CA3174323A1 - Robotic apparatuses, systems, and methods for moving objects - Google Patents

Robotic apparatuses, systems, and methods for moving objects Download PDF

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Publication number
CA3174323A1
CA3174323A1 CA3174323A CA3174323A CA3174323A1 CA 3174323 A1 CA3174323 A1 CA 3174323A1 CA 3174323 A CA3174323 A CA 3174323A CA 3174323 A CA3174323 A CA 3174323A CA 3174323 A1 CA3174323 A1 CA 3174323A1
Authority
CA
Canada
Prior art keywords
robot
relative
base
end effector
supporter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3174323A
Other languages
English (en)
French (fr)
Inventor
Tim Johnson
Masoud KALANTARI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rubic Technologies Inc
Original Assignee
Rubic Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rubic Technologies Inc filed Critical Rubic Technologies Inc
Publication of CA3174323A1 publication Critical patent/CA3174323A1/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)
CA3174323A 2020-11-18 2021-11-18 Robotic apparatuses, systems, and methods for moving objects Pending CA3174323A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202063115367P 2020-11-18 2020-11-18
US63/115,367 2020-11-18
US202163142326P 2021-01-27 2021-01-27
US63/142,326 2021-01-27
PCT/CA2021/051632 WO2022104464A1 (en) 2020-11-18 2021-11-18 Robotic apparatuses, systems, and methods for moving objects

Publications (1)

Publication Number Publication Date
CA3174323A1 true CA3174323A1 (en) 2022-05-27

Family

ID=81707914

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3174323A Pending CA3174323A1 (en) 2020-11-18 2021-11-18 Robotic apparatuses, systems, and methods for moving objects

Country Status (6)

Country Link
US (1) US20240025058A1 (https=)
EP (1) EP4247595A4 (https=)
JP (1) JP2023549279A (https=)
KR (1) KR20230119140A (https=)
CA (1) CA3174323A1 (https=)
WO (1) WO2022104464A1 (https=)

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US12312187B2 (en) * 2021-08-31 2025-05-27 Intelligrated Headquarters, Llc Robotic system for stacking and de-stacking
CN115781703B (zh) * 2022-10-31 2024-08-16 超聚变数字技术有限公司 运维机器人
CN116281138A (zh) * 2023-04-14 2023-06-23 山东新华医疗器械股份有限公司 一种笼盒装卸机器人
CN116572279B (zh) 2023-07-13 2023-09-26 驰逸自动化科技(苏州)有限公司 一种物料拣选机器人
US20250108748A1 (en) * 2023-09-28 2025-04-03 Logistics and Supply Chain MultiTech R&D Centre Limited Trolley Transport Vehicle
CN117735146B (zh) * 2024-01-19 2024-08-13 北京极智嘉科技股份有限公司 物品搬运方法、取物装置及搬运机器人
CN119262637B (zh) * 2024-12-06 2025-02-28 浙江国盛汽车科技股份有限公司 一种紧固件成品包装线穿梭式托盘码垛机

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JPH06312809A (ja) * 1993-04-30 1994-11-08 Toyo Kanetsu Kk ピッキング方法及び装置
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JP5835834B2 (ja) * 2011-05-11 2015-12-24 株式会社岡村製作所 自動倉庫における荷の移載方法
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EP3192616B1 (en) * 2016-01-14 2024-09-25 Jungheinrich AG Robot to pick up and transport objects and method using such a robot
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Also Published As

Publication number Publication date
KR20230119140A (ko) 2023-08-16
EP4247595A1 (en) 2023-09-27
US20240025058A1 (en) 2024-01-25
JP2023549279A (ja) 2023-11-22
WO2022104464A1 (en) 2022-05-27
EP4247595A4 (en) 2024-10-09

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