DESC:BACKGROUND
Technical Field
[0001] The embodiments herein generally relate to a robotic device, more particularly to a robotic device and a method for handling objects in de-palletizing.
Description of the Related Art
[0002] Robots are frequently used in manufacturing cycles for a variety of applications. Particularly for depalletization systems, wrist-mounted robots with many degrees of freedom are frequently used. With clamps, at least one grasping device is attached to the wrist to automatically position the objects by stacking them close to one another. In a de-palletization area, robots are typically utilized to handle items for de-palletization that come from automatic production lines. The robot's clamps must be light in order for the manipulable objects to place the majority of the load on the wrist and increase speed. The gripping hands must also rapidly and precisely grasp the thing before releasing it.
[0003] The quality of the manipulation is however limited technically by the gripping hands' mechanics. Particularly in the case of pneumatic drive, the typically flat hands have fixed opening/closing strokes independent of the size of the object to load. In particular, if the size range of the objects to manipulate varies significantly, for example for handling objects of different shapes, when handling the clamps must open like for objects of maximum size, resulting in a long idle portion of the stroke before gripping the object. Additionally, the flat gripping hands push on the objects during their opening and closing strokes without providing enough dampening, which leads to deformation or breakage. The inaccuracy in where the clutching hands are placed in relation to the package, which can then be accidentally released unintentionally, results in the package toppling down, breaking, and spreading the contents.
[0004] As a result, the aforementioned shortcomings severely restrict the fields of use for the current equipment and slow down the process of palletizing or depalletizing. Accordingly, there remains a need for a device and a method for handling objects in de-palletizing.
SUMMARY
[0005] Embodiments herein provide a robotic device for de-palletizing one or more objects including a first base frame, a second base frame, a pair of gripper arm drive plates, a gripper arm and a pair of gripper arm drive assemblies. The first base frame is coupled with a robot for de-palletizing the one or more objects using a flange. The second base frame is mounted on the first base frame to accommodate at least one of one or more suction cups or one or more object resting plates. The pair of gripper arm drive plates are mounted on each end of the first base frame. The gripper arm is coupled with the pair of gripper arm drive plates. The gripper arm is coupled at a bottom end of the pair of gripper arm drive plates. The pair of gripper arm drive assemblies are mounted on the pair of gripper arm drive plates. When in operation, the robotic device enables the gripper arm to provide and release a positive gripping on the one or more objects between a first threshold height and a second threshold height when de-palletizing the one or more objects.
[0006] In some embodiments, the one or more object resting plates are mounted on the second base plate to lock the one or more objects on a top surface when the robotic device handles the one or more objects at different degrees.
[0007] In some embodiments, the robotic device includes at least three of the second base frames. The second base frame accommodates at least four suction cups to lift the one or more objects that are in different orientations.
[0008] In some embodiments, the pair of gripper arm drive plates are mounted on each end of the first base frame using at least one of one or more supporting frames or one or more machining components. A first end of the pair of gripper arm drive plates is mounted on the first base frame using a radial ball bearing. A second end of the pair of the gripper arm drive plates is coupled with the gripper arm.
[0009] In some embodiments, the gripper arm drive assembly includes one or more actuators that are coupled with the gripper arm and the first base frame. The one or more actuators are mounted on each gripper arm drive plate and drive the gripper arm to provide and release the positive gripping for the one or more objects when de-palletizing.
[0010] In some embodiments, the pair of arm drive plates includes an actuator guide slot and one or more supporting slots. Each actuator is guided on the actuator guide slot when the gripper arm is enabled to provide and release the positive gripping for the one or more objects when de-palletizing.
[0011] In some embodiments, the gripper arm includes a structured machining component that is mounted on the bottom end of the pair of gripper arm drive plates using at least one of clamping components.
[0012] In some embodiments, the robotic device enables the actuator to drive the gripper arm when the robotic device is lifting up the one or more objects and reaches the first threshold height. The gripper arm swings downward to the bottom surface of the one or more the objects and locks the one or more the objects for positive gripping before the robotic device reaches the second threshold height.
[0013] In some embodiments, the robotic device enables the actuator to drive the gripper arm when the robotic device is lifting down the one or more objects and reaches the second threshold height. The gripper arm releases the one or more the objects from positive gripping and swings upwards from the bottom surface of the one or more the objects before the robotic device reaches the first threshold height.
[0014] In another aspect, a method of de-palletizing one or more objects including, (a) enabling the robotic device to lift up the one or more objects to a first threshold height using one or more suction cups, (b) enabling a gripper arm drive assembly to drive a gripper arm to swing downward to a bottom surface of the one or more the objects when the robotic device reaches the first threshold height and (c) enabling the gripper arm drive assembly to drive a gripper arm to lock the one or more the objects for positive gripping before the robotic device reaches a second threshold height and de-palletizing the one or more objects.
[0015] In some embodiments, the method includes (a) enabling the one or more suction cups to lift down the one or more objects to the second threshold height, (b) enabling the gripper arm drive assembly to drive the gripper arm to release the one or more the objects from positive gripping before the robotic device reaches the second threshold height and (c) enabling the gripper arm drive assembly to drive the gripper arm to swing upwards from a bottom surface of the one or more the objects when the robotic device reaches the first threshold height.
[0016] This robotic device has simple gripping and lifting mechanisms for one or more objects, as well as a simplistic design and construction. It is distinguished by improved durability and a noticeably quick operating speed.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The embodiments herein will be better understood from the following detailed description with reference to the drawings, in which:
[0018] FIG. 1 illustrates an exemplary view of a robotic device for de-palletizing objects according to some embodiments herein; and
[0019] FIG. 2 is a flow diagram of a method of de-palletizing objects using a robotic device of FIG. 1 according to some embodiments herein.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0020] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0021] An objective of the current invention is to provide a robotic device for handling objects in de-palletizing and that removes or at least lessens the limitations mentioned above. These goals are accomplished using the method described in the appended description. As mentioned, there remains a need for a robotic device and a method for handling objects in de-palletizing. Referring now to the drawings, and more particularly to FIG. 1 through 2, where similar reference characters denote corresponding features consistently throughout the figures, preferred embodiments are shown.
[0022] FIG. 1 illustrates an exemplary view of an robotic device 100 for de-palletizing objects according to some embodiments herein. The robotic device 100 includes a first base frame 102, a second base frame 104, one or more object resting plate 106A-N, one or more suction cups 108A-N, a gripper arm 110, a pair of gripper arm drive plates 112A and 112B, a pair of gripper arm drive assemblies 114A and 114B, one or more actuator 116A-N, an actuator guide slot 118 and one or more supporting slots 120A-N. The first base frame 102 includes at least one flange that is attached to a robotic device and handles objects for de-palletizing. The second base frame 104 is mounted with the first base frame 102. In some embodiments, the second base frame 104 accommodates at least one of the one or more object resting plates 106A-N and the one or more suction cups 108A-N. In some embodiments, the one or more object resting plate 106A-N are mounted on the second base plate 104 to lock the plurality of objects on a top surface when the robotic device 100 handles the plurality of objects at different degrees. In some embodiments, the robotic device 100 includes at least three of the second base frame 104 and each second base frame 104 accommodates at least four suction cups 108A-D. In some embodiments, the one or more suction cups 108A-N are placed on a top surface of the objects to lift the objects to a first threshold height. The gripper arm 110 is mounted between the pair of gripper arm drive plates 112A and 112B. The gripper arm 110 is a structured machining component that is mounted on the bottom end of the pair of gripper arm drive plates 112A and 112B using at least one of clamping components. The pair of gripper arm drive plates 112A and 112B are mounted on the first base frame 102. In some embodiments, the gripper arm drive plate 112 includes a first end, a second end, the actuator guide slot 118 and the one or more supporting slots 120A-N. The first end of the gripper arm drive plate 112 is mounted with the first base frame 102 using a radial ball bearing. The second end of the gripper arm drive plate 112 is coupled with the gripper arm 110. In some embodiments, the pair of gripper arm drive plates 112A and 112B are mounted on each end of the first base frame 102 using at least one of one or more supporting frames or one or more machining components. The gripper arm drive assembly 114 includes the actuator 116 and a drive pin. A first end of the actuator 116 is coupled with second end of the gripper arm drive plate 112 and a second end of the actuator 116 is coupled with the first base frame 102 using the drive pin. In some embodiments, the actuator guide slot 118 accommodates the drive pin. In some embodiments, the drive pin is fixed and the gripper arm drive plate 112 slides on the actuator guide slot 118.
[0023] The actuator 116 drives the gripper arm 110 when the robotic device 100 is lifting up the one or more objects and reaches a first threshold height. The gripper arm 110 swings downwards to a bottom surface of the one or more objects and locks the one or more objects for positive gripping before the robotic device 100 reaches a second threshold height. In some embodiments, the actuator guide slot 118 allows the drive pin to slide between the first threshold height and the second threshold height. The actuator 116 drives the gripper arm 110 when the robotic device 100 is lifting down the one or more objects and reaches the second threshold height. The gripper arm 110 releases the one or more objects from positive gripping and swings upwards from the bottom surface of the one or more objects before the robotic device 100 reaches the first threshold height. The robotic device 100 enables the gripper arm 110 to provide and release a positive gripping on the plurality of objects between the first threshold height and the second threshold height when de-palletizing the one or more objects. In some embodiments, when the robot device 100 crosses the second threshold height, the robot device 100 has several degrees of freedom for handling the object using the positive gripping provided by the gripping arm 110.
[0024] With reference to FIG. 1, FIG. 2 is a flow diagram of a method of de-palletizing one or more objects using a robotic device of FIG. 1 according to some embodiments herein. At step 202, suction force is provided for lifting one or more objects from a floor. At step 204, the object is captured and lifted using the suction force on a top surface of the one or more objects. At step 206, the gripper arm drive plates 112A and 112B slide on the drive pin to move the gripper arm 110 towards the bottom surface of the one or more objects when the robotic device 100 reaches the first threshold height. At step 208, the gripper arm 110 locks the one or more objects from the bottom surface of the one or more objects to provide positive gripping before the robotic device 100 reaches a second threshold height. In some embodiments, when the robot device 100 crosses the second threshold height, the robot device 100 has several degrees of freedom for handling the object using the positive gripping provided by the gripping arm 110.
[0025] In some embodiments, the actuator 116 drives the gripper arm 110 when the robotic device 100 is lifting down the one or more objects and reaches the second threshold height. The gripper arm 110 releases the one or more objects from positive gripping and swings upwards from the bottom surface of the one or more objects before the robotic device 100 reaches the first threshold height. The robotic device 100 enables the gripper arm 110 to provide and release a positive gripping on the plurality of objects between the first threshold height and the second threshold height when de-palletizing the one or more objects.
[0026] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the appended claims.
,CLAIMS:We claim:
1. A robotic device (100) for de-palletizing a plurality of objects comprising,
a first base frame (102) that is coupled with a robot for de-palletizing the plurality of objects using a flange;
a second base frame (104) that is mounted on the first base frame (102) to accommodate at least one of a plurality of suction cups (108A-N) or a plurality of object resting plates (106A-N);
a pair of gripper arm drive plates (112A and 112B) that are mounted on each end of the first base frame (102);
a gripper arm (110) that is coupled with the pair of gripper arm drive plates (112A and 112B), wherein the gripper arm (110) is coupled at a bottom end of the pair of gripper arm drive plates (112A and 112B); and
a pair of gripper arm drive assemblies (114A and 114B) that are mounted on the pair of gripper arm drive plates (112A and 112B);
wherein when in operation,
the robotic device (100) enables the gripper arm (110) to provide and release a positive gripping on the plurality of objects between a first threshold height and a second threshold height when de-palletizing the plurality of objects.

2. The robotic device (100) as claimed in claim 1, wherein the plurality of object resting plates (106A-N) are mounted on the second base plate (104) to lock the plurality of objects on a top surface when the robotic device (100) handling the plurality of objects at different degrees.

3. The robotic device (100) as claimed in claim 1, wherein the robotic device (100) comprises at least three of the second base frame (104), wherein the second base frame (104) accommodates at least four suction cups (108A-D) to lift the plurality of objects that are in different orientations.

4. The robotic device (100) as claimed in claim 1, wherein the pair of gripper arm drive plates (112A and 112B) are mounted on each end of the first base frame (102) using at least one of a plurality of supporting frames or a plurality of machining components, wherein a first end of the pair of gripper arm drive plates (112A and 112B) is mounted on the first base frame (102) using a radial ball bearing, wherein a second end of the pair of the gripper arm drive plates (112A and 112B) is coupled with the gripper arm (110).

5. The robotic device (100) as claimed in claim 1, wherein the gripper arm drive assembly (114) comprises a plurality of actuators (116A-N) that are coupled with the gripper arm (110) and the first base frame (102), wherein the plurality of actuators (116A-N) are mounted on each gripper arm drive plate (112A and 112B) and drive the gripper arm (110) to provide and release the positive gripping for the plurality of objects when de-palletizing.

6. The robotic device (100) as claimed in claim 1, wherein the pair of arm drive plates (112A and 112B) comprises an actuator guide slot (118) and a plurality of supporting slots (120A-N), wherein each actuator (116) is guided on the actuator guide slot (118) when the gripper arm (110) is enabled to provide and release the positive gripping for the plurality of objects when de-palletizing.

7. The robotic device (100) as claimed in claim 1, wherein the gripper arm (110) comprises a structured machining component that is mounted on the bottom end of the pair of gripper arm drive plates (112A and 112B) using at least one of clamping components.

8. The robotic device (100) as claimed in claim 1, wherein the robotic device (100) enables the actuator (116) to drive the gripper arm (110) when the robotic device (100) is lifting up the plurality of objects and reaches the first threshold height, wherein the gripper arm (110) swings downward to the bottom surface of the plurality of the objects and locks the plurality of the objects for positive gripping before the robotic device (100) reaches the second threshold height.

9. The robotic device (100) as claimed in claim 1, wherein the robotic device (100) enables the actuator (116) to drive the gripper arm (110) when the robotic device (100) is lifting down the plurality of objects and reaches the second threshold height, wherein the gripper arm (110) releases the plurality of the objects from positive gripping and swings upwards from the bottom surface of the plurality of objects before the robotic device (100) reaches the first threshold height.

10. A method of de-palletizing a plurality of objects using a robotic device (100) comprising,
enabling the robotic device (100), using a plurality of suction cups (108A-N), to lift up the plurality of objects to a first threshold height;
enabling a gripper arm drive assembly (114) to drive a gripper arm (110) to swing downward to a bottom surface of the plurality of the objects when the robotic device (100) reaches the first threshold height; and
enabling the gripper arm drive assembly (114) to drive a gripper arm (110) to lock the plurality of the objects for positive gripping before the robotic device (100) reaches a second threshold height and de-palletize the plurality of objects.

11. The method as claimed in claim 10, wherein the method comprises
enabling the plurality of suction cups (108A-N) to lift down the plurality of objects to the second threshold height;
enabling the gripper arm drive assembly (114) to drive the gripper arm (110) to release the plurality of the objects from positive gripping before the robotic device (100) reaches the second threshold height; and
enabling the gripper arm drive assembly (114) to drive the gripper arm (110) to swing upwards from a bottom surface of the plurality of the objects when the robotic device (100) reaches the first threshold height.