公开(公告)号：US20190308823A1

公开(公告)日：2019-10-10

申请号：US16309277

申请日：2017-02-21

Applicant: KRONES Aktiengesellschaft

Inventor： Erhard BEER ,  Arsalan MEHDI ,  Michael ASTNER ,  Manuel KOLLMUSS

IPC: B65G47/90 ,  B65G65/02

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.

公开(公告)号：US20210347055A1

公开(公告)日：2021-11-11

申请号：US17262383

申请日：2019-05-16

Applicant: Krones Aktiengesellschaft

Inventor： Christian DANY ,  Arsalan MEHDI ,  Erhard BEER ,  Manuel KOLLMUSS

IPC: B25J9/16

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.

公开(公告)号：US20180002118A1

公开(公告)日：2018-01-04

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: B65G59/04 ,  B65H1/28 ,  B65H3/44 ,  B65H7/02 ,  B65H3/08

CPC classification number: B65G59/04 ,  B65G47/244 ,  B65H1/28 ,  B65H3/0816 ,  B65H3/443 ,  B65H3/56 ,  B65H7/02 ,  B65H7/14 ,  B65H2511/10 ,  B65H2511/514 ,  B65H2513/41 ,  B65H2513/42 ,  B65H2553/40 ,  B65H2553/412 ,  B65H2557/51 ,  B65H2701/176 ,  B65H2220/01 ,  B65H2220/02

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.

公开(公告)号：US20160311632A1

公开(公告)日：2016-10-27

申请号：US14941979

申请日：2015-11-16

Applicant: KRONES Aktiengesellschaft

Inventor： Christian WESTERMEIER ,  Josef UNTERSEHER ,  Manuel KOLLMUSS ,  Marco EHBERGER ,  Michael HARTL ,  Peter ZEINER

IPC: B65G47/90 ,  B25J17/02 ,  B25J15/00 ,  B25J9/00

CPC classification number: B65G47/90 ,  B25J9/0051 ,  B25J15/0028 ,  B25J17/0266

Abstract: The present invention includes a method for the handling of articles such as packs, piece goods or the like. The method is performed with a device comprising an upper suspension, to which at least three rotatable driven actuating arms are attached. The device comprises a manipulator with one or more sets of clamping jaws for gripping the articles and which is mechanically coupled to the at least three actuating arms. A position of the manipulator can be defined by a movement of one or more of the at least three actuating arms via a linear guide. The linear guide is formed as a rotatable first shaft and connected to the manipulator in a torque proof manner. The manipulator is rotated together with the first shaft by a rotational movement of the first shaft. At least one actuating device designed as a second shaft passes through the linear guide and controls the one or more sets of clamping jaws for temporarily gripping and releasing of articles. The actuating device designed as a second shaft is rotated relative to the linear guide in order to operate the one or more clamping jaws.

Abstract translation: 本发明包括用于处理诸如包装，零件等的物品的方法。 该方法使用包括上悬架的装置执行，至少三个可旋转的驱动致动臂被附接到该上悬架。 该装置包括具有一组或多组夹爪的操纵器，用于夹紧物品并且机械地联接到至少三个致动臂。 操纵器的位置可以通过至少三个致动臂中的一个或多个通过线性引导件的移动来限定。 线性引导件形成为可旋转的第一轴并以扭矩抵抗的方式连接到操纵器。 操纵器通过第一轴的旋转运动与第一轴一起旋转。 设计为第二轴的至少一个致动装置通过直线导轨并控制一组或多组夹钳，用于临时夹紧和释放物品。 设计为第二轴的致动装置相对于线性引导件旋转，以便操作一个或多个夹钳。

公开(公告)号：US20220315350A1

公开(公告)日：2022-10-06

申请号：US17633623

申请日：2020-07-21

Applicant: Krones Aktiengesellschaft

Inventor： Manuel KOLLMUSS ,  Thomas HENSEL ,  Thomas LEHNER

IPC: B65G47/08 ,  B65G47/90 ,  B65G43/08 ,  B65G21/20 ,  B65G61/00 ,  G01S15/06

Abstract: The invention relates to a handling device and/or layer forming device (10) and a method for forming piece good layers. Piece goods (14, 14a) are conveyed on a horizontal conveying device (16) to a grouping station and/or layer forming station (12) comprising a manipulator (20). In a work cycle the manipulator (20) seizes at least one piece good (14, 14a) and moves it into a defined relative target position and/or target alignment, in particular with regard to a piece good layer to be formed.
The horizontal conveying device (16), which is arranged upstream of the grouping station and/or layer forming station (12) in the transport direction (18) of the piece goods (14, 14a), comprises at least one sensor device (24) for obtaining positional data and/or dimensional data and/or alignment data of the transported piece goods (14, 14a). Electronic output signals (26) are generated from the obtained data, which processed in a control device (28). The control device (28) controls the movements of the manipulator (20) within the movement range (22) for the purpose of the layer formation.

公开(公告)号：US20200078934A1

公开(公告)日：2020-03-12

申请号：US16469727

申请日：2017-02-21

Applicant: KRONES Aktiengesellschaft

Inventor： Manuel KOLLMUSS ,  Erhard BEER ,  Michael ASTNER ,  Arsalan MEHDI

IPC: B25J9/00 ,  B65G47/22 ,  B65G43/00 ,  B25J9/16

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.

公开(公告)号：US20180229948A1

公开(公告)日：2018-08-16

申请号：US15524364

申请日：2015-11-02

Applicant: KRONES Aktiengesellschaft

Inventor： Manuel KOLLMUSS ,  Richard ESCHLBECK

IPC: B65G57/10 ,  B65G57/06 ,  B65G65/02

CPC classification number: B65G57/10 ,  B65G57/06 ,  B65G57/24 ,  B65G65/02 ,  B65G2203/0225 ,  B65G2203/0233 ,  B65G2207/14

Abstract: The invention relates to a palletizing apparatus (10) and a method for conveying articles (16), piece goods, and/or bundles (18) and/or palletizable article layers, piece good layers, and/or bundle layers (20) with at least two conveyor line sections (12, 14), each in a particular conveying direction (28, 29). Each conveyor line sections include consecutive handling stations, grouping stations, and/or transfer stations (32, 33, 40, 44, 48, 50), which lead to a central loading station (24), where the article layers, piece good layers, and/or bundle layers (20) are stacked on top of each other and/or palletized in a common loading place (25). The loading station (24) is located between at least two vertically adjustable support surfaces and/or conveying surfaces (52). The common loading place (25) is supplied with article layers, piece good layers, and/or bundle layers (20).

公开(公告)号：US20200039756A1

公开(公告)日：2020-02-06

申请号：US16467562

申请日：2017-02-21

Applicant: KRONES Aktiengesellschaft

Inventor： Manuel KOLLMUSS ,  Erhard BEER ,  Michael ASTNER ,  Arsalan MEHDI

IPC: B65G47/08 ,  B25J9/00

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.

公开(公告)号：US20190144211A1

公开(公告)日：2019-05-16

申请号：US16310124

申请日：2017-02-21

Applicant: KRONES Aktiengesellschaft

Inventor： Frank WINZINGER ,  Johannes KIRZINGER ,  Manuel KOLLMUSS

IPC: B65G47/08 ,  B65G43/00

Abstract: The invention relates to a method and an apparatus for handling piece goods (2) moved one after another being transported to a seizing range (4) of at least one manipulator (5). Hereby at least two transported piece goods (2) are seized, spatially separated from the closed formation (F) and brought into a specified relative first target position (P1) and/or target alignment in relation to the subsequent piece goods (2). There at least one of the piece goods (2) is released. The at least one second piece good (2) seized from the formation (F) is seized again and is brought into a specified relative second target position and/or target alignment that is spaced apart from the first target position (P1).

公开(公告)号：US20190062071A1

公开(公告)日：2019-02-28

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).