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WO2024138349A1 - Système et procédé de désempilage - Google Patents

Système et procédé de désempilage Download PDF

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Publication number
WO2024138349A1
WO2024138349A1 PCT/CN2022/142130 CN2022142130W WO2024138349A1 WO 2024138349 A1 WO2024138349 A1 WO 2024138349A1 CN 2022142130 W CN2022142130 W CN 2022142130W WO 2024138349 A1 WO2024138349 A1 WO 2024138349A1
Authority
WO
WIPO (PCT)
Prior art keywords
conveying device
station
bundled
destacking
cardboard
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/142130
Other languages
English (en)
Inventor
Yuhao ZHAO
Wenyong ZHOU
Yin TIAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG
Priority to PCT/CN2022/142130 priority Critical patent/WO2024138349A1/fr
Publication of WO2024138349A1 publication Critical patent/WO2024138349A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B65B69/0025—Removing or cutting binding material, e.g. straps or bands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14—Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
    • B65B43/18—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers
    • B65B43/185—Feeding individual bags or carton blanks from piles or magazines by grippers by suction-operated grippers specially adapted for carton blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/08—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to stop, or to control the speed of, the machine as a whole
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/40—Safety features of loads, equipment or persons

Definitions

  • Embodiments of the present disclosure generally relate to packing industries, and more particularly to a system and a method for automatic destacking an object stack comprising a plurality of bundled cardboards.
  • cardboard boxes are widely used for containing products.
  • these cardboard boxes are usually transported in form of stacked bundled cardboards.
  • These stacked objects are firstly unloaded from a truck and delivered for example by a forklift to a case packer where the bundled cardboard is unpacked to place various products.
  • the bundled cardboards need to be transferred or moved from one position to another, for example, loaded, unloaded, or moved to a specific position where the cardboards are further processed (for example, unfolded) , and the like.
  • processes of the bundled cardboards such as, loading, unloading, and the like, are manually performed, which is not only time-consuming but labor-consuming. These processes are of lower efficiency and high costs and also are subject to safety risks.
  • a system for destacking comprises: an entrance station configured to receive an object stack comprising a plurality of bundled cardboards and comprising a first conveying device; a processing station disposed adjacent to the entrance station and comprising a destacking platform, the first conveying device being configured to convey the object stack from the an entrance station to the destacking platform; and an industrial robot comprising a robotic arm configured to pick up at least one bundled cardboard from the object stack on the destacking platform and place the picked-up object to a first predetermined position.
  • the bundled cardboards stacks can be automatically destacked with a single industrial robot with a simplified configuration.
  • the destacking platform may comprise a third conveying device configured to convey the empty pallet on the destacking platform to the second conveying device when a support surface of the destacking platform is aligned with a height of a support surface of the second conveying device. With this arrangement, the pallet on the destacking platform can be conveyed.
  • the industrial robot may comprise a second work area for the industrial robot adjacent to the first work area and a second safety fence surrounding the second work area, the outlet of the first work area being communicated with the second work area.
  • Fig. 1 is a schematic overall perspective view of a system for destacking according to one example embodiment of the present disclosure
  • Fig. 7 is a flow chart of a method for destacking according to one example embodiment of the present disclosure.
  • the term “comprises” or “includes” and its variants are to be read as open terms that mean “includes, but is not limited to. ”
  • the term “or” is to be read as “and/or” unless the context clearly indicates otherwise.
  • the term “based on” is to be read as “based at least in part on. ”
  • the term “being operable to” is to mean a function, an action, a motion or a state that can be achieved by an operation induced by a user or an external mechanism.
  • the term “one embodiment” and “an embodiment” are to be read as “at least one embodiment. ”
  • the term “another embodiment” is to be read as “at least one other embodiment. ”
  • the terms “first, ” “second, ” and the like may refer to different or same objects. Other definitions, explicit and implicit, may be included below. A definition of a term is consistent throughout the description unless the context clearly indicates otherwise.
  • Bundled cardboards are usually transported in stacks from a product factory to an industrial field where the bundled cardboards should be unpacked to a box.
  • Each stack comprises a plural of bundled cardboards.
  • a forklift is used to convey the stacks to a predetermined position.
  • a number of processes are required. These processes involves destacking the stacks, moving the destacked bundled cardboard between different positions, cutting a strap for bundling the bundled cardboards, and the like.
  • these handling processes are performed manually, which is labor intensive and time-consuming, and may be subject to safety risks.
  • a destacking system is proposed, which is adapted to destack the stack automatically with simplified configuration.
  • Figs. 1-4 show schematic views of a system 100 for destacking a stack of bundled cardboards from different perspectives respectively.
  • the system 100 comprises an entrance station 110 and a processing station 120 disposed downstream the entrance station 110.
  • the entrance station 110 is arranged at a proper position for receiving an object stack 200.
  • a forklift for example, an AGV (Automated Guided Vehicle) may be used to covey the stack to the entrance station 110 and load the stack onto the entrance station 110.
  • the stack 200 may comprise a plurality of bundled cardboards 220.
  • the stack 200 may be of forms and various sizes, for example, according to a capacity and a type of the forklift.
  • the flexible gripper 135 may comprises a rigid clamping plate 138 (in the shown example, including two clamping plate 138) which is movable between a retracted position and an extend position.
  • this rigid clamping plate 138 this is advantageous for posture adjustment of the bundled cardboard 220. This is because the bundled cardboard 220 should be located a predetermined orientation, for example, a vertical orientation which is usefully for cutting off the strap for strapping the bundled cardboards.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

Des modes de réalisation de la présente divulgation concernent un système (100) et un procédé de désempilage. Le système comprend une station d'entrée (110) conçue pour recevoir un empilement d'objets (200) comprenant une pluralité de cartons groupés (220) et comprenant un premier dispositif de transport (115) ; une station de traitement (120) disposée adjacente à la station d'entrée (110) et comprenant une plateforme de désempilage (122), le premier dispositif de transport (115) étant conçu pour transporter l'empilement d'objets (200) de la station d'entrée (110) à la plateforme de désempilage (122 ) ; et un robot industriel (130) comprenant un bras robotique (132) conçu pour saisir au moins un carton groupé (220) à partir de l'empilement d'objets (200) sur la plateforme de désempilage (122) et pour placer l'objet saisi dans une première position prédéterminée.
PCT/CN2022/142130 2022-12-26 2022-12-26 Système et procédé de désempilage Ceased WO2024138349A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/142130 WO2024138349A1 (fr) 2022-12-26 2022-12-26 Système et procédé de désempilage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/142130 WO2024138349A1 (fr) 2022-12-26 2022-12-26 Système et procédé de désempilage

Publications (1)

Publication Number Publication Date
WO2024138349A1 true WO2024138349A1 (fr) 2024-07-04

Family

ID=91716066

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/142130 Ceased WO2024138349A1 (fr) 2022-12-26 2022-12-26 Système et procédé de désempilage

Country Status (1)

Country Link
WO (1) WO2024138349A1 (fr)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4976583A (en) * 1989-01-31 1990-12-11 Mario Moltrasio Method for unbinding a stack of sacks
US5970834A (en) * 1997-11-17 1999-10-26 R. A. Pearson Company Depalletizer and hopper feeder
CN101903269A (zh) * 2008-03-12 2010-12-01 许勒自动控制有限责任两合公司 用于板状零件的卸垛的设备和方法
CN205739503U (zh) * 2016-06-20 2016-11-30 广东斯玛特自动化科技有限公司 自动拆垛机
FR3060538A1 (fr) * 2016-12-20 2018-06-22 M. Xavier Maisonnave-Couterou, Agissant Au Nom Et Pour Le Compte De Robocob, Societe A Responsabilite Limitee En Cours De Formation Procede et appareil pour sectionner un lien entourant une liasse d'imprimes provenant d'une palette
CN108189079A (zh) * 2017-12-30 2018-06-22 芜湖哈特机器人产业技术研究院有限公司 一种纸箱垛拆盘系统视觉定位装置
CN111392162A (zh) * 2020-04-27 2020-07-10 福州广泰机械设备有限公司 智能上箱开箱一体化系统
CN213651236U (zh) * 2020-10-27 2021-07-09 河南弘康智能装备技术有限公司 拆垛码垛装车一体化系统
CN217732599U (zh) * 2022-03-02 2022-11-04 河北博柯莱智能科技有限公司 一种多功能拆垛抓具
CN115379988A (zh) * 2020-04-03 2022-11-22 弗莱林克有限公司 用于移动和拆开纸箱堆垛的系统和方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4976583A (en) * 1989-01-31 1990-12-11 Mario Moltrasio Method for unbinding a stack of sacks
US5970834A (en) * 1997-11-17 1999-10-26 R. A. Pearson Company Depalletizer and hopper feeder
CN101903269A (zh) * 2008-03-12 2010-12-01 许勒自动控制有限责任两合公司 用于板状零件的卸垛的设备和方法
CN205739503U (zh) * 2016-06-20 2016-11-30 广东斯玛特自动化科技有限公司 自动拆垛机
FR3060538A1 (fr) * 2016-12-20 2018-06-22 M. Xavier Maisonnave-Couterou, Agissant Au Nom Et Pour Le Compte De Robocob, Societe A Responsabilite Limitee En Cours De Formation Procede et appareil pour sectionner un lien entourant une liasse d'imprimes provenant d'une palette
CN108189079A (zh) * 2017-12-30 2018-06-22 芜湖哈特机器人产业技术研究院有限公司 一种纸箱垛拆盘系统视觉定位装置
CN115379988A (zh) * 2020-04-03 2022-11-22 弗莱林克有限公司 用于移动和拆开纸箱堆垛的系统和方法
CN111392162A (zh) * 2020-04-27 2020-07-10 福州广泰机械设备有限公司 智能上箱开箱一体化系统
CN213651236U (zh) * 2020-10-27 2021-07-09 河南弘康智能装备技术有限公司 拆垛码垛装车一体化系统
CN217732599U (zh) * 2022-03-02 2022-11-04 河北博柯莱智能科技有限公司 一种多功能拆垛抓具

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