Depalletizing Robot Gripping Head with Movable Arms
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Solution Overview
Problem
Existing depalletizing systems struggle to securely move reams of cartons wrapped by a strap, as the cartons can bend and slip due to their flexibility and the uneven suction action on the top carton.
Innovation Solution
A depalletizing system and method using a multi-axis robot with a gripping head equipped with suction mouths and movable arms to securely collect and position the ream, ensuring stable movement by constraining the ream on both sides of the strap.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If suction mouths are used to collect the ream from the top, then the ream can be gripped and moved, but the cartons can bend and slip due to uneven suction action on the top carton
Solution Approach 1:
The patent transitions from single-point top suction to multi-dimensional constraint by adding lateral sidewalls and bottom arms that contact the ream from multiple spatial dimensions, distributing the gripping force evenly across the entire ream structure rather than concentrating it on the top surface
Solution Approach 2:
The gripping head is divided into multiple independent constraint elements: top suction mouths, lateral sidewalls, and bottom arms. Each segment performs a specific constraining function, collectively providing stable multi-point support that prevents carton bending and slipping
2Device complexity
If only top suction is applied to the ream, then the gripping mechanism is simple, but the cartons folded on the sides and assume a configuration warped downwards
Solution Approach 1:
The lateral sidewalls and bottom arms are designed as movable elements that can dynamically adjust their positions to accommodate variations in ream dimensions and carton configurations, providing adaptive constraint that maintains ream shape stability without requiring overly complex fixed structures
Solution Approach 2:
Multiple constraint functions (top suction, lateral confinement, bottom support) are merged into a single integrated gripping head assembly, achieving comprehensive ream stabilization through a unified structure rather than separate devices
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively minimizes the risk of cartons slipping or bending during transport, ensuring a secure and stable positioning of the ream, thereby enhancing the efficiency of the depalletizing process.
Implementation Method 1
Once positioned on the ream, the suction mouths create a vacuum which allows the ream to be constrained and then moved
Implementation Method 2
Collecting the ream may include exerting a suction force on the ream by one or more suction mouths
Data Source
AI summary
A method for depalletising a ream of cartons wrapped by a strap. The method may include collecting, by a robot gripping head, the ream of cartons placed on a pallet. Collecting the ream may include exerting a suction force on the ream by one or more suction mouths. The method may also include moving a first arm and a second arm to position the first arm and the second arm below the ream and retain the ream in a positioning zone obtained in the head.