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    • 8. 发明申请
    • PALLETIZER FOR CORRUGATED BUNDLES
    • 被修复的布达佩斯
    • WO2014110349A1
    • 2014-07-17
    • PCT/US2014/011013
    • 2014-01-10
    • J&L GROUP INTERNATIONAL, LLC
    • BATRIN, Marius D.ROTH, Curtis A.
    • B65G47/08B65G61/00
    • B65G61/00B65G47/086Y10S901/50
    • A robotic controller (120) includes a vision system (140) that determines a location and orientation of incoming bundles (201), a tracking system (150) that communicates between the controller and a conveyor (130), and a robot (110) that coordinates its movement with the bundles. The tracking system identifies the location and orientation of each bundle, informs the controller, and causes the robot to track its location and orientation with incoming bundles. The controller receives information on the location and orientation of each bundle. The controller instructs the robot to move in coordination with each incoming bundle, instructs the robot where and at what orientation to pick up the bundle, and instructs the robot how to move the bundle to a tier-and- stacking position. The controller can instruct the robot how to pick up each bundle on the fly as the bundle moves into range on the incoming conveyor.
    • 机器人控制器(120)包括确定进入束(201)的位置和方向的视觉系统(140),在控制器和传送器(130)之间通信的跟踪系统(150)和机器人(110) 它协调其与束的移动。 跟踪系统识别每个束的位置和方向,通知控制器,并使机器人利用传入的束跟踪其位置和方向。 控制器接收关于每个束的位置和方向的信息。 控制器指示机器人与每个传入束协调移动,指示机器人在何处以何种方向拾取束,并指示机器人如何将束移动到层叠位置。 控制器可以指示机器人随着束移动到输入输送机上的范围,在飞行中如何拾取每个束。