KR20240039114A - 혼합 적재 제품의 팔레타이징을 위한 툴, 이를 포함하는 팔레타이징 로봇 및 그 방법 - Google Patents

혼합 적재 제품의 팔레타이징을 위한 툴, 이를 포함하는 팔레타이징 로봇 및 그 방법 Download PDF

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Publication number
KR20240039114A
KR20240039114A KR1020247000389A KR20247000389A KR20240039114A KR 20240039114 A KR20240039114 A KR 20240039114A KR 1020247000389 A KR1020247000389 A KR 1020247000389A KR 20247000389 A KR20247000389 A KR 20247000389A KR 20240039114 A KR20240039114 A KR 20240039114A
Authority
KR
South Korea
Prior art keywords
support
support member
tool
palletizing
frame
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
KR1020247000389A
Other languages
English (en)
Korean (ko)
Inventor
마크 뒤샤르메
실뱅-폴 모렌시
시몬 가리피
에릭 라조이
Original Assignee
심보틱 캐나다, 유엘씨
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 심보틱 캐나다, 유엘씨 filed Critical 심보틱 캐나다, 유엘씨
Publication of KR20240039114A publication Critical patent/KR20240039114A/ko
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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • 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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)
KR1020247000389A 2021-06-08 2022-06-08 혼합 적재 제품의 팔레타이징을 위한 툴, 이를 포함하는 팔레타이징 로봇 및 그 방법 Pending KR20240039114A (ko)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US202163208023P 2021-06-08 2021-06-08
US63/208,023 2021-06-08
US17/805,318 US20220388163A1 (en) 2021-06-08 2022-06-03 Tool for palletizing mixed load products, palletizing robot including the tool, and method therefor
US17/805,318 2022-06-03
PCT/CA2022/050918 WO2022256929A1 (en) 2021-06-08 2022-06-08 Tool for palletizing mixed load products, palletizing robot including the tool, and method therefor

Publications (1)

Publication Number Publication Date
KR20240039114A true KR20240039114A (ko) 2024-03-26

Family

ID=84284783

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020247000389A Pending KR20240039114A (ko) 2021-06-08 2022-06-08 혼합 적재 제품의 팔레타이징을 위한 툴, 이를 포함하는 팔레타이징 로봇 및 그 방법

Country Status (8)

Country Link
US (1) US20220388163A1 (https=)
EP (1) EP4351846A4 (https=)
JP (1) JP2024523234A (https=)
KR (1) KR20240039114A (https=)
CN (1) CN118076547A (https=)
CA (1) CA3221867A1 (https=)
TW (1) TW202306723A (https=)
WO (1) WO2022256929A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117103320B (zh) * 2023-10-25 2024-01-16 哈尔滨学院 一种小提琴自动抓取机械手
CN119240344B (zh) * 2024-11-05 2025-04-11 江西龙恩智能装备有限公司 一种工业码垛机器人机械手臂
CN119151072B (zh) * 2024-11-12 2025-01-14 深圳市鸿鹭工业设备有限公司 基于物料多层码垛的码垛优化算法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0530426B1 (fr) * 1991-09-02 1993-07-07 Fabriques De Tabac Reunies S.A. Pince de saisie et de transfert
ATE519700T1 (de) * 2007-12-20 2011-08-15 Mueller Martini Holding Ag Paketgreifer für eine palettiervorrichtung und verfahren zum palettieren von paketen
US7967354B2 (en) * 2008-05-06 2011-06-28 Fanuc Robotics America, Inc. Mixed size product handling end of arm tool
DE102010049376A1 (de) * 2010-10-26 2012-04-26 Heidelberger Druckmaschinen Ag Vorrichtung und Verfahren zum Wenden von Stapeln aus bogenförmigem Material
US9701490B2 (en) * 2014-05-05 2017-07-11 Symbotic Canada ULC. Method and tool for palletizing mixed load products
US10138062B2 (en) * 2016-05-23 2018-11-27 Walmart Apollo, Llc Order fulfillment system with robotic break pack
JP2019111615A (ja) * 2017-12-22 2019-07-11 株式会社東芝 物品把持装置、物品把持システム
US10300610B1 (en) * 2018-02-02 2019-05-28 Amazon Technologies, Inc. High density container gripping system and method
DE102019110704B3 (de) * 2019-04-25 2020-05-14 Stöcklin Logistik Ag Vorrichtung und Verfahren zum Depalettieren von stapelbaren Stückgutgebinden
US11738447B2 (en) * 2019-07-29 2023-08-29 Nimble Robotics, Inc. Storage systems and methods for robotic picking

Also Published As

Publication number Publication date
US20220388163A1 (en) 2022-12-08
EP4351846A1 (en) 2024-04-17
JP2024523234A (ja) 2024-06-28
CA3221867A1 (en) 2022-12-15
EP4351846A4 (en) 2025-06-25
CN118076547A (zh) 2024-05-24
WO2022256929A1 (en) 2022-12-15
TW202306723A (zh) 2023-02-16

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Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20240104

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20250609

Comment text: Request for Examination of Application