DESC:TECHNICAL FIELD OF INVENTION

The present invention relates to the field of mechanical engineering. More specifically, it relates to an efficient robotic palletizing by pre-aligning and special gripping technique.

BACKGROUND OF THE INVENTION

The background information herein below relates to the present disclosure but is not necessarily prior art.

US20220089237A1 related to a vehicle robotic production environment, in which the environment hosts robotic agents that are organized as groups of cells, each cell with no more than 10 robots. One group of robotic cells transforms fabric into vehicle composite panels and other parts, eliminating the need for steel panel pressing equipment. Other robotic cells assemble at least portions of a vehicle together from modular components, such as aluminium extrusions. Each cell is served by AMRs (autonomous mobile robots), eliminating the need for a costly moving production line. The robotic production environment can be implemented or installed in a factory that is less than 25,000 square meters in area, with a conventional flat concrete floor that has not been strengthened for a vehicle body panel stamping press. Conventional vehicle production plants are typically over 1M square meters in area, with specially strengthened concrete floors.

US9910054B2 described an analytical laboratory system and method for processing samples is disclosed. The system includes a manager unit, as well as an aliquotter unit and a centrifuge unit.

US9258550B1 related to a system is provided for adaptively conformed imaging of work pieces having disparate configurations, which comprises a mount unit for holding at least one work piece, and an imaging unit for capturing images of the work piece held by the mount unit. At least one manipulator unit is coupled to selectively manipulate at least one of the mount and imaging units for relative displacement there between. A controller coupled to automatically actuate the manipulator and imaging units executes scene segmentation about the held work piece, which spatially defines at least one zone of operation in peripherally conformed manner about the work piece. The controller also executes an acquisition path mapping for the work piece, wherein a sequence of spatially offset acquisition points are mapped within the zone of operation, with each acquisition point defining a vantage point for the imaging unit to capture an image of the work piece from.

WO2022198311A1 discloses a non-transitory computer-readable medium, a system and a method are provided for identifying a grip technique being applied to a face mask. The mask is for sparingly engaging a face along a periphery around the nose and mouth. The method comprises the steps of comparing pressure data indicative of a pressure distribution applied along the perimeter with distribution patterns distinctive of different grip techniques; recognizing which of the grip techniques is being applied on the basis of an outcome of the comparing; and providing an indication of the recognized grip technique to a user interface.

OBJECTIVE OF THE INVENTION

The primary objective of the present invention is to provide a mechanism for robotic palletizing by pre-aligning and gripping technique.

Yet another objective of the invention is to improve the efficiency of robotic palletizing operations.

Yet another objective of the invention is to implement methods that allow for the simultaneous picking and placing of multiple cartons to expedite the palletizing process.

Yet another objective of the invention is to reduce the time required for the robotic arm to pick, place, and organize cartons onto pallets.

Yet another objective of the invention is to improve efficiency, which not only increases productivity but also aims to reduce overall system costs related to palletizing.

SUMMARY OF THE INVENTION

Accordingly the following invention provides a mechanism for robotic palletizing by pre-aligning and gripping technique. In industry, robotics applications are always developed with high throughput, and that can be achieved based upon the selection of the robot and its gripper. To generate a pinwheel-type pallet matrix, the robot always requires a minimum of 4 cycles/layers, or 2 cycles, but a 1-1 release concept contributes to more release time and reduces robot cycles.

To overcome this issue in the industry and to get more cycle from the robot, a special gripper with a saw tooth locking mechanism that increases the efficiency of the robot by 45% as compared to existing gripping techniques, which also reduce the cost of the system.

BRIEF DESCRIPTION OF DRAWING

This invention is described by way of example with reference to the following drawing where,

Figure 1 of Sheet 1 illustrates the robotic cell layout for pin wheel matrix.
Whereas,
101 denotes conveyor,
102 denotes orientation changer unit,
103 denotes two plate gripper,
104 denotes pallet 01,
105 denotes pallet 02,
106 denotes robot,
107 denotes pallet 03.

Figure 2 of Sheet 1 illustrates the two plate gripper for pin wheel matrix.
Whereas,
01 denotes Clamping plate assy,
02 denotes Pneumatic claw assy,
03 denotes Pneumatic locking assy.

Figure 3 of Sheet 2 illustrates the clamping plate assy.
Whereas,
1 denotes mounting bracket 1,
2 denotes clit,
3 denotes angle plate weldment assembly,
4 denotes gripper plate 2,
5 denotes gripper plate 1,
6 denotes AZM-AI stand profile 3
7 denotes pneumatic cylinder,
8 denotes eye bolt joining plate,
9 denotes AZM-AI stand profile 2
10 denotes lm guide,
11 denotes cylinder MTG plate assly,
12 denotes cylinder MTG plate gusset assembly,
13 denotes friction top belt,
14 denotes bottom saw assembly,
15 denotes pneumatic claw assy,
16 denotes pneumatic locking assy.

Figure 4 of Sheet 2 illustrates the pneumatic claw assy.
Whereas,
401 denotes bottom claw,
402 denotes hinge spacer plate,
403 denotes hinges,
404 denotes single clevis.

DETAILED DESCRIPTION OF THE INVENTION

As used in the description herein and throughout the claims that follow, the meaning of “a,” “an,” and “the” includes plural reference unless the context
clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

The present invention relates to a mechanism for robotic palletizing by pre-aligning and gripping technique. Pneumatic cylinders (7) operate the plates and tooth mechanism on the claw finger. To give support to the cylinder rod for smooth movement of the plates. To lock the state of the pneumatic cylinder (7), the solenoid coil is activated; thus, during carton placement on pallets, they do not disturb the other existing cartons.

The saw is mounted on the movable plate, and the tooth is mounted on the cylinder rod. When the cylinder rod is operated, the tooth gets locked into the saw, so even when the plate cylinder solenoid coil is made ON, the cylinder cannot take the complete stroke, and the plate is locked at that point. The claw finger gives support to the carton from the bottom side.

The preferred embodiment the present invention will perform the following step:

Robotic palletizing is being used in the industry to increase throughput, reduce operator fatigue, and make the working environment safe. There are various sizes of cartons and products that are palletized using robots. The arrangement of products on a pallet in a predefined design as per the pallet's weight-carrying capacity and product size is called palletizing patterns. One of the matrixes is the pin-wheel pattern.

• Two cartons arrive on conveyor (101) and stop against stopper. The orientation of cartons is managed by specially developed program and a mechanism.
• Specially designed Robotic gripper arm (both plates movable and lockable at will) picks these two cartons and moves to pallet.
• Both cartons are released at appropriate location on pallet.
• Next set of two cartons arrive on conveyor and stop against stopper. The orientation of cartons is managed by specially developed program and a mechanism.
• Specially designed robotic gripper arm picks these two cartons and moves to pallet. Both cartons are released at appropriate location on pallet. Thus a Pin- wheel pattern matrix is formed.
• With this pick-and-place configuration, the user had to make both the gripper side plates movable in conventional method. Now this will have implications on the overall pallet matrix formation in that, as the non-claw plates are movable, during the placing of cartons, the half-way pneumatic cylinders (7) may move forward to complete the stroke.
• With special design robot gripper arm arrangement, existing cartons on the pallet were not disturbed from their position, as the non-claw plates were locked during the placing of cartons on the pallet.
• This gives 45% increase in throughput as compared to the below conventional method 2.

Conventional method of building this pattern is as below:

Method 1:

• One carton arrives on conveyor (107) and stops against stopper.
• Robotic gripper arm picks this carton and moves to pallet.
• The carton is released on the pallet at appropriate location.
• Next carton arrives and stops against stopper.
• Robotic arm returns to conveyor and gripper pick up the next carton.
• The carton is released on the pallet at appropriate location.
• Next carton arrives and stops against stopper.
• Robotic arm returns to conveyor (101) and gripper pick up the next carton.
• The carton is released on the pallet at appropriate location.
• Next carton arrives and stops against stopper.
• Robotic arm returns to conveyor (101) and gripper pick up the next carton.
• The carton is released on the pallet at appropriate location. Thus a Pin-wheel pattern matrix is formed.

Method 2:
• Gripper picks two cartons lengthwise for the pinwheel matrix.
• Odd layer from the picked two cartons, the first carton is placed on the pallet.
• Gripper moves in an upward direction and comes out of carton 1.
• Gripper rotates in 90 degrees and moves down for placing the second carton.
• Gripper moves in an upward direction and comes out of the second carton.
• It now moves ahead with picking the cartons from the conveyor (101).
• In the same way as in point no two, the remaining two cartons are placed.
• Even layer: above points two and three are repeated.
• Remaining carton is released at appropriate location on pallet. Thus a Pin-wheel pattern matrix is formed.

While various embodiments of the present disclosure have been illustrated and described herein, it will be clear that the disclosure is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions, and equivalents will be apparent to those skilled in the art, without departing from the spirit and scope of the disclosure, as described in the claims.
,CLAIMS:1. A mechanism for robotic palletizing by pre-aligning and gripping technique., comprising of;

a gripper mechanism with a saw tooth locking mechanism, consisting of;

a pneumatic cylinder (7) for controlled movement of gripping plates;

a tooth mechanism and solenoid coil for facilitating precise carton handling;

a claw fingers for ensuring stable carton support during placement.

a robot (106) equipped with said gripper mechanism configured to perform carton pick-up and placement operations onto pallets.

2. The mechanism for robotic palletizing by pre-aligning and gripping technique as claimed in claim 1 wherein said carton pick-up and placement operations comprising the steps of;
Two cartons arrive on conveyor (101) and stop against stopper. The orientation of cartons is managed by specially developed program and a mechanism;
Specially designed Robotic gripper arm both plates movable and lockable and it will picks these two cartons and move to the pallet;
Both cartons are released at appropriate location on pallet;
Next set of two cartons arrive on conveyor and stop against stopper. The orientation of cartons is managed by specially developed program and a mechanism;
Specially designed robotic gripper arm picks these two cartons and moves to pallet. Both cartons are released at appropriate location on pallet. Thus a Pin- wheel pattern matrix is formed;
With this pick-and-place configuration, the user had to make both the gripper side plates movable in conventional method. Now this will have implications on the overall pallet matrix formation in that, as the non-claw plates are movable, during the placing of cartons, the half-way pneumatic cylinders (7) may move forward to complete the stroke.