System, apparatus, and method for sensing automation picking and stacking

Patent metadata

Field	Value
Publication number	US-10703598-B2
Application number	US-201916438740-A
Country	US
Kind code	B2
Filing date	Jun 12, 2019
Priority date	May 12, 2015
Publication date	Jul 7, 2020
Grant date	Jul 7, 2020

Abstract

An apparatus for picking a product, including a control circuit, at least one vacuum cup arranged to adhere at least one sheet of material to the at least one vacuum cup, and at least one sensor configured to monitor an area proximate the at least one vacuum cup, and transmit at least one signal regarding a presence of at least one sheet of material in the area, wherein the apparatus is arranged to displace to a second location while continuously monitoring the area proximate the at least one vacuum cup, the at least one sensor is configured to transmit the at least one signal, and the control circuit is arranged to determine, responsive to the at least one signal, the sheet of material is not present in the area, and generate an error signal indicating that the at least one sheet of material is not present in the area.

First claim

What is claimed is:

1. An apparatus for picking a product, comprising:
a control circuit;
at least one vacuum cup arranged to adhere, with a negative pressure and at a first location, at least one sheet of material to the at least one vacuum cup; and,
at least one sensor configured to:
monitor an area proximate the at least one vacuum cup; and,
transmit at least one signal regarding a presence of at least one sheet of material in the area, wherein:
the apparatus is arranged to displace to a second location while continuously monitoring, using the at least one sensor, the area proximate the at least one vacuum cup;
the at least one sensor is configured to transmit the at least one signal when:
the at least one sheet of material is not detected in the area; or,
the at least one sheet of material is detected in the area; and,

the control circuit is arranged to:
determine, responsive to the at least one signal, the at least one sheet of material is not present in the area; and,
generate an error signal indicating that the at least one sheet of material is not present in the area.

2. The apparatus as recited in claim 1 , wherein:
the at least one sheet of material includes a plurality of sheets of material; and,
the at least one vacuum cup includes a plurality of vacuum cups arranged to adhere, with the negative pressure, the plurality of sheets of material to the plurality of vacuum cups.

3. The apparatus as recited in claim 1 , wherein the at least one sensor includes a plurality of sensors configured to transmit the at least one signal when less than all of the sensors included in the plurality of sensors:
do not detect the at least one sheet of material in the area; or,
detect the at least one sheet of material in the area.

4. The apparatus as recited in claim 1 , wherein the at least one sensor includes a plurality of sensors configured to transmit the at least one signal when only one single sensor included in the plurality of sensors:
does not detect the at least one sheet of material in the area; or,
detects the at least one sheet of material in the area.

5. The apparatus as recited in claim 1 , wherein:
the at least one sheet of material includes a plurality of sheets of material arranged in a sequence; and,
when the control circuit determines that only one single sheet of material, included in the at least one sheet of material, is not present in the area, the control circuit is configured to determine a position of the only one single sheet of material within the sequence.

6. The apparatus as recited in claim 1 , wherein when the control circuit determines that a first sheet of material, included in the at least one sheet of material, is not present in the area, the control circuit is configured to determine a position of the first sheet of material within the sequence.

7. The apparatus as recited in claim 1 , wherein the at least one vacuum cup includes a plurality of vacuum cups.

8. The apparatus as recited in claim 1 , wherein the at least one sensor consists of a single sensor.

9. The apparatus as recited in claim 1 , wherein the at least one sensor includes a plurality of sensors.

10. The apparatus as recited in claim 1 , wherein the at least one vacuum cup comprises at least two vacuum cups and the at least one sensor comprises at least one sensor associated with each vacuum cup of the at least two vacuum cups.

11. The apparatus as recited in claim 10 , wherein each of the at least one sensors associated with each of the at least two vacuum cups are connected by the control circuit.

12. The apparatus as recited in claim 10 wherein the control circuit further comprises a NAND gate and each of the at least one sensors associated with each of the at least two vacuum cups are connected by the NAND gate.

13. A method of sensing material during a picking and stacking process, comprising:
displacing, using a robotic arm, at least one apparatus such that at least one vacuum cup for the at least one apparatus is aligned with at least one sheet of material in a first direction;
creating, using at least one vacuum pump, negative pressure with the at least one vacuum cup;
adhering, with the negative pressure, the at least one sheet of material to the at least one vacuum cup;
continuously monitoring, using at least one sensor, an area proximate the at least one vacuum cup;
displacing, using the robotic arm, the apparatus to a second location;
detecting, using the at least one sensor, that the at least one sheet of material is not in the area;
transmitting, using the at least one sensor, at least one signal to a control circuit, the at least one signal indicating that the at least one sensor has not detected the at least one sheet in the area; and,
generating, using the control circuit and in response to the at least one signal, an error signal indicating that the at least one sheet of material is not present in the area.

14. The method as recited in claim 13 , wherein:
the at least one sensor includes a plurality of sensors; and,
detecting, using the at least one sensor, that the at least one sheet of material is not in the area includes detecting, with less than all of the sensors included in the plurality of sensors, that the at least one sheet of material is not in the area.

15. The method as recited in claim 13 , wherein:
the at least one sensor includes a plurality of sensors; and,
detecting, using the at least one sensor, that the at least one sheet of material is not in the area includes detecting, with only one single sensor included in the plurality of sensors, that the at least one sheet of material is not in the area.

16. The method as recited in claim 13 , wherein the at least one sheet of material includes a plurality of sheets of material arranged in a sequence, the method further comprising:
determining, using the control circuit and the at least one signal, a position in the sequence for only one single sheet of material, included in the at least one sheet of material, not detected in the area, wherein generating the error signal includes generating the error signal including the position in the sequence.

17. The method as recited in claim 13 , wherein the at least one sheet of material includes a plurality of sheets of material arranged in a sequence, the method further comprising:
determining, using the control circuit and the at least one signal, a position in the sequence for a first sheet of material, included in the at least one sheet of material, not detected in the area, wherein generating the error signal includes generating the error signal including the position in the sequence.

18. The method as recited in claim 13 , wherein detecting, using the at least one sensor, that the at least one sheet of material is not in the area is performed while adhering the at least one sheet of material to the at least one vacuum cup, while displacing the apparatus to a second location, and while stacking the at least one sheet of material.

19. A system for picking and stacking a product, comprising:
a robotic arm; and,
at least one apparatus connected to the robotic arm, the at least one apparatus including:
a control circuit;
at least one vacuum cup arranged to adhere, at a first location, a sheet of material of a plurality of sheets of material to the at least one vacuum cup;
at least one sensor configured to:
continuously monitor an area proximate the at least one vacuum cup; and,
transmit at least one signal when:
the sheet of material is detected in the area

Assignees

• Xerox Corp

Inventors

• Richards Paul N
• Amorim Rui
• Zayed Gaith O

Classifications

• B65H2555/30

  Multi-axis · CPC title

• G05B2219/39558

  Vacuum hand has selective gripper area · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B65H2511/52

  Defective operating conditions · CPC title

• B25J15/0052

  multiple gripper units or multiple end effectors · CPC title