Mixed-Load Depalletizing Tool With Adaptive Grip Assemblies
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Solution Overview
Problem
Existing depalletizing systems struggle with efficiency when handling mixed loads of varying product sizes, particularly when products are large, leading to increased cycle times and reduced productivity.
Innovation Solution
A vision-assisted robotized depalletizer equipped with a depalletizing tool that includes a frame, grip assemblies, and an article unit seat member, allowing for variable grip configurations based on product size, enabling efficient picking and placement of case units on a conveyor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot arm equipped with a layer depalletizing tool is used to remove products layer by layer, then depalletizing efficiency is improved for small to medium sized products, but cycle time increases and efficiency drops when products are large
Solution Approach 1:
The depalletizing tool employs movable and adjustable grip assemblies that can dynamically adapt their position and configuration based on product size. The first grip assembly can move between gripping and ungripping positions, and the second grip assembly can be positioned at different locations, allowing the system to optimize its operation for different product sizes and reduce cycle time.
Solution Approach 2:
The system changes operational parameters including grip force, grip assembly positions, and tool configuration based on detected product characteristics. This allows the same tool to efficiently handle both small to medium products (using layer depalletizing) and large products (using individual picking) by adjusting its parameters rather than requiring separate systems.
2Loss of time
If products are picked one by one manually or robotically, then cycle time is reduced for large products, but the footprint of the depalletizing system increases
Solution Approach 1:
The depalletizing tool is designed as a universal system that can perform multiple functions: layer depalletizing for small to medium products and individual product picking for large products. This multi-functionality eliminates the need for separate depalletizing systems, reducing the overall footprint while maintaining efficiency for both product size categories.
Solution Approach 2:
The patent combines the layer depalletizing capability with individual product picking capability into a single integrated tool. The first and second grip assemblies work together to provide both bulk layer removal and precise individual product handling, merging two previously separate functions into one compact system.
3Stability of the object's composition
If a layer depalletizing tool with multiple grip assemblies is used, then handling stability is improved, but device complexity increases
Solution Approach 1:
The depalletizing tool is segmented into distinct functional modules: a first grip assembly with movable gripping components and a second grip assembly with adjustable positioning. This segmentation allows each module to be optimized for its specific function while maintaining overall system stability, and the modular structure actually reduces complexity compared to a monolithic design.
Solution Approach 2:
The second grip assembly acts as an intermediary that provides additional support and stability during the depalletizing process. By positioning this assembly at different locations, it mediates between the first grip assembly and the product, ensuring stable handling while the movable components provide the necessary gripping action.
4Device complexity
If depalletizing systems are designed for orderly positioned products without gaps, then system simplicity is maintained, but adaptability to mixed load products with varying sizes and gaps is reduced
Solution Approach 1:
The grip assemblies are designed to be movable and dynamically adjustable, allowing them to adapt to products of varying sizes and positions. The first grip assembly can move between gripping and ungripping positions, and the second grip assembly can be positioned at different locations, enabling the system to handle mixed loads with gaps while maintaining relatively simple system architecture.
Solution Approach 2:
The depalletizing tool is designed as a universal system that can handle both orderly positioned products without gaps and mixed load products with varying sizes and gaps. This versatility is achieved through movable grip assemblies that can adapt their configuration, allowing the same simple system structure to serve multiple depalletizing scenarios.
Data Source
AI summary
A tool, for depalletizing mixed pallet load article units, includes: a frame; a first grip assembly interfacing and engaging with a surface of a pallet load article unit, where the first grip assembly is movable, relative to the frame, in a first direction between gripping and ungripping positions; a second grip assembly, movably connected to the frame, and has at least a grip contact point oriented to interface with and generate a grip force, on another surface of the pallet load article unit, in a direction angled to the first direction, the second grip assembly being configured so as to effect, in combination with the first grip assembly, stable hold and pose of the pallet load article unit in a predetermined position; and an article unit seat member, is movably mounted to the frame, and disposed in opposition to at least one of the first and the second grip assembly.