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公开(公告)号：US11530075B2
公开(公告)日：2022-12-20
申请号：US16575771
申请日：2019-09-19
发明人： Markus Grabher
摘要： A stackable box (1) for accommodating and for transporting articles and for stacking in a stacking direction (2) with at least one other box (1) of the same type, wherein the box (1) has a base (3) and a side wall (4), which projects beyond the base (3) and surrounds the base (3) at least partially, wherein the base (3) and the side wall (4) together bound an accommodating space (5) for the articles, wherein the side wall (4) contains at least two, spaced-apart adapters in order for the box (1) to be gripped mechanically by means of at least one gripping device (6), said adapters in the side wall (4) being designed in each case in the form of channels (8) which extend longitudinally in a longitudinal-extent direction (7) running parallel to the stacking direction (2), wherein the channels (8) each have an entry opening (9) and an exit opening (10) and, therebetween, an inner channel cavity (12) which is bounded by a channel-boundary wall (11) of the box (1), extends longitudinally in the respective longitudinal-extent direction (7) and through which the gripping device (6) is guided.
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公开(公告)号：US20220396427A1
公开(公告)日：2022-12-15
申请号：US17817513
申请日：2022-08-04
发明人： Ivar Fjeldheim , Trond Austrheim
摘要： An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position outside the horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly inside the horizontal extent of the vehicle body.
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公开(公告)号：US20220306407A1
公开(公告)日：2022-09-29
申请号：US17806864
申请日：2022-06-14
申请人： SYMBOTIC CANADA ULC
发明人： Sylvain-Paul MORENCY , Marc DUCHARME , Robert JODOIN , Philippe HAKIER , Christian SIMON , Jean-François FORGET
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US11358811B2
公开(公告)日：2022-06-14
申请号：US17235692
申请日：2021-04-20
申请人： SYMBOTIC CANADA, ULC
发明人： Sylvain-Paul Morency , Marc Ducharme , Robert Jodoin , Philippe Hakier , Christian Simon , Jean-François Forget
摘要： A vision-assisted robotized depalletizer receives at a pallet station a pallet loaded with products and outputs on a conveyor unitized products aligned in a desired orientation. Such depalletizers include a vision system having one or more image acquisition sensors that are positioned relative to the pallet station so as to have a field of view covering a top portion of the pallet. The sensors send to a controller one or more image of the top portion of the pallet that the controller uses along to determine the position of each product in the top portion of the pallet. The depalletizer further includes a robot equipped with a depalletizing tool that is coupled to the vision system controller for receiving information indicative of the position of each product from the top portion and uses that information to pick and position on the output conveyor each product from the top portion.
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公开(公告)号：US20220106134A1
公开(公告)日：2022-04-07
申请号：US17495589
申请日：2021-10-06
申请人： Target Brands, Inc.
发明人： Gervasio Mutarelli , David Sellner , Gregory Lisso , Ernesto Saldana Pena , Trevor Stratmann , Shefali Pai , Jamison Harrell-Latham , Justin Feider
摘要： Warehouse automation and methods of handling materials can be used to enhance the safety and efficiencies of warehouse operations. For example, automation systems and methods that make depalletization processes safer and more efficient are described. In some examples, a rotary lift table is used to automatically position a pallet load of boxes in an ergonomic position where a worker can readily transfer the boxes from the pallet to another location, such as a conveyor or another pallet. In some examples, a work cell for a worker includes two of the rotary lift tables that function in that manner.
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公开(公告)号：US11273997B2
公开(公告)日：2022-03-15
申请号：US16121276
申请日：2018-09-04
申请人： ANDGAR CORPORATION
发明人： Dean A. Vander Hoek
摘要： A produce loading and unloading device and system. The device and system has structures for lifting an entire stack of flats loaded with produce such as berries, moving the stack of flats to a conveyor, and dumping the produce off each flat of the stack, one flat at a time. During the process, the operator of the device doesn't have to lift a single flat of produce. The dumping operation operates continuously, with no pauses to load stacks of flats. Throughput and safety are greatly improved.
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公开(公告)号：US20210402622A1
公开(公告)日：2021-12-30
申请号：US17356765
申请日：2021-06-24
申请人： Bernd Hartmann , Wolfram Grafe
发明人： Bernd Hartmann , Wolfram Grafe
摘要： A method for unloading a container having packages with a rail device comprising a rail having a hand element displaceable in the longitudinal direction. The hand element has a plurality of finger elements having two flexible flank elements extending jointly from one end to the opposite end of the finger element. Each are connected flexibly to each other via a plurality of webs. The finger elements adjustable from a curved position into an extended position and back. The packages are stacked in the container forming a front face in which the rail device is brought close to the front face of the stacked packages. One hand element grips one package from the stack of packages and removes it from the stack. Following the removal, it is displaced along the rail and following the displacement grips one further package and removes it from the stack of packages.
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公开(公告)号：US20210347051A1
公开(公告)日：2021-11-11
申请号：US17385349
申请日：2021-07-26
申请人： MUJIN, INC.
IPC分类号： B25J9/16 , B25J19/02 , G06T7/73 , H04N5/232 , B25J13/08 , B25J15/00 , B65G59/02 , G05B19/4155 , G06K9/62 , G06T7/60 , H04N5/225
摘要： A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.
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公开(公告)号：US20210179309A1
公开(公告)日：2021-06-17
申请号：US16760913
申请日：2018-10-30
申请人： Main Tech S.r.l.
发明人： Renato PEGORARO , Stefano ROSTIN
摘要： An apparatus for unloading material. The apparatus comprises a hooking device mounted on a frame for hooking the material. The hooking device comprises a plurality of rows of curved hooks, each row of hooks being pivotable about a respective axis of rotation between a non-operating position, in which the hooks are retracted, and an operating position, in which the hooks are extended so as to hook the material. All the rows of hooks are pivotable from the non-operating position into the operating position along a hooking path, rotating in the same direction of rotation about the respective axes of rotation. The hooking device further comprises an abutment element that is positioned on the outside of the rows of hooks, substantially perpendicularly to the hooking path.
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公开(公告)号：US11008184B2
公开(公告)日：2021-05-18
申请号：US16844227
申请日：2020-04-09
申请人： Symbotic, LLC
摘要： An automated storage and retrieval system includes a storage array of storage locations for case units. An in-out case conveyor is capable of bi-directionally transporting case units to and from the storage array, and an in-out loaded pallet conveyor is capable of bi-directionally transporting loaded pallets towards and away from the storage array. A palletizer-depalletizer cell includes a bi-directional pallet transport system with more than one independently driven pallet transports, each with a different pallet holder independently movable relative to a cell frame. Placement of case units commissioning a pallet layer loading a pallet, and removal of case units decommissioning a pallet layer unloading another pallet are both effected at the common pallet layer interface at a predetermined level of the cell frame. The pallet transports independently index a first and a second of the different pallet holders, each independently holding the pallet loading at the common pallet layer interface.
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