公开(公告)号：WO2009045390A1

公开(公告)日：2009-04-09

申请号：PCT/US2008/011301

申请日：2008-09-30

Applicant: KAUFMAN ENGINEERED SYSTEM ,  PARKER, Jonathan, D.

Inventor： PARKER, Jonathan, D.

IPC: G05B19/04

CPC classification number: B25J9/1669 ,  B65G61/00 ,  B65G2203/041 ,  G05B2219/40006

Abstract: The vision aided case/bulk palletizer system of this invention is a process and apparatus for: providing a camera positioned over the dunnage supply line; initiating a frame grab of the dunnage supply line with the camera; using the frame grab to determine the position of the dunnage; using the frame grab to position the programmable robot over the dunnage; feeding the dunnage from the dunnage supply line to the load building area; and controlling the steps with the single programmable robot, microprocessor and software. This system provides for transfer of the dunnage when the position of the dunnage is skewed by using the frame grab to position the programmable robot over the skewed dunnage. In another embodiment, the camera is used to determine any void in the tier of product during the build of a tier of product, and also provides for error-proofing the transfer of dunnage.

Abstract translation: 本发明的视觉辅助箱/散货码垛机系统是用于：提供位于垫料供应管线上方的照相机的过程和装置; 用相机启动垫料供应线的框架抓取; 使用框架抓取确定衬垫的位置; 使用框架抓斗将可编程机器人定位在衬垫上; 将垫料从垫料供应线供应到装载建筑区域; 并使用单个可编程机器人，微处理器和软件来控制步骤。 该系统通过使用框架抓斗将可编程机器人定位在倾斜的垫料上以使衬垫的位置偏斜时提供衬垫的传送。 在另一个实施例中，相机用于在产品层次的构建期间确定产品层中的任何空隙，并且还提供用于防止衬垫转移的错误。