TW202306723A - 用於貨板裝運混合負載產品的工具、包括有該工具的貨板裝運機械手臂、和其方法 - Google Patents

用於貨板裝運混合負載產品的工具、包括有該工具的貨板裝運機械手臂、和其方法 Download PDF

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Publication number
TW202306723A
TW202306723A TW111121036A TW111121036A TW202306723A TW 202306723 A TW202306723 A TW 202306723A TW 111121036 A TW111121036 A TW 111121036A TW 111121036 A TW111121036 A TW 111121036A TW 202306723 A TW202306723 A TW 202306723A
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TW
Taiwan
Prior art keywords
support
support member
tool
frame
assembly
Prior art date
Application number
TW111121036A
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English (en)
Chinese (zh)
Inventor
馬克 杜查姆
賽恩保羅 蒙瑞希
西蒙 加里皮
艾瑞克 拉喬伊
Original Assignee
加拿大商辛波提克加拿大公司
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Publication date
Application filed by 加拿大商辛波提克加拿大公司 filed Critical 加拿大商辛波提克加拿大公司
Publication of TW202306723A publication Critical patent/TW202306723A/zh

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    • 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
    • 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
    • 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
    • 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
    • B25J9/1628—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

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  • 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)
TW111121036A 2021-06-08 2022-06-07 用於貨板裝運混合負載產品的工具、包括有該工具的貨板裝運機械手臂、和其方法 TW202306723A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202163208023P 2021-06-08 2021-06-08
US63/208,023 2021-06-08

Publications (1)

Publication Number Publication Date
TW202306723A true TW202306723A (zh) 2023-02-16

Family

ID=84284783

Family Applications (1)

Application Number Title Priority Date Filing Date
TW111121036A TW202306723A (zh) 2021-06-08 2022-06-07 用於貨板裝運混合負載產品的工具、包括有該工具的貨板裝運機械手臂、和其方法

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
KR20240039114A (ko) 2024-03-26
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

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