Method and system for depalletizing tires using a robot

US8538579B2 · kind B2 · utility

Assignee

• KUKA Roboter GmbH · DE

Inventors

• Norbert Cottone · Zusmarshausen, DE
• Thorsten Eberhardt · Neu-Ulm, DE
• Sven Heissmeyer · Aerzen, DE
• Alexander Hollinger · Augsburg, DE
• Martin Peghini · Augsburg, DE

Key dates

• Filing date: Jun 10, 2008
• Grant date: Sep 17, 2013
• Expiry date: Feb 14, 2030

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40053
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

In a method and system for depalletizing tires using a robot, wherein the tires are randomly located on a carrier, the position and orientation of outer tires on the carrier are detected using a sensor, and a processor, using a signal from the sensor, determines a tire that can be gripped by a gripping tool of an industrial robot, and calculates a movement path for the gripping tool for that tire. If the calculated path is not collision-free, another tire from among the outer tires is selected, and a movement path for depalletizing that tire is determined. The procedure is repeated until a collision-free movement path for a tire from among the outer tires is established. The gripping tool is then guided according to this collision-free movement path to depalletize the tire having the collision-free path associated therewith.