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公开(公告)号：US11485586B2
公开(公告)日：2022-11-01
申请号：US16467562
申请日：2017-02-21
Applicant: KRONES Aktiengesellschaft
Inventor： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
Abstract: The invention relates to an apparatus and a method handling moved piece goods. The apparatus comprises a manipulator for the piece goods, at least one transport device transporting the moved piece goods to a seizing range of the at least one manipulator and at least one horizontal conveying device assigned to the seizing range and/or to a movement range of the at least one manipulator, via which horizontal conveying device the moved piece goods are transported in the seizing range of the at least one manipulator. Furthermore, the apparatus comprises at least one detection device for obtaining space coordinates and/or position data and/or contour data of piece goods to be seized by the manipulator, wherein the at least one horizontal conveying device and the at least one transport device are calibratable and/or controllable based on the space coordinates and/or position data and/or contour data.
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公开(公告)号：US11220000B2
公开(公告)日：2022-01-11
申请号：US16469727
申请日：2017-02-21
Applicant: KRONES Aktiengesellschaft
Inventor： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
Abstract: The invention includes a method and a handling system for manipulating and/or for handling piece goods (2) moved one after another in at least one row (1, 1a, 1b) in a transport direction (TR) on a horizontal conveying device (6). In each work cycle, seizing at least one transported piece good (2) from the at least one row (1, 1a, 1b) by at least one handling device (10); spatially separating it from the row (1, 1a, 1b); and bringing it into a specified relative target position and/or target alignment relative to subsequent piece goods (2). After a failure event with an at least a temporary standstill of the horizontal conveying device (6) and/or of the handling device (10), the handling device (10) is initialized, and, after the failure has been remedied, the horizontal conveying device (6) automatically restarts and continues the previously interrupted process.
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公开(公告)号：US10654662B2
公开(公告)日：2020-05-19
申请号：US16093248
申请日：2017-02-21
Applicant: KRONES Aktiengesellschaft
Inventor： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
IPC: B65G47/08 , B65G47/244
Abstract: The invention relates to a method and an apparatus (10) for handling piece goods (2) moved one after another, with the piece goods (2) being transported to a seizing range (4) of a manipulator (5). At least one transported piece good (2) is seized in a clamping and/or force-locking and/or form-locking manner by at least two clamping elements and/or gripping elements (22) located opposite each other. The piece good is spatially separated from the subsequent piece goods (2) and is brought into a specified relative target position (P) and/or target alignment relative to subsequent piece goods (2). A first vertical symmetry plane and which is oriented about perpendicular to a transport direction (TR), is spaced apart from a second vertical symmetry plane aligned about parallel thereto, with the second vertical symmetry plane being defined by the manipulator (5) or by the manipulator clamping elements and/or gripping elements (22).
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公开(公告)号：US09862552B2
公开(公告)日：2018-01-09
申请号：US13787071
申请日：2013-03-06
Applicant: Krones Aktiengesellschaft
Inventor： Erhard Beer , Martin Osterhammer
CPC classification number: B65G47/766 , B65B35/405 , B65G47/841 , B65G57/10 , B65G59/02
Abstract: A method and apparatus for horizontally shifting an article group or article layer, composed of a plurality of articles, from a first position and/or from a conveying movement into a second rest position while largely maintaining the relative positions of the articles in the article layer or group to each other, said transfer being effected by at least one first pusher bar engaging with the articles located at the back of the article group or article layer, as considered in relation to the conveying or feed direction. A support bar, which is at least temporarily allocated to the articles located at the front of the article group or layer, as considered in relation to the conveying direction, moves ahead at a slight distance from or abuts on the foremost articles of the article group or layer at least immediately before or on reaching the rest position.
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Patent Agency Ranking
公开(公告)号：US11964395B2
公开(公告)日：2024-04-23
申请号：US17262383
申请日：2019-05-16
Applicant: Krones Aktiengesellschaft
Inventor： Christian Dany , Arsalan Mehdi , Erhard Beer , Manuel Kollmuss
CPC classification number: B25J9/1692 , B25J9/1623 , B25J13/085 , B25J13/088 , G05B2219/39024 , G05B2219/40267 , G05B2219/42304 , G05B2219/50391
Abstract: The invention relates to a method to calibrate a handling device (18) including a handling robot or parallel kinematic robot (24), with a tool head (28) suspended from at least two parallel kinematically movable arms (26). Each of the at least two arms comprises an upper arm, which is movable between two end positions about a defined upper-arm swivel axis (38). Each of the at least two arms also comprises a lower arm (40), which is swivelably mounted on the upper arm. The upper arms are brought into approximately corresponding angular positions by detection of load torques and/or of angle positions. First one, than another of the upper arms is brought into one of the two end positions, and the angular position reached is detected and used for the position initialization or angle initialization of the particular upper arm, whereupon the upper arm is returned.
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6.发明申请METHOD AND APPARATUS FOR TRANSFERRING ARTICLE LAYERS BETWEEN ADJACENT MODULES 有权用于传输相邻模块之间的文章层的方法和装置公开(公告)号：US20130243558A1
公开(公告)日：2013-09-19
申请号：US13787071
申请日：2013-03-06
Applicant: KRONES AKTIENGESELLSCHAFT
Inventor： Erhard Beer , Martin Osterhammer
CPC classification number: B65G47/766 , B65B35/405 , B65G47/841 , B65G57/10 , B65G59/02
Abstract: A method and apparatus for horizontally shifting an article group or article layer, composed of a plurality of articles, from a first position and/or from a conveying movement into a second rest position while largely maintaining the relative positions of the articles in the article layer or group to each other, said transfer being effected by at least one first pusher bar engaging with the articles located at the back of the article group or article layer, as considered in relation to the conveying or feed direction. A support bar, which is at least temporarily allocated to the articles located at the front of the article group or layer, as considered in relation to the conveying direction, moves ahead at a slight distance from or abuts on the foremost articles of the article group or layer at least immediately before or on reaching the rest position.
Abstract translation: 一种用于将由多个物品组成的制品组或制品层从第一位置和/或从输送运动水平移动到第二休息位置的方法和装置，同时在物品层中的物品的相对位置 或彼此组合，所述转移通过与位于物品组或制品层的后部处的物品接合的至少一个第一推杆实现，如关于输送或进给方向所考虑的那样。 至少临时分配给位于物品组或层的前面的物品，如相对于传送方向所考虑的那样，支撑杆在物品组的最前面的物品上稍微距离或靠近物体组 或层至少在到达静止位置之前或之后。
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公开(公告)号：US11319163B2
公开(公告)日：2022-05-03
申请号：US16093229
申请日：2017-02-21
Applicant: KRONES Aktiengesellschaft
Inventor： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
Abstract: The invention relates to a method and an apparatus (10) for handling piece goods (2) moved one after another in at least one row (1). Immediately consecutive piece goods (2) in a row (1) without spaces or with minimal spaces are transported as a closed formation (F). At least one transported piece good (2, 2*) is seized in a clamping and/or force-locking and/or form-locking manner from the closed formation (F); is spatially separated from the closed formation (F); and is brought into a specified relative target position (P) and/or target alignment in relation to subsequent piece goods (2).
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公开(公告)号：US11034534B2
公开(公告)日：2021-06-15
申请号：US16309277
申请日：2017-02-21
Applicant: KRONES Aktiengesellschaft
Inventor： Erhard Beer , Arsalan Mehdi , Michael Astner , Manuel Kollmuss
Abstract: The invention relates to an apparatus (10) and method for handling moved piece goods (2), and a conveying, processing, and/or packaging plant including the apparatus (10). The apparatus (10) comprises at least one manipulator (5) for piece goods (2), at least one transport device (3) by which the moved piece goods (2) are transportable to a seizing range (4) of the at least one manipulator (5), and at least one movable optical detection device (40) assigned to the seizing range (4) and/or to a movement range of the at least one manipulator (5). The optical detection device (40) obtains space coordinates and/or position data and/or contour data of at least one piece good (2) that is being moved. The at least one manipulator (5) and/or further conveyor components of the apparatus (10) can be calibrated and/or controlled based on the detected space coordinates and/or position data and/or contour data.
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公开(公告)号：US10227187B2
公开(公告)日：2019-03-12
申请号：US15543411
申请日：2016-01-15
Applicant: KRONES Aktiengesellschaft
Inventor： Albin Semmelrock , Bernhard Diener , Erhard Beer , Gerald Heckel , Manuel Kollmuss , Martin Osterhammer
IPC: B65H3/08 , B65H5/10 , B65H7/08 , B65G59/04 , B65G47/244 , B65H3/44 , B65H1/28 , B65H3/56 , B65H7/14 , B65H7/02
Abstract: Disclosed are a method and a device (1) for handling individual intermediate layers (5). The method involves removing from each of at least two separate stacks of intermediate layers (7) an individual intermediate layer (5) arranged topmost on the particular stack of intermediate layers (7). The removed individual intermediate layers (5) are moved into a detection range of a sensor system (13) of its own and the particular own sensor system (13) identifying, preferably by means of optical detection, an outer edge (6) of the particular intermediate layer (5). Subsequently, the removed individual intermediate layers (5) move toward a particular target location (Z1, Z2), the particular, preferably optical detection thereby being taken into account, such that the intermediate layers (5) reach their particular target location (Z1, Z2) in a predetermined position.
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