公开(公告)号：US11845620B2

公开(公告)日：2023-12-19

申请号：US18068800

申请日：2022-12-20

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul Morency ,  Marc Ducharme ,  Robert Jodoin ,  Tristan Pashley ,  Francis Levesque ,  Jean-Francois Forget

IPC: B65G59/02 ,  B66C1/32 ,  B65G63/00 ,  B66C1/10

CPC classification number: B65G59/023 ,  B65G59/02 ,  B65G63/002 ,  B66C1/10 ,  B66C1/32 ,  B65G2201/025 ,  B65G2814/031

Abstract: 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：US11840411B2

公开(公告)日：2023-12-12

申请号：US17806864

申请日：2022-06-14

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul Morency ,  Marc Ducharme ,  Robert Jodoin ,  Philippe Hakier ,  Christian Simon ,  Jean-François Forget

IPC: B65G61/00 ,  B65G59/02

CPC classification number: B65G61/00 ,  B65G59/02

Abstract: 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：US11427414B2

公开(公告)日：2022-08-30

申请号：US17189906

申请日：2021-03-02

Applicant: Symbotic Canada, ULC

Inventor： Marc Ducharme ,  Jean-Francois Forget ,  Robert Jodoin ,  Cédric Kessler ,  Régis Métivier ,  Sylvain-Paul Morency

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

Abstract: 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：US09914601B2

公开(公告)日：2018-03-13

申请号：US15645840

申请日：2017-07-10

Applicant: Symbotic Canada, ULC

Inventor： Sylvain-Paul Morency ,  Marc Ducharme ,  Robert Jodoin ,  Regis Metivier ,  Jean-François Forget ,  Maxime Lamy-Poirier ,  Eric Lajoie

IPC: B66C1/42 ,  B65G61/00 ,  B65G47/90 ,  B65G57/03 ,  B25J11/00 ,  B65G47/82 ,  B25J15/00 ,  B65G63/00

CPC classification number: B65G61/00 ,  B25J11/00 ,  B25J15/0014 ,  B65G47/82 ,  B65G47/90 ,  B65G47/905 ,  B65G57/03 ,  B65G63/002 ,  B65G2201/025

Abstract: 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.

公开(公告)号：US09701490B2

公开(公告)日：2017-07-11

申请号：US14704581

申请日：2015-05-05

Applicant: SYMBOTIC CANADA ULC

Inventor： Sylvain-Paul Morency ,  Marc Ducharme ,  Robert Jodoin ,  Regis Metivier ,  Jean-François Forget ,  Maxime Lamy-Poirier ,  Eric Lajoie

IPC: B66C1/42 ,  B65G61/00 ,  B65G47/82 ,  B65G47/90 ,  B65G57/03 ,  B65G63/00 ,  B25J11/00 ,  B25J15/00

CPC classification number: B65G61/00 ,  B25J11/00 ,  B25J15/0014 ,  B65G47/82 ,  B65G47/90 ,  B65G47/905 ,  B65G57/03 ,  B65G63/002 ,  B65G2201/025

Abstract: 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.