Purpose

The purpose of this paper is to detail the design and prototyping of a smart automation solution for de-strapping plastic bonding straps on shipping pallets, which are loaded with multiple containers secured by a top-cover as they move on a conveyor belt.

Design/methodology/approach

The adopted design methodology to have the system perform its function entails using the least number of sensors and actuators to arrive at an economic solution from a system design viewpoint. Two prototypes of the robotic structure are designed and built, one in a research laboratory and another in an industrial plant, to perform localized cutting and grabbing of the plastic straps, with the help of a custom-designed passive localizing structure. The proposed structure is engineered to locate the plastic straps using one degree of freedom (DOF) only. An additional strap removal mechanism is designed to collect the straps and prevent them from interfering with the conveyor.

Findings

The functionality of the system is validated by performing full-process tests on the developed prototypes in a laboratory setting and under real-life operating conditions at BMW Group facilities. Testing showed that the proposed localization system meets the specified requirements and can be generalized and adapted to other industrial processes with similar requirements.

Practical implications

The proposed automated system for de-strapping pallets can be deployed in assembly or manufacturing facilities that receive parts in standard shipping pallets that are used worldwide.

Originality/value

To the best of the authors’ knowledge, this is the first mechanically smart system that is used for the automated removal of straps from shipping pallets used in assembly facilities. The two main novelties of the proposed design are the robustness of the strap localization without the need for computer vision and a large number of DOF, and the critical placement and choice of the cutting and gripping tools to minimize the number of needed actuators.

中文翻译：

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用于自动托盘解绑的最小驱动机器人系统的无传感器定位

目的

本文的目的是详细介绍一种智能自动化解决方案的设计和原型设计，用于解开运输托盘上的塑料粘合带，托盘上装有多个容器，这些容器在传送带上移动时由顶盖固定。

设计/方法/方法

使系统执行其功能所采用的设计方法需要使用最少数量的传感器和执行器，以从系统设计的角度获得经济的解决方案。机器人结构的两个原型被设计和制造，一个在研究实验室，另一个在工业工厂，在定制设计的被动定位结构的帮助下，对塑料带进行局部切割和抓取。建议的结构设计为仅使用一个自由度 (DOF) 来定位塑料带。一个额外的带子去除机制设计用于收集带子并防止它们干扰输送机。

发现

该系统的功能通过在实验室环境和宝马集团设施的真实操作条件下对开发的原型进行全过程测试来验证。测试表明，所提出的本地化系统符合规定的要求，可以推广并适应具有类似要求的其他工业过程。

实际影响

提议的用于解开托盘的自动化系统可以部署在装配或制造设施中，这些工厂在全球使用的标准运输托盘中接收零件。

原创性/价值

据作者所知，这是第一个机械智能系统，用于从装配设施中使用的运输托盘上自动移除带子。拟议设计的两个主要创新点是无需计算机视觉和大量自由度的带定位的稳健性，以及切割和夹持工具的关键放置和选择，以最大限度地减少所需的致动器数量。