WO2017091128A1 - Robot de palettisation - Google Patents

Robot de palettisation Download PDF

Info

Publication number
WO2017091128A1
WO2017091128A1 PCT/SE2016/051124 SE2016051124W WO2017091128A1 WO 2017091128 A1 WO2017091128 A1 WO 2017091128A1 SE 2016051124 W SE2016051124 W SE 2016051124W WO 2017091128 A1 WO2017091128 A1 WO 2017091128A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
pallet
package
packages
operation instructions
Prior art date
Application number
PCT/SE2016/051124
Other languages
English (en)
Inventor
Bastien FUSY
Original Assignee
Flexlink Ab
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 Flexlink Ab filed Critical Flexlink Ab
Publication of WO2017091128A1 publication Critical patent/WO2017091128A1/fr

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • 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
    • 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
    • G05B2219/40518—Motion and task planning
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45056—Handling cases, boxes

Definitions

  • the present invention relates to a method and an arrangement for controlling and programming a robot adapted to place or remove boxes on a pallet.
  • Robots are often used for loading and unloading operations in the industry.
  • Various types of products and objects can be handled by a robot.
  • the products may be regular or irregular, and the size of an object may vary considerably.
  • the robots can assemble products or they can be used to pack and stack the products.
  • One common use for a robot is to move objects to a pallet in order to pack the pallet at the end of a production line.
  • Another common use is to move products from a pallet onto a conveyor line at the beginning of a production line.
  • the products are often stored in regular boxes which will simplify the packing of products on a pallet.
  • some products or product packages are shaped such that they can be packed on a pallet without the need to first pack them in a box.
  • An example of such a product is a package containing a plurality of paper rolls, which is possible to pack on a pallet.
  • Robots To enable robots to position boxes or other packages on a corresponding pallet, the robot must be programmed and informed about e.g. the type of pallet used, the dimensions of the boxes, the position that the boxes should have on the pallet and the number of levels or layers of boxes that should be placed on the pallet.
  • Robots are currently instructed by means of a computer which allows, by means of a programming language, for the compilation of a sort of table containing the information necessary for the robot to perform the required operations. These tables are generally compiled off-line and are sent to the robot by means of its control panel or they may be sent from the computer to the robot by means of suitable cables.
  • the compilation of the tables is left to a qualified technician who is skilled in programming in the language that is suitable for each robot.
  • the programming is done by entering data in a substantially unguided manner. It is thus relatively difficult to reprogram a robot, e.g. when a new product or package size is to be used.
  • Graphical user interfaces for programming e.g. a palletizing robot are also known.
  • EP 2036682 A2 discloses a robot programming device for palletizing operations of a robot.
  • the robot programming device is adapted to handle a plurality of different kinds of units.
  • the robot programming device comprises a layout making part for making a layout for the plurality of different kinds of units on the pallet, a vision system for detecting the different kinds of units, and a program generating part for generating a palletizing program for the robot based on the layout of the three- dimensional models and the information set by the information setting part.
  • the operation of the program may be simulated without using the actual robot.
  • Such a system works fine when more than one type of packages is to be packed on a pallet, or when the product flow is not known in advance. There is thus a need for a simplified programming method for a palletizing robot.
  • the present invention relates to a method for programming a palletizing robot that is adapted to move a plurality of packages one by one to or from a pallet, where the steps of configuring the operation of the robot by using a graphical interface comprising a plurality of interactive images in order to create operation instructions for the robot, establishing a communication channel with the robot, storing identification information regarding the pallet and the packages in a memory comprised in the robot by means of the communication channel, and storing the operation instructions for the robot in the memory by means of the communication channel are comprised.
  • a simplified way of programming a palletizing robot is provided.
  • the operation instructions for the robot are programed by using a handheld mobile device, such as a smartphone or a tablet, provided with a program or an application which uses a graphical interface comprising a plurality of interactive images.
  • the user is guided through each step required for the operation of the robot, and can select the proper information in each interactive image.
  • the program creates a set of operation instructions that are sent to the robot, where they are stored in a memory in the robot.
  • the type of pallet is first selected. Thereafter, the dimensions, weight and position of the label of a package is selected. After that, the position and the orientation of each package on the pallet are selected, until the first layer is filled with packages. This is then repeated for each layer.
  • a simple and intuitive way of programming operation instructions for a palletizing robot is provided.
  • a prerequisite of the system is that only one type of package is used at the same time, and that the orientation of the package on the conveyor is the same. It is thus no need to use identification means that identifies the type and orientation of a package at the infeed position.
  • a simple position detector e.g. a light switch, may be used to detect when a package is in a pick-up position.
  • the orientation of the packages on the pallet is preferably performed by using a touch screen, such that each package can be placed and oriented by the user in an easy and interactive way.
  • the operation instructions for the robot can be saved under a specific name in the handheld device, and may also be saved in a central database, such that other users may use or modify the operation instructions for the use of another robot. In this way, a remote production site producing the same products can use the same operation instructions. If the weight of the content in a package changes, it is easy to modify an existing set of operation instructions with the new weight and save it under a new name.
  • Fig. 1 shows a schematic view of a system according to the invention
  • Fig. 2 shows an example of an interactive image in which a layer of packages is positioned on the pallet according to the invention
  • Fig. 3 shows a flow chart of an example of a method according to the invention.
  • Fig. 1 shows a system according to the invention.
  • the system 1 comprises a robot 2 and a programming device 3.
  • the robot may be a standard industrial robot having a robot arm 4 that can be moved in any direction.
  • the arm is provided with a pick-up head 5 which is adapted to pick up and move a package, e.g. by vacuum cups, but other types of pick-up means are also possible.
  • the robot is arranged at the end of a conveyor 6, which is adapted to transport the packages from an assembly or packing station to the outfeed position at the end of the conveyor.
  • a package arrives at the conveyor in a predefined position and orientation, such that one corner of the package can be used as a reference point.
  • the robot is further adapted to move a package from the outfeed position to a pallet arranged beside the robot and the conveyor.
  • the robot is adapted to move packages 12 to a first pallet 7 and to a second pallet 8.
  • An advantage of using two pallets in parallel is that one pallet can be loaded when a full pallet is exchanged with an empty pallet.
  • the pallets are positioned at specific, predefined positions such that the system does not have to identify the exact position of the pallet.
  • a package 12 is provided with a label 13 on one side of the package.
  • the robot is further provided with a control unit 9 having a memory 10.
  • the control unit is adapted to perform instructions stored in the memory such that a package can be picked up and moved to a predefined position on the pallet.
  • the robot is further provided with a communication unit 1 1 adapted to communicate with the programming device 3. In this way, information such as operation instructions can be sent to the robot from the programming device. These operation instructions are stored in the memory.
  • the robot can also send status updates to the programming device or to another information receiver, such as information on when a pallet is fully loaded.
  • the programming device is preferably a handheld mobile device, such as a smartphone or a tablet.
  • the programming device comprises a program or application that allows a user to set the loading parameters for the loading of a pallet with packages.
  • the user starts the program or application on the mobile device, and then runs through a number of interactive images displayed on the mobile device. Due to the use of interactive images to program the robot, any user can program the robot without any conventional programming skills.
  • the mobile device creates operating instructions that are forwarded to the control unit in the robot, where the operation instructions are stored in the memory.
  • a first step 100 the program or application is started.
  • a first image is shown, where e.g. the current operation instructions for the robot is shown.
  • a set of operation instructions for the robot is preferably stored under a specific name, such that it is easy to find that set in a larger list.
  • the type of pallet is selected. It may e.g. be possible to select between a US pallet, a EUR pallet or a half EUR pallet. Other predefined sizes may also be used if required.
  • step 120 it is decided which pallet is first to be loaded, if there are more than one pallet.
  • the first pallet is selected as the first pallet to load.
  • step 130 the number of layers is selected. It is also possible to set a maximal height for a loaded pallet, such that the program can calculate the possible number of layers from the height of a package. Thus, it is possible to first enter the package size and then the program suggests a suitable number of layers.
  • step 140 the weight of a package is entered. It may be possible to select the weight unit if required, otherwise it is preferred to use ISO units.
  • the size of a package is entered.
  • step 150 the length of a package is entered
  • step 160 the width of a package is entered
  • step 170 the height of a package is entered.
  • a gap distance may be entered as a separate value, or the gap distance may be added to the width and to the length measure of the package. This may be of advantage if the packages are sensitive and should not bear on each other.
  • the pick-up head is not provided with a vacuum head but with a gripping head gripping a package from two sides.
  • step 180 the location of the package label is entered.
  • the purpose of knowing on which side of the package that the label is located is to simplify the identification of a fully loaded pallet.
  • By directing the label of the package outwards on the pallet it is possible to read a label from more than one side of the pallet, which simplifies later handling of a pallet.
  • the package is rectangular with the label positioned on a long side of a package and is the side of the package pointing away from the robot relative the conveyor.
  • the position and orientation of each package on the pallet is entered. This can be done in different ways.
  • the first position of a package is predefined to e.g. the left upper corner of the pallet.
  • the first package will be placed in this position and the following packages will be placed following the first package in the same row, until the row is filled.
  • the next package will be placed in the next row, and this will continue until the first layer is ready.
  • the user will move and rotate each package to the desired position by a drag-and-drop method using the touch screen of the mobile device.
  • step 190 the position and orientation of the first package of the first layer is entered.
  • the first position is here predefined as the left upper corner of the pallet.
  • the first position is denoted "position 0" as can be seen in Fig. 2.
  • the package is rotated with a rotate function until the desired orientation, including the orientation of the label, is reached.
  • the package function is pressed and the first package is placed in the first position.
  • the second package is rotated to the desired orientation and placed on the pallet.
  • This step is repeated until the first layer of the pallet is filled with packages.
  • a first layer of the pallet is shown.
  • the orientation of each package with the orientation of the label can be seen.
  • the label is visible from three sides of the pallet.
  • the position and the orientation of the packages in the second layer are to be entered. This can also be done in different ways. It is possible to repeat the steps for the first layer, i.e. to position and orient each package individually. It is also possible to use the same layout as the first layer, or to rotate the layout of the first layer with 180 degrees and to use this as the second layer.
  • step 200 the positioning and orientation of the second layer and the consecutive layers are entered.
  • the layout of the first layer is used as a start, and it is decided to rotate the first layer by 180 degrees and to use this orientation as the second layer.
  • the packages with different overlap between the different layers will increase the stability of the fully loaded pallet.
  • the second layer is ready, the third layer and the consecutive layers are entered, until all layers are filled.
  • the placing of the packages of a pallet is now completed.
  • step 210 the positioning of packages on the second pallet is entered.
  • the packages are positioned and oriented in the same way as the first pallet, such that the positioning and the orientation of the first pallet is selected also for the second pallet.
  • step 220 the entered set-up is saved.
  • the set-up can be saved in the mobile device and can also be saved in a central database, preferably in a memory area unique for each robot.
  • the set-up is preferably saved under a unique name, such that it can easily be retrieved later.
  • the set-up When the set-up is saved, it is sent to the robot in step 230, where it is stored as the current operation instructions.
  • the compilation of the set-up to operation instructions may be performed either in the mobile device prior to the transfer of the instructions to the robot, or may be performed by the control unit is the robot.
  • a further step that may be included, depending on the size of a package, is how the layer is to be positioned on the pallet.
  • a package adapted to the pallet size is used, such that the complete packing area of the pallet can be used for the packages, as shown in Fig. 2.
  • it is possible to enter the position of the complete layer on the pallet i.e. to center the layer on the pallet.
  • the layer is positioned with one corner at a corner of the pallet, and in a preferred example, the layer may be centralized around the center of the pallet.
  • the robot will now use the saved operation instructions to move incoming packages to the pallet when the system is started.
  • the robot will continue to load the second pallet, at the same time as the first pallet is removed and is replaced with an empty pallet.
  • the robot will continue to load the first pallet. This is repeated until a stop signal is received.
  • the programming of a loading process for a pallet is described. It is also possible to use the same programming method to program a robot with operation instruction for unloading a pallet.
  • the same information regarding the pallet, the dimensions of a package, the number of layers, the position of each label on a package and the position of each package in each layer is entered into the program or application.
  • the robot will now be able to unload packages from a pallet and to place them on a conveyor with a predefined orientation.
  • the programming device may be used with several robots. Each robot is identified with a specific identification number, and each communication unit, preferably a Wi-Fi router or a Bluetooth transceiver, in a robot is provided with a specific communication address.
  • a programming device may be provided with several operating instructions adapted for different robots. The actual robot can be selected in a menu.
  • the invention is not to be regarded as being limited to the embodiments described above, a number of additional variants and modifications being possible within the scope of the subsequent patent claims.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé pour programmer un robot de palettisation qui est apte à déplacer une pluralité de paquets un par un jusqu'à une palette ou à les éloigner d'une palette, lequel procédé comprend les étapes consistant à configurer le fonctionnement du robot à l'aide d'un dispositif de programmation comprenant une interface graphique comprenant une pluralité d'images interactives pour créer des instructions de fonctionnement pour le robot, à établir un canal de communication avec le robot, à stocker une information d'identification concernant la palette et les paquets dans une mémoire incluse dans le robot à l'aide du canal de communication, et à stocker les instructions de fonctionnement pour le robot dans la mémoire à l'aide du canal de communication. Le dispositif de programmation est, de préférence, un dispositif mobile portable, par exemple un téléphone intelligent ou une tablette. L'avantage de l'invention est qu'un robot de palettisation peut être programmé facilement.
PCT/SE2016/051124 2015-11-23 2016-11-15 Robot de palettisation WO2017091128A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1551522-4 2015-11-23
SE1551522 2015-11-23

Publications (1)

Publication Number Publication Date
WO2017091128A1 true WO2017091128A1 (fr) 2017-06-01

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ID=58763770

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2016/051124 WO2017091128A1 (fr) 2015-11-23 2016-11-15 Robot de palettisation

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WO (1) WO2017091128A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108455270A (zh) * 2017-12-11 2018-08-28 安徽省光明粮油工业有限公司 一种调换装置
CN115321199A (zh) * 2022-08-22 2022-11-11 江西九二盐业有限责任公司 盐包在线智能码垛运储系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2036682A2 (fr) * 2007-09-12 2009-03-18 Fanuc Ltd Dispositif de programmation de robot pour la palettisation de fonctionnement par robot
WO2009048414A1 (fr) * 2007-10-08 2009-04-16 Binar Aktiebolag Procédé d'emballage robotisé avec placement des objets selon un modèle
US20120127165A1 (en) * 2010-11-19 2012-05-24 Evans Judy A System, method, and apparatus to display three-dimensional robotic workcell data

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2036682A2 (fr) * 2007-09-12 2009-03-18 Fanuc Ltd Dispositif de programmation de robot pour la palettisation de fonctionnement par robot
WO2009048414A1 (fr) * 2007-10-08 2009-04-16 Binar Aktiebolag Procédé d'emballage robotisé avec placement des objets selon un modèle
US20120127165A1 (en) * 2010-11-19 2012-05-24 Evans Judy A System, method, and apparatus to display three-dimensional robotic workcell data

Non-Patent Citations (3)

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Title
"Nachi FlexGui Product data sheet", 11 October 2015 (2015-10-11), Retrieved from the Internet <URL:http://www.nachirobotics.com/sales-data/fd-controller/flexgui> *
"Operating manual Palletizing PowerPac RobotStudio 5.14.02 Document ID: 3HAC042340-001 ABB AB, Robotic Products.", ABB AB ROBOTICS PRODUCTS, 2011, pages 53 - 66, XP055385918, Retrieved from the Internet <URL:https://library.e.abb.com/public/00b5570f24722096c1257b5900507c49/PalletizingPowerPacUserManual.pdf> [retrieved on 20170131] *
ROSSANO, G. F. ET AL.: "Easy Robot Programming Concepts: An Industrial Perspective", 2013 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE, 17 August 2013 (2013-08-17), pages 1119 - 1126, XP032522956, ISSN: 2161-8070 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108455270A (zh) * 2017-12-11 2018-08-28 安徽省光明粮油工业有限公司 一种调换装置
CN108455270B (zh) * 2017-12-11 2019-11-26 安徽省光明粮油工业有限公司 一种调换装置
CN115321199A (zh) * 2022-08-22 2022-11-11 江西九二盐业有限责任公司 盐包在线智能码垛运储系统

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