and whether the packages are strapped or not; and

[0060] - the artificial vision module of the depalletizing device models the side of the pallet to determine what the height of the pallet is, what the height of the packs is and what the layer change position is (it should be noted that, in the simplified version described above, the numerical theoretical plan of the pallet to be depalletized is entered by an operator using pallet plan creation software).

[0061] The depalletizing device according to the present invention thus has the following three elaborate functions:

[0062] - artificial vision and analysis / learning of the position of packets;

[0063] - the decision / strategy for choosing the approach and takeoff trajectory;

[0064] - the physical way in which the gripper picks up the package (package by package) and not in grouped packages).

[0065] The depalletizing device according to the present invention is thus very flexible / powerful in its versatility and suitable for:

[0066] - pallets of packages with layer palletization with packages in different orientations; and

[0067] - packages of any shape and any type of packaging, sewn, unsewn, unbanded, stapled, square back glued, etc.

[0068] The present invention further relates to a method for depalletizing a package to be depalletized using a depalletizing device as described above, the method comprising:

[0069] - move, by at least one robotic arm, the gripper near one of the edges of the package;

[0070] - tilt, by at least one robotic arm, the gripper relative to the horizontal;

[0071] - deploy, using the spreader tab movement module, the spreader tab of in order to move the associated edge of the packet away from the layer on which the packet rests;

[0072] - deploy at least one gripper support element under the package;

[0073] - lower the pressing member to block the package between at least one member of support and pressing element;

[0074] - to straighten, by means of at least one robotic arm, the gripper into its position of transport in such a way that at least one support element is horizontal;

[0075] - retract, by means of the spreader tab movement module, the spreader tab; and

[0076] - move, by means of at least one robotic arm, the gripper to a location of depot where the package is deposited by retraction of at least one supporting organ.

[0077] According to a particular feature of the invention, the step of deploying the spreader tab comprises:

[0078] - deploy the second cylinder of the spreader tab movement module so as to lower the spreader tab below the plane of at least one support element;

[0079] - deploy the first cylinder of the spreader tab movement module so as to Move the spreader tab under the package to be depalletized; and

[0080] - retract the second cylinder of the spreader tab movement module so as to raise the spreader tab above the plane of at least one support element in order to lift the associated edge of the package to be depalletized before deploying at least one support element.

[0081] According to a particular feature of the invention, the depalletizing device comprises at least two multi-articulated robotic arms each carrying a gripper, said at least two multi-articulated robotic arms being configured to depalletize packages on a pallet in an alternating manner.

[0082] Thus, the depalletizing rate is increased by the use of at least two separate robots working successively one after the other (when there are at least three robotic arms) or alternately (when there are two robotic arms).

[0083] According to a particular feature of the invention, when the gripper of a first of the at least two multi-articulated robotic arms is grasping a package to be depalletized, the gripper of another of the at least two multi-articulated robotic arms is configured to come against the edge of the package opposite the one opposite the gripper of the first multi-articulated robotic arm.

[0084] Thus, particularly for the first layers of the pallet (i.e., the lowest layers where the spreader tab cannot create a sufficient gap by pressing on the layer below), the second robotic arm can assist the first robotic arm by holding the package during depalletizing when the first robotic arm grasps the package. This prevents the printed materials of the grasped package from disassembling during the grasping process. This sequence can, for example, be used only when grasping a package without a neighboring package or a package without counter-support on the first layers of the pallet, to limit the workload of the second robotic arm to specific moments so as to only momentarily slow the depalletizing speed.

[0085] It should be noted that the other robotic arms could also be used for artificial vision in the case of pallets requiring a thorough optical examination to determine the position and orientation of the packages on the pallet.

[0086] To better illustrate the object of the present invention, we will describe below, by way of illustration and not limitation, preferred embodiments, with reference to the attached drawings.

[0087] On these drawings:

[0088] [Fig. 1] is a perspective view of a depalletizing device according to the present invention;

[0089] [Fig.2a] is a perspective view of a gripper according to the present invention in resting position;

[0090] [Fig.2b] is another perspective view of the gripper according to the present invention in resting position;

[0091] [Fig.3] is a perspective view of the gripper according to the present invention after a slight advancement of the support element;

[0092] [Fig.4] is a perspective view of the gripper according to the present invention after lowering and advancing the spreader tab;

[0093] [Fig. 5] is a perspective view of the gripper according to the present invention after raising of the spreader tab;

[0094] [Fig.6] is a perspective view of the gripper according to the present invention after deployment of the support body;

[0095] [Fig.7] is a perspective view of the gripper according to the present invention after lowering of the pressing mechanism;

[0096] [Fig.8] is a perspective view of the gripper according to the present invention after retraction of the spreader tab;

[0097] [Fig.9] is a perspective view of the gripper according to the present invention in the case of a deployment of the support unit for a large format package;

[0098] [Fig. 10a] is a schematic side view of the gripper during a first step of package depalletizing;

[0099] [Fig. 10b] is a schematic side view during a second step of package depalletizing;

[0100] [Fig. 10c] is a schematic side view during a third step of package depalletizing;

[0101] [Fig.1Od] is a schematic side view during a fourth step of package depalletizing;

[0102] [Fig. 10e] is a schematic side view during a fifth step of package depalletizing;

[0103] [Fig.lOf] is a schematic side view during a sixth step of package depalletizing;

[0104] [Fig. 10g] is a schematic side view during a seventh step of package depalletizing;

[0105] [Fig.1Oh] is a schematic side view during an eighth step of package depalletizing;

[0106] [Fig. 11] is a perspective view of a gripper according to a first embodiment of the present invention; and

[0107] [Fig. 12] is a perspective view of a gripper according to a second variant of the present invention.

[0108] If we refer to [Fig. 1], we can see that a depalletizing device 1 according to the present invention is shown there.

[0109] The depalletizing device 1 includes a multi-articulated robotic arm 2 (such as a six-axis robotic arm) carrying a gripper 3.

[0110] The depalletizing device 1 further includes an electrical box (not shown in [Fig.1]) to supply electrical power to the robotic arm 2 and the gripper 3.

[0111] The depalletizing device 1 further includes a computer processing unit (not shown in [Fig.1]) having depalletizing assistance software installed on it, which allows the control of the robotic arm 2 and the gripper 3 for the purpose of depalletizing packages 4 (such as packages of printed matter, notebooks, books, magazines or sheets) palletized on a pallet 5.

[0112] Advantageously, interleaving sheets (not visible in [Fig.1]) can be arranged between each layer of packs 4 on the pallet 5.

[0113] The multi-articulated robotic arm 2 of the depalletizing device 1 allows the gripper 3 to perform three-dimensional movements like a hand would in front of a package 4 to pass under the package 4 and grasp it.

[0114] Referring to Figures 2a and 2b, one can see that the gripper 3 is shown there according to a first embodiment of the present invention, in a rest position.

[0115] The gripper 3 includes a support plate 6 (horizontal in the rest position of the gripper 3) which is fixed to the end of the robotic arm 2 and from which two sliding rods 7 extend vertically downwards.

[0116] The gripper 3 further includes a gripper body 8 comprising a front part 8a mounted to slide on the two sliding rods 7, such that the gripper body 8 is suspended vertically relative to the support plate 6.

[0117] The gripper body 8 can thus move vertically relative to the support plate 6 along the two sliding rods 7.

[0118] The gripper body 8 carries, at its base, as a flat support member, two parallel retractable blades 9 forming a fork (said blades 9 being horizontal in the rest position and in the transport position of the gripper 3), said two blades 9 being able to take a retracted position inside the gripper body 8 (as is the case in Figures 2a and 2b) and a deployed position at the front of the gripper body 8 (as is the case in Figures 7 to 9).

[0119] The gripper body 8 further carries, in its upper part, as a pressing member, a pressing cylinder 10 carrying a pressing pad 10a (said pressing cylinder 10 being vertical in the rest position and in the transport position of the gripper 3), said pressing cylinder 10 being configured to move in line with the two deployed blades 9.

[0120] It should be noted that the pressing cylinder 10 could also not carry a pressing pad 10a, without departing from the scope of the present invention.

[0121] The gripper 3 allows a package to be grasped and moved to be depalletized 4 (in the direction of its thickness) between the two blades 9 in the deployed position and the pressing pad 10a of the pressing cylinder 10 lowered.

[0122] The two blades 9 are connected to a blade carriage 11 disposed inside the gripper body 8, said blade carriage 11 being movable in translation inside the gripper body 8, by means of a chain 12 driven by sprockets 13 themselves driven in rotation by means of a motor 14. The translation of the blade carriage 11 at the base of the gripper body 8 makes it possible to retract the blades 9 completely inside the gripper body 8 or to deploy the blades 9 outside the gripper body 8 at the front of the latter.

[0123] The gripper 3 further comprises a position sensor 15 (such as an inductive proximity sensor) carried by the gripper body 8 at the level of the plate of support 6, the position sensor 15 being configured to detect a change in position of the gripper body 8 relative to the support plate 6. Thus, after grasping a package to be depalletized, the robotic arm 2 can move the gripper 3 so that the lower part of the gripper body 8 comes into contact with a deposit surface, the gripper body 8 then sliding upwards along the sliding rods 7, which causes the position sensor 15 to detect a change in position of the gripper body 8 relative to the support plate 6, indicating to the gripper 3 the presence of the deposit surface under the grasped package, thus allowing the grasped package to be deposited directly onto the deposit surface by retracting the two blades 9.

[0124] The gripper 3 further comprises a sliding lock cylinder 16 (visible in [Fig. 2b]) disposed on the gripper body 8 and configured, when the rod of the cylinder 16 is deployed, to lock the sliding of the gripper body 8 on the two sliding rods 7, the rod of the cylinder 16 then coming to rest against the underside of the support plate 6 and thus preventing the upward sliding of the gripper body 8 on the two sliding rods 7. The gripper 3 can therefore be configured to activate the sliding lock cylinder 16 (i.e., deploy the rod of the cylinder 16) during the package grasping and package movement phases towards the depositing surface, so as to lock and neutralize the movements of the gripper body 8 relative to the support plate 6 during the movement of the robotic arm 2 to high speeds of industrial production.On the contrary, the gripper 3 can be configured to deactivate the sliding lock cylinder 16 (i.e., retract the rod of the cylinder 16) during the phase of depositing the gripped package onto the depositing surface.

[0125] It should be noted that the gripper 3 could also not include a support plate 6, sliding rods 7, position sensor 15 and sliding locking cylinder 16, the end of the robotic arm 2 then being directly fixed on the front part 8a of the gripper body 8, without departing from the scope of the present invention.

[0126] The gripper 3 further includes, at the base of the gripper body 8, a beveled spreader tab 17, said spreader tab 17 being arranged parallel to the two blades 9 and disposed between them.

[0127] The spreader tab 17 is connected to a spreader tab movement module 18 disposed inside the gripper body 8 and configured to deploy the spreader tab 17 in order to lift one edge of the package to be depalletized 4 before the deployment of the two blades 9.

[0128] The gripper 3 further includes a package detection sensor 19 (visible in [Fig.2b]), such as an infrared sensor, a laser sensor or a camera, enabling the detection of the precise position of the package(s) to be depalletized 4 on the pallet 5. In particular, the package detection sensor 19 allows, during the approach phase of the gripper 3, to detect its distance from the package to be depalletized 4 before the robotic arm 2 proceeds to tilt the gripper 3 towards the package to be depalletized 4.

[0129] Referring to [Fig.3], one can see that the gripper 3 is shown there after an optional step during which the two blades 9 are advanced so as to protrude slightly from the gripper body 8.

[0130] This configuration can be useful for depalletizing a package 4 belonging to the lowest layer on the pallet 5, the package 4 can then be slightly lifted by the two blades 9 barely out of the gripper 3 before the deployment of the spreader tab 17.

[0131] Optionally, the vertical front face 8b of the gripper body 8 could also be used to push the package to be depalletized 4 and slide it onto the lower layer (for example, an interleaving sheet) before the deployment of the spreader tab 17.

[0132] Referring to [Fig.4], we can see that the gripper 3 is shown there after lowering and advancing the spreader tab 17.

[0133] The spreader tab movement module 18 includes a first cylinder 20 arranged horizontally (in the rest position of the gripper 3) between the gripper body 8 and a spreader tab carriage 21, and configured to advance / retreat the spreader tab 17.

[0134] The spreader tab movement module 18 further includes a second cylinder 22 arranged vertically (in the rest position of the gripper 3) between the spreader tab carriage 21 and the spreader tab 17, and configured to lower / raise the spreader tab 17.

[0135] More specifically, the spreader mitre carriage 21 is mounted to slide horizontally on two parallel translational guide rods 21a, said two translational guide rods 21a being parallel to the two blades 9 and to the spreader mitre 17, and the spreader mitre 17 has a vertical translational guide rod 17a mounted to slide vertically in a through hole 21b formed in the spreader mitre carriage 21.

[0136] After the robotic arm 2 of the depalletizing device 1 approaches the gripper 3 to one of the edges of the package to be depalletized 4 and then tilts the gripper 3 towards said package 4, the spreader tab movement module 18 is configured, during a deployment phase of the spreader tab 17, to lower, by means of the second cylinder 22, the spreader tab 17 below the plane of the two blades 9 and then advance, via the first cylinder 20, the spreader tab 17 at the front of the gripper body 8.

[0137] Therefore, the spreader tab 17 is first lowered so as to come into contact with the lower layer (namely, an interleaf sheet or another pack of prints) on which the pack of prints 4 rests. In the case where the layer to be depalletized is not the last layer of the pallet 5 (i.e., the lowest layer), the spreader tab 17 presses on the lower layer (interleaf sheet or lower pack) when it is lowered, thus creating a gap / interval between the lower layer and the edge of the pack to be depalletized 4. Then, as the spreader tab 17 advances, it enters into said gap created.

[0138] For the packs 4 of the lowest layer on the pallet 5, the same sequence as previously described can be used (except that no space / gap is created during the lowering of the spreader tab 17 due to the hardness of the pallet 5, which is generally made of wood, the spreader tab 17 then sliding on the pallet 5 or an interleaving sheet during the advancement of the spreader tab 17 to come and be inserted under the pack 4), otherwise the pack 4 can also be lifted by the spreader tab 17 by inserting it into the thickness of the pack of prints 4, or, as previously described with reference to [Fig.3], the pack 4 can be slightly lifted by the two blades 9 which have barely been extended before the deployment of the spreader tab 17.

[0139] According to a first variant of the invention shown in [Fig. 1 1], the gripper 3 further comprises a package retaining member 26 comprising a cantilevered support 27 arranged at the front of the gripper body 8. The package retaining member 26 further comprises, as a vertical displacement device, a vertical cylinder 28 fixed to the cantilevered support 27 and enabling the cantilevered support 27 to be moved vertically relative to the reference frame of the gripper 3.

[0140] The package retaining device 26 further includes, as a horizontal displacement device, a carriage 30 mounted to slide on the cantilevered support 27 and under which is mounted a stop element 29, said carriage 30 being movable in translation along the cantilevered support 27 by means of a chain 31 driven by sprockets 32 themselves driven in rotation by means of a motor (not shown in [Fig. 11]).

[0141] The horizontal movement device thus allows the position of the stop element 29 on the cantilevered support 27 to be automatically adjusted according to the type of packages 4 to be gripped, so as to position, prior to the deployment phase of the spreader tab 17, the stop element 29 against the edge of the package to be depalletized 4 opposite to the one facing the gripper 3, in order to prevent the package 4 from slips or does not escape when being grasped, especially for the first layers of palette 5.

[0142] According to a second embodiment of the invention shown in [Fig. 12], the gripper 3 further comprises a package retaining member 26 including a cantilevered support 27 arranged on the pressing cylinder 10 at the front of the gripper body 8. The package retaining member 26 further comprises, as a vertical displacement device, a vertical cylinder 28 fixed on the cantilevered support 27. The package retaining member 26 further comprises a stop element 29 fixed on the free end of the rod of the vertical cylinder 28.

[0143] Thus, after an operator has adjusted the position of the vertical cylinder 28 on the support 27 with respect to the edge of the package to be depalletized 4 opposite to that opposite the gripper 3, the vertical cylinder 28 can move the stop element 29 vertically relative to the reference frame of the gripper 3, prior to the deployment phase of the spreader tab 17, so that the stop element 29 comes to rest against the top of the package to be depalletized 4 near the edge of the package 4 opposite to that opposite the gripper 3, which prevents the package 4 from slipping or escaping during its grasping.

[0144] It should be noted that the stop element 29 could also come against the edge of the package to be depalletized 4 opposite to that opposite the gripper 3, without departing from the scope of the present invention.

[0145] Thus, when grasping the pack 4, the pack retaining member 26 makes it possible to retain the pack 4 of prints at the edge opposite to that lifted by the spreader tab 17 (as a second robotic hand would do), which makes it possible, in particular for the first layers of the pallet 5 (that is to say, the lowest layers for which the spreader tab 17 cannot create a sufficient gap / interstice by pressing on the lower layer due to the proximity of the wooden pallet 5), to prevent the prints of the grasped pack 4 from disassembling during the grasping of the pack 4.

[0146] If we refer to [Fig.5], we can see that the gripper 3 is shown there after the spreader tab 17 has been raised.

[0147] During the deployment phase of the spreader tab 17, the spreader tab movement module 18 is further configured to raise, by means of the second cylinder 22, the spreader tab 17 above the plane of the two blades 9 so as to lift / spread the corresponding edge of the package to be depalletized 4 vis-à-vis the layer on which it rests before the deployment of the two blades 9 under the package to be depalletized 4.

[0148] Referring to [Fig.6], we can see that the gripper 3 is shown there after the two blades 9 have been deployed.

[0149] After the spreader tab 17 is deployed (along a substantially U-shaped path) under an edge of the package to be depalletized 4 so as to lift said edge of the package 4 to create a gap, the two blades 9 are then deployed through this gap created so that the package 4 rests on the two deployed blades 9 of the gripper 3.

[0150] Referring to [Fig.7], we can see that the gripper 3 is shown there after the pressing cylinder 10 has been lowered.

[0151] Once the two blades 9 are deployed under the package to be depalletized 4, the package 4 is grasped by the gripper 3 by lowering the rod of the pressing cylinder 10 until its pressing pad 10a comes into contact with the top of the package 4, which allows the package 4 to be locked between the two deployed blades 9 and the pressing cylinder 10 of the gripper 3.

[0152] Referring to [Fig.8], we can see that the gripper 3 is shown there after retraction of the spreader tab 17.

[0153] Once the package 4 is blocked between the two deployed blades 9 and the pressing pad 10a, the robotic arm 2 straightens the gripper 3 so that the two blades 9 return to their horizontal position, then the spreader tab movement module 18, during a retraction phase of the spreader tab 17, allows the spreader tab 17 to be moved back, by means of the first cylinder 20, into the gripper body 8.

[0154] Next, the robotic arm 2 can move the gripper 3 with the grasped package 4 to the desired depositing surface.

[0155] Referring to [Fig.9], one can see that the gripper 3 is shown in the case of an additional deployment of the two blades 9 to support a larger package.

[0156] The gripper 3 further comprises two pivoting arms 23 mounted on either side of the gripper body 8, each of the two pivoting arms 23 carrying three suction cups 24 arranged in a triangular shape.

[0157] It should be noted that each pivoting arm 23 could also carry four suction cups 24 arranged in a cross shape, without departing from the scope of the present invention.

[0158] In their deployed position, the two pivoting arms 23 carry the suction cups 24 under the two retractable blades 9 to form a horizontal suction plane for the suction cups 24.

[0159] The gripper 3 is configured to deploy the two pivoting arms 23, via a gear system, so as to grasp by suction an interleaf using the suction cups 24 in order to remove it from the pallet 5 to begin the depalletizing of the next lower layer of packages 4.

[0160] Referring to Figures 10a to 100, one can see that a depalletizing process is shown as an example of a package 4 using the depalletizing device 1 according to the present invention.

[0161] In [Fig. 10a], the robotic arm 2 moves the gripper 3 into a rest position (as shown in Figures 2a and 2b) near one of the edges of a package to be depalletized 4 placed on an interleaf 25.

[0162] In [Fig. 10b], the robotic arm 2 tilts the gripper 3 relative to the horizontal towards the package 4.

[0163] In [Fig. 10c], the robotic arm 2 lowers the gripper 3 so that the base of the gripper body 8 is close to the interleaf 25.

[0164] It should be noted that the robotic arm 2 could also tilt the gripper 3 to the left or to the right relative to the horizontal to adapt in particular to the depalletizing of puffy packages 4 (the robotic arm 2 allowing a 3D movement of the gripper 3), without departing from the scope of the present invention.

[0165] In [Fig.10d], the spreader tab movement module 18 deploys its second cylinder 22 so as to lower the spreader tab 17 under the plane of the two blades 9 to press on the interleaf 25, then deploys its first cylinder 20 so as to advance the spreader tab 17 under the package to be depalletized 4.

[0166] In [Fig. 10e], the spreader tab movement module 18 retracts its second cylinder 22 so as to raise the spreader tab 17 above the plane of the two blades 9 in order to lift / spread the associated edge of the package to be depalletized 4 vis-à-vis the interleaf 25.

[0167] In [Fig.1Of], the two blades 9 (always inclined relative to the horizontal) are deployed under the package 4 through the gap created by the spreader tab 17.

[0168] At [Fig. 10g], the pressing cylinder 10 is lowered until its pressing pad 10a is in contact with the top of the package 4, so as to lock the package 4 in the gripper 3.

[0169] In [Fig. 100], the robotic arm 2 straightens the gripper 3 into its transport position so that the two blades 9 are horizontal, then the spreader tab movement module 18 moves the spreader tab 17 back by retracting its first cylinder 20.

[0170] Next, the robotic arm 2 can move the gripper 3 to a deposit location where the package 4 can be deposited by retracting the two blades 9.

[0171] The various steps during the grasping of a package 4 by the gripper 3 are carried out, using the robotic arm 2 of the depalletizing device 1, with a 3D movement (in particular, by tilting the gripper 3 relative to the horizontal) and not flat, said 3D movement being able to be different in the robot trajectory sequence as well as in the tab spreader 17 / blades 9 or blades 9 / tab exit sequence spacer 17 depending on the type of packages 4 to be depalletized and the particular palletization plan of the packages 4 on the pallet 5.

[0172] The multi-articulated robotic arm 2 is equipped with an artificial vision module connected to at least one package detection sensor 19 of the gripper 3 and configured to analyze by artificial intelligence the position and shape of the package(s) to be depalletized 4 and to define, according to the analysis, an appropriate trajectory of the gripper 3 carried by the multi-articulated robotic arm 2 for the capture of each of the package(s) to be depalletized 4 successively.

[0173] The robotic arm 2 can thus retrieve each package 4 according to a different trajectory and strategy, depending on the type of package and the position of package 4 on the pallet 5.

[0174] The depalletizing device 1 according to the present invention thus makes it possible to depalletize packages 4 (such as stacks of magazines) on a pallet 5 using the robotic arm 2 without prior knowledge of the palletization plan of the pallet 5, the artificial vision module making it possible to model the pallet 5 of packages 4 by artificial vision, which then makes it possible to position the gripper 3 with accuracy in relation to the package 4 to be grasped.

[0175] The depalletizing device 1 can thus determine by vision the digital shape data of the packages 4 (perfect back glued, stapled booklet, strapped package, etc.) in addition to other data (theoretical plans, etc.), then choose a picking sequence for each package 4 according to the position of the latter and the type of production.

[0176] The artificial vision module of the robotic arm 2 can, for example, use a machine learning decision process to define the appropriate approach trajectory of the gripper 3 as a function of the position and / or layer of the package 4 to be grasped.

[0177] The depalletizing device 1 according to the present invention thus allows the use of 3D trajectory sequences in space differentiated by learning and branches differentiated according to the position of the package 4 on the layer, the position of the layer on the pallet 5 and the type of production, the artificial vision module being able, for example, to make decisions on trajectories and picking scenarios according to criteria and strategies pre-recorded or pre-learned by technicians according to production situations.

[0178] According to another particular embodiment of the invention, the depalletizing device 1 may also include at least two separate multi-articulated robotic arms 2 each carrying a gripper 3, said at least two multi-articulated robotic arms 2 then allowing packages 4 to be depalletized on a pallet 5 in an alternating manner, so as to increase the depalletizing rate.

[0179] In addition, for the gripping of packages without neighbors and without counter-support on the first layers of the pallet 5 (i.e., the lowest layers for which the spreader tab 17 cannot create a sufficient gap / interstice by pressing on the lower layer), when the gripper 3 of one of the first of the at least two multi-articulated robotic arms 2 is gripping the package to be depalletized 4, the gripper 3 of another of the at least two multi-articulated robotic arms 2 can come against the edge of the package 4 opposite to that opposite the gripper 3 of the first multi-articulated robotic arm 2, in order to prevent the printed materials of the package 4 being picked up from coming apart during the gripping of the package 4.

[0180] It is understood that the particular embodiments which have just been described have been given by way of example, by way of indication and not limitation, and that modifications may be made without departing from the present invention.

Claims

Demands

1. A gripper (3) for a depalletizing device (1), said gripper (3) being configured to be carried by a robotic arm of a depalletizing device (2), said gripper (3) comprising a gripper body (8) having, at its base, at least one retractable flat support member having a retracted position inside the gripper body (8) and a deployed position at the front of the gripper body (8), the gripper body (8) further having, in its upper part, a pressing member configured to move in relation to at least one support member in the deployed position, the at least one support member in the deployed position and the pressing member being configured to grasp between them a package to be depalletized (4), the at least one support member being horizontal and the pressing member being vertical in a transport position of the gripper (3), characterized in that said gripper (3) further comprises,At the base of the gripper body (8), a retractable, beveled spreader tab (17) is arranged parallel to at least one support member and connected to a spreader tab movement module (18). During a spreader tab (17) deployment phase, this module is configured to lower the spreader tab (17) below the plane of at least one support member, advance the spreader tab (17) to the front of the gripper body (8), and then raise the spreader tab (17) above the plane of at least one support member so as to separate one of the edges of the package to be depalletized (4) from the layer on which it rests before the at least one support member is deployed under the package to be depalletized (4). During a spreader tab (17) retraction phase, the module is configured to retract the spreader tab (17) inside the body. of the grasping body (8).

2. Gripper (3) according to claim 1, characterized in that the spreader tab movement module (18) comprises a first cylinder (20) configured to advance / retreat the spreader tab (17), and a second cylinder (22) configured to lower / raise the spreader tab (17).

3. Gripper (3) according to claim 1 or 2, characterized in that it further comprises a package retention element (26) configured prior to the tab deployment phase spreader (17), to hold the edge of the package to be depalletized (4) opposite the one facing the gripper (3).

4. Gripper (3) according to claim 3, characterized in that the package retaining member (26) comprises a cantilevered support (27) arranged at the front of the gripper body (8) and carrying a stop element (29) configured, prior to the deployment phase of the spreader tab (17), to abut against at least one of the edge of the package to be depalletized (4) opposite that facing the gripper (3) and the top of the package to be depalletized (4) on the side of the edge opposite that facing the gripper (3).

5. Gripper (3) according to claim 4, characterized in that the package retaining member (26) further comprises a vertical displacement device configured to vertically move the stop element (29) so that it comes to rest against at least one of the edge of the package to be depalletized (4) opposite the one facing the gripper (3) and the top of the package to be depalletized (4) on the edge opposite the one facing the gripper (3).

6. Gripper (3) according to claim 5, characterized in that the package retaining member (26) further comprises a horizontal displacement device configured to horizontally move the stop element (29) along the cantilevered support (27).

7. Gripper (3) according to any one of claims 1 to 6, characterized in that the gripper (3) further comprises at least one package detection sensor to be depalletized (19) from among: - at least one infrared sensor; - at least one laser sensor; and - at least one camera.

8. Gripper (3) according to any one of claims 1 to 7, characterized in that at least one retractable support member consists of two parallel retractable blades (9) forming a fork, the spreader tab (17) being arranged between said two blades (9).

9. Gripper (3) according to any one of claims 1 to 8, characterized in that the pressing member consists of at least one pressing cylinder (10), optionally carrying a pressing pad (10a) opposite at least one support member.

10. A depalletizing device (1), characterized in that it comprises at least one multi-articulated robotic arm (2) carrying a gripper (3) according to any one of claims 1 to 9, said at least one arm multi-articulated robotic arm (2) being configured to tilt the gripper (3) relative to the horizontal prior to grasping a package to be depalletized (4) such that, after the spreading of one of the edges of the package to be depalletized (4) by the spreader tab (17) when the gripper (3) is tilted by at least one multi-articulated robotic arm (2), at least one support member is deployed under the package to be depalletized (4) while being tilted relative to the horizontal.

11. Depalletizing device (1) according to claim 10 depending on claim 7, characterized in that at least one multi-articulated robotic arm (2) is equipped with an artificial vision module connected to at least one of at least one package detection sensor (19) of the gripper (3) and an optical detection system configured to detect the three-dimensional plane of the packages (4) on the pallet (5) to be depalletized, the artificial vision module being configured to analyze by artificial intelligence the position and shape of the package(s) to be depalletized (4) and to define, according to the analysis, an appropriate trajectory of the gripper (3) carried by at least one multi-articulated robotic arm (2) for grasping each of the package(s) to be depalletized (4) successively.

12. Depalletizing device (1) according to claim 11, characterized in that the machine vision module is configured to define the appropriate trajectory of the gripper (3) by machine learning.

13. A method for depalletizing a package to be depalletized (4) using a depalletizing device (1) according to any one of claims 10 to 12, characterized in that the method comprises: - moving, by means of at least one robotic arm (2), the gripper (3) near one of the edges of the package (4); - tilting, by means of at least one robotic arm (2), the gripper (3) relative to the horizontal; - deploying, by means of the spreader tab movement module (18), the spreader tab (17) so as to spread the associated edge of the package (4) away from the layer on which the package (4) rests; - deploying at least one support member of the gripper (3) under the package (4); - lower the pressing member to block the package (4) between at least one support member and the pressing member; - straighten, by at least one robotic arm (2), the gripper (3) in its transport position so that at least one support member is horizontal; - retract, by the spreader tab movement module (18), the spreader tab (17); and - move, by at least one robotic arm (2), the gripper (3) to a deposit location where the package (4) is deposited by retracting at least one support member.

14. A depalletizing method according to claim 13, characterized in that the step of deploying the spreader tab (17) comprises: - deploying the second cylinder (22) of the spreader tab movement module (18) so as to lower the spreader tab (17) below the plane of the at least one support member; - deploying the first cylinder (20) of the spreader tab movement module (18) so as to advance the spreader tab (17) below the package to be depalletized (4); and - retracting the second cylinder (22) of the spreader tab movement module (18) so as to raise the spreader tab (17) above the plane of the at least one support member in order to lift the associated edge of the package to be depalletized (4) before the deployment of the at least one support member.

15. Depalletizing device (1) according to any one of claims 10 to 12, characterized in that it comprises at least two multi-articulated robotic arms (2) each carrying a gripper (3), said at least two multi-articulated robotic arms (2) being configured to depalletize packages (4) on a pallet (5) in an alternate manner.

16. Depalletizing device (1) according to claim 15, characterized in that, when the gripper (3) of a first of the at least two multi-articulated robotic arms (2) is grasping a package to be depalletized (4), the gripper (3) of another of the at least two multi-articulated robotic arms (2) is configured to come against the edge of the package (4) opposite to that opposite the gripper (3) of the first multi-articulated robotic arm (2).