Patent ID: 9289897
Filing Date: 2016-03-22
CPC Classification: B25J,B65G,G05B,G06T

Claim Text:
1. An apparatus for automated removal of workpieces arranged in a container, comprising a first object recognition device for detecting the workpieces and a first gripper for picking and removing the workpieces from the container; a control for evaluating data of the first object recognition device, for path planning and for controlling the first gripper, wherein an intermediate station comprises a placing region and a removal region, different than the placing region, wherein the first gripper places the workpieces on the placing region of the intermediate station after the removal from the container, wherein the apparatus positions the workpieces more accurately and/or singularizes the workpieces by picking the workpieces up from the removal region of the intermediate station; and a second object recognition device for detecting the workpieces on the intermediate station, wherein the second object recognition device is arranged in the removal region of the intermediate station.