DESC:BACKGROUND
Technical Field
[0001] The embodiments herein generally relate to a robotic device, more particularly to an object-handling robotic device and a method for handling objects in palletizing.
Description of the Related Art
[0002] Robots are frequently used in manufacturing cycles for a variety of applications. Particularly for palletization 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 palletization area, robots are typically utilized to handle items for 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. Accordingly, there remains a need for a device and a method for handling objects in palletizing.
SUMMARY
[0005] Embodiments herein provide an object-handling robotic device for palletizing one or more objects. The object-handling robotic device includes an object-handling assembly, a gripper assembly, a base mounting frame, one or more pairs of finger clamps, one or more clamp frames, one or more fork side frames, one or more fork pins, a stopper plate, a stopper rod, a rail, one or more one or more fork plates, a slider component and one or more fork plate sliding assemblies. The base mounting frame is coupled to a robotic device using one or more flanges. The one or more pair of finger clamps is mounted on the base mounting frame. The pair of finger clamps includes one or more first finger clamps and one or more second finger clamps. The one or more clamp frames are mounted on the one or more finger clamps. The one or more clamp frames include one or more first clamp frames and one or more second clamp frames. The object handling assembly includes the rail and the slider component. The rail is mounted on the base mounting frame and the pair of finger clamps. The slider component is mounted between the pair of finger clamps. A base of the slider component is mounted on the first finger clamp and a shaft of the slider component is mounted on the second finger clamp and the second clamp frame. The slider component actuates the pair of finger clamps to slide on the rail to handle the one or more objects that are in different orientations. The gripper assembly includes one or more fork side frames, one or more fork plate sliding assemblies and the one or more fork plates. The one or more fork side frames are mounted on the one or more second clamp frames. The one or more fork plate sliding assemblies are mounted on the one or more fork side frames and one or more fork plates. The one or more fork plates slide on the one or more fork side frames to lock the one or more objects at a bottom surface and provide a positive gripping to the one or more objects when palletizing the one or more objects that are in different orientations.
[0006] In some embodiments, the object-handling robotic device includes (a) the at least three object-handling assemblies and (b) the at least three gripper assemblies.
[0007] In some embodiments, the pair of finger clamps accommodates the rail and the slider component on a top surface of the pair of finger clamps. A bottom surface of the first finger clamp is mounted with the first clamp frame and a bottom surface of the second finger clamp is mounted with the second clamp frame and the fork side frame. The slider component drives the one or more clamp frames to slide on the rail to handle the one or more objects.
[0008] In some embodiments, the object-handling robotic device includes a stopper plate and a stopper rod mounted on the pair of finger clamps and the one or more clamp frames. The stopper plate arrests a movement of the pair of clamp frames when sliding outward on the rail. The stopper rod arrests the movement of the pair of clamp frames when sliding inward on the rail.
[0009] In some embodiments, the one or more clamp frames slide inward to pick the one or more objects and outward to drop the one or more objects.
[0010] In some embodiments, the fork side frame is mounted on the second clamp frame using one or more supporting frames. The fork side frame slides with the second clamp frame when the slider component drives the one or more clamp frames.
[0011] In some embodiments, the fork plate includes one or more fork pins to provide positive gripping for the one or more objects when the object-handling robotic device (100) handles the one or more objects.
[0012] In some embodiments, the fork plate sliding assembly drives the fork plate to slide on the fork side frame towards the bottom surface of the one or more objects when the object-handling robotic device handles the one or more objects between a first threshold height and a second threshold height. The fork plate locks the one or more objects and provides the positive gripping when the object-handling robotic device reaches the second threshold height.
[0013] In another aspect, a method of palletizing one or more objects using an object handling robotic device including (a) enabling one or more clamp frames to slide on a rail based on orientations of the one or more objects, (b) enabling the one or more clamp frame to handle the one or more objects, (c) lifting up the one or more objects using the one or more clamp frames, (d) enabling one or more fork plates to slide inwards to a bottom surface of the one or more objects when the object handling robotic device reached the first threshold height, (e) locking the one or more objects at the bottom surface using one or more fork pins before the object handling robotic device reached a second threshold height and (f) providing a positive gripping to the one or more objects when the object handing robotic device reached the second threshold height.
[0014] In some embodiments, the method includes (a) lifting down the one or more objects, (b) enabling the one or more fork plates to slide outwards from the bottom surface of the one or more objects when the object-handling robotic device reaches the second threshold height and (c) release the one or more objects from the bottom surface before the object handling robotic device reached a first threshold height.
[0015] In some embodiments, the object-handling robotic device handles one or more objects with any size and orientation that are within the gripper stroke.
BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The embodiments herein will be better understood from the following detailed description with reference to the drawings, in which:
[0017] FIG. 1 illustrates an exemplary view of an object-handling robotic device for palletizing one or more objects according to some embodiments herein; and
[0018] FIG. 2 is a flow diagram of a method of palletizing one or more objects using an object-handling robotic device of FIG. 1 according to some embodiments herein.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0019] 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.
[0020] An objective of the current invention is to provide a robotic device for handling objects in storage and retrieval applications 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 to palletize one or more objects. 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.
[0021] FIG. 1 illustrates an exemplary view of an object-handling robotic device 100 for palletizing one or more objects according to some embodiments herein. The object handling robotic device 100 includes a base mounting frame 102, one or more pairs of finger clamps 104A-N, one or more clamp frames 106A-N, one or more fork side frames 108A-N, one or more fork pins 110A-N, a stopper plate 112, a stopper rod 114, a rail 116, one or more fork plates 118A-N, a slider component 120 and one or more fork plate sliding assemblies 122A-N. In some embodiments, the object-handling robotic device 100 includes an object-handling assembly and a gripper assembly. In some embodiments, the object-handling robotic device 100 includes at least three object-handling assemblies and at least three gripper assemblies. The object handling assembly includes the rail 116 and the slider component 120. The gripper assembly includes the one or more fork side frames 108A-N, one or more fork plate sliding assemblies 122A-N and the one or more fork plates 118A-N. The base mounting frame 102 is mounted with a robotic device using a flange. The base mounting frame 102 accommodates at least one of the one or more pair of finger clamps 104A-N, one or more clamp frames 106A-N. In some embodiments, one or more pair of finger clamps 104A-N are mounted on the base mounting frame 102 using one or more screws. The one or more pair of finger clamps 104A-N accommodates the one or more clamp frames 106A-N. In some embodiments, the pair of finger clamps 104A-N includes one or more of first finger clamps and one or more second finger clamps. In some embodiments, the pair of clamp frames 106A-N includes one or more first finger clamps and one or more second finger clamps.
[0022] The pair of finger clamps 104A and 104B accommodates the rail 116 on the top surface of the pair of finger clamps 104A and 104B. A bottom surface of the finger clamp 104A is mounted with a first clamp frame 106A. A bottom surface of the second clamp 104B is mounted with a second clamp frame 106B and the fork side frame 108A. In some embodiments, the slider component 120 is mounted on the rail 116 and the second finger clamp 104B. In some embodiments, each clamp frame is mounted with the stopper plate 112. The stopper plate 112 arrests a movement of the pair of the clamp frames 106A and 106B when sliding outward on the rail 116. The pair of the clamp frames 106A and 106B slides outward to drop the one or more objects. The stopper rod 114 is mounted on the pair of finger clamps 106A and 106B to arrest the movement of the pair of clamp frames 106A and 106B when sliding inward on the rail 116. In some embodiments, the pair of clamp frames 106A and 106B slides inward to pick the one or more objects.
[0023] The fork side frame 108A is mounted on the second clamp frame 106B. The fork side frame 108A slides inward and outward with the second clamp frame 106B. In some embodiments, the slider component 120 drives the fork side frame 108A and the second clamp frame 106B to slide on the rail 116. The fork side frame 108A mounts the fork plate sliding assembly 122. The fork plate sliding assembly 122 is mounted with the fork plate 118. In some embodiments, one or more supporting frames are used to mount the fork side frame 108A on the second clamp frame 106B. The fork plate 118 is mounted with the one or more fork pins 110A-N.
[0024] The slider component 120 actuates the pair of finger clamps 104A and 104B to slide on the rail 116 to handle the one or more objects that are in different orientations. The fork plate sliding assembly 122 drives the fork plate 118A to slide on the fork side frame 118A towards the bottom surface of the one or more objects when the object handling robotic device 100 handles the one or more objects between a first threshold height and a second threshold height. The fork plate 118A locks the one or more objects and provides the positive gripping when the object-handling robotic device 100 reaches the second threshold height. In some embodiments, the fork plate 118 moves and stops when the object is detected.
[0025] In some embodiments, the one or more clamp frames 106A-N are slid on the rail 116 based on the orientations of the one or more objects. The fork plate sliding assembly 122 drives the fork plate 118A to slide on the fork side frame 118A towards the bottom surface of the one or more objects when the object handling robotic device 100 handles the one or more objects between a first threshold height and a second threshold height. The object-handling robotic device 100 handles and lifts the one or more objects to the first threshold height using the one or more clamp frames 106A-N. The one or more fork plates 118A-N slide inwards to a bottom surface of the one or more objects when the object handling robotic device 100 reaches the first threshold height. The one or more objects are locked by the one or more fork pins 110A-N before the object handling robotic device 100 reached the second threshold height. The fork plate 118A and provides the positive gripping when the object-handling robotic device 100 reaches the second threshold height.
[0026] In some embodiments, the object-handling robotic device 100 lifts down the one or more objects and enables the fork plate 118A to move outward when reaching the second threshold level. The object-handling robotic device 100 enables the clamp frames 106A and 106B to move outward when the one or more objects are reached a floor to release and palletize the one or more objects.
[0027] FIG. 2 is a flow diagram of a method of palletizing one or more objects using the object-handling robotic device 100 of FIG. 1 according to some embodiments herein. At step 202, the one or more clamp frames 106A-N are enabled to slide on the rail 116 based on the orientations of the one or more objects. At step 204, the one or more clamp frames 106A-N are enabled to handle the one or more objects. At step 206, the one or more objects are lifted using the one or more clamp frames 106A-N. At step 208, the one or more fork plates 118A-N are enabled to slide inwards to a bottom surface of the one or more objects when the object handling robotic device 100 reaches the first threshold height. At step 210, the one or more objects are locked at the bottom surface of the one or more fork pins 110A-N before the object handling robotic device 100 reaches the second threshold height. At step 212, the one or more objects are provided with the positive gripping when the object handling robotic device 100 reaches the second threshold height. In some embodiments, the object-handling robotic device 100 lifts down the one or more objects and enables the one or more fork plates 118A-N to slide outwards from the bottom surface of the one or more objects when the object-handling robotic device 100 reaches the second threshold height. The one or more objects are released from the bottom surface before the object-handling robotic device reaches the first threshold height.
[0028] 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. An object-handling robotic device (100) for palletizing a plurality of objects comprising,
a base mounting frame (102) that is coupled to a robotic device using a plurality of flanges;
a plurality of pair of finger clamps (104A-N) that are mounted on the base mounting frame (102), wherein the pair of finger clamps (104A-N) comprises a plurality of first finger clamps and a plurality of second finger clamps;
a plurality of clamp frames (106A-N) that are mounted on the plurality of finger clamp (104A-N), wherein the plurality of clamp frames (106A-N) comprise a plurality of first clamp frames and a plurality of second clamp frames;
an object-handling assembly that comprises
a rail (116) that is mounted on the base mounting frame (102) and the pair of finger clamps (104A and 104B); and
a slider component (120) that is mounted between the pair of finger clamps (104A and 104B), wherein a base of the slider component (120) is mounted on the first finger clamp (104A) and a shaft of the slider component (120) is mounted on the second finger clamp (104B) and the second clamp frame (106B), wherein the slider component (120) actuates the pair of finger clamps (104A and 104B) to slide on the rail (116) to handle the plurality of objects that are in different orientations; and
a gripper assembly that comprises
a plurality of fork side frames (108A-N) that are mounted on the plurality of second clamp frames;
a plurality of fork plate sliding assemblies (122A-N) that are mounted on the plurality of fork side frames (108A-N) and a plurality of fork plates (118A-N); and
the plurality of fork plates (118A-N) that slide on the plurality of fork side frames (122A-N) to lock the plurality of objects at a bottom surface and provide a positive gripping to the plurality of objects when palletizing the plurality of objects that are in different orientations.

2. The object handling robotic device (100) as claimed in claim 1, wherein the object handling robotic device (100) comprises (a) the at least three object handling assemblies and (b) the at least three gripper assemblies.

3. The object handling robotic device (100) as claimed in claim 1, wherein the pair of finger clamps (104A and 104B) accommodates the rail (116) and the slider component (120) on a top surface of the pair of finger clamps (104A and 104B), wherein a bottom surface of the first finger clamp (104A) is mounted with the first clamp frame (106A) and a bottom surface of the second finger clamp (104B) is mounted with the second clamp frame (106B) and the fork side frame (108A), wherein the slider component (120) drives the plurality of clamp frames (106A-N) to slide on the rail (116) to handle the plurality of objects.

4. The object handling robotic device (100) as claimed in claim 1, wherein the object handling robotic device (100) comprises a stopper plate (112) and a stopper rod (114) that are mounted on the pair of finger clamps (104A and 104B) and the plurality of clamp frames (106A-N), wherein the stopper plate (112) arrests a movement of the pair of clamp frames (106A and 106B) when sliding outward on the rail (116), wherein the stopper rod (114) arrests the movement of the pair of clamp frames (106A and 106B) when sliding inward on the rail (116).

5. The object handling robotic device (100) as claimed in claim 1, wherein the plurality of clamp frames (106A-N) slide inward to pick the plurality of objects and outward to drop the plurality of objects.

6. The object handling robotic device (100) as claimed in claim 1, wherein the fork side frame (108A) is mounted on the second clamp frame (106B) using a plurality of supporting frames, wherein the fork side frame (108A) slides with the second clamp frame (106B) when the slider component (120) drives the plurality of clamp frames (106A-N).

7. The object handling robotic device (100) as claimed in claim 1, wherein the fork plate (118A) comprises a plurality of fork pins (110A-N) to provide a gripping for the plurality of objects when the object handling robotic device (100) handles the plurality of objects.

8. The object handling robotic device (100) as claimed in claim 1, wherein the fork plate sliding assembly (122A) drives the fork plate (118A) to slide on the fork side frame (118A) towards the bottom surface of the plurality of objects when the object handling robotic device (100) handles the plurality of objects between a first threshold height and a second threshold height, wherein the fork plate (118A) locks the plurality of objects and provides the positive gripping when the object handling robotic device (100) reached the second threshold height.

9. A method of palletizing a plurality of objects using an object-handling robotic device (100) comprising,
enabling a plurality of clamp frames (106A-N) to slide on a rail (116) based on orientations of the plurality of objects;
enabling the plurality of clamp frames (106A-N) to handle the plurality of objects;
lifting up the plurality of objects using the plurality of clamp frames (106A-N);
enabling a plurality of fork plates (118A-N) to slide inwards to a bottom surface of the plurality of objects when the object-handling robotic device (100) reaches the first threshold height;
locking the plurality of objects at the bottom surface using a plurality of fork pins (110A-N) before the object handling robotic device (100) reached a second threshold height; and
providing a positive gripping to the plurality of objects when the object-handing robotic device (100) reached the second threshold height.

10. The method as claimed in claim 9, wherein the method comprises
lifting down the plurality of objects;
enabling the plurality of fork plates (118A-N) to slide outwards from the bottom surface of the plurality of objects when the object-handling robotic device (100) reached the second threshold height; and
release the plurality of objects from the bottom surface before the object-handling robotic device (100) reaches the first threshold height.