Method, system, and apparatus for securing a section of a vertical stack of generally flat sheets, cartons, and like

Abstract

A system method and apparatus for separating and transporting a collection of stacked objects from a stack. A depalletizing apparatus includes a suction device assembly, a probing tongue, a lifting blade, and an optional compression arm. The suction device assembly applies a suction force to the side of the stacked objects and lifts a portion of the stacked objects thereby reducing the weight on the edge of the stack. A probing tongue inserted at or below the suction device assembly into the stack aids the insertion of a lifting blade into the stack. A compression arm may be utilized to provide a downward force on the stacked objects to aid in providing stability during movement of the collection by the lifting blade.

1 . A depalletizing apparatus for separating and transporting a collection of stacked objects from a stack, said apparatus comprising: 
 a suction device assembly for lifting an edge portion of a stack of objects in a substantially vertical direction;    a probing tongue for insertion into said stack at a position at or below said suction device assembly, such that after insertion into said stack, said stacked objects above the probing tongue define a collection of stacked objects; and    a lifting blade for vertically lifting said collection of stacked objects.    
   
   
       2 . The apparatus of  claim 1 , further comprising a compression device assembly for applying a downward compression force on an uppermost stacked object.  
   
   
       3 . The apparatus of  claim 1 , further comprising a stack sensor mounted adjacent said suction device assembly for determining a position of said suction device in relation to said edge portion.  
   
   
       4 . The apparatus of  claim 1 , further comprising a tongue sensor mounted adjacent said suction device assembly for determining a position of said suction device in relation to said probing tongue.  
   
   
       5 . The apparatus of  claim 1 , wherein said suction device assembly includes one or more suction cups.  
   
   
       6 . The apparatus of  claim 1 , wherein said suction device assembly is moveable both horizontally and vertically.  
   
   
       7 . The apparatus of  claim 1 , wherein said lifting blade is moveable both horizontally and vertically.  
   
   
       8 . The apparatus of  claim 1 , wherein said compression device assembly is moveable both horizontally and vertically.  
   
   
       9 . The apparatus of  claim 1 , wherein said lifting blade includes at least two forks, said forks being horizontally moveable to one another.  
   
   
       10 . A depalletizing apparatus for separating and transporting a collection of stacked objects from a stack, said apparatus comprising: 
 a suction device assembly for lifting an edge portion of a stack of objects in a first direction;    a probing tongue for insertion into said stack at a position at or below said suction device assembly, such that after insertion into said stack, said stacked objects above the probing tongue define a collection of stacked objects;    a lifting blade for lifting said collection of stacked objects in a direction substantially similar to said first direction; and    a compression device for applying a downward compression force on an uppermost stacked object for stabilizing said collection during movement of the collection.    
   
   
       11 . The apparatus of  claim 10 , wherein said first direction is substantially vertical.  
   
   
       12 . The apparatus of  claim 10 , wherein said lifting blade is moveable into said stack following said probing tongue.  
   
   
       13 . The apparatus of  claim 10 , further comprising a stack sensor mounted adjacent said suction device assembly for determining a position of said suction device in relation to said edge portion.  
   
   
       14 . The apparatus of  claim 10 , further comprising a tongue sensor mounted adjacent said suction device assembly for determining a position of said suction device in relation to said probing tongue.  
   
   
       15 . The apparatus of  claim 10 , wherein said suction device assembly has one or more suction cups.  
   
   
       16 . The apparatus of  claim 10 , wherein said suction device assembly is moveable both horizontally and vertically.  
   
   
       17 . The apparatus of  claim 10 , wherein said lifting blade is moveable both horizontally and vertically.  
   
   
       18 . The apparatus of  claim 10 , wherein said compression device is moveable both horizontally and vertically.  
   
   
       19 . The apparatus of  claim 10 , wherein said lifting blade includes at least two forks.  
   
   
       20 . The apparatus of  claim 19 , wherein said forks are horizontally moveable to one another.  
   
   
       21 . A depalletizing apparatus for separating and transporting a collection of stacked objects from a stack, said apparatus comprising: 
 a suction device assembly for lifting an edge portion of a stack of objects in a first direction;    a probing tongue for insertion into said stack at a position at or below said suction device assembly, such that after insertion into said stack, said stacked objects above the probing tongue define a collection of stacked objects; and    a lifting blade for lifting said collection of stacked objects in a direction substantially parallel to said first direction;    wherein the probing tongue is moveable into the stack for creating an opening in a side of the stack for insertion of the lifting blade by the advancement of said lifting blade against the probing tongue.    
   
   
       22 . The apparatus of  claim 21 , further comprising a compression device for applying a downward compression force on an uppermost stacked object.  
   
   
       23 . The apparatus of  claim 21 , further comprising a stack sensor mounted adjacent said suction device assembly for determining a position of said suction device in relation to said edge portion.  
   
   
       24 . The apparatus of  claim 21 , further comprising a tongue sensor mounted adjacent said suction device assembly for determining a position of said suction device in relation to said probing tongue.  
   
   
       25 . The apparatus of  claim 21 , wherein said suction device assembly has one or more suction cups.  
   
   
       26 . The apparatus of  claim 21 , wherein said suction device is moveable both horizontally and vertically.  
   
   
       27 . The apparatus of  claim 21 , wherein said lifting blade is moveable both horizontally and vertically.  
   
   
       28 . The apparatus of  claim 22 , wherein said compression device is moveable both horizontally and vertically.  
   
   
       29 . The apparatus of  claim 21 , wherein said lifting blade includes at least two forks, said forks being horizontally moveable to one another.  
   
   
       30 . A robotic assembly for separating and transporting a collection of stacked objects from a stack, said robotic assembly comprising: 
 a robotic mechanism providing a range of motion;    a frame connected to said robotic mechanism;    a suction device assembly for vertically lifting an edge portion of a stack of objects, the suction device assembly connected to said frame;    a lifting blade operably connected to said frame; and    a probing tongue operably connected to said frame, said probing tongue moveable into said stack at a position at or below said suction device assembly, such that after insertion into said stack, said objects above said probing tongue define a collection of stacked objects.    
   
   
       31 . The robotic assembly of  claim 30 , further comprising a compression arm assembly operably connected to said frame, said compression arm assembly configured for applying a downward compression force on the stack of objects.  
   
   
       32 . The robotic assembly of  claim 30 , further comprising a stack sensor mounted on said suction device assembly for determining a position of said suction device assembly in relation to said edge portion.  
   
   
       33 . The robotic assembly of  claim 30 , further comprising a tongue sensor mounted on said suction device assembly for determining a position of said suction device assembly in relation to said probing tongue.  
   
   
       34 . The robotic assembly of  claim 30 , wherein said suction device assembly includes one or more suction cups operably coupled to a suction producing source.  
   
   
       35 . The robotic assembly of  claim 30 , wherein said suction device assembly is operable both horizontally and vertically.  
   
   
       36 . The robotic assembly of  claim 30 , wherein said suction device assembly is comprised of a lifting arm and one or more suction cups connected to said lifting arm.  
   
   
       37 . The robotic assembly of  claim 30 , wherein said lifting blade is operable both horizontally and vertically.  
   
   
       38 . The robotic assembly of  claim 31 , wherein said compression arm assembly is operable both horizontally and vertically.  
   
   
       39 . The robotic assembly of  claim 30 , wherein said lifting blade includes at least two forks, said forks being horizontally moveable to one another.  
   
   
       40 . A robotic assembly for separating and transporting a collection of stacked objects from a stack, said robotic assembly comprising: 
 a robotic mechanism providing a range of motion;    a frame connected to said robotic mechanism,    a suction device assembly for vertically lifting an edge portion of a stack of objects in a first direction, the suction device assembly connected to said frame;    a lifting blade operably connected to said frame;    a probing tongue connected to said frame, said probing tongue moveable into said stack at a position at or below said suction device assembly, such that after insertion into said stack, said objects above said probing tongue define a collection of stacked objects; and    a compression arm assembly operably connected to said frame, said compression arm assembly configured for applying a downward compression force on the stack of objects.    
   
   
       41 . The robotic assembly of  claim 40 , wherein said first direction is substantially vertical.  
   
   
       42 . The robotic assembly of  claim 40 , further comprising a stack sensor mounted on said suction device assembly for determining a position of said suction device assembly in relation to said edge portion.  
   
   
       43 . The robotic assembly of  claim 40 , further comprising a tongue sensor mounted on said suction device assembly for determining a position of said suction device assembly in relation to said probing tongue.  
   
   
       44 . The robotic assembly of  claim 40 , wherein said suction device assembly includes a lifting arm and one or more suction cups mounted on said lifting arm.  
   
   
       45 . The robotic assembly of  claim 40 , wherein said suction device assembly is operable both horizontally and vertically.  
   
   
       46 . The robotic assembly of  claim 40 , wherein said suction device assembly includes one or more suction cups operably coupled to a suction producing source.  
   
   
       47 . The robotic assembly of  claim 40 , wherein said lifting blade is operable both horizontally and vertically.  
   
   
       48 . The robotic assembly of  claim 41 , wherein said compression arm assembly is operable both horizontally and vertically.  
   
   
       49 . The robotic assembly of  claim 40 , wherein said lifting blade includes at least two forks, said forks being horizontally moveable to one another.  
   
   
       50 . A robotic assembly for separating and transporting a collection of stacked objects from a stack, said robotic assembly comprising: 
 a robotic mechanism providing a range of motion;    a frame connected to said robotic mechanism;    a suction device assembly connected to said frame, said suction device assembly for vertically lifting an edge portion of a stack of objects;    a lifting blade operably connected to said frame; and    a probing tongue connected to said lifting blade, said probing tongue moveable into said stack at a position at or below said suction device assembly, such that after insertion into said stack, said objects above said probing tongue define a collection of stacked objects.    
   
   
       51 . The robotic assembly of  claim 50 , further comprising a compression arm assembly operably connected to said frame, said arm configured for applying a downward compression force compression force on the stack of objects.  
   
   
       52 . The robotic assembly of  claim 50 , further comprising a stack sensor mounted on said suction device assembly for determining a position of said suction device assembly in relation to said edge portion.  
   
   
       53 . The robotic assembly of  claim 50 , further comprising a tongue sensor mounted on said suction device assembly for determining a position of said suction device assembly in relation to said lifting blade.  
   
   
       54 . The robotic assembly of  claim 50 , wherein said suction device assembly includes a lifting arm and one or more suction cups mounted on said lifting arm.  
   
   
       55 . The robotic assembly of  claim 50 , wherein said suction device assembly is operable both horizontally and vertically.  
   
   
       56 . The robotic assembly of  claim 50 , wherein said suction device assembly includes one or more suction cups operably coupled to a suction producing source.  
   
   
       57 . The robotic assembly of  claim 50 , wherein said lifting blade is operable both horizontally and vertically.  
   
   
       58 . The robotic assembly of  claim 51 , wherein said compression arm assembly is operable both horizontally and vertically.  
   
   
       59 . The robotic assembly of  claim 50 , wherein said lifting blade includes at least two forks, said forks being horizontally moveable to one another.  
   
   
       60 . A method for separating and transporting a collection of stacked objects from a stack, said method comprising the steps of: 
 vertically lifting an edge portion of a plurality of objects in a stack by utilizing a suction force, said stack having an uppermost stacked object;    inserting a probing tongue into said stack at a position at or below said vertically lifted edge portion, such that after insertion into the stack, the stacked objects above said probing tongue define a collection of stacked objects, and such that an opening in a side of the stack is made;    inserting a lifting blade into said opening; and    vertically lifting said collection of stacked objects with said lifting blade.    
   
   
       61 . The method of  claim 60 , wherein said suction force is applied by a suction device assembly.  
   
   
       62 . The method of  claim 61  further comprising the step of: 
 determining a position of said suction device assembly in relation to said edge portion for maneuvering said suction device assembly towards said stack.    
   
   
       63 . The method of  claim 61  further comprising the step of: 
 determining a position of said probing tongue in relation to said suction device assembly for maneuvering said lifting blade towards said suction device assembly.    
   
   
       64 . The method of  claim 60 , further comprising the step of: 
 applying a downward force on said stacked objects to compress said collection of stacked objects.    
   
   
       65 . The method of  claim 64 , wherein the downward force is applied by moving a compression arm coupled to a compression foot downward on the collection of stacked objects.  
   
   
       66 . The method of  claim 60 , wherein the stacked objects are from the group consisting of stacked cardboard boxes, stacked paper and stacked cartons.  
   
   
       67 . The method of  claim 60 , further comprising the step of: 
 retracting said probing tongue from said stack after said lifting blade has been inserted into said stack.    
   
   
       68 . The method of  claim 60 , further comprising the step of: 
 retracting said probing tongue from said stack while said lifting blade is being inserted into said stack.    
   
   
       69 . The method of  claim 60 , further comprising the step of: 
 transporting said collection of stacked objects at away from said stack.    
   
   
       70 . The method of  claim 60 , further wherein the probing tongue is pushed into said stack by the lifting blade.  
   
   
       71 . A method for separating and transporting a collection of stacked objects from a stack, said method comprising the steps of: 
 lifting an edge portion of a plurality of objects in a stack in a first direction by utilizing a suction force, said stack having an uppermost stacked object;    inserting a probing tongue into said stack at a position at or below said lifted edge portion, the stacked objects above said probing tongue defining a collection of stacked objects;    inserting a lifting blade into said stack near the position of said probing tongue further lifting the probing tongue;    applying a downward force on said uppermost stacked object to compress said collection of stacked objects; and    lifting said collection of stacked objects with said lifting blade in said first direction.    
   
   
       72 . The method of  claim 71 , wherein said suction force is applied by a suction device assembly.  
   
   
       73 . The method of  claim 71  further comprising the step of: 
 determining a position of said suction device assembly in relation to said edge portion for maneuvering said suction device assembly towards said stack.    
   
   
       74 . The method of  claim 71  further comprising the step of: 
 determining a position of said probing tongue in relation to said suction device assembly for maneuvering said lifting blade towards said suction device assembly.    
   
   
       75 . The method of  claim 71 , wherein the downward force is applied by moving a compression arm and a compression foot downward on the collection of stacked objects.  
   
   
       76 . The method of  claim 71 , wherein the stacked objects are from the group consisting of stacked cardboard boxes, stacked paper and stacked cartons.  
   
   
       77 . The method of  claim 71 , further comprising the step of: retracting said probing tongue from said stack after said lifting blade has been inserted into said stack.  
   
   
       78 . The method of  claim 71 , further comprising the step of: 
 retracting said probing tongue from said stack while said lifting blade is being inserted into said stack.    
   
   
       79 . The method of  claim 71 , further comprising the step of: 
 transporting said collection of stacked objects at away from said stack.    
   
   
       80 . The method of  claim 71 , further wherein the probing tongue is pushed into said stack by the lifting blade.  
   
   
       81 . The method of  claim 71 , wherein the first direction is substantially vertical.