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).

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

IPC: B25J9/16 ,  B25J13/08

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.

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

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：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

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

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：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

IPC: B65G47/08 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00 ,  B65G47/90 ,  B65G1/137

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).

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

IPC: G06F7/00 ,  B65G47/90 ,  B65G65/02 ,  B65G47/08 ,  B65G43/08

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.