Depalletizing system and method for selective transfer of frozen goods

Abstract

A depalletizing system for removing frozen blocks of goods stacked in layers on a pallet comprises a receiving surface, a detaching unit configured to detach a top layer of frozen blocks from an underlying layer, and a transport unit configured to push all or part of the detached top layer across the underlying layer and onto the receiving surface. The transport unit includes a first row of individual carrier arms, each being independently movable between a lifted and a lowered configuration. A control unit is configured to instruct each carrier arm to assume a specific configuration.

Description

[0001] Depalletizing system and method for selective transfer of frozen goods

[0002] Technical field of the invention

[0003] The present invention relates to depalletizing systems for frozen goods stacked on a pallet in layers.

[0004] Background of the Invention

[0005] De-palletizing frozen blocks from a full pallet is a technically demanding process commonly encountered in industries handling frozen food products such as fish, meat, or vegetables. The process must ensure that individual blocks are separated without compromising their structural integrity or hygienic condition, while maintaining efficiency and safety.

[0006] Typically, the depalletizing process begins with an inspection of the pallet to verify the condition of the blocks and their packaging. This inspection helps to identify potential defects, assess the stability of the pallet, and determine the optimal approach for block removal.

[0007] A central step in the process involves the use of detaching implements, such as knives, axes, or blades, to loosen the frozen blocks from one another. These tools are generally fabricated from corrosion-resistant materials, such as highgrade stainless steel, to withstand mechanical stresses and comply with sanitary requirements. In small-scale operations, this task is performed manually by workers using handheld detaching tools. In larger-scale or automated facilities, mechanical systems equipped with motorized detaching mechanisms may be employed. Automation has become increasingly important in depalletizing operations, offering benefits such as improved consistency, reduced labor intensity, and enhanced workplace safety. Automated systems can ensure a steady and reliable flow of blocks for downstream processing, which may include further inspection, packaging, or incorporation into production lines.

[0008] Once detached, the blocks are typically transferred to a receiving surface, such as a conveyor belt. This transport step must be handled with care to preserve the structural integrity of the blocks, as damage may result in product loss and reduced processing efficiency.

[0009] In scenarios where only a subset of blocks from a pallet is required — such as when combining multiple ingredients for products like animal feed — the depalletizing task becomes more complex. In such cases, each pallet often contains a single type of frozen ingredient, and only a portion of the pallet must be unloaded. This necessitates selective removal of blocks, typically from the upper layers, while preserving the structural stability of the remaining pallet.

[0010] Selective depalletizing begins with identifying the location and number of blocks to be removed. The strategy for removal must minimize disruption to the remaining stack. In advanced systems, robotic arms equipped with sensors and grippers may be used to extract individual blocks with precision. Such robotic systems are programmed to operate from the most effective angle to minimize destabilization of adjacent blocks.

[0011] However, the use of robotic systems for selective depalletizing introduces certain limitations. One significant constraint is the operational speed. Due to the need for high precision and cautious handling, robotic systems may operate more slowly than skilled manual labor. Additionally, variations in block alignment, surface irregularities, or inconsistent freezing patterns can challenge the adaptability of robotic systems, even when advanced sensors are used. This may lead to reduced throughput or the need for system recalibration.

[0012] Robotic systems also require a high level of capital investment and system integration. Costs associated with setup, programming, and maintenance — along with the need for controlled operating environments, such as consistent low- temperature zones — can limit their applicability in certain industrial contexts, particularly in facilities with budget constraints or variable production needs.

[0013] As a result, mechanical depalletizing systems may offer a more suitable alternative in many applications. These systems can provide a favorable balance between automation and simplicity. Mechanical depalletizers are generally more robust, cost-effective, and easier to maintain. They can be optimized for rapid, repetitive operations without the need for highly precise, variable control. Their operation is less sensitive to environmental variations and they typically require less technical training for operators.

[0014] Nevertheless, mechanical systems must be carefully engineered to handle the particular characteristics of frozen blocks, such as surface adhesion, weight, and fragility. The system should reliably separate blocks without damaging them and should integrate effectively with downstream workflows, including inventory management and material handling systems.

[0015] One example of prior art in this domain is DE20215493 (U1 ), which discloses a de-stacking device for stacks of frozen product blocks. The device includes at least two frames, each with a lifting device for receiving and raising a stack. A horizontally movable de-stacking wedge, controlled by a control unit, is adapted to separate vertically stacked frozen blocks. Each frame has an abutment below the wedge's movement path to support the remaining part of the stack. The de- stacking wedge is guided within a frame that is movable relative to the main frame. Despite known solutions such as the de-stacking device disclosed in DE20215493 (U1 ), challenges remain in the selective removal of frozen blocks from a pallet, particularly when only part of the top layer must be extracted while maintaining the structural integrity of the remaining stack. Existing systems either lack the flexibility to selectively depalletize individual blocks or rely on complex and costly robotic mechanisms that may be impractical for many industrial settings.

[0016] There is therefore a need for a depalletizing system that enables efficient, selective transport of frozen blocks from a pallet using a robust and cost-effective mechanism, with improved operational speed, modularity, and reduced complexity compared to robotic systems.

[0017] Summary of the invention

[0018] The present invention addresses these and other needs by providing a depalletizing system and method that allow for controlled, selective transfer of frozen blocks using individually operable mechanical carrier arms. The system reduces reliance on complex robotics while offering adaptability and precision in the handling of frozen goods.

[0019] The present invention relates to a depalletizing system and method for removing frozen blocks of goods stacked in layers on a pallet.

[0020] According to one aspect, the invention provides a depalletizing system comprising:

[0021] - a receiving surface;

[0022] - a detaching unit configured to detach a top layer of frozen blocks from the underlying layer; and

[0023] - a transport unit configured to push all or part of the detached top layer across the underlying layer and onto the receiving surface.

[0024] The transport unit includes a first row of individual carrier arms, each carrier arm being independently movable between a lifted and a lowered configuration. A control unit is configured to control each carrier arm independently.

[0025] According to another aspect, the invention provides a method for depalletizing frozen blocks of goods, comprising the steps of detaching a top layer, selectively configuring a plurality of carrier arms, and transporting the detached layer or a portion thereof to a receiving surface.

[0026] Brief description of the figures

[0027] Figure 1 shows a depalletizing system according to the present invention.

[0028] Figure 2 shows a depalletizing system according to the present invention, where covers have been removed to better show the individual mechanisms.

[0029] Figure 3 shows a detaching unit and a transport unit according to the present invention.

[0030] Figure 4 shows a detaching unit and a transport unit according to the present invention.

[0031] Figures 5 and 6 show schematic process steps of how the transport unit operates. Detailed description of the invention

[0032] The following examples are not meant to be limiting for the scope of the invention but are merely present to show possible and preferred embodiments of the present invention.

[0033] In the present context, the term “in general” when used when mentioning a feature relating to the present invention, it must be understood that the feature may be used with all embodiments of the invention, even if the mentioning is made in the detailed part of the document.

[0034] In the following, the terms “de-palletizer” and “depalletizing system” may be used interchangeably.

[0035] The present invention provides a mechanical solution that is preferred for the selective de-palletizing of frozen blocks, particularly when considering factors such as cost, speed of operation, and reliability. The mechanical solution provides an effective balance between automation and manual dexterity, addressing many of the challenges associated with robotic systems.

[0036] While the mechanical solution of the present invention may lack the advanced adaptability of robots, it can be designed with adjustable components to handle different block sizes and pallet configurations. Simple adjustments can often be made manually or through straightforward mechanical controls.

[0037] A first aspect relates to a depalletizing system for frozen blocks of goods stacked on a pallet in layers, the system comprising:

[0038] - a receiving surface, such as a conveyor;

[0039] - a detaching unit adapted for detaching a top layer of blocks of frozen goods from the underlying layer of blocks of frozen goods stacked on a pallet; and

[0040] - a transport unit adapted for pushing the, or a part of the, detached top layer of blocks of frozen goods across the underlying layer of blocks of frozen goods and onto the receiving surface; wherein the transport unit comprises:

[0041] - a first row of individual carrier arms, each carrier arm individually adapted for being in a lifted configuration and in a lowered configuration; and

[0042] - a control unit configured for instructing each of said carrier arms to position itself in either its lifted configuration or its lowered configuration.

[0043] In the present context, the term “receiving surface” is to be understood broadly, e.g., covering a tabletop, a conveyor, a transport box, a worker’s hands, or the like.

[0044] In one or more embodiments, the transport unit further comprises:

[0045] - a second row of individual carrier arms arranged opposite to the first row of individual carrier arms, each carrier arm individually adapted for being in a lifted configuration and in a lowered configuration; and wherein the control unit is configured for instructing each of said carrier arms to position itself in either its lifted configuration or its lowered configuration.

[0046] In one or more embodiments, the transport unit is adapted for moving the first row of individual carrier arms in one direction towards the receiving surface, such as a conveyor, in a first operation step, and subsequently move the second row of individual carrier arms in the opposite direction away from the receiving surface.

[0047] Preferably, one or more carrier arms of the second row of individual carrier arms, in their lowered configuration, are adapted to function as a stop for individual blocks of frozen goods from the top layer of blocks of frozen goods during the first operation step.

[0048] Preferably, one or more carrier arms of the first row of individual carrier arms, in their lowered configuration, are adapted to function as a stop for individual blocks of frozen goods from the top layer of blocks of frozen goods during a second operation step.

[0049] Referring to Figure 1 , the disclosed depalletizing system 100 for frozen blocks 10 of goods stacked on a pallet 20 in layers comprises a pallet lift 110 (which in some embodiments may be a separate entity), a receiving surface (e.g., a conveyor 120, tabletop, or container), a detaching unit 130 adapted for detaching a top layer of blocks 10 of frozen goods from the underlying layer of blocks of frozen goods stacked on a pallet 20, and a transport unit 140 adapted to push all or a portion of the detached top layer of blocks 10 of frozen goods across the underlying layer of blocks of frozen goods and onto the receiving surface.

[0050] In general, the automatic or semi-automatic pallet lift 110 used in or with a de- palletizer 100 is a critical component designed to facilitate the efficient and safe repositioning of the top layer of the stacked goods after removal of a layer, i.e. , the top layer is constantly changing as the former top layer is removed and a new top layer is revealed. In order for the other mechanisms to function, the newly revealed top layer must be leveled (in a vertical direction) relative thereto.

[0051] The pallet lift 110 is preferably constructed with a robust base frame made from high-strength steel to provide stability and support for heavy loads. This frame may be securely mounted to the floor or integrated (as shown) into the de- palletizer 100 to ensure steady operation. The lift platform 116, which supports the pallets, is typically reinforced with steel to handle the weight and stress of frequent use.

[0052] The lifting mechanism (e.g., exemplified in Figure 2) in these systems is usually hydraulic, electric motor-driven, or utilizes a scissor lift design. Hydraulic systems use cylinders filled with pressurized fluid to smoothly raise and lower the platform, offering powerful and precise control. Electric motor-driven lifts use chains or belts to move the platform, allowing for accurate positioning. Scissor lifts, with their extending and contracting scissor-like structures, provide a compact and efficient means of vertical movement.

[0053] The control system 150 of the pallet lift 110 is automated, often managed by programmable logic controllers (PLCs) or microcontrollers. These controllers ensure precise and synchronized operations within the de-palletizing process, coordinating with other automated elements like the detaching unit 130, the transporting unit 140, and conveyors 120. The control system may include safety features, such as emergency stop buttons, overload protection, and position sensors to ensure safe operation. The control system 150 may also be configured to control other elements of the de-palletizer.

[0054] Guiding elements, such as vertical rails 112, may ensure the platform 116 moves smoothly and remains aligned during operation. Guide wheels 114, and / or other stabilizing components, may also be present to prevent the platform 116 from tilting or wobbling, ensuring the safety of the load and the equipment. Sensors (not shown) may play a critical role in the system: load sensors may monitor the weight to prevent overloading, position sensors may ensure the platform stops accurately at the desired level, and proximity sensors may detect the presence of pallets for efficient and safe handling.

[0055] In operation, the pallet lift 110 works seamlessly with the de-palletizer system. When a pallet 20 needs to be lifted, the platform 116 is positioned beneath the pallet and stack of goods (or the pallet 20 is positioned on the platform 116 as shown in Figure 1), and sensors may confirm the correct placement. Upon receiving a command, the lifting mechanism may be configured to raise the pallet 20 to the required height. Once at the target level, goods may be removed from the pallet and moved onto a receiving surface, such as a conveyor 120. After completion, the platform 116 may be configured to return to its starting position to repeat the process with the next pallet. In general, the detaching unit 130 of a de-palletizer system is a specialized mechanism designed specifically to separate frozen blocks from one another using tools such as knives, blades, and axes. This unit is crucial in automated material handling systems where the efficient and precise separation of tightly packed frozen products is required. Preferably, built on a sturdy frame made of high-strength steel or aluminum, the detaching unit ensures durability and stability while minimizing vibrations to maintain precise operation.

[0056] The separation mechanism within the detaching unit 130 employs cutting tools, such as knives, blades, and axes. In the shown embodiment, curved blades 132 powered by hydraulic, pneumatic, or electric actuators 133 are used, and are (three in each side) here shown in their extended position. The movement from their retracted position to their extended position is necessary to provide a precise insertion between two blocks. These tools, typically made of high-grade stainless steel, are used to slice or break through any ice bonds that hold the frozen blocks together. The blades and knives are designed to cut with precision, minimizing the risk of damaging the frozen products, while effectively breaking the bonds between them.

[0057] Once the blocks are separated, the system employs a transport unit 140, which is the core of the invention. The transport unit 140 comprises a first row 142 of individual carrier arms 143, each carrier arm 143 individually adapted for being in a lifted configuration and in a lowered configuration. In Figures 2-4, five individual carrier arms 143 are shown in their lowered configuration, and other five individual carrier arms 143 are shown in their lifted configuration. The transport unit 140 is designed to push one or more of the separated blocks 10 across the surface of the underlying layer of blocks towards a receiving surface (e.g., a conveyor, tabletop, or container). This mechanism ensures that the blocks are moved smoothly and efficiently without causing damage. The individual carrier arms 143 typically includes a push plate 144 powered by hydraulic, pneumatic, or electric actuators 145. These actuators 145 provide the force needed to move the blocks, ensuring precise control over the movement. The push plates 144 are designed to handle various block sizes and weights, providing versatility in operation. The shown push plates are particularly designed to avoid that block material sticks thereto.

[0058] The control system 150 of both the detaching unit 130 and the transport unit 140 is automated, preferably managed by programmable logic controllers (PLCs) that coordinate the cutting and transport movements to ensure precise control. Sensors and feedback systems, including proximity sensors, load sensors, and position sensors, may be present to enhance accuracy and prevent overloading. These systems continuously monitor the operation, making real-time adjustments as needed to ensure smooth and efficient processing.

[0059] Safety features are integral to the detaching unit’s design, including emergency stop mechanisms and protective enclosures to prevent accidental contact and enhance operator safety. The entire process begins with the pallet being positioned by the pallet lift 110, aligning the blocks with the detaching unit 130. The separation mechanism then engages, using knives, blades, or axes to cut through the ice bonds holding the blocks together. Once the blocks are detached, the transport unit 140 pushes them across the surface towards the receiving conveyor 120.

[0060] In a preferred embodiment best seen in Figures 3 and 4, the transport unit 140 includes a first row 142 of individual carrier arms 143 comprising a push plate 144 powered by a hydraulic, pneumatic, or electric actuators 145. This setup allows the push plate 144 to move between a lowered position 144A, ready to perform the transportation operation, and a raised position 144B, clear of the blocks. The actual horizontal movement of the push plate 144 is achieved using a common wheeled chassis 146 on which all the individual carrier arms 143 are mounted. A belt drive mechanism then moves the chassis back and forth along two opposing horizontal guide rods 147.

[0061] Both the detaching unit 130 and the transport unit 140 are preferably built on a robust frame made of high-strength steel or aluminum, ensuring durability and stability. This frame supports the push plates 144, actuators 145, wheeled chassis 146, belt drive system, and guide rods 147, providing a solid foundation for the detaching and transportation operations. The push plate 144 is preferably a flat, reinforced surface designed to engage with the frozen blocks, constructed from high-grade materials, such as steel or aluminum, to withstand repeated use and the forces involved in pushing the blocks. The push plate 144 and its corresponding actuator 145 are mounted on a common wheeled chassis 146, allowing for smooth vertical positioning. When activated, the actuator 145 moves the push plate 144 between a lowered position 144A, where it can engage with the blocks, and a raised position 144B, where it is clear of the blocks.

[0062] The belt drive mechanism responsible for moving the wheeled chassis 146 horizontally may include a continuous belt 148 looped around pulleys and driven by a motor. The belt 148 is typically made of durable, low-stretch material to ensure consistent and reliable movement. The motor rotates the pulleys, causing the belt to move, which in turn drags the wheeled chassis 146 along the two opposing horizontal guide rods 147. These guide rods 147 ensure the chassis 146 moves smoothly and stays aligned during operation.

[0063] In the shown embodiments, the transport unit 140 further comprises a second row 162 of individual carrier arms 163 arranged opposite to the first row 142 of individual carrier arms 143. Each carrier arm 163 is individually adapted for being in a lifted configuration and in a lowered configuration. The control unit 150 is configured for instructing each of the carrier arms 163 to position itself in either its lifted configuration or its lowered configuration. In general, the individual carrier arms 163 of the second row 162, may be identical to the individual carrier arms 143 of the first row 142. Hence, the push plate 164 and its corresponding actuator 165 are also mounted on a common wheeled chassis 166, allowing for smooth vertical positioning. When activated, the actuator 165 moves the push plate 164 between a lowered position 164A, where it can engage with the blocks, and a raised position 164B, where it is free of the blocks. A separate belt drive mechanism then moves the chassis 166 back and forth along the same two opposing horizontal guide rods 147 as the other chassis 146 moves on. In general, the two chassis 146, 166 may use separate guide rods.

[0064] The transport unit 140 is adapted for moving the first row 142 of individual carrier arms 143 in one direction towards the receiving surface (here a conveyor 120) in a first operation step, and subsequently move the second row 162 of individual carrier arms 163 in the opposite direction away from receiving surface. The first row 142 is used to remove blocks from the pallet, and the second row 162 is used either as a stop for preventing individual blocks from falling off the pallet and / or as means for repositioning blocks on the pallet. This is exemplified in Figures 5 and 6, where an open circle defines a carrier arm in its raised configuration, a circled slash defines a carrier arm in its lowered configuration and functioning as a stop, a right arrow defines a carrier arm (from the first row of carrier arms) in its lowered configuration and used to push in the right direction (i.e. , towards the receiving surface), and a left arrow defines a carrier arm (from the second row of carrier arms) in its lowered configuration and used to push in the left direction (i.e., away from the receiving surface). The checkered rectangles define blocks from the top layer on the pallet, and the white rectangles define blocks from the underlying layer of blocks on the pallet. The only differences between Figures 5 and 6 are the numbers and sizes of blocks present in the individual layers. Hence, in the following, Figure 5 will be explained in more detail. Sequential steps A to F are shown. In Step A, a top view of pallet is shown where the top layer of blocks consists of four individual blocks. In Step B, the pallet has been positioned within the de-palletizer, and the top layer has been released from the underlying layer. Each of the first and second rows of carrier arms consists of eleven individual carrier arms. In general, this number may vary from e.g., 2-50 carrier arms, such as 3-45 carrier arms, e.g., 5-40 carrier arms. The more carrier arms, the more flexible the system will be for handling different sizes of blocks. The control unit has instructed six of the carrier arms in the first row (the left row) to be in a raised position, corresponding to a little more than the width of a single block. This is to avoid pushing on the edge of a block that should not be moved. The five remaining carrier arms are instructed to be in their lowered position. On the right side, the control unit has instructed five of the carrier arms in the second row (the right row) to be in a lowered position, corresponding to a little less than the width of a single block. This is to avoid blocking the edge of a block that needs to be moved. The six remaining carrier arms are instructed to be in their raised position. In Step C, the transport unit moves the first row of carrier arms towards to receiving surface. Due to the positioning of carrier arms in both the first and second row, only two of the four blocks are moved. Only the front block is transferred onto the receiving surface, while the rear block is partly extending beyond the right edge of the pallet. This displacement was utilized to secure that the front block was securely transported onto the receiving surface. In Step D, the control unit changes the positions of the carrier arms. Now all carrier arms of the first row are in their lowered position, acting as a stop for the remaining three blocks in top layer.

[0065] Only the five lower (relative to the figure) carrier arms of the second row changes position from their raised position to their lowered position. The transport unit then moves the second row away from the receiving surface and towards the first row until the block is correctly positioned on the pallet. A new operation may now be performed, either subsequently, or at a later stage. This is reflected in Steps E and F, where yet another block from the top layer is moved onto the receiving surface. Here, the first row is capable to move far enough towards the right side so that the block is securely placed onto the receiving surface.

[0066] In general, the control unit 150 may comprise one or more programmable logic controllers (PLCs), microcontrollers, or general-purpose processors equipped with memory and input / output interfaces. The control unit is configured to receive input signals from various sensors, including position sensors, load sensors, and proximity sensors, and to output control signals to actuators associated with the detaching unit 130, the transport unit 140, and the pallet lift 110. Software or firmware stored in memory may define one or more control routines or algorithms that determine which carrier arms are to be raised or lowered, and when the carrier arm rows are to be moved horizontally. In some embodiments, the control unit may include or be connected to a human-machine interface (HMI), such as a touchscreen or keypad, for manual input and status monitoring.

[0067] In other embodiments, the control unit may be implemented as a computer system comprising a processor and memory storing instructions which, when executed, perform one or more of the control routines described herein.

[0068] Communication between sensors, actuators, and the control unit may be wired or wireless, using standard industrial communication protocols such as Modbus, EtherCAT, or CAN bus.

[0069] In general, the control unit 150 may be configured to operate based on preprogrammed modes or real-time input. In one embodiment, a user interface allows operators to select between different depalletizing programs, such as fulllayer transfer, partial-layer transfer, or selective block removal. The control unit may store block pattern templates to automate the positioning of carrier arms based on known product dimensions. Alternatively, the control unit may receive real-time input from sensors or a central production control system to dynamically adjust which carrier arms are engaged.

[0070] The system may further comprise one or more sensors configured to detect the position, presence, or orientation of frozen blocks on the pallet. These may include optical sensors, such as cameras or laser rangefinders, arranged above or beside the pallet, or proximity sensors integrated into the carrier arms themselves. The sensor data can be used by the control unit 150 to verify block alignment, identify gaps or irregularities, and optimize carrier arm selection to avoid collisions or misalignment during transport.

[0071] To ensure accurate transport of blocks across the pallet surface, the depalletizing system may include side guides, lateral alignment rails, or surface friction modifiers. These features help maintain the orientation of the blocks during horizontal movement and reduce the risk of tilting, rotation, or slipping. In some embodiments, the transport path may include low-friction coatings, embedded rollers, or guiding grooves to further enhance smooth movement and protect product integrity.

[0072] In applications involving food-grade frozen products, the system may be designed for easy cleaning and sanitation. Push plates 144, 164 and carrier arms 143, 163 may be constructed from corrosion-resistant materials and configured for tool-less removal. In some embodiments, surfaces are sloped or equipped with drainage channels to facilitate wash-down procedures. Protective housings and splash guards may also be provided around moving components to prevent contamination and ensure hygienic operation.

[0073] The system may include error-detection routines to identify operational faults such as jammed blocks, incomplete detachment, or actuator misalignment. Upon detection of an anomaly, the control unit 150 may initiate a retry operation, halt the process, or alert an operator. Redundant sensors may confirm that all carrier arms are in the correct configuration before any horizontal motion is initiated. Safety mechanisms such as interlocked guards, overload protection, and dualcommand verification may be implemented to ensure safe operation under all conditions.

[0074] Although the transport unit 140 is shown using a belt drive system to move the carrier arm chassis, alternative actuation mechanisms may be employed. These include linear actuators, rack-and-pinion drives, lead screws, or chain drives, each selected based on design constraints, cost, and desired performance characteristics. Similarly, while the system is described with two rows of opposing carrier arms, in some embodiments a single row of arms may cooperate with a fixed physical stop or wall to achieve similar transport effects.

[0075] References

[0076] 10 Block of goods

[0077] 20 Pallet

[0078] 100 Depalletizing system

[0079] 110 Pallet lift

[0080] 112 Guide rail

[0081] 114 Guide wheel

[0082] 116 Platform

[0083] 120 Conveyor

[0084] 130 Detaching unit

[0085] 132 Blade

[0086] 133 Actuator

[0087] 140 Transport unit

[0088] 142 First row

[0089] 143 Carrier arm

[0090] 144 A,B Push plate

[0091] 145 Actuator

[0092] 146 Chassis

[0093] 147 Guide rod

[0094] 148 Belt

[0095] 150 Control unit

[0096] 162 Second row

[0097] 163 Carrier arm

[0098] 164 A, B Push plate

[0099] 165 Actuator

[0100] 166 Chassis

[0101] 168 Belt

Claims

Claims1 . A depalletizing system (100) for removing frozen blocks of goods stacked on a pallet (20) in layers, the system comprising:- a receiving surface, such as a conveyor (120);- a detaching unit (130) adapted to detach a top layer of blocks (10) of frozen goods from an underlying layer of blocks of frozen goods stacked on the pallet (20); and- a transport unit (140) adapted to push all or a part of the detached top layer of blocks (10) of frozen goods across the underlying layer of blocks of frozen goods and onto the receiving surface; characterized in that the transport unit (140) comprises:- a first row (142) of individual carrier arms (143), each carrier arm (143) being independently movable between a lifted configuration and a lowered configuration; and- a control unit (150) configured to instruct each carrier arm (143) to assume either its lifted configuration or its lowered configuration.

2. The system (100) according to claim 1 , wherein the transport unit (140) further comprises:- a second row (162) of individual carrier arms (163) arranged opposite to the first row (142) of individual carrier arms (143), each carrier arm (163) being independently movable between a lifted configuration and a lowered configuration; and wherein the control unit (150) is further configured to instruct each carrier arm (163) to assume either the lifted configuration or the lowered configuration.

3. The system (100) according to claim 2, wherein the transport unit (140) is adapted to:- for move the first row (142) of individual carrier arms (143) in one direction toward the receiving surface, such as a conveyor (120), in a first operation step; and- subsequently move the second row (162) of individual carrier arms (163) in an opposite direction, away from receiving surface.

4. The system (100) according to claim 3, wherein one or more carrier arms of the second row (162) of individual carrier arms (163), in their lowered configuration, are adapted to function as a stop for individual blocks of frozen goods from the top layer of blocks of frozen goods during the first operation step.

5. The system (100) according to any one of the claims 3-4, wherein one or more carrier arms of the first row (142), when in the lowered configuration, are adapted to function as a stop for individual blocks of frozen goods from the top layer during a second operation step.

6. The system according to any one of the preceding claims, wherein the control unit (150) comprises a programmable logic controller (PLC), microcontroller, or processor-based system configured to receive input signals from one or more sensors and to generate output signals for controlling the detaching unit, the transport unit, and the carrier arms.

7. The system according to any one of the preceding claims, wherein the control unit (150) comprises a processor and a memory storing instructions which, when executed by the processor, cause the system to:- receive sensor input indicating the position or size of blocks;- determine which carrier arms are to be set in the lifted or lowered configuration; and- control movement of the carrier arms and transport unit in accordance with a predefined depalletizing operation.

8. The system according to any one of the preceding claims, wherein the receiving surface is a conveyor (120), a tabletop, or a container.

9. A method for depalletizing frozen blocks of goods stacked in layers on a pallet (20), the method comprising:- detaching a top layer of frozen blocks (10) from an underlying layer on the pallet using a detaching unit (130);- positioning a first row (142) of individual carrier arms (143), each selectively movable between a lifted configuration and a lowered configuration, in contact with the detached top layer;- controlling the configuration of each carrier arm (143) in the first row via a control unit (150) to selectively engage or release individual blocks of the top layer; and- moving the first row (142) of carrier arms (143) in a direction toward a receiving surface to push all or part of the detached top layer across the underlying layer and onto the receiving surface.

10. The method according to claim 9, further comprising:- providing a second row (162) of individual carrier arms (163) arranged opposite the first row (142), each carrier arm (163) being selectively movable between a lifted configuration and a lowered configuration; and- controlling the configuration of each carrier arm (163) in the second row via the control unit (150).11 . The method according to claim 10, further comprising:- during a first operation step, moving the first row (142) of carrier arms (143) toward the receiving surface while at least one carrier arm (163) in the second row (162) is in the lowered configuration to function as a stop for selected blocks.

12. The method according to claim 11 , further comprising:- during a second operation step, moving the second row (162) of carrier arms (163) in the opposite direction, while at least one carrier arm (143) in the first row (142) is in the lowered configuration to function as a stop for selected blocks.

13. The method according to any one of claims 9-12, further comprising:- determining, via a sensor or user input, which blocks from the top layer are to be pushed toward the receiving surface;- selectively setting the configurations of the carrier arms in accordance with this determination.

14. The method according to any one of claims 9-13, wherein the receiving surface is a conveyor (120), a tabletop, or a container.

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