Pantograph Articulated Arm for Depalletizing Machine Gripping Head
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Solution Overview
Problem
Compact, manually-controlled depalletizing machines require significant operator skill and effort due to the non-linear movement of the gripping head, which can lead to collisions and increased installation space requirements.
Innovation Solution
Incorporation of a pantograph-movement articulated arm that guides the gripping head along a rectilinear trajectory, reducing the need for manual control of the gripping head's trajectory and minimizing the risk of collisions, while maintaining the head parallel to a reference plane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a manually-controlled depalletizing machine with a swinging plane trajectory is used, then the machine has compact dimensions and is cost-effective, but the operator requires significant skill and effort to control the non-linear movement of the gripping head
Solution Approach 1:
The patent introduces a rectilinear guide mechanism as an intermediary between the operator's manual control and the gripping head. This guide constrains the gripping head to move only along a vertical rectilinear path, mediating the operator's input forces and converting the complex swinging plane motion into simple vertical movement. The guide acts as a mechanical mediator that simplifies the operator's task while maintaining the compact manually-controlled design.
2Device complexity
If the gripping head moves on a horizontal swinging plane, then the machine structure is simplified, but the non-linear trajectory increases the risk of collisions and requires more installation space
Solution Approach 1:
Instead of allowing the gripping head to move freely on a horizontal swinging plane and then trying to prevent collisions, the patent inverts the approach by first constraining the motion to a safe rectilinear path and then allowing the swinging motion to occur within those constraints. The rectilinear guide prevents horizontal deviation that could cause collisions, while still permitting the necessary vertical movement for depalletizing operations.
3Volume of moving object
If the gripping head follows a non-linear arched trajectory, then the machine can be compact, but the operator must manually compensate for radial components of movement increasing effort
Solution Approach 1:
The patent extracts the problematic radial movement component from the operator's control task by introducing a rectilinear guide. The guide takes out the horizontal swinging motion and converts it into pure vertical movement, removing the need for the operator to compensate for radial components. This extraction of the harmful motion component reduces operator effort while maintaining machine compactness.
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
Simplifies the disassembly process, reduces operator effort, and allows for installation in narrower spaces by ensuring the gripping head moves in a controlled, safe, and linear path.
Implementation Method 1
Incorporation of a pantograph-movement articulated arm that guides the gripping head along a rectilinear trajectory
Implementation Method 2
a head-holder carriage, slidingly mounted on the bearing column in vertical direction
Data Source
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AI summary
A depalletizing machine (1) for disassembling pallets (2) comprising a gripping head (15) which hangs below a bearing bracket (14) with the possibility of freely sliding with respect to the latter in a direction (d) locally parallel to a longitudinal axis (F) of the head and locally perpendicular to a second reference axis (B); and an articulated arm with pantograph movement (27), which is positioned below a supporting arm (13), with a first end hinged on a head-holder carriage (7) and a second end hinged on the gripping head (15), and is structured so as to open like a scissor on a horizontal plane locally parallel to the swinging plane of the supporting arm (13), thus maintaining the two ends of the articulated arm (27) always on the same horizontal reference straight line (r) that does not spatially move.