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公开(公告)号：US20230398574A1
公开(公告)日：2023-12-14
申请号：US18033632
申请日：2021-09-06
Applicant: BEUMER GROUP A/S
Inventor： Jorgen STAUN , Mads Dahlerup PICULELL , Henrik Frank SKYUM
Abstract: A mobile, in particular autonomous, sorting unit, for transporting cargo to be transported in a logistics area, a production area or the like, having a cargo receiving unit which has a plurality of cargo carriers for receiving a plurality of cargo items, the cargo receiving unit being configured for autonomous discharging of the cargo items in any desired order by moving the cargo carriers to be unloaded to a discharging position. The invention further relates to a respective method for delivering cargo items to at least two different stations in a logistics area, a production area or the like with an autonomous mobile sorting unit.
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公开(公告)号：US10464759B2
公开(公告)日：2019-11-05
申请号：US15778648
申请日：2016-11-29
Applicant: BEUMER Group A/S
Inventor： Uffe Lykkegaard
Abstract: In order, e.g., to provide a line sorter in which acoustic noise resulting from the polygon effect is reduced, there is disclosed a sorter (102) for sorting items of various shapes, sizes and weights, such as postal parcels or airport baggage. The sorter includes a closed loop comprising a plurality of sorting carts (302) for moving along an upper track section, a lower track section and end track sections in a moving direction. The plurality of carts are coupled at couplings (312), which enable the carts to pivot relatively to each other in at least one plane when in operation. Each cart is able to pivot relatively to an adjacent cart at two or more pivot points (404, 414, 1002) where the two or more pivot points are positioned a pivot point distance greater than zero apart in the moving direction of the carts.
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公开(公告)号：US20180170690A1
公开(公告)日：2018-06-21
申请号：US15736131
申请日：2016-06-22
Applicant: BEUMER Group A/S
Inventor： Uffe Lykkegaard
Abstract: The invention relates to a line sorter for sorting items of various shapes, sizes and weights, in particular postal parcels or airport baggage. The invention is particularly related to the propulsion system (304, 306, 406) for the sorter. It may be seen as an object of the invention to provide a line sorter with a reduced need for energy input at a given sorting capacity. It is disclosed that a closed loop chain including sorting carts or slats (302) is provided with couplings (312) and is provided for moving along line sorter track sections. The linear synchronous motor propulsion system is provided for moving said closed loop chain, and a gap between adjacent permanent magnets (306) is the same or substantially the same between each of the permanent magnets.
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公开(公告)号：US20180099818A1
公开(公告)日：2018-04-12
申请号：US15837307
申请日：2017-12-11
Applicant: BEUMER Group A/S
Inventor： Brian Lynge Sørensen , Jan Christensen
CPC classification number: B65G43/08 , B65G47/945 , B65G2201/0264
Abstract: The invention provides a high speed sorting mechanism arranged to empty or discharge a container for carrying a load, e.g. totes in a luggage handling system. The sorting mechanism as a plurality of tilting elements T1-T11 for receiving and transporting the container in a transport direction. The tilting elements T1-T11 are arranged neighbouring each other, and they are individually tiltable by controllable tilting actuators, e.g. servo motors. Hereby, the tilting elements T1-T11 can tilt around an axis parallel with the transport direction. A computerized controller serves to individually control the tilting of the tilting elements T1-T11 with a control algorithm in response to at least one position signal such that a group of at least two tilting elements T1-T11 perform a coordinated tilting motion in response to the position signal so as to tilt the container for emptying or discharging its load, upon the container passing the sorting mechanism in the transport direction. A row of such as 10-20 identical tilting elements T1-T11 each with a length of such as 30-50% of the container or tote to be handled. The tilting elements T1-T11 are preferably stationary seen in the transport direction, and the container or tote is driven forward by friction drive means FB on each of the tilting elements T1-T11. Preferably, position sensors on or at each tilting element T1-T11 serve to provide input to the controller regarding position of the container or tote, thus enabling the control algorithm to generate control signals to control a tilting angle of each of the tilting elements T1-T11 accordingly to provide a forward propagating wave serving to smoothly support the container in a gradual combined tilting and forward motion.
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公开(公告)号：US20170183167A1
公开(公告)日：2017-06-29
申请号：US15312691
申请日：2015-05-22
Applicant: BEUMER Group A/S
Inventor： Uffe Lykkegaard
CPC classification number: B65G47/962 , B65G17/066
Abstract: The invention relates to a sorting system of the support structure type, which includes known sorting systems such as tray type sorting systems. They include a track along which carts and support structures are conveyed. Cover plates are arranged to close gaps between the support structures, also when the support structures are conveyed through curved sections, so that conveyed items are prevented from falling through the gaps. The invention further involves a gap closing kit for a support structure sorting system. The invention also involves a method of providing a support structure sorting system having a gap substantially closed between at least two support structures. The cover plates are connected to the support structures by leading systems as well as connected to guiding systems, which guiding systems have one part fixated to an adjacent cart. The support structures, the guiding systems and the leading systems are configured to control movement of the cover plates relative to the support structures in order to close a gap between adjacent support structures, when conveyed in sections of a track, which track may have only horizontal straight and curved sections, or include inclined or declined straight or curved sections.
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Patent Agency Ranking
公开(公告)号：US09555447B2
公开(公告)日：2017-01-31
申请号：US14916753
申请日：2013-09-06
Applicant: BEUMER Group A/S
Inventor： Uffe Lykkegaard , Jørgen Staun
IPC: B07C5/02 , B07C3/00 , B25J9/00 , G05B19/418
CPC classification number: B07C5/02 , B07C3/003 , B07C2501/0063 , B25J9/0093 , G05B19/4182
Abstract: The invention provides a method and a system for inducting items to a sorter (SRT) from a stream of items (IT1, IT2), e.g. mail or parcels, arriving at a feeding conveyor (FC). A processor (PCR) executes a control algorithm (C_A) with at least information (I_1) regarding the stream of items arriving at the feeding conveyor (FC) as input. In response, the control algorithm (C_A) generates an output (O1) indicating where to place an item picked up by a robot (R1) from the feeding conveyor (FC). The control algorithm (C_A) selects between two or more of: 1) a first induction (I1) arranged for transporting items to the sorter (SRT), 2) an empty space (E_S) on the sorter(SRT), 3) the feeding conveyor (FC), e.g. singulating bulk items on the feeding conveyor (FC), and 4) a weighing unit (W1) arranged for weighing items. By controlling the robot (R1) accordingly, it is possible to provide effective use of existing pick-and-place robots as part of a sorter induction system, where a high capacity can be obtained with a small requirement for space. E.g. it may be possible to save space for inductions, compared to what is required for manual handling with the same sorting capacity, especially this may be advantageous for items with a maximum weight of 2-3 kg.
Abstract translation: 本发明提供了一种用于从物流（IT1，IT2）例如从物流（IT1，IT2）引导到分拣机（SRT）的物品的方法和系统。 邮件或包裹，到达进料输送机（FC）。 处理器（PCR）执行至少关于到达馈送输送机（FC）的物品流的信息（I_1）作为输入的控制算法（C_A）。 作为响应，控制算法（C_A）产生指示从机器人（R1）从进给输送机（FC）拾取的物品的位置的输出（O1）。 控制算法（C_A）选择以下两个或更多个：1）布置用于将项目传送到分拣机（SRT）的第一感应（I1），2）分拣机（SRT）上的空白空间（E_S），3） 进料输送机（FC），例如 在饲料输送机（FC）上分割散装物品，以及4）称重单元（W1），用于称量物品。 通过相应地控制机器人（R1），可以有效地利用现有的拾取和放置机器人作为分选机感应系统的一部分，其中可以以较小的空间需求获得高容量。 例如。 与具有相同分选能力的手动处理相比，可以节省导入的空间，特别是对于最大重量为2-3kg的物品可能是有利的。
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公开(公告)号：US20230182313A1
公开(公告)日：2023-06-15
申请号：US17916600
申请日：2021-03-26
Applicant: BEUMER Group A/S
Inventor： Ejnar Nielsen , Henrik Frank Skyum
CPC classification number: B25J9/1697 , B25J9/026 , B25J15/0616 , B25J9/1661
Abstract: The invention provides a controllable gripper for a robot. A plurality of gripping members, e.g. suction cups, are arranged to engage with a surface of an object to be gripped. The gripping members are arranged in a controllable gripping configuration. A base part is arranged to be moved by a robotic actuator, e.g. a gantry type of robotic actuator. Two or more arms connected to the base part are slidably arranged along their lengths relative to the base part. Each arm has a gripping member at or near its distal end. A controllable actuator system is arranged to control position of the arms in different directions, relative to the base part, thus allowing various gripping configurations to be formed with respect to at least size. Especially, four arms of fixed length, each with a suction cup, may be actuated by one or two electric motors, so a to allow the four suction cups to form various gripping quadrangle sizes. This allows the gripper to be capable of gripping small and large objects in random order, since the gripping configuration can be rapidly changed. Still, the gripper can be formed rather simple with few elements, and yet it is flexible and can be very compact in a compressed state of the arms to allow navigation into narrow spaces, e.g. to grip an object in a 3D bulk of objects. The gripper is preferably mounted to a robotic actuator by means of a controllable rotation and tilting arrangement.
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公开(公告)号：US20230150777A1
公开(公告)日：2023-05-18
申请号：US17916592
申请日：2021-03-26
Applicant: BEUMER Group A/S
Inventor： Henrik Frank Skyum , Andreas Werner
CPC classification number: B65G47/917 , B07C5/361 , B65G47/918 , B65G47/914 , B25J9/163 , B65G2203/041 , B65G2203/0233
Abstract: A robot system for picking randomly shaped and sized object from a continuously moving stream of objects in bulk, e.g. a 3D bulk, and placing the object singulated and aligned on an induction or directly on a sorter. A pick and place robot has a robotic actuator for moving a gripper with a controllable gripping configuration of its gripping members, e.g. four suction cups, to adapt the gripper for various objects. A control system processes a 3D image of objects upstream of a position of the pick and place robot, identifies separate objects in the 3D image, and selects which object to grip, based on parameters of the identified separate objects determined from the 3D image. Based on e.g. size and shape of the selected object to grip, the gripping configuration of the gripper is adjusted to match the surface of the object to grip for optimal gripping. The robotic actuator, e.g. a gantry type robotic actuator, is then controlled to move the gripper to a position for gripping the object, and afterwards move the gripper with the gripped object to a target position and with a target orientation to release grip of the object and thus place the object on an induction or directly on a sorter. An image after placing the object along with properties of the object determined from the 3D image can be used as input to a machine learning for online improving pick and place performance of the robot system, e.g. for online improving the algorithm for selection of which object to pick, and also for selection of the appropriate gripping configuration to match the object.
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公开(公告)号：US10745150B2
公开(公告)日：2020-08-18
申请号：US16340592
申请日：2017-10-13
Applicant: BEUMER Group A/S
Inventor： Uffe Lykkegaard
Abstract: There is disclosed a method of passengers (118) claiming their baggage pieces (115) at an aircraft baggage claim area (106) of an airport. In order e.g. to provide such method which improves usage and availability and user experience in view of reference systems, the method includes providing (706) a plurality of destinations (16) at the aircraft baggage claim area of the airport and along each of two lateral sides (112), (114) of the material handling equipment, and choosing (708) towards which of the two lateral sides (112), (114) the one or more pieces of aircraft baggage (15) should be automatically and actively discharged into at least one of the plurality of destinations (116). The method further includes actively discharging (710) the one or more pieces of aircraft baggage (115) from the material handling equipment and into at least one of the destinations (116), and that the one or more aircraft passengers (118) are claiming (712) the one or more pieces of aircraft baggage (115) paired with the one or more aircraft passengers at the at least one destination when the one or more pieces of aircraft baggage is at rest and has stopped moving.
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公开(公告)号：US20180354730A1
公开(公告)日：2018-12-13
申请号：US15778648
申请日：2016-11-29
Applicant: BEUMER GROUP A/S
Inventor： Uffe LYKKEGAARD
CPC classification number: B65G47/96 , B07C1/02 , B07C5/38 , B65G17/22 , B65G21/22 , B65G47/965 , B65G54/02 , B65G2201/0264 , B65G2201/0285
Abstract: In order, e.g., to provide a line sorter in which acoustic noise resulting from the polygon effect is reduced, there is disclosed a sorter (102) for sorting items of various shapes, sizes and weights, such as postal parcels or airport baggage. The sorter includes a closed loop comprising a plurality of sorting carts (302) for moving along an upper track section, a lower track section and end track sections in a moving direction. The plurality of carts are coupled at couplings (312), which enable the carts to pivot relatively to each other in at least one plane when in operation. Each cart is able to pivot relatively to an adjacent cart at two or more pivot points (404, 414, 1002) where the two or more pivot points are positioned a pivot point distance greater than zero apart in the moving direction of the carts.
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