Abstract: The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.

Abstract: The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.

Abstract: Embodiments of a product orientor include a turner conveyor that defines conveying plan and direction for a product received thereon and that has an initial orientation relative to the conveying direction. The initial orientation is determined by a vision system that is positioned upstream from the turner conveyor. The turner conveyor is rotatable about an axis that is perpendicular to the conveying plan between a conveying orientation, wherein the product is in the initial orientation, and a rectifying orientation, wherein the product is in a predetermined orientation relative to the conveying orientation. The product orientor further includes pressure plates that are movable between a retracted configuration and a holding configuration wherein the product is maintained in the predetermined orientation while the turner conveyor is moved from the rectifying orientation to the initial conveying orientation.

Abstract: A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.

Abstract: The problem of singulating products that are provided in a pallet layer is solved by breaking up the pallet layer so that each product can be handled separately by a robot tool and outputted in at least one line according to a predetermined orientation. The singulator includes a layer drop zone that receives a pallet layer of products, a break-up system that separates the products by creating gaps therebetween, yielding separated products, a vision system that determines characteristics and position of each separated product; and a robot equipped with a tool that receives information indicative of the characteristics and position of said each separated product to grip and position each separated product onto an output station within at least one line.

Abstract: An order picking system includes a robot and pallet support shuttle which i) loads an empty pallet from an empty pallet distribution system, ii) carries the empty pallets adjacent a selected one of a plurality of SKU pallet stations including selected products; iii) charges one or a plurality of the selected products from the selected one of the SKU pallet stations on the one of the empty pallets, iv) repeats steps ii) and iii) until a mixed pallet is completed according to an order; and iv) unloads the mixed pallet onto a mixed pallet receiver to be picked up. The shuttle includes a robot and a pallet-receiving area both moving in unison on a rail. This minimizes robot traveling since the mixed pallet always travels with the robot. The order picking system is enclosed with safety fencing having limited pick and drop areas.