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1. 发明公开

US20230174325A1 INTELLIGENT ROBOTIZED DEPALLETIZER 审中-公开
公开(公告)号：US20230174325A1
公开(公告)日：2023-06-08
申请号：US18047918
申请日：2022-10-19
申请人： Symbotic Canada, ULC
发明人： Sylvain Paul MORENCY , Louis Philippe BEAUDOIN , Matt BRECHER , Christian SIMON , Salah MELLAL , Rene Alexander Vides RAMIREZ , Philippe AMBEAULT , Guillaume LEMELIN , William LEGARE
IPC分类号： B65G59/00 , B65G59/02 , B65G59/12
CPC分类号： B65G59/005 , B65G59/026 , B65G59/12 , B65G2203/0233 , B65G2203/043
摘要： A layer destacking system, for destacking a layer from a stacked layer pallet load, including a layer seating platform configured so as to seat the destacked layer on the layer seating platform, a slip sheet detection sensor arranged to sense a slip sheet in contact with the seated destacked layer, a slip sheet pickup removal mechanism, and a controller that receives a signal from the slip sheet detection sensor identifying presence of the slip sheet. The controller is operably connected to the slip sheet pickup removal mechanism so as to actuate the slip sheet pickup removal mechanism effecting discharge of the slip sheet off the layer seating platform.

2. 发明授权

US09978624B2 Device for at least emptying a transport container 有权
公开(公告)号：US09978624B2
公开(公告)日：2018-05-22
申请号：US15036472
申请日：2014-11-17
申请人： Mechatronic Systemtechnik GmbH
发明人： Alexander Oremus , Arno Glantschnig
IPC分类号： B65H3/48 , H01L21/677 , H01L21/67 , H01L21/68 , H01L21/683 , B65G59/00 , B65G59/04 , G01B11/14 , B65H3/08
CPC分类号： H01L21/67778 , B65G59/005 , B65G59/04 , B65H3/0816 , B65H3/0883 , B65H3/48 , G01B11/14 , H01L21/67092 , H01L21/681 , H01L21/6838
摘要： A device for at least emptying a transport container having a stack of plate-shaped items, including semiconductor wafers and/or packaging material, includes at least one measuring device and a holder at least part of which can travel into the transport container. The holder has a holding surface, a number of holding nozzles for at least holding an item in the stack, and, in the region of the holding surface, at least one recess for the measuring device for acquiring measurement data from the item in the stack. At least one separating nozzle is arranged on the holder outside the holding surface such that the nozzle(s) can move between rest and separating positions. In the separating position, a gas stream directed towards the end face of the stack is formed, to release at least one item in the stack that is adhered to the item held by the holder.

3. 发明授权

US09527682B2 Device and method for removing planar objects 有权
标题翻译：用于去除平面物体的装置和方法
公开(公告)号：US09527682B2
公开(公告)日：2016-12-27
申请号：US14412740
申请日：2014-02-10
申请人： LISEC AUSTRIA GMBH
发明人： Hannes Endlicher
IPC分类号： B65G47/91 , B65G49/06 , B65G59/00
CPC分类号： B65G49/069 , B65G47/918 , B65G59/005 , B65G2201/022 , B65G2249/04
摘要： In a device for removing planar objects (2), such as glass panes, from a frame (1) on which the objects (2) are stacked in abutment, wherein spacers (3) are arranged between objects (2), and wherein holding devices (5) are arranged on a support (4) in order to remove the objects (2), at least one removal device (7) for spacers (3) is arranged on the support (4) in the region above the holding devices and preferably has at least one penetration body (8) for spacers (3).
摘要翻译：在用于从物体（2）堆叠抵靠的框架（1）上去除诸如玻璃板的平面物体（2）的装置中，其中间隔物（3）布置在物体（2）之间，并且其中保持装置（5）布置在支撑件（4）上以便去除物体（2），至少一个用于间隔件（3）的移除装置（7）被布置在支撑件（4）上的保持装置上方的区域并且优选地具有用于间隔件（3）的至少一个穿透体（8）。

4. 发明授权

US09242818B2 System for and method of transferring plate-shaped member with interleaving paper thereon 有权
标题翻译：用其上的交错纸转移板状构件的系统和方法
公开(公告)号：US09242818B2
公开(公告)日：2016-01-26
申请号：US14123342
申请日：2012-05-16
申请人： Kenji Bando , Takuya Fukuda , Akifumi Wakisaka
发明人： Kenji Bando , Takuya Fukuda , Akifumi Wakisaka
IPC分类号： B65H3/08 , B65G49/06 , B65H3/54 , B65G59/00 , B65G59/04
CPC分类号： B65H3/0816 , B65G49/069 , B65G59/005 , B65G59/04 , B65G2249/045 , B65H3/54 , B65H2701/18264
摘要： In a system for transferring a plate-shaped member with interleaving paper thereon, a suction adhesion device included in a suction adhesion unit includes suction pads that adhere to a surface of a glass plate by suction with interleaving paper in between the surface and the suction pads; an air blowing device blows air between the adhered glass plate and a glass plate positioned below the adhered glass plate; a robot moves the suction adhesion unit; a clamping device includes a pair of pushing members that are arranged at both sides, respectively, of the glass plates and move toward the glass plates to come close to each other; and at least before the suction adhesion unit lifts the adhered glass plate, a controller causes the pair of pushing members to move to push protruding portions of pieces of interleaving paper, the protruding portions protruding from the sides of the glass plates.
摘要翻译：在用于在其上传送具有交错纸的板状构件的系统中，包括在吸附粘合单元中的吸附粘合装置包括吸附垫，其通过抽吸粘附在玻璃板的表面上，其中交错纸位于表面和吸盘之间 ; 吹气装置在粘附的玻璃板和位于粘附玻璃板下方的玻璃板之间吹送空气; 机器人移动吸附粘合单元; 夹持装置包括分别布置在玻璃板的两侧并朝向玻璃板移动以彼此靠近的一对推动构件; 并且至少在吸附粘合单元提升粘附的玻璃板之前，控制器使一对推动构件移动以推动交错纸的突出部分，突出部分从玻璃板的侧面突出。

5. 发明申请

US20150078877A1 Depalletizing System and Removal Unit 审中-公开
标题翻译：拆迁系统和拆迁单位
公开(公告)号：US20150078877A1
公开(公告)日：2015-03-19
申请号：US14367724
申请日：2012-12-20
申请人： Ludwig Brandmüller , Herbert Fellner
发明人： Ludwig Brandmüller , Herbert Fellner
IPC分类号： B65G59/04 , B65G61/00 , B65G59/02
CPC分类号： B65G59/04 , B65G59/005 , B65G59/02 , B65G59/023 , B65G59/026 , B65G61/00
摘要： A depalletizing system is disclosed which enables fully automatic depalletizing. Furthermore, a removal unit with at least one ‘knife edge’ is disclosed. The latter may have an all-around belt which wraps around a drive pinion and a deflection.
摘要翻译：公开了一种能够进行全自动卸垛的卸垛系统。此外，公开了具有至少一个“刀刃”的移除单元。后者可以具有包围驱动小齿轮和偏转的全能带。

6. 发明申请

US20130017053A1 Depalletizing Tool 审中-公开
标题翻译：分区工具
公开(公告)号：US20130017053A1
公开(公告)日：2013-01-17
申请号：US13180089
申请日：2011-07-11
申请人： Jean-Francois Forget , Regis Metivier , Sylvain-Paul Morency , Alexandre Pain
发明人： Jean-Francois Forget , Regis Metivier , Sylvain-Paul Morency , Alexandre Pain
IPC分类号： B65G59/02 , B65G61/00
CPC分类号： B65G59/02 , B65G59/005 , B65G61/00
摘要： A tool and a method for depalletizing piles of objects separated by sheets are described herein. The tool comprises a plate assembly for insertion between the highest pile from the piles of objects and the next separator sheet. The plate assembly has a fixed portion and a tip provided at a distal end thereof and is movable between a detecting position, wherein an upward displacement of the tip is allowed relative to the fixed portion, and a depalletizing position, wherein the tip is immobilized relative to the fixed portion. The tool further comprises a plate sensor for detecting the displacement of the tip relative to the fixed portion and for generating a first detection signal responsive to said displacement, and a pressure assembly that defines a gripper with the plate assembly for receiving the highest pile of objects and for selectively applying pressure thereon. When the plate assembly is in the detecting position, the controller detects one of the separated sheets when the tip is displaced upwardly relative to the fixed portion following a downward movement of the tool.
摘要翻译：本文描述了用于分离由片分离的物体堆放的工具和方法。该工具包括用于插入来自堆叠物体的最高桩与下一个隔板之间的板组件。板组件具有固定部分和设置在其远端处的末端，并且可在检测位置之间移动，在检测位置处，允许尖端相对于固定部分的向上移位，并且移位位置，其中尖端被固定相对到固定部分。该工具还包括板传感器，用于检测尖端相对于固定部分的位移，并产生响应于所述位移的第一检测信号;以及压力组件，该压力组件与板组件限定夹具以接收最高堆的物体并且用于选择性地在其上施加压力。当板组件处于检测位置时，当工具向下移动时，当尖端相对于固定部分向上移位时，控制器检测到分离的片材中的一个。

7. 发明授权

US08087869B1 Method and apparatus for loading palletized articles for blast freezing 有权
标题翻译：用于装载用于爆炸冷冻的码垛物品的方法和装置
公开(公告)号：US08087869B1
公开(公告)日：2012-01-03
申请号：US12405512
申请日：2009-03-17
申请人： Wallace R. Binford
发明人： Wallace R. Binford
IPC分类号： B65H1/00
CPC分类号： B65G60/00 , B65G59/005 , B65G61/00
摘要： A method and apparatus for spacing apart layers of cartons containing animal parts (such as chicken parts). In one embodiment is provided a vacuum assist lift device to transfer layers of cartons from a packed condition to a palletized spaced apart condition. In one embodiment is provided a method of simultaneously transferring a plurality of layers from a packed condition to a spaced apart condition. In one embodiment is provided a vacuum assist lift device which can be adjusted for a plurality of configurations of layers of cartons.
摘要翻译：用于将包含动物部件（例如鸡肉部分）的纸箱间隔开的方法和装置。在一个实施例中提供了真空辅助提升装置，用于将纸箱的层从包装状态转移到码垛间隔开的状态。在一个实施例中提供了一种将多个层同时从填充状态转移到间隔开的状态的方法。在一个实施例中提供了一种真空辅助提升装置，其能够针对纸箱的多层结构进行调整。

8. 发明授权

US06746203B2 Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same 有权
标题翻译：夹持和运输夹具安装在机械手臂的末端和操作它的方法
公开(公告)号：US06746203B2
公开(公告)日：2004-06-08
申请号：US09953495
申请日：2001-09-14
申请人： Paul Leblanc , Sylvain-Paul Morency , Dominic Prevost , Sylvain Boily
发明人： Paul Leblanc , Sylvain-Paul Morency , Dominic Prevost , Sylvain Boily
IPC分类号： B65G5902
CPC分类号： B65H3/325 , B65G59/005 , B65G61/00 , B65H2301/42242 , B65H2515/30 , B65H2555/31 , Y10S294/907 , Y10S414/108 , Y10S414/12 , B65H2220/03
摘要： The present invention relates to a gripping and transport clamp mounted at an end of a robotic arm. The clamp has a support member mounted at the end of the robotic arm and two lower pressing plates and one upper pressing plate mounted on the support member. A sensor is used to detect a reaction force being exerted on the first pressing plate upon displacement thereof. An actuator inserts the first lower pressing plate under the object to be gripped in response to a detection of the reaction force by the sensor. The second lower pressing plate under the first pressing plate moves between a retracted position and an extended position by means of an actuator mounted between the second lower pressing plate and the support member. It is also inserted under the object to be gripped. An actuator moves the upper pressing plate towards the object for gripping it between the plates. A controller receives detection signals from the sensor and operates the actuators.
摘要翻译：本发明涉及一种安装在机器人手臂末端的夹持和运输夹具。夹具具有安装在机器臂的端部的支撑构件和安装在支撑构件上的两个下压板和一个上压板。传感器用于检测在其移动时施加在第一按压板上的反作用力。致动器响应于传感器的反作用力的检测，将第一下压板插入被夹持物体的下方。第一按压板下方的第二下压板通过安装在第二下压板和支撑构件之间的致动器在缩回位置和延伸位置之间移动。它也被插入被夹持的物体下面。执行器将上压板朝向物体移动以将其夹在板之间。控制器从传感器接收检测信号并操作致动器。

9. 发明授权

US3187909A Can depalletizing machine 失效
标题翻译：可拆包机
公开(公告)号：US3187909A
公开(公告)日：1965-06-08
申请号：US20609062
申请日：1962-06-28
申请人： NAT CAN CORP
发明人： JEREMIAH EARL E
IPC分类号： B65G59/00
CPC分类号： B65G59/005 , Y10S414/108

10. 发明申请

US20160293470A1 DEVICE FOR AT LEAST EMPTYING A TRANSPORT CONTAINER 有权
标题翻译：用于至少运送运输集装箱的装置
公开(公告)号：US20160293470A1
公开(公告)日：2016-10-06
申请号：US15036472
申请日：2014-11-17
申请人： MECHATRONIC SYSTEMTECHNIK GMBH
发明人： Alexander OREMUS , Arno GLANTSCHNIG
IPC分类号： H01L21/677 , G01B11/14 , B65G59/04 , B65G59/00 , H01L21/683 , H01L21/68
CPC分类号： H01L21/67778 , B65G59/005 , B65G59/04 , B65H3/0816 , B65H3/0883 , B65H3/48 , G01B11/14 , H01L21/67092 , H01L21/681 , H01L21/6838
摘要： A device for at least emptying a transport container having a stack of plate-shaped items, including semiconductor wafers and/or packaging material, includes at least one measuring device and a holder at least part of which can travel into the transport container, the holder having: a holding surface; a number of holding nozzles for at least holding an item in the stack; and, in the region of the holding surface, at least one recess for the measuring device for acquiring measurement data from the item in the stack. In order to permit the transport container to be emptied in a stable manner, the holder includes at least one separating nozzle arranged outside the holding surface and arranged on the holder such that the nozzle(s) can move between a rest position and a separating position, in such a way that when the separating nozzle is in the separating position, a gas stream directed towards the end face of the stack is formed, in order to release at least one item in the stack that is adhered to the item held by the holder.
摘要翻译：用于至少排空具有包括半导体晶片和/或包装材料的板状物品的堆叠的运输容器的装置包括至少一个测量装置和至少一部分能够进入运输容器的保持器，保持器具有：保持表面; 用于至少将物品保持在所述堆叠中的多个保持喷嘴; 并且在所述保持表面的区域中，至少一个用于所述测量装置的凹部用于从所述堆叠中的所述物品获取测量数据。为了允许运输容器以稳定的方式排空，保持器包括布置在保持表面外部并布置在保持器上的至少一个分离喷嘴，使得喷嘴能够在静止位置和分离位置之间移动以这样的方式使得当分离喷嘴处于分离位置时，形成指向堆叠端面的气流，以便释放堆叠中的至少一个物品，该物品粘附到由持有人

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