Apparatus for the automated removal of workpieces arranged in a bin

Patent metadata

Field	Value
Publication number	US-10919709-B2
Application number	US-201815876041-A
Country	US
Kind code	B2
Filing date	Jan 19, 2018
Priority date	Jan 20, 2017
Publication date	Feb 16, 2021
Grant date	Feb 16, 2021

Abstract

The present disclosure shows an apparatus for the automated removal of workpieces arranged in a bin, said apparatus having a first object recognition device for detecting the workpieces in the bin; a first picker for picking and removing the workpieces from the bin; a controller for evaluating the data of the first object recognition device, for path planning and for controlling the first picker; and a transport device on which the workpieces removed from the bin are placed. Provision is made that a robot arm that is used for placing the workpieces on the transport device is arranged on a pedestal above the transport device.

First claim

The invention claimed is:

1. An apparatus for automated removal of workpieces arranged in a bin, comprising:
a first object recognition device for detecting the workpieces in the bin;
a first picker for picking and removing the workpieces from the bin;
a controller for evaluating data of the first object recognition device, for path planning and for controlling the first picker; and
a transport device on which the workpieces removed from the bin are placed,
a robot arm that is used for placing the workpieces on the transport device; and
a pedestal positioned over the transport device and the robot arm arranged on the pedestal.

2. The apparatus in accordance with claim 1 , wherein the transport device has a placement region that is arranged next to the pedestal on a first side, and the transport device extends from the placement region, beneath the pedestal, to a second side of the pedestal, and further out of the apparatus;
and a region of the transport device arranged beneath the pedestal forms a handling region.

3. The apparatus in accordance with claim 1 , wherein the first picker is arranged at the robot arm; and wherein the robot arm is used both for picking the workpieces from the bin and for placing the workpieces on the transport device.

4. The apparatus in accordance with one of the claim 1 , further comprising a second picker that is arranged at the robot arm, wherein the first picker is used for picking the workpieces from the bin and the second picker is used for placing the workpieces on the transport device.

5. The apparatus in accordance with claim 4 , wherein the first picker is arranged at a further robot arm and/or at a surface portal.

6. The apparatus in accordance with claim 2 , further comprising an intermediate station on which the first picker places the workpieces after the removal from the bin, wherein the robot arm is used to place the workpieces on the placement region of the transport device, starting from a buffering station.

7. The apparatus in accordance with claim 6 , wherein the robot arm is used to pick up the workpieces placed by the first picker from the buffering station and to selectively place them on a second buffering station and on the transport device;
wherein a second object recognition device is provided that determines an orientation of a workpiece on the buffering station; and wherein the controller decides with reference to data of the second object recognition device whether a workpiece moves directly to the transport device or first to the second buffering station and/or wherein the second buffering station is a repicking position that permits a picking of the workpiece with a changed orientation relative to the picker.

8. The apparatus in accordance with claim 6 , wherein the buffering station comprises a transport device that transports the workpieces from a placement region into a removal region; and/or wherein the buffering station has at least one tiltable placement area that is tiltable into a slanted position via a tilt mechanism, with the tiltable placement area being configured such that a workpiece placed on the tiltable placement area slides from the tiltable placement area due to the tilting.

9. The apparatus in accordance with claim 8 , wherein the tiltable placement area is arranged such that a workpiece placed on the tiltable placement area slides onto the transport device by tilting the tiltable placement area; wherein the buffering station has a sensor that recognizes whether more than one workpiece has been picked; and wherein the controller controls the first picker when more than one picked workpiece was detected such that the workpieces are placed on the tiltable placement area and slide onto the transport device by tilting the placement area;
and/or wherein the tiltable placement area is arranged at the transport device;
wherein the transport device has a plurality of separately tiltable placement areas; wherein the tiltable placement area is arranged at a turntable; and wherein the turntable has a plurality of separately tiltable placement areas;
and/or wherein the buffering station has an expulsion apparatus that is arranged such that a workpiece placed on the tiltable placement area slides to the expulsion apparatus by tilting the tiltable placement area.

10. The apparatus in accordance with claim 1 , further comprising a buffering station on which the first picker places the workpieces after the removal from the bin, wherein the buffering station comprises a transport device that transports the workpieces from a placement region into a removal region; and having a second object recognition device for detecting the workpieces on the transport device, wherein a second object detection device has a light source for illuminating the workpieces; wherein the second object recognition device has a housing that reduces an incidence of scattered light onto the workpieces from outside; wherein the housing extends from a sensor that is arranged at a first spacing from a placement area of the transport device toward the transport device; wherein a supply and discharge region between a casing and the placement area of the transport device remains open that permits supply and discharge of the workpieces on the transport device into a region of the casing; wherein the casing ends in the supply and discharge region at a second spacing from the placement area of the transport device; wherein the second spacing amounts to less than 50% of the first spacing.

11. The apparatus in accordance with claim 1 , further comprising a buffering station on which the first picker places the workpieces after the removal from the bin, wherein the buffering station comprises a turntable that transports the workpieces from a placement region into a removal region; and having a second object recognition device for detecting the workpieces on the turntable; wherein the second object recognition device is arranged above the turntable such that a workpiece moves on the way from the placement region into the removal region into a detection region where it is detected by the second object recognition device before it is moved further to the removal region by rotation of the turntable;
wherein the turntable works in a cycled manner and has at least three rotational positions; wherein a placement area of the turntable is arranged in the placement region in a first rotational position of the turntable, in the detection region in a second rotational position, and in the removal region in a third rotational position; and wherein the placement of a workpiece on the turntable by the first picker, the detection of a workpiece on the turntable by the second object recognition device, and the picking back up again of a workpiece from the turntable by the picker arm respectively take place with a stationary turntable;
and/or wherein the turntable has at least three placement areas; wherein, whenever a first displacement area is arranged in the placement region, a second placement area is located in the detection region and a third placement area is located in the removal region;

and wherein a placing of a first workpiece on the turntable by the first picker, a detection of a second workpiece on the turntable by the second object recognition device, and a picking back up again of a third workpiece from the turntable by the picker arm take place.

12. The apparatus in accordance with claim 7 , wherein the first object recognition device comprises a 3D sensor and the second object recognition device comprises a 2D sensor.

13. The apparatus in accordance with claim 8 , wherein the transport device is a turntable.

Assignees

• Liebherr Verzahntech Gmbh

Inventors

• Mattern Thomas
• Haenschke David
• Riedmiller Bernhard

Classifications

• B25J9/0084 Primary

  comprising a plurality of manipulators · CPC title

• B25J19/023

  including video camera means · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title