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1. (WO2018059977) METHOD FOR THE AUTOMATED FILLING OF A CRATE WITH OBJECTS BY MEANS OF A ROBOT HAND
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Pub. No.: WO/2018/059977 International Application No.: PCT/EP2017/073386
Publication Date: 05.04.2018 International Filing Date: 18.09.2017
IPC:
B65B 57/04 (2006.01) ,B65B 57/06 (2006.01) ,B65B 57/14 (2006.01) ,B65B 5/10 (2006.01) ,B65B 5/12 (2006.01) ,B25J 9/16 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
65
CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
B
MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
57
Automatic control, checking, warning, or safety devices
02
responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
04
and operating to control, or to stop, the feed of such material, containers, or packages
B PERFORMING OPERATIONS; TRANSPORTING
65
CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
B
MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
57
Automatic control, checking, warning, or safety devices
02
responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
06
and operating to control, or to stop, the feed of articles or material to be packaged
B PERFORMING OPERATIONS; TRANSPORTING
65
CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
B
MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
57
Automatic control, checking, warning, or safety devices
10
responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
14
and operating to control, or stop, the feed of articles or material to be packaged
B PERFORMING OPERATIONS; TRANSPORTING
65
CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
B
MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
5
Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
10
Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
B PERFORMING OPERATIONS; TRANSPORTING
65
CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
B
MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
5
Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
10
Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
12
Introducing successive articles, e.g. confectionery products, of different shape or size in predetermined positions
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
Applicants:
GROSBOIS, Jérôme [FR/FR]; FR
Inventors:
GROSBOIS, Jérôme; FR
Agent:
MATKOWSKA & ASSOCIES; 9 rue Jacques Prévert 59650 Villeneuve d'Ascq, FR
Priority Data:
165919128.09.2016FR
165919228.09.2016FR
Title (EN) METHOD FOR THE AUTOMATED FILLING OF A CRATE WITH OBJECTS BY MEANS OF A ROBOT HAND
(FR) PROCEDE DE CHARGEMEMENT AUTOMATISE D'UNE CAISSE AVEC DES OBJETS AU MOYEN D'UN ROBOT PREHENSEUR
Abstract:
(EN) In order to carry out the automated filling of a crate (4) with objects (1) by means of a robot hand (3), at least one digital image of the empty crate (4) is acquired, the compliance of the crate is automatically verified using the at least one digital image of the crate, and if the crate is compliant, the crate-filling method is performed by the robot hand (3), and if not, the crate is replaced with a new crate; and/or the following succession of steps is carried out in an automatic and repeated manner: a) an object (1) is positioned in the crate (4) by means of the robot hand (3), in a position defined by a crate-filling plan; (b) at least one digital image of the chest (4) containing at least one object is acquired; (c) it is automatically verified, in the at least one digital image obtained in the previous step, whether the object positioned in step (a) is correctly positioned; if it is, the subsequent step is carried out, and if not, the badly positioned object is removed by the robot hand (3) and the method is repeated at step (a) with the same object.
(FR) Pour effectuer le chargement automatisé d'une caisse (4) avec des objets (1) au moyen d'un robot préhenseur (3), on acquiert au moins une image numérique de la caisse (4) vide, on vérifie automatiquement la conformité de la caisse en utilisant la ou les images numériques de la caisse et si la caisse est conforme, on poursuit le procédé de chargement de la caisse au moyen du robot préhenseur (3), et dans le cas contraire on remplace la caisse par une nouvelle caisse; et /ou on réalise de manière automatique et itérative la succession d'étapes suivantes : (a) on positionne, au moyen du robot préhenseur (3), un objet (1) dans la caisse (4) dans une position définie par un plan de chargement de caisse, (b) on acquiert au moins une image numérique de la caisse (4) contenant un ou plusieurs objets, (c) on vérifie automatiquement dans la ou les images numériques obtenues à l'étape précédente si l'objet qui été positionné à l'étape (a) est correctement positionné; dans l'affirmative on passe à l'étape suivante et dans la négative on retire l'objet mal positionné au moyen du robot préhenseur (3) et on réitère le procédé à l'étape (a) avec ce même objet.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: French (FR)
Filing Language: French (FR)