公开(公告)号：US20230278221A1

公开(公告)日：2023-09-07

申请号：US18168315

申请日：2023-02-13

Applicant: SYMBOTIC CANADA, ULC

Inventor： Christian Simon ,  William Légaré ,  Tristan Bouchard ,  Yannick Delisle

IPC: B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1692 ,  B25J9/1697

Abstract: A pallet building apparatus, for automatically building a pallet load of pallet load article units onto a pallet support, includes a frame defining a pallet station with a pallet building base for the pallet support, an articulated robot connected to the frame, at least one three-dimensional camera, connected to the frame separate and distinct of the articulated robot, and disposed to generate three-dimensional imaging of the pallet support on the pallet building base and of a pallet load build on the pallet support, a controller operably connected to the at least one articulated robot and the at least one three-dimensional camera, and an automatic calibration system for calibrating the articulated robot, the controller being communicably connected to the automatic calibration system, and being configured to automatically calibrate the articulated robot, from a substantially uncalibrated state, and automatically teach the articulated robot a location of the pallet station.