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公开(公告)号：US09359150B2
公开(公告)日：2016-06-07
申请号：US14250480
申请日：2014-04-11
Applicant: AXIUM Inc.
Inventor： Robert Jodoin , Sylvain Morency , Nicolas Durand , Marc Ducharme , Régis Métivier , Philippe Hakier , Christian Simon , Jean-François Forget
CPC classification number: B65G47/90 , B65G47/31 , B65G47/71 , B65G61/00 , B65G2203/0225 , B65G2203/0233
Abstract: The problem of singulating products that are provided in a pallet layer is solved by breaking up the pallet layer so that each product can be handled separately by a robot tool and outputted in at least one line according to a predetermined orientation. The singulator includes a layer drop zone that receives a pallet layer of products, a break-up system that separates the products by creating gaps therebetween, yielding separated products, a vision system that determines characteristics and position of each separated product; and a robot equipped with a tool that receives information indicative of the characteristics and position of said each separated product to grip and position each separated product onto an output station within at least one line.
Abstract translation: 通过分解托盘层来解决设置在托盘层中的产品的分离问题，使得每个产品可以由机器人工具单独处理并根据预定方向在至少一行中输出。 分切机包括接收托盘层产品的分层区域，通过在其间产生间隙分离产品的分离系统，产生分离的产品，确定每个分离产品的特性和位置的视觉系统; 以及装备有工具的机器人，其接收指示所述每个分离产品的特征和位置的信息，以将每个分离的产品夹持并定位在至少一行内的输出站上。
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公开(公告)号：US20150314455A1
公开(公告)日：2015-11-05
申请号：US14704581
申请日：2015-05-05
Applicant: AXIUM Inc.
Inventor： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Regis Metivier , Jean-François Forget , Maxime Lamy-Poirier , Eric Lajoie
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.
Abstract translation: 在码垛过程中采集和卸载混合负载产品的滞后时间的问题通过使用具有i）夹持构件的工具来解决，该夹持构件可以在被机器人朝向产品移动的同时以第一快速移动部分关闭， 然后以第二较短的运动闭合在产品上，以及ii）产品抵靠板，当工具通过机器人朝向和离开混合的负载托盘移动时，产品抵靠板可与工具沿其相反方向一致地移动。
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Patent Agency Ranking
公开(公告)号：US20150290805A1
公开(公告)日：2015-10-15
申请号：US14682955
申请日：2015-04-09
Applicant: AXIUM Inc.
Inventor： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Christian Simon , Jonathan Fournier , Sebastien Lemay
IPC: B25J9/16
CPC classification number: B25J9/1679 , G05B2219/37555 , G05B2219/40053 , Y10S901/02 , Y10S901/31 , Y10S901/47
Abstract: 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.
Abstract translation: 通过使用具有工具来抓握每个所选产品的机器人并且移动的方式依次选择基于仓中的产品深度的产品中的每一个产品来解决拾取紧密包装的大体上均匀的产品（例如橡皮桶）中的问题 在输出工位上，每个夹紧的产品考虑到其相对于夹紧工具的位置。 第一个传感器系统用于确定仓中的产品深度。 传感器系统可以安装在机器人工具上或定位在机箱上方。 抓握工具中的每个抓握的产品的位置通过分析抓握工具中夹紧产品的图像来实现。
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公开(公告)号：US20150203304A1
公开(公告)日：2015-07-23
申请号：US14602537
申请日：2015-01-22
Applicant: AXIUM Inc.
Inventor： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Philippe HAKIER , Christian SIMON , Jean-François FORGET
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.
Abstract translation: 视觉辅助机器人卸垛机在货盘站处接收装载有产品的托盘，并在输送机上输出以期望取向对齐的单位化产品。 这种分配器包括具有一个或多个图像采集传感器的视觉系统，所述图像采集传感器相对于托盘站定位，以便具有覆盖托盘顶部的视场。 传感器向控制器发送控制器使用的托盘顶部的一个或多个图像，以确定每个产品在托盘顶部的位置。 分拣机进一步包括机器人，该机器人配备有分配工具，该机械手配置工具连接到视觉系统控制器，用于接收指示每个产品从顶部部分的位置的信息，并使用该信息在输出输送机上拾取和定位每个产品的顶部 一部分。
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公开(公告)号：US20150210483A1
公开(公告)日：2015-07-30
申请号：US14599084
申请日：2015-01-16
Applicant: AXIUM Inc.
Inventor： Sylvain-Paul Morency , Regis Metivier , Marc Ducharme , Robert Jodoin , Jean-Francois Forget , Christian Simon
IPC: B65G47/244
CPC classification number: B65G47/244 , B65G41/002 , B65G47/8861 , B65G2205/02 , B65G2811/0626
Abstract: Embodiments of a product orientor include a turner conveyor that defines conveying plan and direction for a product received thereon and that has an initial orientation relative to the conveying direction. The initial orientation is determined by a vision system that is positioned upstream from the turner conveyor. The turner conveyor is rotatable about an axis that is perpendicular to the conveying plan between a conveying orientation, wherein the product is in the initial orientation, and a rectifying orientation, wherein the product is in a predetermined orientation relative to the conveying orientation. The product orientor further includes pressure plates that are movable between a retracted configuration and a holding configuration wherein the product is maintained in the predetermined orientation while the turner conveyor is moved from the rectifying orientation to the initial conveying orientation.
Abstract translation: 产品定向器的实施例包括一个转盘输送机，其限定了在其上接收的产品的输送平面和方向，并且具有相对于输送方向的初始取向。 初始取向由位于转盘输送机上游的视觉系统确定。 转盘输送机能够在输送方向（其中产品处于初始取向）和整流方向之间绕垂直于输送平面的轴线旋转，其中产品相对于输送方向处于预定取向。 产品定向器还包括可在缩回构型和保持构型之间移动的压力板，其中当转盘输送机从整流方向移动到初始输送方向时，产品保持在预定取向。
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公开(公告)号：US09221622B2
公开(公告)日：2015-12-29
申请号：US14599084
申请日：2015-01-16
Applicant: AXIUM Inc.
Inventor： Sylvain-Paul Morency , Regis Metivier , Marc Ducharme , Robert Jodoin , Jean-Francois Forget , Christian Simon
IPC: B65G47/244 , B65G41/00
CPC classification number: B65G47/244 , B65G41/002 , B65G47/8861 , B65G2205/02 , B65G2811/0626
Abstract: Embodiments of a product orientor include a turner conveyor that defines conveying plan and direction for a product received thereon and that has an initial orientation relative to the conveying direction. The initial orientation is determined by a vision system that is positioned upstream from the turner conveyor. The turner conveyor is rotatable about an axis that is perpendicular to the conveying plan between a conveying orientation, wherein the product is in the initial orientation, and a rectifying orientation, wherein the product is in a predetermined orientation relative to the conveying orientation. The product orientor further includes pressure plates that are movable between a retracted configuration and a holding configuration wherein the product is maintained in the predetermined orientation while the turner conveyor is moved from the rectifying orientation to the initial conveying orientation.
Abstract translation: 产品定向器的实施例包括一个转盘输送机，其限定了在其上接收的产品的输送平面和方向，并且具有相对于输送方向的初始取向。 初始取向由位于转盘输送机上游的视觉系统确定。 转盘输送机能够在输送方向（其中产品处于初始取向）和整流方向之间绕垂直于输送平面的轴线旋转，其中产品相对于输送方向处于预定取向。 产品定向器还包括可在缩回构型和保持构型之间移动的压力板，其中当转盘输送机从整流方向移动到初始输送方向时，产品保持在预定取向。
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公开(公告)号：US20140332344A1
公开(公告)日：2014-11-13
申请号：US14250480
申请日：2014-04-11
Applicant: AXIUM Inc.
Inventor： Robert JODOIN , Sylvain MORENCY , Nicolas DURAND , Marc DUCHARME , Régis MÉTIVIER , Philippe HAKIER , Christian SIMON , Jean-François FORGET
CPC classification number: B65G47/90 , B65G47/31 , B65G47/71 , B65G61/00 , B65G2203/0225 , B65G2203/0233
Abstract: The problem of singulating products that are provided in a pallet layer is solved by breaking up the pallet layer so that each product can be handled separately by a robot tool and outputted in at least one line according to a predetermined orientation. The singulator includes a layer drop zone that receives a pallet layer of products, a break-up system that separates the products by creating gaps therebetween, yielding separated products, a vision system that determines characteristics and position of each separated product; and a robot equipped with a tool that receives information indicative of the characteristics and position of said each separated product to grip and position each separated product onto an output station within at least one line.
Abstract translation: 通过分解托盘层来解决设置在托盘层中的产品的分离问题，使得每个产品可以由机器人工具单独处理并根据预定方向在至少一行中输出。 分切机包括接收托盘层产品的分层区域，通过在其间产生间隙分离产品的分离系统，产生分离的产品，确定每个分离产品的特性和位置的视觉系统; 以及装备有工具的机器人，其接收指示所述每个分离产品的特征和位置的信息，以将每个分离的产品夹持并定位在至少一行内的输出站上。
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