Programmable load forming system, components thereof, and methods of use
First Claim
1. A programmable load forming system, comprising:
- a robot comprising;
a moveable arm configured to carry at least one bundle; and
a robot controller that causes the moveable arm to perform a function; and
a computer operably coupled to the robot controller, the computer operable to communicate instructions to the robot controller, the instructions comprising;
downloading a calculated path from the computer to the robot controller, the calculated path defined, in part, by a stacking pattern;
moving at least one bundle along the calculated path to position the at least one bundle in a predetermined stacking position of the stacking pattern using the moveable arm; and
determining if the moveable arm has completed moving along the calculated path, comprising continuously polling the robot controller to determine if the robot has completed moving along the calculated path, and if the robot has completed moving along the calculated path, downloading at least another calculated path from the computer to the robot controller while the robot returns to pick-up at least one additional bundle, the at least another calculated path defined, in part, by the stacking pattern, and moving the at least one additional bundle along the at least another calculated path to position the at least one additional bundle in at least another predetermined stacking position of the stacking pattern using the robot.
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0 Petitions
Accused Products
Abstract
In one aspect, a programmable load forming system is programmed to perform the method of downloading a calculated path from the computer to the robot controller, moving one or more bundles along the calculated path to position the one or more bundles in a predetermined stacking position of a stacking pattern using the robot, and determining if the robot has completed moving along the calculated path. The calculated path is defined, in part, by the stacking pattern and other parameters such as, for example, bundle geometry, bundle levelness, bundle compressibility, among other parameters. In another aspect, the system is programmed to perform a method of sensing the top of a bundle and controllably placing a bundle. Additional aspects are directed to systems and methods of safely operating the robot and an inventive hopper design for holding bottom/tie sheets.
507 Citations
21 Claims
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1. A programmable load forming system, comprising:
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a robot comprising; a moveable arm configured to carry at least one bundle; and a robot controller that causes the moveable arm to perform a function; and a computer operably coupled to the robot controller, the computer operable to communicate instructions to the robot controller, the instructions comprising; downloading a calculated path from the computer to the robot controller, the calculated path defined, in part, by a stacking pattern; moving at least one bundle along the calculated path to position the at least one bundle in a predetermined stacking position of the stacking pattern using the moveable arm; and determining if the moveable arm has completed moving along the calculated path, comprising continuously polling the robot controller to determine if the robot has completed moving along the calculated path, and if the robot has completed moving along the calculated path, downloading at least another calculated path from the computer to the robot controller while the robot returns to pick-up at least one additional bundle, the at least another calculated path defined, in part, by the stacking pattern, and moving the at least one additional bundle along the at least another calculated path to position the at least one additional bundle in at least another predetermined stacking position of the stacking pattern using the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A programmable load forming system, comprising:
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a robot comprising; a moveable arm; a gripping mechanism operably connected with the moveable arm and moveable relative thereto, the gripping mechanism configured to carry at least one bundle; and a robot controller that causes the moveable arm and gripping mechanism to perform a function; a computer readable medium containing instructions for causing the robot to; lower the at least one bundle onto a stack using the moveable arm and gripping mechanism of the robot; responsive to the gripping mechanism moving a first predetermined distance relative the moveable arm upon encountering the stack, stop the at least one bundle from being lowered; and move the gripping mechanism having the at least one bundle retained thereon upwardly a second predetermined distance prior to release of the bundle from the gripping mechanism onto the stack. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A programmable load forming system, comprising:
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a robot comprising; a moveable arm configured to carry at least one bundle; and a robot controller; computer readable medium containing instructions to cause the moveable arm to move the at least one bundle along a predetermined path, the computer readable medium further comprising instructions for; responsive to an operator signal, stopping the moveable arm from moving along the predetermined path and calculating a second path for moving the moveable arm from its stopped location to a reference location, the second path calculated such that the moveable arm is free from physical interference from other parts of the programmable load forming system as it travels along the second path to the reference location; and automatically moving the moveable arm along the second path to the reference location. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification