Vision-assisted robotized depalletizer
US12344488B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 14, 2020 |
| Grant date | Jul 1, 2025 |
| Priority date | — |
| Expiry date | Apr 7, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40006
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A depalletizer having a pallet station for receiving a pallet load of cases disposed in pallet load layers, a robot with an end effector having a grip to grip and pick at least one of the layers and having a grip engagement interface defining a predetermined layer engagement position and orientation for the layer(s), relative to the depalletizing end effector, a vision system to image the pallet load of cases and generate at least one image of a top portion of the layer(s) independent of robot motion, and a controller that receives the image(s) and effects determination of a layer position and orientation of the layer(s) relative to the predetermined layer engagement position and orientation of the grip engagement interface, and the controller is operably coupled to the robot so as to position the grip and capture and hold the layer(s) with the grip at the grip engagement interface.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.