CN109789940B - 机械手自动化装箱方法 - Google Patents

机械手自动化装箱方法 Download PDF

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Publication number
CN109789940B
CN109789940B CN201780059914.7A CN201780059914A CN109789940B CN 109789940 B CN109789940 B CN 109789940B CN 201780059914 A CN201780059914 A CN 201780059914A CN 109789940 B CN109789940 B CN 109789940B
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Chinese (zh)
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CN109789940A (zh
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偌鸿慕·葛赫布瓦
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Priority claimed from FR1659191A external-priority patent/FR3056568B1/fr
Priority claimed from FR1659192A external-priority patent/FR3056569B1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/12—Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
    • B65B57/06—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of articles or material to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Container Filling Or Packaging Operations (AREA)
CN201780059914.7A 2016-09-28 2017-09-18 机械手自动化装箱方法 Active CN109789940B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
FR1659191A FR3056568B1 (fr) 2016-09-28 2016-09-28 Procede de chargemement automatise d'une caisse avec des objets au moyen d'un robot prehenseur
FR1659192 2016-09-28
FR1659191 2016-09-28
FR1659192A FR3056569B1 (fr) 2016-09-28 2016-09-28 Procede de chargemement automatise d'une caisse avec des objets au moyen d'un robot prehenseur
PCT/EP2017/073386 WO2018059977A1 (fr) 2016-09-28 2017-09-18 Procede de chargemement automatise d'une caisse avec des objets au moyen d'un robot prehenseur

Publications (2)

Publication Number Publication Date
CN109789940A CN109789940A (zh) 2019-05-21
CN109789940B true CN109789940B (zh) 2020-12-29

Family

ID=59914456

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780059914.7A Active CN109789940B (zh) 2016-09-28 2017-09-18 机械手自动化装箱方法

Country Status (6)

Country Link
EP (1) EP3519306B1 (https=)
JP (1) JP7026102B2 (https=)
KR (1) KR102444067B1 (https=)
CN (1) CN109789940B (https=)
CA (1) CA3037792A1 (https=)
WO (1) WO2018059977A1 (https=)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018003271A1 (de) * 2018-04-23 2019-10-24 Franka Emika Gmbh Verfahren zum Einfügen von Gegenständen in eine gemeinsame Gegenstandsaufnahme
CN110303496A (zh) * 2019-05-24 2019-10-08 湖北工业大学 一种填料仪的坩埚自动抓取控制系统及控制方法
CN110884733B (zh) * 2019-10-22 2021-05-04 广东金弘达自动化科技股份有限公司 一种珍珠棉包装设备
US11020854B2 (en) 2019-11-05 2021-06-01 Mujin, Inc. Robotic system with wall-based packing mechanism and methods of operating same
CN111003249B (zh) * 2019-12-27 2022-04-26 重庆环视高科技有限公司 一种装瓶方法及装瓶装置和打包机
CN111003248A (zh) * 2019-12-27 2020-04-14 重庆环视高科技有限公司 一种调整纸箱变形的装置、系统及打包机
CN113666036A (zh) * 2020-05-14 2021-11-19 泰科电子(上海)有限公司 自动拆垛系统
WO2022059574A1 (ja) * 2020-09-18 2022-03-24 株式会社ナベル 卵パック移載時の異常検出装置
CN114405834A (zh) * 2020-10-13 2022-04-29 菜鸟智能物流控股有限公司 数据处理方法、装置、拣选设备、电子设备和存储介质
US12240644B2 (en) 2022-06-24 2025-03-04 InTunes Products, LLC Bud sorting and packaging apparatus, systems and methods
KR102868420B1 (ko) * 2023-01-02 2025-10-13 씨제이제일제당 (주) 포장 검사 방법 및 시스템
KR20250165821A (ko) 2024-05-20 2025-11-27 주식회사 시스템알앤디 제품 취출-적재 장치 및 이를 포함하는 대차용 제품 취출-적재 자동화 시스템

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7644558B1 (en) * 2006-10-26 2010-01-12 Fallas David M Robotic case packing system
FR2935957A1 (fr) * 2008-09-18 2010-03-19 Saint Etienne Automation Installation pour la mise en barquettes d'au moins une tranche d'un produit prealablement tranche.
CN202686788U (zh) * 2012-05-28 2013-01-23 Abb技术有限公司 装箱系统
CN104528009A (zh) * 2014-11-06 2015-04-22 山东新华医疗器械股份有限公司 大输液机器人自动装盘系统及其装盘方法
US9067744B2 (en) * 2011-10-17 2015-06-30 Kabushiki Kaisha Yaskawa Denki Robot system, robot, and sorted article manufacturing method
WO2016067163A1 (en) * 2014-10-29 2016-05-06 Fives Intralogistics S.P.A. Con Socio Unico A device for feeding items to a sorting machine and sorting machine

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JPS61153706A (ja) * 1984-12-26 1986-07-12 Hitachi Ltd 貨物自動積付装置
JPH11116056A (ja) 1997-10-14 1999-04-27 Okura Yusoki Co Ltd 積付パターン生成装置および積付装置
FR2896441B1 (fr) 2006-01-23 2009-07-03 Jerome Grosbois Procede et systeme permettant la prehension automatisee de piece(s)
JP4302160B2 (ja) 2007-09-12 2009-07-22 ファナック株式会社 ロボットによるパレタイジング作業のためのロボットプログラミング装置
DE102009011300B4 (de) 2009-03-02 2022-08-11 Kuka Roboter Gmbh Beladung von Lademitteln mit Paketen mittels Manipulator
DE102012008128A1 (de) * 2012-04-25 2013-10-31 Autoloader Gmbh Vorrichtung und Verfahren zur automatisierten Beladung eines Lademittels mit Stückgütern

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7644558B1 (en) * 2006-10-26 2010-01-12 Fallas David M Robotic case packing system
FR2935957A1 (fr) * 2008-09-18 2010-03-19 Saint Etienne Automation Installation pour la mise en barquettes d'au moins une tranche d'un produit prealablement tranche.
US9067744B2 (en) * 2011-10-17 2015-06-30 Kabushiki Kaisha Yaskawa Denki Robot system, robot, and sorted article manufacturing method
CN202686788U (zh) * 2012-05-28 2013-01-23 Abb技术有限公司 装箱系统
WO2016067163A1 (en) * 2014-10-29 2016-05-06 Fives Intralogistics S.P.A. Con Socio Unico A device for feeding items to a sorting machine and sorting machine
CN104528009A (zh) * 2014-11-06 2015-04-22 山东新华医疗器械股份有限公司 大输液机器人自动装盘系统及其装盘方法

Also Published As

Publication number Publication date
KR20190053850A (ko) 2019-05-20
EP3519306B1 (fr) 2020-10-28
WO2018059977A1 (fr) 2018-04-05
KR102444067B1 (ko) 2022-09-16
EP3519306A1 (fr) 2019-08-07
CN109789940A (zh) 2019-05-21
JP2019529128A (ja) 2019-10-17
JP7026102B2 (ja) 2022-02-25
CA3037792A1 (fr) 2018-04-05

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