-
公开(公告)号：US11485586B2
公开(公告)日：2022-11-01
申请号：US16467562
申请日：2017-02-21
发明人： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
摘要： 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：US11964395B2
公开(公告)日：2024-04-23
申请号：US17262383
申请日：2019-05-16
发明人： Christian Dany , Arsalan Mehdi , Erhard Beer , Manuel Kollmuss
CPC分类号： B25J9/1692 , B25J9/1623 , B25J13/085 , B25J13/088 , G05B2219/39024 , G05B2219/40267 , G05B2219/42304 , G05B2219/50391
摘要： 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：US10882702B2
公开(公告)日：2021-01-05
申请号：US16093321
申请日：2017-03-21
摘要： The invention relates to a method and apparatus (10) for handling piece goods (2) for forming a palletizable layer or partial layer, with the piece goods (2) being moved in at least two parallel rows (1) and the layer comprising a plurality of piece goods (2). At least two piece goods (2) that are transported beside each other in parallel rows (1) are seized in a clamping and/or force-locking and/or form-locking manner, are then spatially separated from the at least two parallel rows (1) and are then brought into a specified relative target position (P1, P2) and/or target alignment in relation to subsequent piece goods (2). The apparatus (10) comprises at least one manipulator (5) for piece goods (2), and at least one transport device (3), where the piece goods (2) arranged in at least two parallel rows (1).
-
公开(公告)号：US10406678B2
公开(公告)日：2019-09-10
申请号：US15527093
申请日：2015-11-09
发明人： Christian Westermeier , Josef Unterseher , Manuel Kollmuss , Marco Ehberger , Michael Hartl , Peter Zeiner
摘要： The present invention includes an apparatus (1) and a method for handling articles and comprises an upper suspension (3) with at least three rotatably driven positioning arms (5), where the positioning arms (5) each comprise at least two arm sections (7, 9) that are swivelable relative to each other and operated independently of one another. A manipulator (32) comprises one or more clamping jaws (34, 36) and is mechanically coupled to the positioning arms (5) such the manipulator can be positioned by movement of one or more of the positioning arms (5). At least one drive shaft (12) is linked non-rotatingly to the manipulator, such that the manipulator is rotated by movement of the at least one drive shaft (12). Rotation of the at least one drive shaft (12) also controls the one or more clamping jaws (34, 36) via the at least one actuating shaft (14).
-
5.发明授权公开(公告)号：US11772902B2
公开(公告)日：2023-10-03
申请号：US17633623
申请日：2020-07-21
发明人： Manuel Kollmuss , Thomas Hensel , Thomas Lehner
CPC分类号： B65G47/086 , B65G21/2072 , B65G43/08 , B65G47/905 , B65G61/00 , G01S15/06 , B65G2203/0233 , B65G2203/042 , B65G2203/044
摘要： The invention relates to a handling device or layer forming device (10) and a method for forming piece good layers. Piece goods (14) 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) and moves it into a target position 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 layer forming station (12), comprises at least one sensor device (24) for obtaining positional data or dimensional data or alignment data of the transported piece goods (14). Based on the obtained data, the control device (28) controls the movements of the manipulator (20) within the movement range for the purpose of the layer formation.
-
公开(公告)号：US11220000B2
公开(公告)日：2022-01-11
申请号：US16469727
申请日：2017-02-21
发明人： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
摘要： 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.
-
7.发明授权公开(公告)号：US11053082B2
公开(公告)日：2021-07-06
申请号：US16310124
申请日：2017-02-21
摘要： 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：US10654662B2
公开(公告)日：2020-05-19
申请号：US16093248
申请日：2017-02-21
发明人： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
IPC分类号： B65G47/08 , B65G47/244
摘要： 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).
-
公开(公告)号：US10442638B2
公开(公告)日：2019-10-15
申请号：US15524364
申请日：2015-11-02
发明人： Manuel Kollmuss , Richard Eschlbeck
摘要： 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：US11319163B2
公开(公告)日：2022-05-03
申请号：US16093229
申请日：2017-02-21
发明人： Manuel Kollmuss , Erhard Beer , Michael Astner , Arsalan Mehdi
摘要： 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).
-
-
-
-
-
-
-
-
-
搜索结果
12 条记录 (耗时 0.017 秒)
