KR102444067B1 - 로봇 손을 이용해 크레이트에 오브젝트를 자동화 적재하는 방법 - Google Patents

로봇 손을 이용해 크레이트에 오브젝트를 자동화 적재하는 방법 Download PDF

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Publication number
KR102444067B1
KR102444067B1 KR1020197007021A KR20197007021A KR102444067B1 KR 102444067 B1 KR102444067 B1 KR 102444067B1 KR 1020197007021 A KR1020197007021 A KR 1020197007021A KR 20197007021 A KR20197007021 A KR 20197007021A KR 102444067 B1 KR102444067 B1 KR 102444067B1
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South Korea
Prior art keywords
crate
loading
digital image
robotic hand
objects
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KR1020197007021A
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English (en)
Korean (ko)
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KR20190053850A (ko
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제롬 그호부와
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제롬 그호부와
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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)
KR1020197007021A 2016-09-28 2017-09-18 로봇 손을 이용해 크레이트에 오브젝트를 자동화 적재하는 방법 Active KR102444067B1 (ko)

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
KR20190053850A KR20190053850A (ko) 2019-05-20
KR102444067B1 true KR102444067B1 (ko) 2022-09-16

Family

ID=59914456

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020197007021A Active KR102444067B1 (ko) 2016-09-28 2017-09-18 로봇 손을 이용해 크레이트에 오브젝트를 자동화 적재하는 방법

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=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20250165821A (ko) 2024-05-20 2025-11-27 주식회사 시스템알앤디 제품 취출-적재 장치 및 이를 포함하는 대차용 제품 취출-적재 자동화 시스템

Families Citing this family (11)

* 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

Citations (1)

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JP2009523623A (ja) 2006-01-23 2009-06-25 ジェローム グロボア， ワーク自動把持の方法と装置

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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
US7644558B1 (en) * 2006-10-26 2010-01-12 Fallas David M Robotic case packing system
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
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.
DE102009011300B4 (de) 2009-03-02 2022-08-11 Kuka Roboter Gmbh Beladung von Lademitteln mit Paketen mittels Manipulator
US9067744B2 (en) 2011-10-17 2015-06-30 Kabushiki Kaisha Yaskawa Denki Robot system, robot, and sorted article manufacturing method
DE102012008128A1 (de) * 2012-04-25 2013-10-31 Autoloader Gmbh Vorrichtung und Verfahren zur automatisierten Beladung eines Lademittels mit Stückgütern
CN202686788U (zh) * 2012-05-28 2013-01-23 Abb技术有限公司 装箱系统
KR102048330B1 (ko) * 2014-10-29 2019-11-25 파이브스 인트라로지스틱스 에스.피.에이. 분류 기계에 물품을 공급하기 위한 장치 및 분류 기계
CN104528009B (zh) * 2014-11-06 2016-11-23 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

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Publication number Priority date Publication date Assignee Title
JP2009523623A (ja) 2006-01-23 2009-06-25 ジェローム グロボア， ワーク自動把持の方法と装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20250165821A (ko) 2024-05-20 2025-11-27 주식회사 시스템알앤디 제품 취출-적재 장치 및 이를 포함하는 대차용 제품 취출-적재 자동화 시스템

Also Published As

Publication number Publication date
KR20190053850A (ko) 2019-05-20
EP3519306B1 (fr) 2020-10-28
WO2018059977A1 (fr) 2018-04-05
EP3519306A1 (fr) 2019-08-07
CN109789940A (zh) 2019-05-21
JP2019529128A (ja) 2019-10-17
CN109789940B (zh) 2020-12-29
JP7026102B2 (ja) 2022-02-25
CA3037792A1 (fr) 2018-04-05

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