公开(公告)号：US12103779B2

公开(公告)日：2024-10-01

申请号：US18571823

申请日：2022-04-27

申请人： SSI Schäfer Automation GmbH (DE)

发明人： Tim Langenbach ,  Markus Schellinger

IPC分类号： G06F7/00 ,  B65G1/04 ,  B65G1/137 ,  B65G61/00

CPC分类号： B65G1/1378 ,  B65G1/0407 ,  B65G61/00

摘要： There are disclosed method and system (10) for picking of articles (12), in particular flat-pack articles (12), in accordance with picking orders, wherein the system (10) comprises: a rack (24) extending substantially along longitudinal and height directions (X, Y) of the system (10) and comprising a plurality of storage locations (30) configured to store source pallets (30); a gantry robot (36) including a manipulation unit (37) configured to transfer the articles (16); a packing position (62) configured to buffer a target pallet (34); a plurality of conveyors (38); and a control (74), which is preferably configured to determine, for each of the orders, an order-specific packing pattern for automatically packing, by the gantry robot (36), several of the articles (12) in accordance with the respective order from one or more of the source pallets (30) on a target pallet (34) in the packing position (62); wherein each of the conveyors (38) comprises a receiving position (66), which is positioned within the rack (24) and configured to receive the source pallets (30), as well as a delivering position (58), which is positioned within an action space of the gantry robot (36) and configured to provide, preferably dynamically, the source pallets (30); wherein the gantry robot (36) defines the action space, within which the manipulation unit (37) is movable and which contains the packing position (62) and the delivering positions (58) the conveyor (38); and wherein the control (74) is further configured to cause that such of the source pallets (30) are transported from the storage locations (32) via the receiving positions (66) to the delivering positions (58), which include the articles (12) required for the packing in accordance with the respective packing pattern.

公开(公告)号：US12084299B2

公开(公告)日：2024-09-10

申请号：US17949092

申请日：2022-09-20

申请人： MUJIN, Inc.

发明人： Rosen Nikolaev Diankov ,  Denys Kanunikov

IPC分类号： B65G47/90 ,  B25J9/00 ,  B25J9/16 ,  B65G57/02 ,  B65G57/22 ,  B65G57/24 ,  B65G61/00

CPC分类号： B65G57/22 ,  B25J9/0093 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1671 ,  B65G47/90 ,  B65G57/02 ,  B65G57/24 ,  B65G61/00

摘要： A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.

公开(公告)号：US20240293936A1

公开(公告)日：2024-09-05

申请号：US18593645

申请日：2024-03-01

申请人： Dexterity, Inc.

发明人： Wen Hsuan Hsieh ,  Samir Menon ,  Zhouwen Sun ,  Shitij Kumar ,  Andrew Bylard

IPC分类号： B25J9/16 ,  B65G61/00

CPC分类号： B25J9/1687 ,  B25J9/1612 ,  B25J9/1633 ,  B25J9/1697 ,  B65G61/00

摘要： A robotic system is disclosed. In various embodiments, sensor data is received. A plan is determined, based at least in part on the received sensor data, to use a robotic arm to build a stack of items comprising a plurality of items, the plan including with respect to at least a subset of the items a plan to move the item to an initial position on the stack and then reposition and use the robotic arm to pack the item more snugly against an adjacent surface. The plan is implemented at least in part by sending one or more commands to a robotic arm.

公开(公告)号：US12059811B2

公开(公告)日：2024-08-13

申请号：US17659746

申请日：2022-04-19

申请人： Symbotic LLC

发明人： Ke Fu ,  Wenyin San ,  Rick Youping Huang

IPC分类号： G06F7/00 ,  B25J9/16 ,  B65G57/02 ,  B65G61/00 ,  G05B15/02 ,  G05B19/418 ,  G06Q10/0631 ,  G06Q10/08 ,  G06Q10/087 ,  B65G57/03

CPC分类号： B25J9/1687 ,  B65G57/02 ,  B65G61/00 ,  G05B15/02 ,  G05B19/41865 ,  G05B19/4189 ,  G06Q10/06316 ,  G06Q10/08 ,  G06Q10/087 ,  B65G57/03 ,  G05B2219/40006

摘要： An automated palletizer for building a mixed case pallet, the automated palletizer including a case infeed that feeds mixed cases to provide an input queue feed sequence of mixed cases. At least one pallet building robot communicably connected to the case infeed and configured to receive the mixed cases in the input queue feed sequence of mixed cases, and place the mixed cases according to and dependent on the input queue feed sequence of mixed cases so as to effect building the mixed case pallet at a predetermined substantially steady placement rate. A controller communicably connected to the case infeed and at least one pallet building robot, and being configured so as to generate a complete and stable mixed case arrangement plan that completes at least a predetermined whole part of the mixed case pallet and that describes a predetermined planned location and pose for each case.

公开(公告)号：US20240246781A1

公开(公告)日：2024-07-25

申请号：US18559111

申请日：2022-05-19

申请人： AUTEFA SOLUTIONS GERMANY GMBH

发明人： Rudolf KUHN ,  Peter KNOBLOCH

IPC分类号： B65G57/00 ,  B65G57/03 ,  B65G61/00

CPC分类号： B65G57/005 ,  B65G57/035 ,  B65G61/00

摘要： The invention relates to a stacking apparatus and a stacking method for products in the form of product layers, in which method the stacking apparatus loads each of the product layers in a box-like and stackable slip-on container, which is open at the bottom, and stores the product layer with this container in a container stack, and/or said stacking apparatus removes product layers in slip-on containers from a container stack and unloads the individual product layer from the slip-on container. The stacking apparatus comprises a handling apparatus having a multi-axially movable handling device for the slip-on containers and, if applicable, the product layer accommodated in each of them, wherein the handling device is designed to handle the slip-on containers, which are open at the bottom, and wherein the product layers in the container stack are located on a container base of a lower slip-on container and are surrounded laterally and at the top by an upper slip-on container positioned above said lower slip-on container. The stacking apparatus has a row arrangement of a plurality of stacking places, wherein the handling apparatus comprises a movable support which moves the handling device along a first, facing side of the row arrangement.

公开(公告)号：US20240225033A1

公开(公告)日：2024-07-11

申请号：US18559726

申请日：2022-05-11

申请人： Bühler GmbH

发明人： Achim KLEIN ,  Kay HAUSCHULZ ,  Stephen CHAPMAN

IPC分类号： A23G1/26 ,  B65G61/00

CPC分类号： A23G1/26 ,  B65G61/00 ,  B65G2201/0202

摘要： A product carrier for transporting food products in a transport device, and to a transport device. The product carrier has an upper side for loading and/or inserting products and an underside opposite the upper side. The product carrier has a rectangular basic shape with longitudinal sides which have a length in a longitudinal direction, and with width sides which have a width in a width direction perpendicular to the longitudinal direction. The product carrier has, on the longitudinal sides, mutually-opposing longitudinal-edge strips, each of which has a drive aperture.

公开(公告)号：US11969885B2

公开(公告)日：2024-04-30

申请号：US16945370

申请日：2020-07-31

申请人： Mujin, Inc.

发明人： Hironori Mizoguchi

IPC分类号： B25J15/06 ,  B25J9/10 ,  B25J13/08 ,  B65G61/00

CPC分类号： B25J15/0616 ,  B25J9/101 ,  B25J13/085 ,  B25J15/0683 ,  B65G61/00

摘要： A robotic system includes an end-effector configured for grasping an object, the end-effector including a suction cup assembly configured to engage the object, and a contact limit sensor configured to detect a pressure associated with the engagement between the suction cup assembly and the object, wherein the contact limit sensor transmits contact information when the contact limit sensor detects the pressure exceeding a contact threshold, a sensor unit monitoring contact information received from the contact limit sensor, and a controller, coupled to the sensor unit, configured to execute an operation for controlling the end-effector to limit movement of the end-effector toward the object based on the contact information received.

公开(公告)号：US20240108551A1

公开(公告)日：2024-04-04

申请号：US18535422

申请日：2023-12-11

申请人： Adaptive Phage Therapeutics, Inc.

发明人： Carl Merril ,  Greg Merril

IPC分类号： A61J7/00 ,  A61J1/06 ,  A61K35/76 ,  B65G1/137 ,  G16H10/40 ,  G16H20/13 ,  G16H40/20

CPC分类号： A61J7/0076 ,  A61J1/06 ,  A61K35/76 ,  B65G1/1371 ,  G16H10/40 ,  G16H20/13 ,  G16H40/20 ,  A61J2200/70 ,  A61J2205/10 ,  A61J2205/60 ,  B65G61/00

摘要： A phage dispensing system comprises a user interface, a phage treatment computing system, a phage laboratory, and a phage dispensing apparatus, including a dispensing kiosk. The user interface allows a treating physician to request testing of a patient sample by the phage laboratory to identify a phage mixture treatment. The phage computing system arranges shipping of the sample and provision of the identified phage mixture treatment to a dispensing apparatus located near the patient. The dispensing apparatus has a stock of phage vials which are used to prepare and dispense doses of the identified phage mixture treatment.

公开(公告)号：US11834281B2

公开(公告)日：2023-12-05

申请号：US17095966

申请日：2020-11-12

申请人： CELLUMATION GMBH

发明人： Claudio Uriarte

IPC分类号： G06F7/00 ,  B65G61/00 ,  G05B19/4155 ,  G06Q50/28 ,  B65G13/00

CPC分类号： B65G61/00 ,  G05B19/4155 ,  G06Q50/28 ,  B65G13/00 ,  B65G2207/34 ,  G05B2219/31042

摘要： The invention relates to a method for automated repalletizing of packaged goods, the method to be carried out with a conveyor table with devices for the omnidirectional movement of packaged goods from an original layer, formed by units of packaged goods to be reconfigured, to a target layer, formed by units of packaged goods, wherein the conveyor table has an area that is larger than the area that is occupied by an original layer of the units of packaged goods to be configured, having the following steps:



providing an original layer of units of packaged goods on the conveyor table,
automated separation of the units of packaged goods by the conveyor table such that maneuvering distances are created between at least two of the units of packaged goods,
moving the units of packaged goods to a predetermined position of the target layer, and
optionally completing and optionally compressing the target layer of units of packaged goods,

wherein at least more than one of the units of packaged goods of the target layer are on the conveyor table during the entire process, as well as a programmed data processing device for controlling a method and a data carrier or data sequence having control instructions for programming such data processing devices.

公开(公告)号：US11833665B2

公开(公告)日：2023-12-05

申请号：US17293646

申请日：2019-11-12

申请人： Daifuku Co., Ltd.

发明人： Mitsuo Morikubo ,  Yoshikazu Tai ,  Takuya Gondoh ,  Masami Iwai ,  Atsushi Minoo ,  Shigeru Sugano

IPC分类号： B25J13/08 ,  B65G47/90 ,  B65G47/91 ,  B65G57/04 ,  B65G61/00

CPC分类号： B25J13/08 ,  B65G47/905 ,  B65G47/917 ,  B65G57/04 ,  B65G61/00 ,  B65G2201/02 ,  B65G2203/041

摘要： A control unit executes first loading control if it is determined that a loaded article is not present above a loading surface region based on captured image information, and second loading control if it is determined that it is uncertain whether the loaded article is not present above the loading surface region based on the captured image information. The first loading control causing a holding unit to release a target article when the target article is directly above the loading surface region and the lower surface of the target article is higher than the upper surface of the loading surface region by a first specified distance, and the second loading control causing the holding unit to release the target article when the target article is directly above the loading surface region and the lower surface of the target article is higher, by a second specified distance, than a specified height.