Description:TECHNICAL FIELD
[001] The disclosed subject matter relates generally to the field of automated material handling and robotic systems. More particularly, the present invention pertains to a Robotic End-Effector Assembly designed for the efficient palletizing and depalletizing of lid stacks, offering a solution to the automation of lid stack handling processes.

BACKGROUND
[002] In the realm of automation, substantial progress has been made in the field of automated material handling and robotics. These advancements have revolutionized various industries by significantly enhancing efficiency, precision, and productivity. Automated systems have found extensive applications across manufacturing, logistics, and warehousing, leading to streamlined operations, reduced labor costs, and improved overall performance.

[003] More specifically, the present invention is geared towards addressing the persistent challenges encountered in the handling of lid stacks. These lid stacks comprise lids or caps used for a wide array of containers, such as paint buckets and similar receptacles. The palletizing and depalletizing of lid stacks are crucial processes in several industries, including the production and distribution of paints, coatings, chemicals, and related products. These processes are integral to maintaining a seamless supply chain and ensuring product availability in the market.

[004] Despite the notable strides in automation, the handling of lid stacks remains primarily a manual endeavor in the industry. This manual approach brings forth a host of significant issues. Manual handling of lid stacks is inherently time-consuming, resulting in reduced production rates and potential bottlenecks within the supply chain. This impediment restricts the industry's ability to meet escalating demands efficiently. Human operators are susceptible to various errors, including misalignment, improper stacking, and inadvertent lid damage during handling. Such errors can lead to quality control problems, product damage, and an increase in overall production costs.

[005] Manual lid stack handling necessitates a workforce, incurring labor costs and making the operation susceptible to downtime due to factors such as employee breaks and shift changes. Existing automated material handling solutions often prove ill-suited for the unique characteristics of lid stacks, including their diverse shapes, fragility, and varying sizes. Even when adapted, these solutions may not guarantee foolproof stacking and can result in lid drops.

[006] Given the above-mentioned shortcomings of existing technologies, there exists need for an efficient and reliable solution to automate the palletizing and depalletizing of lid stacks. Such a solution should not only enhance the speed and efficiency of these processes but also eliminate errors, reduce labor costs, and enable uninterrupted 24/7 operation. Furthermore, it should possess the versatility to handle various lid sizes and types, without being confined to specific products or industries.

[007] In light of these critical industry needs, the present invention introduces a novel Robotic End-Effector Assembly designed explicitly for the lid stack palletizing and depalletizing processes. This innovation promises increased productivity, precision, and reliability, offering a versatile solution to long-standing industry challenges.

SUMMARY
[008] The following invention presents a simplified summary of the disclosure in order to provide a basic understanding to the reader. This summary is not an extensive overview of the disclosure and it does not identify key/critical elements of the invention or delineate the scope of the invention. Its sole purpose is to present some concepts disclosed herein in a simplified form as a prelude to the more detailed description that is presented later.

[009] The exemplary embodiments of the present disclosure pertain to a robotic end-effector assembly for lid stack palletizing and depalletizing process.

[0010] The objective of the present disclosure is to achieve efficient gripping and handling of lids within a stack, minimizing the drop or fall rate of lids during the palletizing and depalletizing process.

[0011] Another objective of the present disclosure is to develop an innovative robotic end-effector assembly that, when handling a lid stack, ensures secure and positive gripping while effectively eliminating all degrees of motion within the stack.

[0012] Another objective of the present disclosure is to guarantee precise lid alignment and prevent any mispositioning of lids during high-speed robot movements, thereby enhancing the overall efficiency and reliability of the lid stack handling process.

[0013] Another objective of the present disclosure is to enhance operational speed and efficiency by automating the lid stack handling process, thereby increasing production rates and reducing bottlenecks in the supply chain.

[0014] Another objective of the present disclosure is to eliminate errors associated with manual lid stack handling, ensuring precise alignment and proper stacking of lids without any damage.

[0015] Another objective of the present disclosure is to reduce labor costs by replacing manual labor with a robotic system that can operate continuously without the need for breaks or shift changes.

[0016] Another objective of the present disclosure is to provide a versatile solution that can accommodate lids of various sizes and types, making it suitable for a wide range of applications beyond a specific product or industry.

[0017] In an exemplary embodiment of the present disclosure, introduces an innovative end-effector assembly that employs gripper flappers actuated by pneumatic cylinders for initial frictional grip.

[0018] Another exemplary embodiment of the present disclosure, the end-effector assembly incorporates support rollers to provide stability.

[0019] Another exemplary embodiment of the present disclosure, the end-effector assembly incorporates a sliding stopper plate with pneumatic cylinder control for secure bottom holding.

[0020] Another exemplary embodiment of the present disclosure, the end-effector assembly complemented by a cap holder with a pneumatic cylinder for top-pressure assurance during robot movements.

[0021] In another exemplary embodiment of the present disclosure, the invention incorporates pneumatic cylinders for precise gripping into an end-effector assembly, which also features specialized gripper flappers to securely hold the lid stack and support rollers to ensure stable end-effector assembly handling.

[0022] Yet another exemplary embodiment of the present disclosure enhances the gripping and holding capabilities of an end-effector assembly by dividing it into three sections.

BRIEF DESCRIPTION OF THE DRAWINGS
[0023] FIG. 1 illustrates a comprehensive diagram showcasing the innovative Robotic End-Effector Assembly.

[0024] Figure 2A provides a detailed view of the positioning process for the robotic end-effector gripper flappers as they approach the pallet of lid stacks. In this depiction, the gripper flappers are shown in an open condition, indicating their initial placement and readiness for lid stack handling.

[0025] Figure 2B depicts the process of moving the robotic end-effector gripper flappers closer to the lid stack for an initial frictional grip. In this illustration, the gripper flappers are shown in a closed condition, signifying their secure engagement with the lids.

[0026] Figure 3A illustrates the upward movement of the robot by a few centimeters, along with the lid stack. This movement is performed to activate the stopper plate located at the bottom of the assembly, creating space for the stopper plate to function effectively.
[0027] Figure 3B illustrates the process of moving the stopper plate into position beneath the lid stack. This action ensures secure bottom holding, effectively preventing any lid movement or mispositioning at the lower end of the stack.

[0028] Figure 4 illustrates the utilization of a cap holder, located in the third section of the end-effector assembly. A pneumatic cylinder is activated to apply top pressure to the lid stack, ensuring that no lids become dislodged during fast robot movements.
[0029] Figure 5 illustrates the precise process of gently lifting the lid stack from the pallet using the end-effector assembly. Subsequently, it shows the transfer of the extracted lid stack from its initial position to a different location.

[0030] Figure 6A and Figure 6B represents the final stage of the depalletization process, where the end-effector assembly completes its task. This involves the deliberate release of the support rollers, stopper plate, and cap holder after the secure transfer of the lid stack, ensuring a smooth and successful depalletization operation.

[0031] Figure 7 illustrates a flow diagram, following an exemplary embodiment, that outlines the operational procedure of the Robotic End-Effector Assembly. It provides a visual representation of sequential steps involved in the Lid Stack Palletizing and Depalletizing Process.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0032] It is to be understood that the present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The present disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

[0033] The use of “including”, “comprising” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item. Further, the use of terms “first”, “second”, and “third”, and so forth, herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.
[0034] Referring to FIG. 1, it illustrates a comprehensive diagram showcasing the innovative Robotic End-Effector Assembly, a system that may offer significant advantages in the precise handling of lid stacks in palletizing and depalletizing processes. This assembly comprises several key components, each of which may play an integral role in enhancing efficiency and accuracy.

[0035] Label 100, representing the overall image, provides an encompassing view of the entire assembly, allowing for a holistic understanding of its structure and potential functionality. Labels 102A and 102B denote the gripper flappers, which, when in conjunction with pneumatic cylinders 104A and 104B, may potentially facilitate the establishment of an initial frictional grip on the lid stack. This coordinated effort may serve to minimize the possibility of unintended lid displacement. The support rollers, labeled as 114A and 114B, may be strategically positioned in opposition to the gripper flappers. Their potential role is to provide stability to the assembly and potentially contribute to the secure frictional grip of the lid stack.

[0036] Within the lid stack bottom stopper section, the presence of stopper plate 108 is significant. Supported by pneumatic cylinders 116A and 116B, this section may serve the critical function of positively holding the stack from the bottom, potentially preventing any undesired motion during handling. Label 118 represents the cap holder in the lid stack top pressing section. Activated by pneumatic cylinder 106, this component may play a crucial role in preventing any lid from dislodging during rapid robot movements by applying top pressure.

[0037] Notably, the entire end effector assembly may be divided into three distinct sections: Lid Stack Frictional Grip Section: In this section, gripper flappers 102A and 102B may be moved closer with the assistance of pneumatic cylinders 104A and 104B to potentially secure the lid stack. Support rollers 114A and 114B, positioned at a 90° angle to the grippers, may contribute to the assembly's ability to grip the entire lid stack frictionally. Lid Stack Bottom Stopper Section: This section involves the utilization of stopper plate 108 to potentially achieve positive bottom holding of the stack. The support of pneumatic cylinders 116A and 116B may facilitate the controlled actuation of the stopper plate. Lid Stack Top Pressing Section: Positioned at the top, cap holder 118 may play a vital role in maintaining the stack's integrity by applying top pressure during robot movements, thereby potentially preventing any lid from becoming dislodged.

[0038] According to the non limiting exemplary embodiments of the present invention, the coordinated operation of these components across these three potential sections may significantly contribute to the assembly's potential ability to securely hold the lid stack, both frictionally and positively. Such capabilities may be particularly valuable during the rapid movements of the robot, where precision and stability are of paramount importance. FIG. 1 provides valuable insights into the assembly's structure, highlighting its intricate design and the potential functions of its individual components.

[0039] Referring to Figure 2A provides a detailed view of the positioning process for the robotic end-effector gripper flappers as they approach the pallet of lid stacks. In this depiction, the gripper flappers are shown in an open condition, indicating their initial placement and readiness for lid stack handling. Label 200A represents the overall image, offering a focused perspective on the critical steps involved in positioning the gripper flappers for efficient lid stack handling. Gripper flappers 202A and 202B, alongside pneumatic cylinders 204A and 204B, may play pivotal roles in this positioning process. These components, in coordination, potentially facilitate the precise alignment of the gripper flappers for optimal engagement with the lid stack.

[0040] The presence of pneumatic cylinder 206 is also notable in this configuration. This cylinder may potentially contribute to the controlled movement and positioning of the gripper flappers, ensuring accuracy in their placement. Furthermore, the positioning process involves the initial placement of Lid stack 210 on the first table, labeled as 212. The same stack is supposed to be transferred to the second table, labeled as 214, using the end effector assembly. These tables provide stable foundations for the gripper flappers, ensuring precise alignment and facilitating the transition of the lid stack from the first table to the second.

[0041] The coordinated efforts of these components in Figure 2A may indicate the meticulous planning and execution involved in the initial stages of the lid stack handling process. The gripper flappers, strategically positioned in their open condition, set the stage for subsequent actions that contribute to the efficient palletizing or depalletizing of lid stacks.
[0042] Referring to Figure 2B depicts the process of moving the robotic end-effector gripper flappers closer to the lid stack for an initial frictional grip. In this illustration, the gripper flappers are shown in a closed condition, signifying their secure engagement with the lids. The gripper flappers, represented by labels 202A and 202B, into close proximity to the lid stack, denoted as 210. This approach is executed with precision using pneumatic cylinders 204A and 204B, which may work in coordination to facilitate controlled and accurate movement.

[0043] Pneumatic cylinders 204A and 204B, featured in this configuration, plays a significant role in this process by potentially contributing to the secure closure of the gripper flappers. This closed condition ensures a secure initial frictional grip on the lids of the stack. The lid stack, positioned for handling, may benefit from this approach, which allows the gripper flappers to firmly engage with the lids. This secure engagement is vital to prevent any unintended displacement or disturbance during the subsequent stages of the lid stack handling process. Figure 2B provides valuable insights into the meticulous execution of this crucial phase, where the gripper flappers are brought into contact with the lid stack, forming the foundation for the assembly's secure and efficient handling of the lids.

[0044] Referring to Figure 3A illustrates the upward movement of the robot by a few centimeters, along with the lid stack. This movement is performed to activate the stopper plate located at the bottom of the assembly, creating space for the stopper plate to function effectively. In this comprehensive view, represented by label 300A, we witness a crucial step in the lid stack handling process. The gripper flappers, labeled as 302A and 302B, along with pneumatic cylinders 304A and 304B, may have already secured a firm grip on the lid stack, labeled as 310.

[0045] Underneath the lid stack, the essential stopper plate, denoted as 316. This component is a key element in the assembly, and its activation is critical for secure lid stack handling. To achieve this, pneumatic cylinder 318 may be utilized, potentially ensuring the precise positioning and functioning of the stopper plate. The upward movement of the robot and the lid stack, as depicted in Figure 3A, may create the necessary space for the stopper plate to function effectively. This activation is crucial to prevent any unintended motion or mispositioning of the lids at the lower end of the stack. The synchronized operation of these components showcases the intricate planning and execution involved in the lid stack handling process, ensuring that the stopper plate is appropriately positioned to enhance the assembly's ability to securely hold the stack. Figure 3A provides valuable insights into this critical phase of the operation, where precision and control are of utmost importance in ensuring the safe and efficient handling of lid stacks.

[0046] Referring to Figure 3B illustrates the process of moving the stopper plate into position beneath the lid stack. This action ensures secure bottom holding, effectively preventing any lid movement or mispositioning at the lower end of the stack. In the detailed view presented in label 300B, focus on a critical phase of the lid stack handling process. The stopper plate, identified as 316, is the central component in this operation, playing a pivotal role in ensuring the secure bottom holding of the stack.

[0047] To execute this action with precision and control, pneumatic cylinder 318 may be employed. This cylinder, labeled as 318, potentially facilitates the precise movement and positioning of the stopper plate beneath the lid stack. The synchronized operation of these components is instrumental in moving the stopper plate into its designated position, effectively creating a secure bottom holding mechanism. This action is paramount in preventing any unintended lid movement or mispositioning at the lower end of the stack, thereby ensuring the stability and integrity of the lid stack during the handling process.

[0048] Figure 3B offers valuable insights into this crucial phase of the operation, highlighting the meticulous planning and execution required to achieve secure bottom holding of the lid stack. Such precision and control are essential in guaranteeing the safe and efficient handling of lid stacks in palletizing and depalletizing processes.

[0049] Referring to Figure 4 illustrates the utilization of a cap holder, located in the third section of the end-effector assembly. A pneumatic cylinder is activated to apply top pressure to the lid stack, ensuring that no lids become dislodged during fast robot movements. In this comprehensive view presented in label 400, observe a critical element in the lid stack handling process. The cap holder, identified as 420, plays a pivotal role in maintaining the integrity and stability of the lid stack during robot movements.

[0050] The coordinated operation of the cap holder and the pneumatic cylinder in Figure 4 exemplifies the meticulous planning and execution involved in the lid stack handling process. This section of the end-effector assembly serves as a safeguard against lid displacement during rapid robot movements, contributing to the secure and precise handling of the lids. Figure 4 offers valuable insights into this critical phase of the operation, emphasizing the importance of maintaining lid stack integrity to prevent any potential disruptions during the palletizing or depalletizing process. To execute this action with precision, a pneumatic cylinder, labeled as 406, is activated. This cylinder may potentially apply top pressure to the lid stack, ensuring that no lids become dislodged, especially when the robot operates at high speeds.

[0051] Referring to Figure 5 illustrates the precise process of gently lifting the lid stack from the pallet using the end-effector assembly. Subsequently, it shows the transfer of the extracted lid stack from its initial position to a different location. In this comprehensive view depicted by label 500, observe the end-effector assembly, represented as 100, actively engaged in the delicate task of lifting the lid stack from its original placement on the first table, labeled as 512.

[0052] The precise execution of this lifting process showcases the assembly's ability to handle the lid stack with care and accuracy, minimizing the risk of damage or dislodgment during transfer. Following the successful extraction of the lid stack, Figure 5 also illustrates the subsequent transfer of the stack to a different location, represented by the second table labeled as 514. This movement is executed with precision, ensuring that the lid stack remains intact and secure throughout the transition.

[0053] The synchronized operation of the end-effector assembly, as showcased in Figure 5, exemplifies the assembly's capability to handle delicate objects such as lid stacks, emphasizing its role in efficient palletizing and depalletizing processes. This figure provides valuable insights into the meticulous planning and execution required for the safe and precise handling of lid stacks, highlighting the assembly's ability to maintain stack integrity during the lifting and transfer phases of the operation.

[0054] Referring to Figure 6A and Figure 6B represents the final stage of the depalletization process, where the end-effector assembly completes its task. This involves the deliberate release of the support rollers, stopper plate, and cap holder after the secure transfer of the lid stack, ensuring a smooth and successful depalletization operation.

[0055] In this comprehensive view presented in label 600, witness the culmination of the depalletization process, showcasing the coordinated actions of the end-effector assembly and the robot. The final steps involve positioning the robot at the destination and raising it by a few centimeters. This elevation ensures that the lid stack is precisely placed in its intended location. Subsequently, the cap holder 620 is released, and the cylinders are activated to remove the bottom stopper plate 616. These actions are crucial in preparing the lid stack for its final placement as shown in figure 6A.

[0056] To conclude the process, the final release of the lid stack, along with the support rollers, stopper plate 616, and cap holder 620, occurs after the secure transfer of the lid stack. Subsequently, the lid stack is accurately positioned at the desired location, and the gripper flaps are opened following the upward movement of the stopper plate 616 and pneumatic cylinder 618 as shown in figure 6B. This marks Figure 6A and Figure 6B offers valuable insights into the meticulous planning and execution required for the successful depalletization of lid stacks. The coordinated actions of the end-effector assembly and the robot in this final stage demonstrate the assembly's ability to handle delicate objects with precision and care, ensuring a smooth and efficient depalletization operation.
[0057] Referring to Figure 7, it illustrates a flow diagram, following an exemplary embodiment, that outlines the operational procedure of the Robotic End-Effector Assembly. It provides a visual representation of sequential steps involved in the Lid Stack Palletizing and Depalletizing Process. The operational procedure commences with the initiation of the robotic system and the end-effector assembly, as denoted by label 702. Subsequently, the robotic arm is set in motion towards the pallet of lid stacks using predefined coordinates, as represented by step 704. This positioning phase is crucial to prepare for the efficient handling of the lid stacks.

[0058] Step 706 involves positioning the robotic end-effector gripper flappers, ensuring their approach to the pallet of lid stacks. Once in position, the end-effector assembly is activated and prepared for lid stack handling, as detailed in step 708. The subsequent steps revolve around the precise handling of the lid stack. Step 710 follows, wherein the pneumatic cylinders are actuated to engage the gripper flappers, ensuring a secure grip. In step 712, the robotic end-effector gripper flappers are moved closer to the lid stack, initiating the process of securing the stack through an initial frictional grip. To stabilize the lid stack during depalletization, step 714 introduces the engagement of support rollers positioned opposite to the robotic end-effector gripper flappers. This crucial step ensures that the lid stack remains securely held and stable throughout the process, as emphasized in step 716.

[0059] Step 718 marks the next phase, involving the upward movement of the robot along with the lid stack to activate the stopper plate at the bottom. This action creates the necessary space for the stopper plate, as detailed in step 720, where the pneumatic cylinders in the second section of the end-effector assembly come into play. The subsequent step, 722 focus on moving the stopper plate into position beneath the lid stack, ensuring positive bottom holding and preventing any unintended motion or mispositioning of lids at the lower end of the stack. Step 724 introduces the utilization of a cap holder in the third section of the end-effector assembly, followed by step 726, where a pneumatic cylinder is activated to apply top pressure to the lid stack. This measure ensures that no lids become dislodged during rapid robot movements.

[0060] The lid stack is then carefully lifted from the pallet using the end-effector assembly, as depicted in step 728, with a continuous focus on maintaining a secure grip, stability, and positive holding, as outlined in step 730. Once successfully lifted, step 732 involves transferring the extracted lid stack to its designated destination, which may include a conveyor belt, another part of the production line, or a storage area. Step 734 involves positioning the robot at the destination and raising it by a few centimeters to ensure precise placement. Subsequently, in step 736, the cap holder is released, and the cylinders are activated to remove the bottom stopper plate. In step 738, the support rollers, stopper plate, and cap holder are released after a secure transfer of the lid stack. Finally, in step 740, the gripper flaps are opened after moving the robot to the exact destination position, ensuring the final release of the lid stack.

[0061] The procedure is considered complete once all lid stacks have been depalletized and transferred to their respective destinations, as outlined in step 742. The depalletization process may be repeated, as indicated in step 744, as needed for subsequent lid stacks on the pallet. This comprehensive flow diagram, following the exemplary embodiment, underscores the meticulous planning and execution involved in the Lid Stack Palletizing and Depalletizing Process.

[0062] Reference throughout this specification to “one embodiment”, “an embodiment”, or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of the phrases “in one embodiment”, “in an embodiment” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.

[0063] Although the present disclosure has been described in terms of certain preferred embodiments and illustrations thereof, other embodiments and modifications to preferred embodiments may be possible that are within the principles and spirit of the invention. The above descriptions and figures are therefore to be regarded as illustrative and not restrictive.
[0064] Thus the scope of the present disclosure is defined by the appended claims and includes both combinations and sub-combinations of the various features described hereinabove as well as variations and modifications thereof, which would occur to persons skilled in the art upon reading the foregoing description.
, Claims:We Claim:

1. A robotic end-effector assembly for lid stack palletizing and depalletizing process comprising:
a lid stack frictional grip section comprising a pair of gripper flappers, the gripper flappers being moveable closer with the assistance of pair of pneumatic cylinders to securely hold a lid stack, a pair of support rollers configured to support the lid stack 90 degrees opposite to the gripper flappers, whereby the entire lid stack gripped frictionally;

a lid stack bottom stopper section comprising a stopper plate configured to hold the lid stack at bottom wherein, the stopper plate actuated by pair of pneumatic cylinders;

a lid stack top pressing section comprising a cap holder configured to press the lid stack from top, thereby preventing any individual lid being fly from the lid stack at the time of robot movement at full speed wherein, the cap holder actuated by a pneumatic cylinder.

2. The robotic end-effector assembly of claim 1, wherein the lid stack frictional grip section, lid stack bottom stopper section, and lid stack top pressing section collectively ensure the lid stack is held frictionally and positively, arresting all degrees of motion, and preventing any mispositioning of lids during rapid robot movement at full speed.

3. The robotic end-effector assembly of claim 1, wherein the lid stack is transferred from its initial position to a designated destination, which may include a conveyor belt, another part of the production line, or a storage area.
4. The robotic end-effector assembly of claim 1, wherein the gripper flappers in the lid stack frictional grip section smoothly and seamlessly release upon activation by the pair of pneumatic cylinders after a secure transfer, ensuring an efficient and safe release of the lid stack.

5. The robotic end-effector assembly of claim 1, wherein the stopper plate in the lid stack bottom stopper section is configured to slide forward smoothly and seamlessly under the lid stack upon activation by the pair of pneumatic cylinders, ensuring secure and controlled bottom holding.

6. The robotic end-effector assembly of claim 1, wherein the stopper plate in the lid stack bottom stopper section smoothly and seamlessly releases under the lid stack upon activation by the pair of pneumatic cylinders after a secure transfer, ensuring an efficient and safe release of the lid stack.

7. The robotic end-effector assembly of claim 1, wherein the cap holder in the lid stack top pressing section smoothly and seamlessly releases under the lid stack upon activation by the pneumatic cylinder after a secure transfer, ensuring an efficient and safe release of the lid stack.

8. A process for lid stack palletizing and depalletizing using a robotic end-effector assembly, the process comprising the steps of:
initiating the robotic system and the end-effector assembly;
moving the robotic arm towards the pallet of lid stacks using predefined coordinates;
positioning the robotic end-effector gripper flappers to approach the pallet of lid stacks;
turning on and preparing the end-effector assembly for lid stack handling;
actuating robotic end-effector gripper flappers by pneumatic cylinders;
moving robotic end-effector gripper flappers closer to the lid stack for initial frictional grip;
engaging support rollers, positioned opposite to the robotic end-effector gripper flappers, to stabilize the lid stack;
ensuring the lid stack remains securely held and stable during the depalletization process;
moving the robot upward by a few centimetres, along with the lid stack, to activate the stopper plate at the bottom, thereby creating space for the stopper plate;
activating a stopper plate by pneumatic cylinders in the second section of the end-effector assembly;
moving the stopper plate into position beneath the lid stack, ensuring positive bottom holding and preventing any motion or mispositioning of lids at the lower end of the stack;
utilizing a cap holder in the third section of the end-effector assembly;
activating a pneumatic cylinder to apply top pressure to the lid stack, preventing any lid dislodgment during rapid robot movements;
carefully lifting the lid stack from the pallet using the end-effector assembly.
ensuring that the lid stack remains gripped, stable, and positively held;
transferring the extracted lid stack to its designated destination, which may be a conveyor belt, another part of the production line, or a storage area;
positioning the robot at the destination, raising it a few centimeters;
releasing the cap holder and activating the cylinders to remove the bottom stopper plate;
opening the gripper flaps after moving the robot to the exact destination position;
releasing the support rollers, stopper plate and cap holder after secure transfer of lid stack;
considering the depalletization process complete once all lid stacks have been depalletized and transferred to their respective destinations; and
repeating the depalletization process as needed for subsequent lid stacks on the pallet.