REYIER ANDERS (SE)
| WO2007085318A1 | 2007-08-02 |
| US4641271A | 1987-02-03 | |||
| AU9647898A | 1999-05-17 | |||
| US5844807A | 1998-12-01 |
| CLAIMS
1. A robotized packing method comprising collecting objects (8) from a space (7) for placing them into a packaging unit (9) by a robot (1, 4, 5, 6), wherein the robot (1, 4, 5, 6) is controlled by a program in order to place the objects (8) according to a certain pattern in said carrier (9), and said pattern is programmed by arranging a graphic interface in a programming module, which interface is visible on a screen (11), wherein a virtual surface (9'), corresponding to the surface of said carrier (9) where the objects (8) are to be packed/placed, is graphically shown on said screen (11), which virtual surface is defined by the outer dimensions of said carrier, and on the screen (11) the geometry of the virtual objects (8') is shown, which geometry corresponds to said objects (8) and in a scale corresponding to said virtual surface (9'), c h a r a c t e r i s e d in that the steps:
a) virtually to place a first (81 ') of said graphic objects (8') on said surface (9') in a desired way; b) thereafter in a corresponding way to place another virtual object (82') adjacent to the first object (81 ') in a desired manner; c) to repeat the last two steps until a desired partial pattern (9") is present and that said partial pattern (9") is utilized in order quicker to complete the programming of the placement of all objects (8') on said surface (9'); d) to utilize said virtual placement of the virtual objects (81 ', 82') to control said robot 1, 4, 5, 6) for actual movement and placing of said objects (8) in said packaging unit (9).
2. A method according to claim 1, c h a r a c t e r i s e d in that the additional step, where appropriate, after step c) to continue the placing with use of said partial pattern (9") to fill a layer on top of the previous one, until the packaging unit (9) has obtained the desired filling degree.
3. A method according to claim 2, c h a r a c t e r i s e d in that said programming procedure comprises access to a software and/or a hardware, which, as soon as a desired pattern has been achieved, automatically continues to place virtual objects (8') until the entire surface (9') is filled, and preferably thereafter, where appropriate, the layers following on top of the other one/s until the packaging unit (9) reaches the desired filling degree.
4. A method according to any of claims 1 to 3, c h a r a c t e r i s e d in that an insertion pointer is used at the movement of the virtual object (8') to the virtual surface (9').
5. A method according to any of claims 1 to 3, c h a r a c t e r i s e d in that said programming may also be used to predetermine at least part of the moving path of an object (8) to be placed into the packaging unit (9).
6. A system for the programming of a picking robot comprising a robot (1, 4, 5, 6) arranged to collect objects (8) from a space (7) for placing them into a package unit (9), and a program arranged to control the robot (4, 5, 6) in order to place the objects (8) according to a certain pattern in said carrier (9), wherein said pattern is programmed by arranging a graphical interface in the programming module which interface is visible on a screen (11) and arranged to transfer information from said virtual placement to said program arranged to control said robot (1, 4, 5, 6) for actual movement and placing of said objects (8) into said carrier (9) by:
- on the screen (11) showing a surface (9') corresponding the surface of said carrier (9) where the objects (8) are to be packed/placed;
- on the screen (11) showing the geometry of an object (8') with a geometry corresponding to said object (8), c h a r a c t e r i s e d in being arranged to:
- enable virtual placement of a first (81') one of said graphic objects (8') on said surface (9') in a desired manner;
- enable thereafter in a corresponding manner the placing of another virtual object (82') adjacent to the first object (81 ') in a desired way; - repeat the last two steps until a desired partial pattern (9") is present and to use said partial pattern (9") quicker to complete the programming of the placement of all objects (8') on said surface (9'). |
PATENT COOPERATION TREATY
PCT
INTERNATIONAL SEARCHREPORT
(PCT Article 18 and Rules 43 and 44)
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
This international search report consists of a total of 4 sheets.
I I It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report a. With regard to the language, the international search was carried out on the basis of:
|X| the international application in the language in which it was filed
J ] a translation of the international application into , which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)) b. I I This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)). c. |^j With regard to any nucleotide and/or amino acid sequence disclosed in the international application, see Box No. I.
2. [J Certain claims were found unsearchable (See Box No. II)
3. U Unity of invention is lacking (See Box No. Ill)
4. With regard to the title,
[~~~| the text is approved as submitted by the applicant.
[^j the text has been established by this Authority to read as follows:
Pattern placing for a robotized packing method
5. With regard to the abstract,
R?l the text is approved as submitted by the applicant.
Q the text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.
6. With regard to the drawings, a. the figure of the drawings to be published with the abstract is Figure No. 2 ^ as suggested by the applicant. as selected by this Authority, because the applicant failed to suggest a figure. [~~] as selected by this Authority, because this figure better characterizes the invention. b. U none of the figures is to be published with the abstract.
Form PCT/ISA/210/ (first sheet) (July 2008)
Pattern placing for a robotized packing method
TECHNICAL FIELD The present invention relates to a robotized packing method comprising collecting objects from a space to a packaging unit with a robot, wherein the robot is controlled by a program to place the objects according to a certain pattern in said packaging unit. The invention also relates to a system for programming of a picking robot.
PRIOR ART
In many industrial applications there is a need to pick objects from a box and to put them into a container, e.g. a package. Such operation steps are often performed by industrial robots. To program the robot as to in which manner the objects picked up are to be placed is a time-consuming operation, since using conventional methods you must program the placing of each object with the robot before the task can be performed. This implies also that an adjustment of the production, where you will for instance use the same robot to pack objects of another shape, or also several different kinds of objects together, requires a comparatively great labour force. It is also difficult to program the robot to co-ordinate objects, i.e. for instance to pack objects with a projecting portion and a hole, so that the projecting portion of one object fits into the hole of another one, or to pack springs, for instance, in a space-saving manner, e.g. in an interlacing condition.
BRIEF DESCRIPTION OF DRAWINGS The invention will be described more in detail below with reference to the enclosed drawings, of which:
Fig. 1 shows a synoptic view of a preferred embodiment of an industrial robot with an attachment according to the invention;
Fig. 2 shows a synoptic view of a preferred embodiment of a robot performing the packing operation according to the invention;
Fig. 3 shows a programming unit with a screen, according to the invention; and
Fig. 4 shows a detailed view of Fig. 3.
DETAILED DESCRIPTION OF DRAWINGS In Fig. 1 , a preferred embodiment of an industrial robot with an attachment according to the invention is shown. The robot 1 comprises a robot arm 4, which is adapted to pick up objects. On the robot arm 4 there is a gripping device 5, which may have one or more
movable fingers 6 in order to be able to grip different types of objects in the best way. A unit 2 (schematically shown) (e.g. a PC) is connected to the robot 1 in order to program the robot so that a certain type of operation may be performed. In the figure the unit 2 is connected via a coupling device 3, but in another embodiment the unit 2 may be an integrated part of the robot. Alternatively, the communication between the unit 2 and the robot 1 may be wireless.
In Fig. 2, a preferred embodiment of the robot 1 is shown, when, thanks to the unit 2, the robot is programmed and intended to perform the packing operating. From a container or carrier 7 objects 8 are picked by using the gripping device 5 of the robot, which device has movable fingers 6, and placed into a container or carrier 9. At the placing operation the robot puts the objects 8 in a preferred manner, for instance so that a certain distance is maintained between the objects 8, so that projecting portions of one object 8 is fitted into indentations of another object 8, or so that the packing will be as tight as possible, for instance so that objects which can be compressed, such as for instance springs, are packed adjacent to each other in a compressed condition.
In Fig. 3, the unit 2 is shown, which is used to program the robot 1, comprising a screen/display 11. Thanks to the graphic interface, the user can easily and rapidly make a virtual placing of the objects to be packed. The programming is performed in such way that you search among representations of different objects 8' until you find one corresponding to the actual object 8, or that you yourself decide dimensions and appearance of the virtual object. Then, you select a surface 9' (see enlargement in Fig. 4) representing the surface of the carrier/package unit 9 in which the objects 8 are to be placed. This is suitably done in such a way that the actual geometry of the inner limiting surfaces of the carrier/packaging unit 9 are imported to the program and/or that the programmer defines the dimensions and the appearance of the carrier/packaging unit 9, and thereafter said surface 9' is selected and shown on the screen 11.
Then, a first virtual object 81 ' is placed on the surface, suitably by clicking the desired/chosen symbol 8' and drawing it with an insertion pointer to the desired position in the virtual carrier 9'. By repeating the method by clicking and drawing a new object 82' and placing it in a desired manner adjacent to the first object 81', you show a desired manner to pack the actual carrier 9. Thereafter, you place as many virtual objects on the virtual surface 9' as is needed to show how a desired partial pattern of the packing of the surface looks like, and then the programme automatically generates the desired placing of the other objects 8' which can get a place on the virtual surface 9'
according to the desired pattern. Special account may be taken to how near the edges it is possible to pack the objects 8', how they may be fitted into each other and if the intention is to pack in several layers or in only one layer in the carrier 9. The program is preferably equipped with a function, which, e.g. at the packing of especially complex objects with holes and projections, also looks after the desired orientation and movement path during the last part of the movement to the desired position on the surface 9' in order, for example, safely to be able to insert projections from a second object into a cavity of a first object 81 ', which already has been placed on the surface 9'.
When the desired packaging with the selected objects 8' has been created, the instructions generated may be transferred to the robot 1 through a coupling unit 3, for instance through a wireless communication between the unit 2 and the robot 1, as the unit 2 is integrated in the robot 1, or in any other suitable manner. Then, the robot 1 may perform the actual packing of the actual objects 8 in the carrier 9, wherein the objects are taken from the container 7, transferred to the carrier 9 and there placed in the same manner as the virtual objects 8' were placed on the virtual surface 9'. When the packing operation has been performed, the robot may, thanks to the programming of the unit 2, rapidly be instructed to handle other types of objects 8, to place objects 8 in another way than previously, or to place objects in a carrier of a new size and shape.
The gain in time obtained by being able to create a graphical user interface or to modify instructions to the robot 1 increases the versatility of the robot 1 and gives advantages both regarding time and production.
The invention is not limited to the above description but may be varied within the scope of the appending claims. For instance, it shall be understood that the robot construction itself may have another appearance, i.e. that the functionality of the method may be utilized on the whole independent of the construction/design of the robot.