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1. WO2020197784 - ROBOT AND METHOD FOR PALLETIZING BOXES

Publication Number WO/2020/197784
Publication Date 01.10.2020
International Application No. PCT/US2020/022360
International Filing Date 12.03.2020
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 15/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
B25J 15/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
06with vacuum or magnetic holding means
B25J 5/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 19/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
B25J 19/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
CPC
B25J 15/0052
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
0052multiple gripper units or multiple end effectors
B25J 15/0616
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
06with vacuum or magnetic holding means
0616with vacuum
B25J 19/002
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
0008Balancing devices
002using counterweights
B25J 19/021
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
021Optical sensing devices
B25J 5/007
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
007mounted on wheels
B25J 9/0096
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
0096co-operating with a working support, e.g. work-table
Applicants
  • BOSTON DYNAMICS, INC. [US]/[US]
Inventors
  • NEVILLE, Neil
  • BLANKESPOOR, Kevin
  • BARRY, Jennifer
  • PERKINS, Alexander, Douglas
Agents
  • KRUEGER, Brett, A.
Priority Data
62/824,43427.03.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) ROBOT AND METHOD FOR PALLETIZING BOXES
(FR) ROBOT ET PROCÉDÉ DE PALETTISATION DE BOÎTES
Abstract
(EN)
A method (300) for palletizing includes receiving a target box location (202) for a box (20) grasped by a robot (100). The method also includes positioning the box at an initial position (212) adjacent to the target box location and tilting the box at an angle relative to a ground plane (12). The method further includes shifting the box from the initial position in a first direction (D1) to a first alignment position (222, 222a) that satisfies a threshold first alignment distance (224, 224a), shifting the box from the first alignment position in a second direction (D2) to the target box location that satisfies a threshold second alignment distance (224, 224b), and releasing the box held by the robot. The release of the box causes the box to pivot toward a boundary edge (24) of the target box location.
(FR)
L'invention concerne un procédé (300) de palettisation qui consiste à recevoir un emplacement de boîte cible (202) pour une boîte (20) saisie par un robot (100). Le procédé consiste également à positionner la boîte à une position initiale (212) adjacente à l'emplacement de boîte cible et à incliner la boîte selon un angle par rapport à un plan du sol (12). Le procédé consiste en outre à déplacer la boîte de la position initiale dans une première direction (D1) à une première position d'alignement (222, 222a) qui satisfait une première distance d'alignement de seuil (224, 224a), à déplacer la boîte de la première position d'alignement dans une seconde direction (D2) à l'emplacement de boîte cible qui satisfait une seconde distance d'alignement de seuil (224, 224b), et à libérer la boîte maintenue par le robot. La libération de la boîte amène la boîte à pivoter vers un bord limite (24) de l'emplacement de boîte cible.
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