公开(公告)号：WO2014113511A1

公开(公告)日：2014-07-24

申请号：PCT/US2014/011743

申请日：2014-01-15

Applicant: WYNRIGHT CORPORATION

Inventor： CRISWELL, Tim

IPC: B65G67/02

CPC classification number: B65G67/02 ,  B25J5/005 ,  B25J5/007 ,  B25J15/00 ,  B65G21/14 ,  B65G57/20 ,  B65G61/00 ,  B65G67/08 ,  B65G2201/0273

Abstract: An automatic tire loader/unloader for stacking/unstacking tires in a trailer is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, tires advance through a powered transportation path to an industrial robot which places the tires within the trailer in a vertical stacking pattern or a rick-stacking pattern, for example. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including tires, within a detection space, dimensions of the trailer provided to the control subassembly, and dimensions of the tires provided to the control subassembly.

Abstract translation: 公开了一种用于在拖车中堆叠/拆卸轮胎的自动轮胎装载机/卸载机。 在一个实施例中，移动基座结构为驱动子组件，输送子组件，工业机器人，距离测量子组件和控制子组件提供支撑框架。 在控制组件的操作下，轮胎通过动力输送路径前进到工业机器人，例如将轮胎放置在拖车内的垂直堆叠图案或者集尘图案。 控制子组件基于距离测量子组件来检测工业机器人的选择性关节运动和驱动子组件的启动，该组件在检测空间内检测包括轮胎的物体，提供给控制子组件的拖车的尺寸以及尺寸 提供给控制组件的轮胎。

公开(公告)号：WO2014113762A1

公开(公告)日：2014-07-24

申请号：PCT/US2014/012215

申请日：2014-01-20

Applicant: WYNRIGHT CORPORATION

Inventor： CRISWELL, Tim

IPC: B65G67/02

CPC classification number: B65G67/24 ,  B25J5/007 ,  B25J9/1687 ,  B25J9/1697 ,  B25J15/0028 ,  B25J15/0616 ,  B65G67/08 ,  G05B2219/37002 ,  G05B2219/40555 ,  G05B2219/40607

Abstract: An automatic truck unloader for unloading/unpacking product, such as boxes or cases, from trailers and containers is disclosed. In one embodiment, a mobile base structure provides a support framework for a drive subassembly, conveyance subassembly, an industrial robot, a distance measurement subassembly, and a control subassembly. Under the operation of the control subassembly, an industrial robot having a suction cup-based gripper arm selectively removes boxes from the trailer and places the boxes on a powered transportation path. The control subassembly coordinates the selective articulated movement of the industrial robot and the activation of the drive subassembly based upon the distance measurement subassembly detecting objects, including boxes, within a detection space, and dimensions of the trailer provided to the control subassembly.

Abstract translation: 公开了一种用于从拖车和容器卸载/拆开产品（例如箱子或箱子）的自动卸载机。 在一个实施例中，移动基座结构为驱动子组件，输送子组件，工业机器人，距离测量子组件和控制子组件提供支撑框架。 在控制子组件的操作下，具有吸盘式夹持臂的工业机器人选择性地从拖车移除盒子并将盒子放置在动力传送路径上。 控制子组件基于距离测量子组件检测工件机器人的选择性关节运动和检测物体（包括检测空间内的箱体）以及提供给控制子组件的拖车的尺寸来协调工业机器人的选择性关节运动和激活驱动子组件。

公开(公告)号：WO2023049897A1

公开(公告)日：2023-03-30

申请号：PCT/US2022/077023

申请日：2022-09-26

Applicant: WYNRIGHT CORPORATION ,  DAIFUKU CO., LTD.

Inventor： CRISWELL, Tim ,  WEIR, Justry ,  CRISWELL, Alex ,  DOLIOTIS, Pavlos ,  RAJAN, Samarth ,  MIDDLETON, Matthew

IPC: B25J9/16 ,  B25J5/00 ,  B25J13/08 ,  B65G67/24

Abstract: A robotic truck unloader (10) for unloading/unpacking product, such as boxes or cases, from trailers and containers is disclosed. In one embodiment, a mobile base (50) structure provides a support framework for a drive subassembly (52), a conveyance subassembly (54), an industrial robot (40), a pivoting front conveyor (42), a distance measurement subassembly, and a control subassembly (62). The control subassembly (62) coordinates the selective articulated movement of the industrial robot (40) and the pivoting front conveyor (42) as well as the activation of the drive subassembly (52) based upon a perception-based robotic manipulation system. The robotic truck unloader (10) executes pick-and-scoop operations utilizing the industrial robot (40) and the pivoting front conveyor (42). Automated error handling is also provided.