-
公开(公告)号：US11535463B2
公开(公告)日：2022-12-27
申请号：US16667744
申请日：2019-10-29
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Tristan Pashley , Francis Levesque , Jean-Francois Forget
摘要： The problem of potentially damaging a pallet layer that is gripped by clamps of a depalletizing tool is solved i) by detecting the real position of the layer using a pad on the tool that is movable with the clamps towards the pallet layer and whose detected stopping position determines the real position of the layer, and ii) while the layer is gripped by the clamp, by inserting under the layer curtains; the pressure on the layer by the clamps being adapted to the ease to go underneath the layer.
-
公开(公告)号：US11203492B2
公开(公告)日：2021-12-21
申请号：US17118475
申请日：2020-12-10
申请人： Symbotic Canada, ULC
摘要： A case orienting system comprising a frame having a reference datum a traverse transport pivotally coupled to the frame about a traverse pivot axis, the traverse transport including a substantially continuous movable platform configured to support and transport at least one case in a case traverse direction along a traverse axis. The substantially continuous movable platform pivots about the traverse pivot axis to orient the case traverse direction to another traverse direction and a bias support disposed adjacent to and opposing the traverse transport and being movably coupled to the frame to move relative to the frame in opposition to the traverse transport, the bias support being configured to engage and seat against a seating surface of the at least one case to support the at least one case in a first orientation relative to the reference datum.
-
公开(公告)号：US12103792B2
公开(公告)日：2024-10-01
申请号：US18346357
申请日：2023-07-03
申请人： Symbotic Canada, ULC
发明人： Patrice Turpin , William Légaré , Benoit Larouche , Christian Simon , Régis Métivier , Sylvain-Paul Morency , Robert Jodoin
CPC分类号： B65G57/03 , B25J9/0093 , B25J9/1661 , B25J9/1687 , B25J9/1697 , B65G59/02 , B65G61/00 , G06Q10/043 , G06Q10/087 , B65G2201/025 , B65G2201/0267 , B65G2203/041 , G05B2219/40006 , G05B2219/40609 , G05B2219/45083
摘要： A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time.
-
公开(公告)号：US11691830B2
公开(公告)日：2023-07-04
申请号：US17151761
申请日：2021-01-19
申请人： Symbotic Canada, ULC
发明人： Patrice Turpin , William Legaré , Benoit Larouche , Christian Simon , Régis Métivier , Sylvain-Paul Morency , Robert Jodoin
CPC分类号： B65G57/03 , B25J9/0093 , B25J9/1661 , B25J9/1687 , B25J9/1697 , B65G59/02 , B65G61/00 , G06Q10/043 , G06Q10/087 , B65G2201/025 , B65G2201/0267 , B65G2203/041 , G05B2219/40006 , G05B2219/40609 , G05B2219/45083
摘要： A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time by the at least one articulated robot between placement of at least one pallet load article unit and a serially consecutive pallet load article unit enabling substantially continuous building of the pallet load build.
-
公开(公告)号：US10370199B2
公开(公告)日：2019-08-06
申请号：US15235254
申请日：2016-08-12
申请人： SYMBOTIC CANADA ULC
发明人： Marc Ducharme , Jean-Francois Forget , Robert Jodoin , Cédric Kessler , Régis Métivier , Sylvain-Paul Morency
摘要： A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
-
公开(公告)号：US11584595B2
公开(公告)日：2023-02-21
申请号：US17645377
申请日：2021-12-21
申请人： Symbotic Canada, ULC
摘要： A case orienting system comprising a frame having a reference datum a traverse transport pivotally coupled to the frame about a traverse pivot axis, the traverse transport including a substantially continuous movable platform configured to support and transport at least one case in a case traverse direction along a traverse axis. The substantially continuous movable platform pivots about the traverse pivot axis to orient the case traverse direction to another traverse direction and a bias support disposed adjacent to and opposing the traverse transport and being movably coupled to the frame to move relative to the frame in opposition to the traverse transport, the bias support being configured to engage and seat against a seating surface of the at least one case to support the at least one case in a first orientation relative to the reference datum.
-
公开(公告)号：US11449978B2
公开(公告)日：2022-09-20
申请号：US17216803
申请日：2021-03-30
申请人： Symbotic Canada ULC
摘要： A method of inspecting cased goods includes advancing at least one case of goods on a conveyor, generating an illumination sheet of parallel illuminating rays with at least one electromagnetic source, and capturing an image, formed by the illumination sheet passing through a diffuser with at least one camera located so as to capture illumination from diffused parallel rays of the light sheet, where the image case embodies a goods image that is generated by the case goods moving between the light source and the at least one camera, where part of the parallel sheet of light is at least partially blocked by the case of goods, thus generating a gray level image.
-
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.
-
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.
-
公开(公告)号：US10239210B2
公开(公告)日：2019-03-26
申请号：US14682955
申请日：2015-04-09
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Christian Simon , Jonathan Fournier , Sebastien Lemay
摘要： The problem of picking tightly-pack generally uniformed products such as rubber bales in a bin is solved by sequentially selecting each one of the products based on the products depths in the bin, using a robot with a tool to grip each selected product, and moving on an output station each gripped product considering its position relative to the gripping tool. A first sensor system is used to determine the product depths in the bin. The sensor system can be mounted on the robot tool or be positioned above the bin. The position of each gripped product in the gripping tool is achieved by analyzing an image of the gripped product in the gripping tool.
-
-
-
-
-
-
-
-
-
搜索结果
23 条记录 (耗时 0.06 秒)
