Tool and method for layer depalletizing
The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.
1. A tool for layer depalletizing comprising:
a frame for mounting the tool to a robot;
clamps movably mounted to the frame to grip a pallet layer; and
a pad, mounted to the frame above the clamps, that is transversely movable towards and away a level defined by the clamps, and that defines a reference surface used in an evaluation performed by a controller to determine a real height of the pallet layer when the pad is moved towards the pallet layer.
2. The tool as recited in claim 1 , wherein the pad is movable via a pad actuating assembly including:
at least one shaft rotatably mounted to the frame;
at least one link coupling the pad at a first end and to the at least one shaft at a second end;
an actuator secured to the frame and operatively coupled to the at least one shaft; and
a sensor coupled to the actuator so as to effect determination of the height of the pallet layer when the pad is moved towards the pallet layer.
3. The tool as recited in claim 1 , wherein the pad includes suction elements to handle a slip sheet.
4. A method for layer depalletizing comprising:
determining a real position of a layer by moving a pad towards a top surface of the layer where the pad defines a reference surface used in an evaluation performed by a controller to determine the real position of the top surface of the layer when the pad is moved towards the layer;
positioning clamps around the layer using the real position of the layer;
using the clamps to grip and at least partially lift the layer;
moving curtains under the layer;
moving the layer with the clamps to a first area, while the curtains are maintained under the layer; and
at the first area, removing the curtains from under the layer and the clamps releasing the layer.
5. The method as recited in claim 4 , further comprising verifying a presence of a slip sheet on the layer and if a slip sheet is detected, then dropping the slip sheet at a second area.
6. The method as recited in claim 5 , wherein verifying a presence of a slip sheet includes: lifting the layer while creating a vacuum thereunder and monitoring a distance of an object under the pad when the layer is lifted; a non variation of the distance being indicative of the presence of a slip sheet.
7. The method as recited in claim 4 , wherein:
said by moving the pad towards a top surface of the layer includes further moving the location sensor in unison with the pad;
the location sensor being positioned behind the pad with regards to the layer while both the pad and sensor are moving;
the location sensor monitoring its relative position with the pad; and
the real position of the layer being determined as corresponding to a position of the pad when the relative position of the sensor with the pad changes.
8. The method as recited in claim 4 , wherein the curtain is slidably mounted to the frame.
9. The method as recited in claim 4 , wherein the curtain is slidably mounted in tracks secured to the frame.
10. The method as recited in claim 9 , moving the curtain with at least one actuator.
11. The method as recited in claim 4 , wherein the clamps are slidably mounted to the frame.
12. A tool for layer depalletizing comprising:
a frame for mounting the tool to a robot;
a sensor movably mounted to the frame, the sensor being configured for sensing a real position of a layer by moving relative to the frame towards a top surface of the layer;
clamps movably mounted to the frame, where the clamps are positioned around the layer using the sensed real position of the layer, the clamps being configured to grip and at least partially lift the layer; and
curtains movably mounted to the frame and being configured to be placed under the layer so that when moving the layer with the clamps to a first area, the curtains are maintained under the layer, wherein at the first area, the curtains are removed from under the layer and the clamps release the layer.
13. The tool as recited in claim 12 , further comprising a controller configured to verify a presence of a slip sheet on the layer and if a slip sheet is detected, then dropping the slip sheet at a second area.
14. The tool as recited in claim 13 , wherein verifying a presence of a slip sheet includes: lifting the layer while creating a vacuum thereunder and monitoring a distance of an object under the sensor when the layer is lifted; a non variation of the distance being indicative of the presence of a slip sheet.
15. The tool as recited in claim 12 , wherein the sensor is positioned behind a pad so as to move in unison with the pad to monitor a relative position of the pad.
16. The tool as recited in claim 15 , wherein the real position of the layer being sensed corresponds to a position of the pad when the relative position of the sensor with the pad changes.
17. The tool as recited in claim 12 , wherein the curtain is slidably mounted to the frame.
18. The tool as recited in claim 12 , wherein the curtain is slidably mounted in tracks secured to the frame.
19. The tool as recited in claim 18 , wherein the curtain is made movable by at least one actuator.
20. The tool as recited in claim 12 , wherein the clamps are slidably mounted to the frame.