{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9643796","patent":{"patent_number":"US-9643796","title":"Device and method of arraying articles by using robot, and article transfer system","assignee":null,"inventors":[],"filing_date":"2015-02-26T00:00:00.000Z","publication_date":"2017-05-09T00:00:00.000Z","cpc_codes":["B25J","G05B"],"num_claims":15,"abstract":"An article arraying device including a robot; a vision sensor for obtaining position information of each of randomly arranged articles; an arrangement pattern generating section for generating an arrangement pattern by using the position information, the arrangement pattern including pattern elements in a regular arrangement, in such a manner that any one of the pattern elements coincides with a position of a reference article in the randomly arranged articles; a picking motion generating section for generating a picking motion by using the position information, the robot picking up by the picking motion an article other than the reference article; an arraying motion generating section for generating an arraying motion, the robot placing by the arraying motion the picked-up article in a position juxtaposed to the reference article in accordance with the arrangement pattern; and a robot controlling section for controlling the picking motion and the arraying motion."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Device and method of arraying articles by using robot, and article transfer system","description":"An article arraying device including a robot; a vision sensor for obtaining position information of each of randomly arranged articles; an arrangement pattern generating section for generating an arra","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9643796","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9643796","citation_suggestion":"Patentable. \"Device and method of arraying articles by using robot, and article transfer system\" (US-9643796). https://patentable.app/patents/US-9643796","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9643796","json":"https://patentable.app/api/llm-context/US-9643796","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T09:52:36.353Z"}