公开(公告)号：US20100272547A1

公开(公告)日：2010-10-28

申请号：US12663560

申请日：2008-06-10

Applicant: Norbert Cottone ,  Thorsten Eberhardt ,  Sven Heissmeyer ,  Alexander Hollinger ,  Martin Peghini

Inventor： Norbert Cottone ,  Thorsten Eberhardt ,  Sven Heissmeyer ,  Alexander Hollinger ,  Martin Peghini

IPC: B65G65/00 ,  G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1697 ,  B65G61/00 ,  B65G2201/0273 ,  G05B2219/39484 ,  G05B2219/39536 ,  G05B2219/40053

Abstract: In a method and system for depalletizing tires using a robot, wherein the tires are randomly located on a carrier, the position and orientation of outer tires on the carrier are detected using a sensor, and a processor, using a signal from the sensor, determines a tire that can be gripped by a gripping tool of an industrial robot, and calculates a movement path for the gripping tool for that tire. If the calculated path is not collision-free, another tire from among the outer tires is selected, and a movement path for depalletizing that tire is determined. The procedure is repeated until a collision-free movement path for a tire from among the outer tires is established. The gripping tool is then guided according to this collision-free movement path to depalletize the tire having the collision-free path associated therewith.

Abstract translation: 在使用机器人拆卸轮胎的方法和系统中，其中轮胎随机地位于载体上，使用传感器检测载体上的外轮胎的位置和取向，并且使用来自传感器的信号的处理器确定 轮胎，其能够被工业机器人的夹持工具夹持，并且计算用于该轮胎的夹持工具的移动路径。 如果所计算的路径不是无碰撞的，则选择来自外轮胎的另一轮胎，并且确定用于拆卸轮胎的移动路径。 重复该过程，直到建立了来自外轮胎之间的轮胎的无碰撞运动路径。 然后根据该无碰撞运动路径引导夹紧工具，以将具有与其相关联的无碰撞路径的轮胎拆下。

公开(公告)号：US20100189537A1

公开(公告)日：2010-07-29

申请号：US12666584

申请日：2008-06-19

Applicant: Norbert Cottone ,  Martin Peghini

Inventor： Norbert Cottone ,  Martin Peghini

IPC: B65G47/90 ,  B65G57/00

CPC classification number: B65G47/90 ,  B65G57/165

Abstract: A transfer device for transferring product stacks has a connecting element for connecting the transfer device to a transport device, and the transfer device has a number of receiver regions therein, that each receive a product stack. Each receiver region has guide elements with spring-loaded closure elements, and a plate that is movable in a spring-loaded manner toward the closing elements along the direction of the guide elements. When the transfer device with the product stacks therein reaches its transfer destination, the product stacks are pushed from the transfer device by the plates by spring force.

Abstract translation: 用于传送产品堆的转移装置具有用于将转移装置连接到输送装置的连接元件，并且转印装置在其中具有多个接收器区域，每个接收器区域均接收产品堆叠。 每个接收器区域具有带有弹簧加载的闭合元件的引导元件，以及能够沿着引导元件的方向朝向闭合元件弹簧加载的方式移动的板。 当具有产品堆叠的传送装置到达其传送目的地时，产品堆叠通过弹簧力从传送装置被板推动。

公开(公告)号：US08550765B2

公开(公告)日：2013-10-08

申请号：US11758241

申请日：2007-06-05

Applicant: Norbert Cottone ,  Martin Peghini

Inventor： Norbert Cottone ,  Martin Peghini

IPC: B66C23/00

CPC classification number: H01L21/6734 ,  B65G49/061 ,  B65G49/067 ,  B65G2249/02 ,  B65G2249/04

Abstract: An apparatus for transferring and accepting glass substrate plates includes a double fork gripper having two superimposed, individual fork grippers that are movable relative to one another perpendicular to their extension planes. The fork grippers may be inserted simultaneously therewith into a receiving station having at least two depositing planes so that relative movement of the individual fork grippers perpendicular to their extension planes transfers a glass substrate plate to the receiving station and receives another plate from the receiving station.

Abstract translation: 用于转移和接受玻璃基板的设备包括双叉夹具，其具有两个相互垂直于其延伸平面相互移动的叠置的单个叉夹。 叉夹可以同时插入到具有至少两个沉积平面的接收站中，使得各个叉夹具垂直于其延伸平面的相对运动将玻璃基板转移到接收站并从接收站接收另一个板。

公开(公告)号：US08419342B2

公开(公告)日：2013-04-16

申请号：US12666584

申请日：2008-06-19

Applicant: Norbert Cottone ,  Martin Peghini

Inventor： Norbert Cottone ,  Martin Peghini

IPC: B65G47/90 ,  B65G47/82

CPC classification number: B65G47/90 ,  B65G57/165

Abstract: A transfer device for transferring product stacks has a connecting element for connecting the transfer device to a transport device, and the transfer device has a number of receiver regions therein, that each receive a product stack. Each receiver region has guide elements with spring-loaded closure elements, and a plate that is movable in a spring-loaded manner toward the closing elements along the direction of the guide elements. When the transfer device with the product stacks therein reaches its transfer destination, the product stacks are pushed from the transfer device by the plates by spring force.

Abstract translation: 用于传送产品堆的转移装置具有用于将转移装置连接到输送装置的连接元件，并且转印装置在其中具有多个接收器区域，每个接收器区域都接收产品堆叠。 每个接收器区域具有带有弹簧加载的闭合元件的引导元件，以及能够沿着引导元件的方向朝向闭合元件以弹簧加载的方式移动的板。 当具有产品堆叠的传送装置到达其传送目的地时，产品堆叠通过弹簧力从传送装置被板推动。

公开(公告)号：US20090306812A1

公开(公告)日：2009-12-10

申请号：US12084536

申请日：2006-11-07

Applicant: Norbert Cottone ,  Daniel Kotzor ,  Torsten Albrecht ,  Martin Pechini

Inventor： Norbert Cottone ,  Daniel Kotzor ,  Torsten Albrecht ,  Martin Pechini

IPC: B65G57/20 ,  G06F3/048 ,  G06F17/10

CPC classification number: B65G57/03 ,  B65G57/20 ,  B65G2201/0273

Abstract: The present invention relates to a method and a device for automatically stacking tires (4) on a support (1). According to the method, geometrical data of the tires (4) and/or a digital model of the tires (4) is provided, based on the geometrical data and/or the tire model and a predefinable size of the support (1), an algorithm calculates a stacking pattern for the tires (4) on the support (1) by taking into account a predefined size of the support, said stacking pattern making it possible to store the largest possible number of tires (4) in a stable manner on the support (1). Positional data of the tires (4) are adopted from the stacking pattern and associated trajectories of a handling device for stacking the tires (4) are generated and stored according to the stacking pattern. The stored positional data and trajectories are retrieved and transferred to the handling device, which receives the tires (4) at a given receiving position and puts the same on the support (1) in accordance with the positional data and associated trajectories. The present method and the associated device make it possible to automatically stack the tires with an optimal stacking pattern for the tires.

Abstract translation: 本发明涉及一种在支架（1）上自动堆叠轮胎（4）的方法和装置。 根据该方法，基于几何数据和/或轮胎模型和支撑件（1）的预定尺寸来提供轮胎（4）和/或轮胎（4）的数字模型的几何数据， 算法通过考虑到支撑件的预定尺寸来计算支撑件（1）上的轮胎（4）的堆叠模式，所述堆叠模式使得可以以稳定的方式存储最大可能数量的轮胎（4） 在支持（1）上。 轮胎（4）的位置数据从层叠图案采用，并且根据堆叠图案生成和存储用于堆叠轮胎（4）的处理装置的相关轨迹。 存储的位置数据和轨迹被检索并传送到处理装置，该装置在给定的接收位置接收轮胎（4），并根据位置数据和相关联的轨迹将其放置在支撑件（1）上。 本方法和相关设备使得可以以轮胎的最佳堆叠模式自动堆叠轮胎。

公开(公告)号：US06419029B2

公开(公告)日：2002-07-16

申请号：US09280153

申请日：1999-03-26

Applicant: Hans-Joachim Bayer ,  Günther Dörfler ,  Alexander Steck ,  Michael Keller ,  Norbert Cottone ,  Uwe Bräuning

Inventor： Hans-Joachim Bayer ,  Günther Dörfler ,  Alexander Steck ,  Michael Keller ,  Norbert Cottone ,  Uwe Bräuning

IPC: E21B1914

CPC classification number: E21B19/15 ,  Y10T483/1891

Abstract: A drilling tool magazine and a horizontal boring machine having a drilling tool magazine in which automatic and reliable handling and access to any of the drilling tools to be handled is ensured, the drilling tool magazine (10) which is particularly suitable for horizontal boring machines (5) is fitted with a plurality of tool bays (12) so as to receive tools (8) in an essentially horizontal position; these tool bays are each formed by at least one drive catch (14) movable along a conveyance path.

Abstract translation: 一种钻井刀库和具有钻孔刀库的水平钻孔机，其中确保了对待处理的任何钻孔工具进行自动和可靠的处理和访问的钻孔刀库（10），其特别适用于卧式镗床（ 5）装配有多个工具托架（12），以便接收工具（8）处于基本水平的位置; 这些工具托架各自由可沿输送路径移动的至少一个驱动锁扣（14）形成。

公开(公告)号：US08538579B2

公开(公告)日：2013-09-17

申请号：US12663560

申请日：2008-06-10

Applicant: Norbert Cottone ,  Thorsten Eberhardt ,  Sven Heissmeyer ,  Alexander Hollinger ,  Martin Peghini

Inventor： Norbert Cottone ,  Thorsten Eberhardt ,  Sven Heissmeyer ,  Alexander Hollinger ,  Martin Peghini

IPC: B65G65/00

CPC classification number: B25J9/1697 ,  B65G61/00 ,  B65G2201/0273 ,  G05B2219/39484 ,  G05B2219/39536 ,  G05B2219/40053

Abstract: In a method and system for depalletizing tires using a robot, wherein the tires are randomly located on a carrier, the position and orientation of outer tires on the carrier are detected using a sensor, and a processor, using a signal from the sensor, determines a tire that can be gripped by a gripping tool of an industrial robot, and calculates a movement path for the gripping tool for that tire. If the calculated path is not collision-free, another tire from among the outer tires is selected, and a movement path for depalletizing that tire is determined. The procedure is repeated until a collision-free movement path for a tire from among the outer tires is established. The gripping tool is then guided according to this collision-free movement path to depalletize the tire having the collision-free path associated therewith.

Abstract translation: 在使用机器人拆卸轮胎的方法和系统中，其中轮胎随机地位于载体上，使用传感器检测载体上的外轮胎的位置和取向，并且使用来自传感器的信号的处理器确定 轮胎，其能够被工业机器人的夹持工具夹持，并且计算用于该轮胎的夹持工具的移动路径。 如果所计算的路径不是无碰撞的，则选择来自外轮胎的另一轮胎，并且确定用于拆卸轮胎的移动路径。 重复该过程，直到建立了来自外轮胎之间的轮胎的无碰撞运动路径。 然后根据该无碰撞运动路径引导夹紧工具，以将具有与其相关联的无碰撞路径的轮胎拆下。

公开(公告)号：US08244400B2

公开(公告)日：2012-08-14

申请号：US12084536

申请日：2006-11-07

Applicant: Norbert Cottone ,  Daniel Kotzor ,  Torsten Albrecht ,  Martin Peghini

Inventor： Norbert Cottone ,  Daniel Kotzor ,  Torsten Albrecht ,  Martin Peghini

IPC: B65G57/20

CPC classification number: B65G57/03 ,  B65G57/20 ,  B65G2201/0273

Abstract: The present invention relates to a method and a device for automatically stacking tires (4) on a support (1). According to the method, geometrical data of the tires (4) and/or a digital model of the tires (4) is provided, based on the geometrical data and/or the tire model and a predefinable size of the support (1), an algorithm calculates a stacking pattern for the tires (4) on the support (1) by taking into account a predefined size of the support, said stacking pattern making it possible to store the largest possible number of tires (4) in a stable manner on the support (1). Positional data of the tires (4) are adopted from the stacking pattern and associated trajectories of a handling device for stacking the tires (4) are generated and stored according to the stacking pattern. The stored positional data and trajectories are retrieved and transferred to the handling device, which receives the tires (4) at a given receiving position and puts the same on the support (1) in accordance with the positional data and associated trajectories. The present method and the associated device make it possible to automatically stack the tires with an optimal stacking pattern for the tires.

Abstract translation: 本发明涉及一种在支架（1）上自动堆叠轮胎（4）的方法和装置。 根据该方法，基于几何数据和/或轮胎模型和支撑件（1）的预定尺寸来提供轮胎（4）和/或轮胎（4）的数字模型的几何数据， 算法通过考虑到支撑件的预定尺寸来计算支撑件（1）上的轮胎（4）的堆叠模式，所述堆叠模式使得可以以稳定的方式存储最大可能数量的轮胎（4） 在支持（1）上。 根据堆叠图案采用轮胎（4）的位置数据，并且根据堆叠图案生成和存储用于堆叠轮胎（4）的处理装置的相关轨迹。 存储的位置数据和轨迹被检索并传送到处理装置，该装置在给定的接收位置接收轮胎（4），并根据位置数据和相关联的轨迹将其放置在支撑件（1）上。 本方法和相关设备使得可以以轮胎的最佳堆叠模式自动堆叠轮胎。

公开(公告)号：US07210280B2

公开(公告)日：2007-05-01

申请号：US10529997

申请日：2003-09-30

Applicant: Norbert Cottone ,  Florian Simons

Inventor： Norbert Cottone ,  Florian Simons

IPC: B65G1/24 ,  B65G13/20 ,  B65G63/02

CPC classification number: B65G67/20 ,  B65G2201/0238 ,  B65G2203/044

Abstract: A machining system and unit, especially a welding cell, is provided for use for the machining of workpieces (2), especially body parts of vehicles. The machining system has one or more machining stations (15, 16) with robots (18, 19, 20) and at least one rotation or turning station (5), which has at least two work stations (6, 7) for carrying out different operations simultaneously. The turning station (5) has at least two multiaxially movable turning units (8, 9) arranged next to one another with said gripping tools (11, 12, 13). The working areas (10) intersect each other at the work stations (6, 7).

Abstract translation: 提供加工系统和单元，特别是焊接单元，用于加工工件（2），特别是车辆的车身部件。 加工系统具有一个或多个具有机器人（18,19,20）和至少一个旋转或转动站（5）的加工站（15,16），其具有至少两个用于执行的工作站（6,7） 不同的操作同时进行。 转台（5）具有至少两个使用所述夹紧工具（11,12,13）彼此相邻布置的多轴可移动的转动单元（8,9）。 工作区域（10）在工作站（6,7）处相交。

公开(公告)号：US20070059152A1

公开(公告)日：2007-03-15

申请号：US10596634

申请日：2004-12-16

Applicant: Norbert Cottone

Inventor： Norbert Cottone

IPC: B65G57/16

CPC classification number: B65G47/088 ,  B65B35/36 ,  B65G47/90

Abstract: The present invention proposes for the first time a completely automatable method for handling substantially rod-shaped objects, particularly poles of articles individually stacked in one another, such as plastic cups, for use e.g. in the dairy industry, during loading processes in conjunction with a loading aid, particularly a cardboard box or carton. The objects to be handled are made available in a first geometrical arrangement by a manufacturing or processing machine. The invention is characterized in that initially at least part of the objects is gripped, subsequently a relative arrangement of the objects is modified and the modified arrangement of the objects is deposited in the loading aid, the objects being arranged in upright standing manner. This makes it possible to achieve optimum packing densities for the objects in the loading aid. The invention also relates to a device suitable for performing said method.

Abstract translation: 本发明首次提出了一种完全可自动化的方法，用于处理基本上棒状的物体，特别是彼此堆叠的物品的极，例如塑料杯，用于例如塑料杯。 在加工过程中，与加载助剂，尤其是纸板箱或纸箱相结合，在乳制品行业。 待处理的物体由制造或加工机器以第一几何布置形式提供。 本发明的特征在于，最初至少部分的物体被夹紧，随后物体的相对布置被修改，并且物体的改进的布置被沉积在加载辅助件中，物体以直立的方式布置。 这使得可以实现装载助剂中物体的最佳包装密度。 本发明还涉及适于执行所述方法的装置。