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公开(公告)号：US10894676B2
公开(公告)日：2021-01-19
申请号：US16035204
申请日：2018-07-13
Applicant: Symbotic Canada, ULC
Inventor： Patrice Turpin , William Légaré , Benoit Larouche , Christian Simon , Régis Métivier , Sylvain-Paul Morency , Robert Jodoin
Abstract: A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time by the at least one articulated robot between placement of at least one pallet load article unit and a serially consecutive pallet load article unit enabling substantially continuous building of the pallet load build.
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Patent Agency Ranking
公开(公告)号：US11970348B2
公开(公告)日：2024-04-30
申请号：US17823354
申请日：2022-08-30
Applicant: Symbotic Canada, ULC
Inventor： Marc Ducharme , Jean-Francois Forget , Robert Jodoin , Cédric Kessler , Régis Métivier , Sylvain-Paul Morency
CPC classification number: B65G57/035 , B65G57/00 , B65G61/00 , B65G2201/0267
Abstract: A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
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公开(公告)号：US11427414B2
公开(公告)日：2022-08-30
申请号：US17189906
申请日：2021-03-02
Applicant: Symbotic Canada, ULC
Inventor： Marc Ducharme , Jean-Francois Forget , Robert Jodoin , Cédric Kessler , Régis Métivier , Sylvain-Paul Morency
Abstract: A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
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公开(公告)号：US12103792B2
公开(公告)日：2024-10-01
申请号：US18346357
申请日：2023-07-03
Applicant: Symbotic Canada, ULC
Inventor： Patrice Turpin , William Légaré , Benoit Larouche , Christian Simon , Régis Métivier , Sylvain-Paul Morency , Robert Jodoin
CPC classification number: B65G57/03 , B25J9/0093 , B25J9/1661 , B25J9/1687 , B25J9/1697 , B65G59/02 , B65G61/00 , G06Q10/043 , G06Q10/087 , B65G2201/025 , B65G2201/0267 , B65G2203/041 , G05B2219/40006 , G05B2219/40609 , G05B2219/45083
Abstract: A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time.
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公开(公告)号：US11691830B2
公开(公告)日：2023-07-04
申请号：US17151761
申请日：2021-01-19
Applicant: Symbotic Canada, ULC
Inventor： Patrice Turpin , William Legaré , Benoit Larouche , Christian Simon , Régis Métivier , Sylvain-Paul Morency , Robert Jodoin
CPC classification number: B65G57/03 , B25J9/0093 , B25J9/1661 , B25J9/1687 , B25J9/1697 , B65G59/02 , B65G61/00 , G06Q10/043 , G06Q10/087 , B65G2201/025 , B65G2201/0267 , B65G2203/041 , G05B2219/40006 , G05B2219/40609 , G05B2219/45083
Abstract: A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time by the at least one articulated robot between placement of at least one pallet load article unit and a serially consecutive pallet load article unit enabling substantially continuous building of the pallet load build.
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公开(公告)号：US10370199B2
公开(公告)日：2019-08-06
申请号：US15235254
申请日：2016-08-12
Applicant: SYMBOTIC CANADA ULC
Inventor： Marc Ducharme , Jean-Francois Forget , Robert Jodoin , Cédric Kessler , Régis Métivier , Sylvain-Paul Morency
Abstract: A palletizing elevator is provided that lowers gradually a pallet thereon from an upper level as it is filled with products, and by providing an empty pallet infeed system that moves empty pallets towards the palletizing elevator simultaneously to the palletizing of products thereon. The empty pallet infeed system includes an empty pallet elevator for raising empty pallets to the upper level and a conveying system between the empty pallet elevator and the palletizing elevator for moving the empty pallets of from the empty pallet elevator at the upper level to the palletizing elevator while a pallet is moved by the palletizing elevator during its filling.
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