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公开(公告)号：US11358811B2
公开(公告)日：2022-06-14
申请号：US17235692
申请日：2021-04-20
申请人： SYMBOTIC CANADA, ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Philippe Hakier , Christian Simon , Jean-François Forget
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US10343857B2
公开(公告)日：2019-07-09
申请号：US14602537
申请日：2015-01-22
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Philippe Hakier , Christian Simon , Jean-François Forget
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US10981736B2
公开(公告)日：2021-04-20
申请号：US16506636
申请日：2019-07-09
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Philippe Hakier , Christian Simon , Jean-François Forget
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US11840411B2
公开(公告)日：2023-12-12
申请号：US17806864
申请日：2022-06-14
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Philippe Hakier , Christian Simon , Jean-François Forget
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US09914601B2
公开(公告)日：2018-03-13
申请号：US15645840
申请日：2017-07-10
申请人： Symbotic Canada, ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Regis Metivier , Jean-François Forget , Maxime Lamy-Poirier , Eric Lajoie
IPC分类号： B66C1/42 , B65G61/00 , B65G47/90 , B65G57/03 , B25J11/00 , B65G47/82 , B25J15/00 , B65G63/00
CPC分类号： B65G61/00 , B25J11/00 , B25J15/0014 , B65G47/82 , B65G47/90 , B65G47/905 , B65G57/03 , B65G63/002 , B65G2201/025
摘要： The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.
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公开(公告)号：US09701490B2
公开(公告)日：2017-07-11
申请号：US14704581
申请日：2015-05-05
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Regis Metivier , Jean-François Forget , Maxime Lamy-Poirier , Eric Lajoie
IPC分类号： B66C1/42 , B65G61/00 , B65G47/82 , B65G47/90 , B65G57/03 , B65G63/00 , B25J11/00 , B25J15/00
CPC分类号： B65G61/00 , B25J11/00 , B25J15/0014 , B65G47/82 , B65G47/90 , B65G47/905 , B65G57/03 , B65G63/002 , B65G2201/025
摘要： The problem of the lag time in picking and dropping mixed load products during a palletization process is solved by using a tool having i) a gripping member that can be partially closed in a first fast movement while it is moved by a robot towards a product and then closed onto the product in a second shorter movement and ii) a product abutting plate that is movable in unison with the tool in opposite direction thereof as the tool is moved by a robot towards and away the mixed load pallet.
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