Method for automated placement of articles onto a support

• US 6,594,544 B2
• Filed: 10/10/2002
• Issued: 07/15/2003
• Est. Priority Date: 10/10/2001
• Status: Expired due to Fees

• Current Assignee: IMT Robot AG
• Original Assignee: IMT Robot AG
• Inventors: Nagler, Peter
• Primary Examiner(s): Ellis, Christopher P.
• Assistant Examiner(s): Crawford, Gene O.
• Application Number:
  US10/065,367
• Publication Number:
  US 20030069666A1
• Time in Patent Office: 278 Days
• Field of Search: 700/218, 700/219, 700/220, 700/226, 700/230, 198/502.2, 198/502.3
• US Class Current: 700/219
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/39553 Dual gripper, two heads to pick up different objects
• CPC Class Codes: G05B 2219/40007 Optimize sequence of pick and place operations upon arrival of workpiece on conveyor
• CPC Class Codes: G05B 2219/40013 Kitting, place parts from belt into tray, place tray on conveyor belt
• CPC Class Codes: G05B 2219/40306 Two or more independent robots
• CPC Class Codes: G05B 2219/40515 Integration of simulation and planning
• CPC Class Codes: G05B 2219/40554 Object recognition to track object on conveyor
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

In a method for automated placement of articles onto a support, the supports and articles are positioned on a supply belt and the supports and the articles are supplied on the supply belt to a detection device where output signals are created based on the supports and the articles passing through the detection device. The output signals are transmitted as measured data to a control unit. The supports and the articles are recognized and differentiated in the control unit based on the measured data. Subsequently, the control unit, according to predetermined criteria, controls one or more gripping devices connected to the control unit for carrying out a placement step of placing the articles on the supports.

Claims

1. A method for automated placement of articles (1, 2) onto a support (3), the method comprising the steps of:

positioning supports (3) and articles (1, 2) on a supply belt (4) and supplying the supports (3) and the articles (1, 2) on the supply belt (4) to a detection device (5);

creating output signals in the detection device (5) based on the supports (3) and the articles (1, 2) passing through the detection device (5);

transmitting the output signals as measured data to a control unit (7);

recognizing and differentiating the supports (3) and the articles (1, 2) in the control unit (7) based on the measured data;

subsequently, controlling with the control unit (7), according to predetermined criteria, one or more gripping devices (9, 19, 29, 39) connected to the control unit (7) for carrying out a placement step of placing the articles (1, 2) on the supports (3).

2. The method according to claim 1, wherein the control unit (7) is a computer comprising a microprocessor.

3. The method according to claim 1, wherein, in the step of recognizing and differentiating, the control unit (7) compares the measured data with article-specific basic data.

4. The method according to claim 1, wherein the detection device (5) is an optical detection device.

5. The method according to claim 1, wherein the articles (1, 2) are placed onto the supports (3) in a three-dimensional pattern.

6. The method according to claim 1, wherein the supports (3) are receptacle, packages, dough layers or dough crusts, or skids.

7. The method according to claim 1, wherein the articles (1, 2) are differently configured.

8. The method according to claim 7, wherein the articles (1, 2) have different geometric shapes, different properties, or different geometric shapes and properties.

9. The method according to claim 1, wherein the articles (1, 2) are placed in a predetermined sequence onto the supports (3).

10. The method according to claim 9, wherein the articles are placed according to a placement algorithm onto the supports (3).

11. The method according to claim 1, wherein the control unit (7) controls several of the gripping devices (9, 19, 29, 39).

12. The method according to claim 11, wherein each one of the articles (1, 2) has correlated therewith a predetermined one of the gripping devices (9, 19, 29, 39).

13. The method according to claim 1, further comprising the steps of:

performing simulations in the control unit (7) before the step of carrying out a placement step, wherein the simulations are virtual placement steps of placing the articles (1, 2) onto the supports (3) carried out by the gripping devices (9, 19, 29, 39) connected to the control unit (7);

selecting by the control unit (7) one of the simulations, based on the predetermined criteria, as an optimal placement process; and

,

in the step of controlling, moving the gripping device (9, 19, 29, 39) according to the optimal placement process.

14. The method according to claim 13, wherein the simulations are carried out by neuronal operations, fuzzy logic operations, or neuronal and fuzzy logic operations.

15. The method according to claim 13, wherein the predetermined criteria of the control unit (7) comprise data derived from the simulations and data derived from prior placement processes.

16. The method according to claim 13, wherein the simulations process at least one of product-specific parameters, configuration-related parameters of the gripping device, position-dependent parameters of the gripping device, and movement-dependent parameters of the gripping device.

17. The method according to claim 13, wherein the simulations are carried out according to a boolean operation.

18. The method according to claim 17, wherein the simulations are carried out according to an algorithm.