FR3102468B1 - PALLETIZING AND DEPALLETTIZING SYSTEM AND METHOD - Google Patents

PALLETIZING AND DEPALLETTIZING SYSTEM AND METHOD Download PDF

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Publication number
FR3102468B1
FR3102468B1 FR1912151A FR1912151A FR3102468B1 FR 3102468 B1 FR3102468 B1 FR 3102468B1 FR 1912151 A FR1912151 A FR 1912151A FR 1912151 A FR1912151 A FR 1912151A FR 3102468 B1 FR3102468 B1 FR 3102468B1
Authority
FR
France
Prior art keywords
control means
deviation
lifting table
depallettizing
palletizing
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.)
Active
Application number
FR1912151A
Other languages
French (fr)
Other versions
FR3102468A1 (en
Inventor
Thierry Boisnard
Mircea Cocan
Pascal Perrot
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.)
Fives Syleps SAS
Original Assignee
Fives Syleps SAS
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 Fives Syleps SAS filed Critical Fives Syleps SAS
Priority to FR1912151A priority Critical patent/FR3102468B1/en
Priority to PCT/EP2020/080399 priority patent/WO2021084009A1/en
Priority to EP20796823.1A priority patent/EP4051609A1/en
Publication of FR3102468A1 publication Critical patent/FR3102468A1/en
Application granted granted Critical
Publication of FR3102468B1 publication Critical patent/FR3102468B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/026—De-stacking from the top of the stack with a stepwise upward movement of the stack
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/035—Stacking of articles by adding to the top of the stack from above with a stepwise downward movement of the stack
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
    • B65G59/045—De-stacking from the top of the stack by suction or magnetic devices with a stepwise upward movement of the stack

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

SYSTEME ET PROCEDE DE DEPALETTISATION L’invention concerne un système et procédé de déchargement de paquets (31, 32) comprenant : une table élévatrice (11) mobile suivant un axe vertical (ZZ’) et agencée pour recevoir un contenant (2),un premier moyen de détection (13) couvrant les paquets de dessus (31, 32),un robot (4) muni d’un préhenseur (5) ,un moyen de contrôle informatique connecté au premier moyen de détection (13) et à la table élévatrice (11), ledit premier moyen de détection (13) étant configuré pour déterminer les positions des paquets et les transmettre au moyen de contrôle, le moyen de contrôle étant configuré pour : - calculer un écart (∆1) entre l’extrémité supérieure (33) d’un paquet déterminé (31, 32) et une position verticale de référence (P1) prédéterminée, et - faire déplacer verticalement la table élévatrice (11) d’une distance égale à l’écart (∆1). Figure pour l’abrégé : Figure 3.The invention relates to a system and method for unloading packages (31, 32) comprising: a lifting table (11) movable along a vertical axis (ZZ') and arranged to receive a container (2), a first detection means (13) covering the top packages (31, 32), a robot (4) provided with a gripper (5), a computer control means connected to the first detection means (13) and to the table elevator (11), said first detecting means (13) being configured to determine the positions of the packets and transmitting them to the control means, the control means being configured to: - calculate a deviation (∆1) between the upper end (33) of a determined package (31, 32) and a predetermined vertical reference position (P1), and - causing the lifting table (11) to move vertically by a distance equal to the deviation (∆1). Figure for abstract: Figure 3.

FR1912151A 2019-10-29 2019-10-29 PALLETIZING AND DEPALLETTIZING SYSTEM AND METHOD Active FR3102468B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1912151A FR3102468B1 (en) 2019-10-29 2019-10-29 PALLETIZING AND DEPALLETTIZING SYSTEM AND METHOD
PCT/EP2020/080399 WO2021084009A1 (en) 2019-10-29 2020-10-29 Palletisation and depalletisation system and method
EP20796823.1A EP4051609A1 (en) 2019-10-29 2020-10-29 Palletisation and depalletisation system and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1912151 2019-10-29
FR1912151A FR3102468B1 (en) 2019-10-29 2019-10-29 PALLETIZING AND DEPALLETTIZING SYSTEM AND METHOD

Publications (2)

Publication Number Publication Date
FR3102468A1 FR3102468A1 (en) 2021-04-30
FR3102468B1 true FR3102468B1 (en) 2022-07-01

Family

ID=70804624

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1912151A Active FR3102468B1 (en) 2019-10-29 2019-10-29 PALLETIZING AND DEPALLETTIZING SYSTEM AND METHOD

Country Status (3)

Country Link
EP (1) EP4051609A1 (en)
FR (1) FR3102468B1 (en)
WO (1) WO2021084009A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602724B (en) * 2021-08-19 2022-09-27 东莞盟大集团有限公司 Three-dimensional accurate positioning method and system for material stacking position of plane warehouse
CN114229489A (en) * 2021-11-12 2022-03-25 江西绿萌科技控股有限公司 Robot destacking method and device, destacking robot and storage medium

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08301449A (en) * 1995-04-28 1996-11-19 Murata Mach Ltd Picking system
JPH11333770A (en) * 1998-03-20 1999-12-07 Kobe Steel Ltd Loading position and attitude recognizing device
CN104670912B (en) * 2015-02-03 2019-04-30 徐州德坤电气科技有限公司 A kind of small U-tube crawl order code place system based on number bus
US10370201B2 (en) * 2015-11-13 2019-08-06 Kabushiki Kaisha Toshiba Transporting apparatus and transporting method
US10676292B2 (en) * 2015-12-31 2020-06-09 ROI Industries Group, Inc. Compact palletizer including a skeleton, subassembly, and stretch wrap system
US10894676B2 (en) * 2017-07-17 2021-01-19 Symbolic Llc Apparatus and method for building a pallet load
JP6913573B2 (en) * 2017-09-07 2021-08-04 株式会社東芝 Unloading device and unloading method

Also Published As

Publication number Publication date
EP4051609A1 (en) 2022-09-07
FR3102468A1 (en) 2021-04-30
WO2021084009A1 (en) 2021-05-06

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