WO2019162721A1 - Automatic modular system for preparing products by means of stacked columns - Google Patents

Automatic modular system for preparing products by means of stacked columns Download PDF

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Publication number
WO2019162721A1
WO2019162721A1 PCT/IB2018/051077 IB2018051077W WO2019162721A1 WO 2019162721 A1 WO2019162721 A1 WO 2019162721A1 IB 2018051077 W IB2018051077 W IB 2018051077W WO 2019162721 A1 WO2019162721 A1 WO 2019162721A1
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WO
WIPO (PCT)
Prior art keywords
products
product
manipulators
stacked
manipulator
Prior art date
Application number
PCT/IB2018/051077
Other languages
Spanish (es)
French (fr)
Inventor
Lucas TOBÓN VANEGAS
Ana María VÁSQUEZ GALLEGO
Alvaro Diego AGUDELO ARREDONDO
Original Assignee
Universidad Eia
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Application filed by Universidad Eia filed Critical Universidad Eia
Priority to PCT/IB2018/051077 priority Critical patent/WO2019162721A1/en
Publication of WO2019162721A1 publication Critical patent/WO2019162721A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other

Definitions

  • the present invention can be included in the field of industrial process automation, in particular, the automation of product picking by handling stackable products arranged in columns. More specifically, the present invention relates to a modular automatic system that is scalable, capable of improving travel and enlistment times through collaboration between handlers to achieve the specific selection of stackable product units, which are stored by means of a stacked columns arrangement.
  • said document fails to disclose a system capable of handling different types of packaging, since in contrast to the present invention, it is limited to work with a certain type of packaging, where these can only be dispatched by the exit guides, which are pipes that limit the dimensions of the packaging to be dispensed. Additionally, this document does not consider adding more than one dispatcher to the system and it is not possible to scale the system with other modules that you wish to add.
  • US 601 1998 A discloses an automatic material handling system that includes a plurality of storage locations for objects to be collected, a mobile manipulator for collecting objects from storage locations, a mobile conveyor that it includes a plurality of receiving locations, where the collected objects must be consolidated into separate orders or subsets, and a bank of waiting stations to temporarily retain the collected objects and selectively drop them at the respective receiving locations where the subsets are to be consolidated.
  • the handler deposits an collected object at the nearest available standby station.
  • the release of objects from standby stations is coordinated so that all objects for a particular subset are released by the respective standby stations at a receiving location on the moving conveyor.
  • the selection sequence is based on the proximity, usually more efficient, which is possible thanks to the buffer effect of the waiting stations.
  • said document does not reveal a manipulator that is arranged below a stack of objects to be dispensed, nor does it reveal the possibility of adding more modules that scale the system according to the requirements so that more manipulators can be added that expedite the dispensing times of objects.
  • US 375432 A discloses an apparatus for the storage and dispensing of pallets automatically.
  • Said apparatus specifically refers to a means for storing said pallets horizontally, where they are arranged vertically with each other, and are supported by endless chains, which discharge a pallet through a receiving mechanism and transportation deposited by the pallet in a place of use.
  • Said apparatus also has the characteristic of having a reversible mechanism, so that the pallets can be introduced to the storage stack from the conveyor.
  • said apparatus does not mention that it can be scaled by adding more storage modules, nor does it have the possibility of dispatching the pallets by means of a manipulator, since the mechanism for releasing the pallets is through the operation of the endless chain, which causes a delay in the management of the pallets. Additionally, this device cannot release more than one pallet in the same action and only one pallet can be delivered to its destination at a time.
  • US 20120213617 A1 discloses an angular load support, as well as a storage system for stacking products, wherein said support has the function of transporting to a storage area and a collection area for product management ; where additionally the universal angular load support has a mechanism for dispensing that is made from the top, and where the angular load support has a sensor to measure the amount of products found in the storage stack.
  • Said storage stack is made up of three walls that hold the battery, which have the characteristic of being removable and where each wall has notches, and where the products are extracted one by one by a transport band that is placed at the bottom of the stack.
  • EP 960836 A2 discloses an article selection and distribution system, which includes a conveyor belt for the delivery of said articles; where the conveyor belt has a surface that is divided into discrete spaces, each space is intended solely for the management of an order.
  • the articles are arranged in a stack form above the conveyor belt and are supported on one or more storage loaders that are arranged on one side of the conveyor belt.
  • Each storage magazine has a dispensing end to hold items that can be freely selected, a positioner modifies the height that supports the storage magazine and moves the items.
  • the dispensing end which is located towards the conveyor belt, has at least one storage tank for items, which when approaching said belt, the article that is located at the bottom of the storage stack is removed when one of the the separations that are placed in the conveyor belt.
  • US 5271703A discloses a system for the selection of a product order, which has a stationary dispensing, where the system controller allows the control of the two types of dispensers (mobile dispenser and conveyor belt). ) ensuring that the product is recovered from its storage location, and placed on a conveyor belt in a dynamic allocation space.
  • Mobile dispensers can be more than one and they work collaboratively to quickly respond to the order of an item, a function that allows the control system to allocate a specific space in the conveyor belt for each order, thus managing to meet several orders simultaneously.
  • this document does not reveal the ability to adapt to handle small volumes of products, nor does it mention the ability to scale the system according to the needs of the volumes of products that need to be handled, nor does it reveal the ability to add modules storage to the system
  • US 8515575 B2 discloses an article dispensing device, wherein said device has the characteristic of being mobile through wheels that support the device and allow its transfer. Additionally, it is possible to scale the system by adding more mobile dispensing devices.
  • the document also discloses a method for the function of said mobile dispensing device, wherein said method can retrieve at least one item stored in one of a plurality of predetermined storage locations for dispensing.
  • the device, system and method include a wireless transceiver to communicate with a remote communication system controller, where the dispenser receives instructions to deliver at least one item in response to the instruction received from the control system; It also has a sensor to detect inventory levels of items in at least one predetermined storage location.
  • this document does not reveal the ability to add more dispensers to the same device, nor does it mention the ability to scale only storage, but only the dispensing device as a whole.
  • the document also does not reveal the possibility of working with the device's dispensers collaboratively.
  • US 6247890 B1 discloses an automatic collection device for articles, wherein the collection device contains a storage platform that is comprised of an inclined ramp and that has an adjustable support mechanism, which allows the system admit products of different heights and widths, by using a fixing element.
  • the items are removed from the bottom of the plurality of stacked items and have a support mechanism.
  • the device is controlled by a system consisting of HMI and PLC.
  • the HMI system is used to retrieve order data.
  • this document does not reveal the ability to extract products with more than one manipulator, nor the ability to scale the system for handling larger or smaller volume of products, nor to add more storage modules.
  • US 5772392 A discloses an object selection system that includes a plurality of object storage and download devices.
  • Each object storage and download device includes a storage section that contains a stack of objects and a mechanism for downloading the object that is located at the bottom end of the stack.
  • the object unloading device is inclined so that part of the weight of the objects rests on the sides of the object storage sections, and where the system has supports that reduce the load borne by the object at the end bottom of the object stack. It has an auxiliary panel along the side of the storage section, which is adjustable so that objects of different sizes can be safely held in the storage section. Additionally, the system has an adjustable horizontal plate in the discharge port, to adjust the download of objects of different sizes.
  • this document does not reveal the ability to add more manipulators to the system that can quickly respond to the request for an object to be downloaded and thus be able to handle a larger volume of objects for download; in the same way, they are not considered manipulators that lead to a direct route that shortens the download times of the object.
  • the present invention relates to an automatic system for the enlistment and / or dispensation of products, such as stackable products.
  • the system that is disclosed has the particularity of being modular and scalable to adapt to the user's requirements, that is, it can handle different quantities and dimensions of products for distributions of greater or lesser volume.
  • the system is composed of at least one manipulator or set of manipulators and at least one module or a plurality of storage modules, for the enlistment and / or dispensing of products stacked in columns.
  • the system comprises at least two storage modules that allow stacking products arranged in stacked columns. These modules can be grouped into rows and constitute complete sections for storing multiple products, where each module is attached in a way attached to a guide, and where said module is located on the plane opposite the plane immediately near the selection device.
  • At least one or more manipulators move in parallel and select below one or more storage modules; that is, the manipulators are positioned below the different rows of modules to select at least one or more products from the bottom of the columns of the storage modules repeatedly.
  • the manipulator or manipulators have sensors to determine the relative position of the storage modules and / or the other fixed elements of the system and also comprise other sensors to identify the output of the products.
  • a manipulator further comprises a support system and an electromechanical transmission system for longitudinal displacement on linear guides.
  • the electromechanical transmission mechanism is located inside the manipulator, which aims to transmit the torque to the products that are stacked together for removal frontally, which come into contact with the first unit of a stacked column.
  • the manipulator comprises visual and auditory devices arranged at least on the front and inside respectively. Additionally, it also has an electrical and electronic circuit or embedded system that coordinates the power signals and logic for rotational actuators and sensors, respectively. At least one manipulator can communicate wirelessly with a central embedded system that coordinates those of the warehouse order management system between several manipulators.
  • the main objective of the present invention is to offer an innovative solution by providing a modular and scalable product enlistment system, applicable both for distribution of larger or smaller volumes and which is comparatively simpler and safer than other alternatives in the market. , due to the arrangement and interaction of the elements of the system and the implementation of collaborative robotics between the communication of manipulators and management of the information system through the central control system.
  • Figure 1 shows an isometric view of a modular storage system adjustable by stacked columns.
  • Figure 2 shows an isometric view of the extraction device.
  • Figure 3 shows an isometric view of the configuration of a manipulator responsible for moving the extraction device in an xy plane.
  • Figure 4 shows a top view of the entire product enlistment system, which is integrated by the manipulator, the modular storage system and the extraction device.
  • the system described in this document uses different configurations of elements to carry out the enlistment or dispensing of products.
  • the system and method disclosed may be suitable for use in all types of dispensing of products used for the same purpose.
  • module storage module
  • adjustable or scalable module stacked column
  • Extraction device As used herein, the terms; Extraction device or selection device, are equivalent and are used interchangeably throughout the text, and refer to the device that performs the extraction of the last product.
  • FIG. 1 an isometric view of the storage system having the function of storing and / or supporting temporarily stackable products is shown.
  • At least two storage modules (1) are seen that distance each other exposing a useful space to locate the stacked column (2a) and where each stacked column has different product distributions (2b).
  • the stacked columns (2a) are arranged between storage modules (1) that are supported on at least two or more linear support guides, which are coupled through the rear face of each module (1). On these guides, the storage modules (1) move to zoom in or out allowing them to be compatible with the dimensions of the stackable products, this can be done at least once in the system configuration and commissioning process.
  • the modules (1) are located at a higher height than the manipulator support guides.
  • a storage module (1) is composed of at least five product distributions (2b) and each stacked column (2a) comprises; a bottom face on which the first product of the stack is supported, a side face of the support that is in contact with the side face of the stacked products, a back face that comes into contact with the back face of the stacked products, a mechanism with a flexible component of metal, polymer or any material with restitution properties and low coefficient of friction that is located in the lower part of the front face, this component comes into partial contact with the bottom product of the battery, preventing the stacked product falls by its own weight or that the column loses stability, that is, it prevents the stacked products that are above bent forward and fall or impede extraction fluidity.
  • the number of product distributions (2b) is equal to the number of stackable products plus one.
  • an isometric view of the extraction system is shown, specifically a representation of the product selection device (3) is shown, showing a possible distribution of its components, the device comprises an activated lever system (4) that is used to carry out the extraction of the product, wherein the activated lever (4) can be any rotational or linear system, which comes into contact with the product for its extraction, a distribution of the alert systems (5a), (5b) and (5c), where the alert systems can be sensors, visual and / or auditory devices or any other security or monitoring component that are intended to inform about the status of the selection device (3) in relation to the position in the manipulator, the status of the selection and variables or parameters related to the storage system.
  • the alert systems can be sensors, visual and / or auditory devices or any other security or monitoring component that are intended to inform about the status of the selection device (3) in relation to the position in the manipulator, the status of the selection and variables or parameters related to the storage system.
  • the selection device (3) also comprises a selector sensor (6) that allows the identification of the selected stacked column (2a), where the identification can be carried out by means of an identification element, where said elements can be sensors or fixed labels for recognition, and a space (7) intended for the placement of movement guides that allow it to move on the guide or rail (9).
  • FIG. 3 shows an isometric view of the general configuration and operation of the manipulator that allows the movement of the selecting device (3), which is formed by two guides or fixed side rails (8a) and (8b ) parallel to the y-axis, seen in an xy plane, a transverse mobile guide (9) parallel to the x-axis, wherein said guide (9) is the one that supports the sorting device (3).
  • the selecting device (3) which is formed by two guides or fixed side rails (8a) and (8b ) parallel to the y-axis, seen in an xy plane, a transverse mobile guide (9) parallel to the x-axis, wherein said guide (9) is the one that supports the sorting device (3).
  • FIG. 4 shows a top view of the product enlistment system as a preferred embodiment of the invention, in said arrangement of components a set of at least three rows of storage modules (1) can be seen, each module has its respective stacked column (2a), which can be adjusted to the dimensions of the products, the mobile guide (9) supports the sorting device (3), where said guide is in turn supported by the guides or rails (8a) and (8b).
  • a means of extracting the products is shown, which can be from at least one or more conveyor belts (10), as seen in Figure 4, where at least two conveyor belts (10) are shown.
  • the system is divided by three levels seen from a front view of Figure 4, in this sense the lower level corresponds to the conveyor belts (10), the intermediate level corresponds to the selection device (3) and the upper level corresponds to the stacked columns (1), in this way the selection device (3) moves below the stacked columns (1) without interposing with the band conveyor (10).
  • the stackable product enlistment system in a preferred embodiment has at least one manipulator and at least two storage modules to fulfill its function and at least one conveyor belt (10).
  • the product enlistment system has the characteristic of being modular or scalable, which is mainly attributed to the storage module (1) and to the manipulator, that is, if new products of different sizes or dimensions are required, it is sufficient to add more adjustable storage modules (1), in this way in another embodiment of the invention the storage modules (1) can be scaled by adding a number of storage modules (1) according to the requirements or demand of the amount of corresponding products to store.
  • the system may have more than one manipulator, although a manipulator is sufficient for a number of rows of modules, it is possible to add as many manipulators as required to maximize the response time. of the enlistment system, so there may be one or more manipulators to move in parallel in several storage modules.
  • At least one or a set of manipulators are moved in the workspace where the storage modules (1) are located to be positioned below the different rows of columns and then the selection device (3) selects at least one required product from the bottom of the column stacked repeatedly, said device comprises a lever activated (4) which can be a rotational or frictional linear displacement mechanism or by a piston system by pressurized air valves or by other technologies used to push the product out of the storage module and that comes into contact with the last product of the stacked column in order to select one by one several products of the same column stacked in a repetitive manner.
  • a lever activated (4) which can be a rotational or frictional linear displacement mechanism or by a piston system by pressurized air valves or by other technologies used to push the product out of the storage module and that comes into contact with the last product of the stacked column in order to select one by one several products of the same column stacked in a repetitive manner.
  • a manipulator or set of manipulators has sensors included in the selecting device (3).
  • the objective of the sensors is to inform about their status, which measure the parameters to determine the relative position of the storage modules (1), the position of the components or fixed elements around the system. Also, based on the parameters measured by the sensors, they allow the system to be put into states, such as the state of blocking, activated, calibrated or maintenance, among other states configured by the user.
  • the manipulators additionally fulfill the functions of identifying their position on the linear guides, the position of the stacked column (2a), the type of product stacked and the effective output of said product once selected. Similarly, it performs the function of selecting the stacked column product one by one.
  • the manipulator on which the sorting device (3) is mounted also comprises a support system that is basically the linear guides where the manipulators are supported and moved, said guides have an electromechanical transmission system for their displacement .
  • the selection device (3) inside has an electrical and electronic circuit or an embedded system that coordinates the power signals and logic for the operation of the rotational actuators and sensors used in the system.
  • a manipulator or a set of manipulators communicate collaboratively in a wired or wireless way through the different technologies currently used, such as possible wired network protocols (serial ports; RS232, I2C, SPI, RS485) e wireless (wifi and / or bluetooth) among other communications used for the same purpose.
  • wired network protocols serial ports; RS232, I2C, SPI, RS485.
  • e wireless wifi and / or bluetooth
  • the collaborative communication of the robotics manipulator refers to a concept of "intelligent" communication between the different entities or "independent” elements of the system.
  • the manipulators are designated the most optimal route to distribute the consolidated order through the calculation of said route.
  • these manipulators are supported to take the order, or perhaps if a manipulator or more manipulators suffer some failure another manipulator will be able to carry out the task of selecting the products that corresponded to the manipulator It is not working.
  • the product enlistment system is configured to manage the required products, from the following steps, such as; receive the order information entered by the user, store the order information data in the information system through the central control system, which can be any secure connection to a database and management systems such as WMS or ERP, consult the position data of the manipulators measured by the sensors, evaluate the best route to reduce the dispensing time, send the data of the signals to the manipulators, confirm the selection of the products through the parameters measured by the sensors, Check the errors and the status of the manipulators to correct them and send the correct data again.
  • a database and management systems such as WMS or ERP

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Abstract

The present invention concerns to a system for the automisation of picking, preparing or dispensing products for distributions of a larger or smaller volume, which is related to the handling of stackable products and comprises a set of adjustable storage modules for the storage of products stacked in columns. One or more manipulators move linearly below the columns and between the various storage rows and select from the bottom part of the column the products stored in each column. The manipulators communicate collaboratively with each other and/or with a central computer system for managing orders on the basis of requests from a warehouse inventory management system.

Description

SISTEMA AUTOMÁTICO Y MODULAR PARA EL ALISTAMIENTO DE PRODUCTOS MEDIANTE COLUMNAS APILADAS  AUTOMATIC AND MODULAR SYSTEM FOR THE ENTRY OF PRODUCTS THROUGH STACKED COLUMNS
CAMPO DE LA INVENCIÓN [0001] La presente invención se puede incluir en el campo de la automatización de procesos industriales, en particular, la automatización del picking de productos mediante la manipulación de productos apilables acomodados en columnas. De manera más concreta, la presente invención se refiere a un sistema automático modular que es escalable, capaz de mejorar los tiempos de desplazamiento y alistamiento mediante la colaboración entre manipuladores para lograr la selección especifica de unidades de productos apilables, los cuales están almacenados mediante un arreglo de columnas apiladas. FIELD OF THE INVENTION [0001] The present invention can be included in the field of industrial process automation, in particular, the automation of product picking by handling stackable products arranged in columns. More specifically, the present invention relates to a modular automatic system that is scalable, capable of improving travel and enlistment times through collaboration between handlers to achieve the specific selection of stackable product units, which are stored by means of a stacked columns arrangement.
ANTECEDENTES DE LA INVENCION [0002] Actualmente, los sistemas de almacenamiento y dispensación de productos cada vez tienen una mayor utilización debido al incremento de la demanda en una gran variedad de productos. La mayoría de los distribuidores minoristas y mayoristas, en especial en países no desarrollados, alistan sus productos mediante estrategias logísticas semiautomáticas, las cuales implican interacción manual, en donde en los procesos logísticos utilizan dispositivos móviles para guiar a los auxiliares en los centros de almacenamiento y distribución con ayuda de indicaciones visuales o audibles, y en donde dichos procesos semiautomáticos retrasan los tiempos de dispensación de productos. Las soluciones actuales incorporan mecanismos fijos de selección de elementos tales como, cadenas, engranes y actuadores rotacionales para la transmisión de potencia en el elemento que entra en contacto directo con la caja inferior de la columna apilada y rota hacia adelante cíclicamente para tomar la siguiente caja de la columna, en donde cada columna tiene asignado un módulo fijo de selección. [0003] Hoy en día las soluciones en cuanto a sistemas para la dispensación de productos son variadas. Cada sistema de dispensación se ajusta a un cierto tipo de producto en donde dichos sistemas de dispensación pueden incluir procesos de logística semiautomáticos o completamente automáticos. En el estado de la técnica se divulgan diversos sistemas de dispensación de productos, tal como se describe en el documento EP 892374 B1 , el cual es un sistema dispensador de empaques de cigarros, que está conformado por un bloque dispensador con varias rampas de apilamiento de empaques. Dicho bloque está formado por m líneas y n filas. Debajo del bloque hay un mecanismo dispensador que se mueve en dirección x-y, en un plano cartesiano, para sacar los paquetes del bloque dispensador. A los lados del bloque hay canales que funcionan como guías de salida del empaque. Sin embargo, dicho documento falla en divulgar un sistema capaz de manejar distintos tipos de empaque, ya que en contraste con la presente invención, está limitada a funcionar con un cierto tipo de empaque, donde estos únicamente pueden ser despachados por las guías de salida, que son tuberías que limitan las dimensiones del empaque a dispensar. Adicionalmente, este documento no considera la posibilidad de agregar más de un despachador al sistema y no es posible escalar el sistema con otros módulos que se deseen agregar. BACKGROUND OF THE INVENTION [0002] Currently, product storage and dispensing systems are increasingly used due to increased demand in a wide variety of products. The majority of retail and wholesale distributors, especially in undeveloped countries, enlist their products through semi-automatic logistics strategies, which involve manual interaction, where in the logistics processes they use mobile devices to guide the auxiliaries in the storage centers and distribution with the help of visual or audible indications, and where said semi-automatic processes delay product dispensing times. The current solutions incorporate fixed mechanisms for selecting elements such as chains, gears and rotational actuators for the transmission of power in the element that comes into direct contact with the bottom box of the stacked column and rotates forward cyclically to take the next box of the column, where each column is assigned a fixed selection module. [0003] Today the solutions regarding systems for dispensing products are varied. Each dispensing system conforms to a certain type of product where said dispensing systems can include semi-automatic or fully automatic logistics processes. Various product dispensing systems are disclosed in the state of the art, as described in EP 892374 B1, which is a cigarette packaging dispensing system, which is comprised of a dispensing block with several stacking ramps of packaging Said block consists of m lines and n rows. Under the block there is a dispensing mechanism that moves in the xy direction, in a Cartesian plane, to remove the packages from the dispensing block. On the sides of the block there are channels that function as exit guides for the packaging. However, said document fails to disclose a system capable of handling different types of packaging, since in contrast to the present invention, it is limited to work with a certain type of packaging, where these can only be dispatched by the exit guides, which are pipes that limit the dimensions of the packaging to be dispensed. Additionally, this document does not consider adding more than one dispatcher to the system and it is not possible to scale the system with other modules that you wish to add.
[0004] El documento US 601 1998 A divulga un sistema automático de manipulación de materiales que incluye una pluralidad de ubicaciones de almacenamiento para objetos que se van a recoger, un manipulador móvil para recoger los objetos de las ubicaciones de almacenamiento, un transportador móvil que incluye una pluralidad de ubicaciones receptoras, donde los objetos recogidos deben consolidarse en órdenes o subconjuntos separados, y un banco de estaciones de espera para retener temporalmente los objetos recogidos y soltarlos selectivamente en las respectivas ubicaciones de recepción donde se van a consolidarse los subconjuntos. El manipulador deposita un objeto recogido en la estación en espera disponible más cercana. La liberación de los objetos desde las estaciones en espera se coordina de modo que todos los objetos para un subconjunto particular sean liberados por las respectivas estaciones en espera en una ubicación de recepción en el transportador en movimiento. La secuencia de selección está basada en la proximidad, normalmente más eficiente, que es posible gracias al efecto de memoria intermedia de las estaciones de espera. Sin embargo, dicho documento no revela un manipulador que esté dispuesto por debajo de una pila de objetos a dispensar, ni revela la posibilidad de agregar más módulos que escalen el sistema según los requerimientos para que se puedan adicionar más manipuladores que agilicen los tiempos de dispensación de objetos. [0004] US 601 1998 A discloses an automatic material handling system that includes a plurality of storage locations for objects to be collected, a mobile manipulator for collecting objects from storage locations, a mobile conveyor that it includes a plurality of receiving locations, where the collected objects must be consolidated into separate orders or subsets, and a bank of waiting stations to temporarily retain the collected objects and selectively drop them at the respective receiving locations where the subsets are to be consolidated. The handler deposits an collected object at the nearest available standby station. The release of objects from standby stations is coordinated so that all objects for a particular subset are released by the respective standby stations at a receiving location on the moving conveyor. The selection sequence is based on the proximity, usually more efficient, which is possible thanks to the buffer effect of the waiting stations. However, said document does not reveal a manipulator that is arranged below a stack of objects to be dispensed, nor does it reveal the possibility of adding more modules that scale the system according to the requirements so that more manipulators can be added that expedite the dispensing times of objects.
[0005] El documento US 375432 A divulga un aparato para el almacenamiento y dispensación de paletas de forma automática. Dicho aparato se refiere específicamente a un medio para almacenar en posición horizontal dichas paletas, en donde éstas se encuentran dispuestas de forma vertical entre sí, y están soportadas por cadenas sin fin, que realizan la descarga de una paleta a través de un mecanismo de recepción y transportación que deposita la paleta en un lugar de uso. Dicho aparato también tiene la característica de contar con un mecanismo reversible, de modo que las paletas se pueden introducir a la pila de almacenamiento desde el transportador. Sin embargo, dicho aparato no menciona que se pueda escalar adicionando más módulos de almacenamiento, ni tampoco tiene la posibilidad de despachar las paletas mediante un manipulador, ya que el mecanismo de liberación de las paletas es mediante el funcionamiento de la cadena sin fin, lo cual provoca un retraso en la gestión de las paletas. Adicionalmente, este aparato no puede liberar más de una paleta en una misma acción y únicamente puede ser entregada a su destino una paleta a la vez.  [0005] US 375432 A discloses an apparatus for the storage and dispensing of pallets automatically. Said apparatus specifically refers to a means for storing said pallets horizontally, where they are arranged vertically with each other, and are supported by endless chains, which discharge a pallet through a receiving mechanism and transportation deposited by the pallet in a place of use. Said apparatus also has the characteristic of having a reversible mechanism, so that the pallets can be introduced to the storage stack from the conveyor. However, said apparatus does not mention that it can be scaled by adding more storage modules, nor does it have the possibility of dispatching the pallets by means of a manipulator, since the mechanism for releasing the pallets is through the operation of the endless chain, which causes a delay in the management of the pallets. Additionally, this device cannot release more than one pallet in the same action and only one pallet can be delivered to its destination at a time.
[0006] El documento US 20120213617 A1 revela un soporte de carga angular, así como un sistema de almacenamiento para apilar productos, en donde dicho soporte tiene la función de transportar a una área de almacenamiento y a una área de recolección para la gestión de los productos; en donde adicionalmente el soporte de carga angular universal cuenta con un mecanismo para la dispensación que se realiza por la parte superior, y donde el soporte de carga angular cuenta con un sensor para medir la cantidad de productos que se encuentran en la pila de almacenamiento. Dicha pila de almacenamiento está conformada por tres paredes que sujetan a la pila, las cuales tienen la característica de ser removibles y en donde cada pared tiene muescas, y en donde los productos son extraídos uno a uno por una banda de transporte que se coloca en la parte inferior de la pila. Una divulgación importante de este documento, es que dicho sistema tiene la capacidad de ser escalable según la necesidad del manejo de volumen de productos, ya que los módulos de almacenamiento pueden ser acoplados unos con otros, lo que permite un mayor manejo de volumen. Sin embargo, dicho documento no revela la manipulación de productos mediante varios manipuladores intercomunicados entre sí, que den salida de forma rápida a la petición de un producto, ni tampoco revela la capacidad de saber el estado de operación en que se encuentra cada manipulador. Dicho documento tampoco revela la posibilidad de agregar manipuladores que extraigan los productos de las pilas de almacenamiento, ya que dicha extracción de producto se realiza mediante las bandas de transporte uno por uno. [0006] US 20120213617 A1 discloses an angular load support, as well as a storage system for stacking products, wherein said support has the function of transporting to a storage area and a collection area for product management ; where additionally the universal angular load support has a mechanism for dispensing that is made from the top, and where the angular load support has a sensor to measure the amount of products found in the storage stack. Said storage stack is made up of three walls that hold the battery, which have the characteristic of being removable and where each wall has notches, and where the products are extracted one by one by a transport band that is placed at the bottom of the stack. An important disclosure of this document is that said system has the ability to be scalable according to the need for product volume handling, since the storage modules can be coupled with each other, which allows for greater volume management. However, this document does not reveal the manipulation of products by means of several interconnected manipulators, which quickly output the request of a product, nor does it reveal the ability to know the state of operation in which each manipulator is located. This document also does not reveal the possibility of adding manipulators that extract the products from the storage batteries, since said product extraction is carried out by means of the transport belts one by one.
[0007] El documento EP 960836 A2 revela un sistema de selección y distribución de artículos, que incluye una banda transportadora para la entrega de dichos artículos; en donde la banda transportadora tiene una superficie que se encuentra dividida en espacios discretos, cada espacio está destinado únicamente a la gestión de un pedido. Los artículos se encuentran dispuestos en forma de pila por encima de la banda transportadora y se encuentran soportados sobre uno o más cargadores de almacenamiento que se encuentran dispuestos a un lado de la banda transportadora. Cada cargador de almacenamiento tiene un extremo de dispensación para retener artículos que pueden ser seleccionados de manera libre, un posicionador modifica la altura que soporta al cargador de almacenamiento y mueve los artículos. El extremo de dispensación, que se ubica hacia la banda transportadora, tiene al menos un depósito de almacenamiento de artículos, que al acercase a dicha banda, el artículo que se encuentra en la parte inferior de la pila de almacenamiento se retira al pasar una de las separaciones que se encuentran colocadas en la banda transportadora. No obstante lo anterior, dicho documento no revela un sistema que pueda dispensar con despachadores independientes que trabajen de forma colaborativa, ya que todos los pedidos son liberados únicamente hacia la banda transportadora. Este documento divulga un sistema que puede escalar la cantidad de cargadores de almacenamiento, pero no revela la posibilidad de escalar la cantidad de bandas transportadoras, ni tampoco es posible saber el estado en que se encuentran los despachadores a través de algún tipo de comunicación con el sistema. [0007] EP 960836 A2 discloses an article selection and distribution system, which includes a conveyor belt for the delivery of said articles; where the conveyor belt has a surface that is divided into discrete spaces, each space is intended solely for the management of an order. The articles are arranged in a stack form above the conveyor belt and are supported on one or more storage loaders that are arranged on one side of the conveyor belt. Each storage magazine has a dispensing end to hold items that can be freely selected, a positioner modifies the height that supports the storage magazine and moves the items. The dispensing end, which is located towards the conveyor belt, has at least one storage tank for items, which when approaching said belt, the article that is located at the bottom of the storage stack is removed when one of the the separations that are placed in the conveyor belt. Notwithstanding the foregoing, this document does not reveal a system that can be dispensed with independent dispatchers who work collaboratively, since all orders are released only to the conveyor belt. This document discloses a system that can scale the number of storage loaders, but does not reveal the possibility of scaling the number of conveyor belts, nor is it possible to know the status in which dispatchers are found through some type of communication with the system.
[0008] El documento US 5271703A revela un sistema para la selección de una orden de producto, el cual cuenta con una dispensación estacionaria, en donde el controlador del sistema permite correlacionar el control de los dos tipos de dispensadores (dispensador móvil y la banda transportadora) logrando que el producto se recupere de su lugar de almacenamiento, y se coloque sobre una banda transportadora en un espacio de asignación dinámica. Los dispensadores móviles pueden ser más de uno y éstos trabajan de forma colaborativa para atender de forma rápida el pedido de un artículo, función que permite que el sistema de control asigne un espacio determinado en la banda transportadora para cada pedido, logrando así atender varios pedidos simultáneamente. Sin embargo, dicho documento no revela la capacidad de adaptarse para manejar pequeños volúmenes de productos, ni tampoco menciona la capacidad de escalar el sistema según las necesidades de los volúmenes de productos que se necesiten manejar, ni tampoco se revela la capacidad de agregar módulos de almacenamiento al sistema.  [0008] US 5271703A discloses a system for the selection of a product order, which has a stationary dispensing, where the system controller allows the control of the two types of dispensers (mobile dispenser and conveyor belt). ) ensuring that the product is recovered from its storage location, and placed on a conveyor belt in a dynamic allocation space. Mobile dispensers can be more than one and they work collaboratively to quickly respond to the order of an item, a function that allows the control system to allocate a specific space in the conveyor belt for each order, thus managing to meet several orders simultaneously. However, this document does not reveal the ability to adapt to handle small volumes of products, nor does it mention the ability to scale the system according to the needs of the volumes of products that need to be handled, nor does it reveal the ability to add modules storage to the system
[0009] En el documento US 8515575 B2 divulga un dispositivo de dispensación de artículos, en donde dicho dispositivo tiene la característica de ser móvil a través de unas ruedas que soportan al dispositivo y permiten el traslado de este. Adicionalmente, es posible escalar el sistema agregando más dispositivos de dispensación móviles. El documento también divulga un método para la función de dicho dispositivo de dispensación móvil, en donde dicho método puede recuperar al menos un artículo almacenado en una de una pluralidad de ubicaciones de almacenamiento predeterminadas para su dispensación. El dispositivo, sistema y método incluyen un transceptor inalámbrico para comunicarse con un controlador del sistema de comunicación remoto, en donde el dispensador recibe instrucciones para entregar al menos un artículo en respuesta a la instrucción recibida desde el sistema de control; además cuenta con un sensor para detectar los niveles de inventario de artículos en al menos una ubicación de almacenamiento predeterminada. Sin embargo, dicho documento no revela la capacidad de adicionar más dispensadores a un mismo dispositivo, ni menciona la capacidad de escalar únicamente el almacenamiento, sino únicamente el dispositivo de dispensación en conjunto. El documento tampoco revela la posibilidad de trabajar con los dispensadores del dispositivo de forma colaborativa. [0009] In document US 8515575 B2 discloses an article dispensing device, wherein said device has the characteristic of being mobile through wheels that support the device and allow its transfer. Additionally, it is possible to scale the system by adding more mobile dispensing devices. The document also discloses a method for the function of said mobile dispensing device, wherein said method can retrieve at least one item stored in one of a plurality of predetermined storage locations for dispensing. The device, system and method include a wireless transceiver to communicate with a remote communication system controller, where the dispenser receives instructions to deliver at least one item in response to the instruction received from the control system; It also has a sensor to detect inventory levels of items in at least one predetermined storage location. However, this document does not reveal the ability to add more dispensers to the same device, nor does it mention the ability to scale only storage, but only the dispensing device as a whole. The document also does not reveal the possibility of working with the device's dispensers collaboratively.
[0010] El documento US 6247890 B1 revela un dispositivo de recolección automática para artículos, en donde el dispositivo de recolección contiene una plataforma de almacenamiento que está conformada por una rampla inclinada y que tiene un mecanismo de soporte ajustable, mismo que permite que el sistema admita productos de diferentes alturas y anchuras, mediante el uso de un elemento de fijación. Los artículos son extraídos por la parte inferior de la pluralidad de artículos apilados y cuentan con un mecanismo de soporte. El dispositivo es controlado por un sistema compuesto por HMI y PLC. El sistema HMI es utilizado para recuperar los datos del pedido. Sin embargo, dicho documento no revela la capacidad de extraer los productos con más de un manipulador, ni la capacidad de escalar el sistema para un manejo de mayor o menor volumen de productos, ni tampoco para agregar mayor número de módulos de almacenamiento.  [0010] US 6247890 B1 discloses an automatic collection device for articles, wherein the collection device contains a storage platform that is comprised of an inclined ramp and that has an adjustable support mechanism, which allows the system admit products of different heights and widths, by using a fixing element. The items are removed from the bottom of the plurality of stacked items and have a support mechanism. The device is controlled by a system consisting of HMI and PLC. The HMI system is used to retrieve order data. However, this document does not reveal the ability to extract products with more than one manipulator, nor the ability to scale the system for handling larger or smaller volume of products, nor to add more storage modules.
[0011] El documento US 5772392 A revela un sistema de selección de objetos que incluye una pluralidad de dispositivos de almacenamiento y descarga de objetos. Cada dispositivo de almacenamiento y descarga de objetos incluye una sección de almacenamiento que contiene una pila de objetos y un mecanismo para la descarga del objeto que se encuentre en el extremo inferior de la pila. El dispositivo de descarga de objetos está inclinado de modo que parte del peso de los objetos descansa en los lados de las secciones de almacenamiento de objetos, y donde el sistema cuenta con soportes que reducen la carga soportada por el objeto que se encuentra en el extremo inferior de la pila de objetos. Cuenta con un panel auxiliar a lo largo del lado de la sección de almacenamiento, que es ajustable para que los objetos de diferentes tamaños puedan mantenerse de forma segura en la sección de almacenamiento. Adicionalmente, el sistema cuenta con una placa horizontal ajustable en el puerto de descarga, para ajustar la descargar de objetos de diferentes tamaños. Sin embargo, dicho documento no revela la capacidad de agregar más manipuladores al sistema que puedan atender de manera rápida la solicitud de un objeto a descargar y de esta forma poder atender un mayor volumen de objetos para su descarga; de la misma forma, no se consideran manipuladores que lleven a una ruta directa que acorte los tiempos de descarga del objeto. [0011] US 5772392 A discloses an object selection system that includes a plurality of object storage and download devices. Each object storage and download device includes a storage section that contains a stack of objects and a mechanism for downloading the object that is located at the bottom end of the stack. The object unloading device is inclined so that part of the weight of the objects rests on the sides of the object storage sections, and where the system has supports that reduce the load borne by the object at the end bottom of the object stack. It has an auxiliary panel along the side of the storage section, which is adjustable so that objects of different sizes can be safely held in the storage section. Additionally, the system has an adjustable horizontal plate in the discharge port, to adjust the download of objects of different sizes. However, this document does not reveal the ability to add more manipulators to the system that can quickly respond to the request for an object to be downloaded and thus be able to handle a larger volume of objects for download; in the same way, they are not considered manipulators that lead to a direct route that shortens the download times of the object.
BREVE DESCRIPCION DE LA INVENCIÓN  BRIEF DESCRIPTION OF THE INVENTION
[0012] La presente invención se refiere a un sistema automático para el alistamiento y/o dispensación de productos, tales como productos apilables. El sistema que se divulga tiene la particularidad de ser modular y escalable para adaptarse a los requerimientos del usuario, es decir, puede manipular diferentes cantidades y dimensiones de productos para distribuciones de mayor o menor volumen. El sistema está compuesto por al menos un manipulador o un conjunto de manipuladores y al menos un módulo o una pluralidad de módulos de almacenamiento, para el alistamiento y/o dispensación de productos apilados en columnas. [0012] The present invention relates to an automatic system for the enlistment and / or dispensation of products, such as stackable products. The system that is disclosed has the particularity of being modular and scalable to adapt to the user's requirements, that is, it can handle different quantities and dimensions of products for distributions of greater or lesser volume. The system is composed of at least one manipulator or set of manipulators and at least one module or a plurality of storage modules, for the enlistment and / or dispensing of products stacked in columns.
[0013] El sistema, comprende al menos dos módulos de almacenamiento que permiten apilar productos dispuestos en columnas apiladas. Estos módulos se pueden agrupar en filas y constituyen secciones completas para almacenar múltiples productos, en donde cada módulo se sujeta de manera unida a una guía, y en donde dicho modulo se encuentra ubicado sobre el plano opuesto al plano inmediatamente cercano al dispositivo de selección.  [0013] The system comprises at least two storage modules that allow stacking products arranged in stacked columns. These modules can be grouped into rows and constitute complete sections for storing multiple products, where each module is attached in a way attached to a guide, and where said module is located on the plane opposite the plane immediately near the selection device.
[0014] Al menos uno o varios manipuladores se desplazan paralelamente y seleccionan por debajo de uno o varios módulos de almacenamiento; es decir, los manipuladores se posicionan por debajo de las diferentes filas de módulos para seleccionar al menos uno o varios productos de la parte inferior de las columnas de los módulos de almacenamiento repetidamente.  [0014] At least one or more manipulators move in parallel and select below one or more storage modules; that is, the manipulators are positioned below the different rows of modules to select at least one or more products from the bottom of the columns of the storage modules repeatedly.
[0015] El manipulador o los manipuladores cuentan con sensores para determinar la posición relativa de los módulos de almacenamiento y/o de los demás elementos fijos del sistema y además comprende de otros sensores para identificar la salida de los productos. Un manipulador comprende además un sistema de soporte y un sistema de transmisión electromecánica para un desplazamiento longitudinal sobre guías lineales. El mecanismo de transmisión electromecánica se encuentra ubicado en el interior del manipulador, el cual tiene por objeto transmitir el torque a los productos que se encuentran unidos apiladamente para su extracción de manera frontal, que entran en contacto con la primera unidad de una columna apilada. [0015] The manipulator or manipulators have sensors to determine the relative position of the storage modules and / or the other fixed elements of the system and also comprise other sensors to identify the output of the products. A manipulator further comprises a support system and an electromechanical transmission system for longitudinal displacement on linear guides. The electromechanical transmission mechanism is located inside the manipulator, which aims to transmit the torque to the products that are stacked together for removal frontally, which come into contact with the first unit of a stacked column.
[0016] Con el objetivo de informar sobre su estado, el manipulador comprende dispositivos visuales y auditivos dispuestos al menos en la parte frontal e interior respectivamente. Adicionalmente, en su interior también cuenta con un circuito eléctrico y electrónico o sistema embebido que coordina las señales de potencia y la lógica para los actuadores rotacionales y sensores, respectivamente. Al menos un manipulador se puede comunicar inalámbricamente con un sistema embebido central que coordina las del sistema de gestión de pedidos del almacén entre varios manipuladores. [0016] In order to report on its status, the manipulator comprises visual and auditory devices arranged at least on the front and inside respectively. Additionally, it also has an electrical and electronic circuit or embedded system that coordinates the power signals and logic for rotational actuators and sensors, respectively. At least one manipulator can communicate wirelessly with a central embedded system that coordinates those of the warehouse order management system between several manipulators.
[0017] El objetivo principal de la presente invención es ofrecer una solución innovadora al proporcionar un sistema de alistamiento de productos modular y escalable, aplicable tanto para distribución de volúmenes mayores o menores y que comparativamente es más simple y seguro que otras alternativas en el mercado, debido al arreglo e interacción de los elementos del sistema y a la implementación de robótica colaborativa entre la comunicación de manipuladores y gestión del sistema de información mediante el sistema central de control.  [0017] The main objective of the present invention is to offer an innovative solution by providing a modular and scalable product enlistment system, applicable both for distribution of larger or smaller volumes and which is comparatively simpler and safer than other alternatives in the market. , due to the arrangement and interaction of the elements of the system and the implementation of collaborative robotics between the communication of manipulators and management of the information system through the central control system.
[0018] Las características y ventajas de la presente invención serán fácilmente aparentes para aquellos experimentados en la materia con una lectura de la descripción de las modalidades preferidas que siguen.  [0018] The features and advantages of the present invention will be readily apparent to those skilled in the art with a reading of the description of the preferred embodiments that follow.
BREVE DESCRIPCION DE LAS FIGURAS BRIEF DESCRIPTION OF THE FIGURES
[0019] Las siguientes figuras se incluyen para ilustrar ciertos aspectos de la presente invención, y no se deben ver como modalidades exclusivas. El tema que se divulga es capaz de modificaciones, alteraciones, combinaciones, y equivalentes considerables en forma y función, como ocurrirá para aquellos experimentados en la materia y que tengan el beneficio de esta divulgación. [0019] The following figures are included to illustrate certain aspects of the present invention, and should not be viewed as exclusive modalities. The subject that is disclosed is capable of modifications, alterations, combinations, and considerable equivalents in form and function, as will occur for those experienced in the field and who have the benefit of this disclosure.
[0020] La Figura 1 muestra una vista en isométrico de un sistema de almacenamiento modular ajustable por columnas apiladas.  [0020] Figure 1 shows an isometric view of a modular storage system adjustable by stacked columns.
[0021] La Figura 2 muestra una vista en isométrico del dispositivo de extracción. [0022] La Figura 3 muestra una vista en isométrico de la configuración de un manipulador encargado de mover el dispositivo de extracción en un plano x-y. [0021] Figure 2 shows an isometric view of the extraction device. [0022] Figure 3 shows an isometric view of the configuration of a manipulator responsible for moving the extraction device in an xy plane.
[0023] La Figura 4 muestra una vista superior de todo el sistema de alistamiento de productos, que está integrado por el manipulador, el sistema de almacenamiento modular y el dispositivo de extracción. [0023] Figure 4 shows a top view of the entire product enlistment system, which is integrated by the manipulator, the modular storage system and the extraction device.
DESCRIPCION DETALLADA DE LA INVENCIÓN DETAILED DESCRIPTION OF THE INVENTION
[0024] El sistema descrito en este documento emplea diferentes configuraciones de elementos para llevar a cabo el alistamiento o dispensación de productos. El sistema y método que se divulga puede ser adecuado para su uso en todo tipo de dispensación de productos que se utilice para el mismo fin. [0024] The system described in this document uses different configurations of elements to carry out the enlistment or dispensing of products. The system and method disclosed may be suitable for use in all types of dispensing of products used for the same purpose.
[0025] Se apreciará, sin embargo, que los diferentes equipos y métodos que se divulgan no son limitativos y son igualmente aplicables a otros campos de tecnología.  [0025] It will be appreciated, however, that the different equipment and methods disclosed are not limiting and are equally applicable to other fields of technology.
[0026] Como se utiliza en este documento, los términos alistamiento y dispensación, son equivalentes y se usan indistintamente a lo largo del texto, y se refieren a la acción de preparar, disponer y distribuir el producto.  [0026] As used herein, the terms enlistment and dispensation are equivalent and are used interchangeably throughout the text, and refer to the action of preparing, arranging and distributing the product.
[0027] Como se utiliza en este documento, los términos, módulo, módulo de almacenamiento, módulo ajustable o escalable, columna apilada son equivalentes y se usan indistintamente a lo largo del texto, y se refieren al sistema de almacenamiento que tiene la función de almacenar los productos de forma temporal.  [0027] As used herein, the terms, module, storage module, adjustable or scalable module, stacked column are equivalent and are used interchangeably throughout the text, and refer to the storage system that has the function of Store products temporarily.
[0028] Como se utiliza en este documento, los términos producto, elemento o unidades, son equivalentes y se usan indistintamente a lo largo del texto, y se refieren a o los objetos que se almacenan en los módulos. [0028] As used herein, the terms product, element or units are equivalent and are used interchangeably throughout the text, and refer to or objects that are stored in the modules.
[0029] Como se utiliza en este documento, los términos; dispositivo de extracción o dispositivo de selección, son equivalentes y se usan indistintamente a lo largo del texto, y se refieren al dispositivo que realiza la extracción del último producto.  [0029] As used herein, the terms; Extraction device or selection device, are equivalent and are used interchangeably throughout the text, and refer to the device that performs the extraction of the last product.
[0030] Las descripciones de ciertos aspectos de algunas modalidades de la presente invención se proporcionan para facilitar una mejor comprensión de la misma. De ninguna manera se deben interpretar las modalidades descritas para limitar, o definir, todo el alcance de la invención. [0030] Descriptions of certain aspects of some embodiments of the present invention are provided to facilitate a better understanding of the same. In no way should the described modalities be interpreted to limit, or define, the entire scope of the invention.
[0031] Haciendo referencia a la Figura 1 , se muestra una vista en isométrico del sistema de almacenamiento que tiene la función de almacenar y/o soportar productos apilables temporalmente. Se ve al menos dos módulos de almacenamiento (1 ) que se distancian entre ellos exponiendo un espacio útil para ubicar la columna apilada (2a) y en donde cada columna apilada cuenta con diferentes distribuciones de productos (2b). Las columnas apiladas (2a) están dispuestas entre módulos de almacenamiento (1 ) que se soportan sobre al menos dos o más guías lineales de soporte, que se acoplan a través de la cara posterior de cada módulo (1 ). Sobre estas guías, los módulos de almacenamiento (1 ) se desplazan para acercarse o alejarse permitiendo ser compatibles con las dimensiones de los productos apilables, esto se puede hacer al menos una vez en el proceso de configuración y puesta a punto del sistema. Los módulos (1 ) se encuentran ubicados a una altura mayor que las guías de soporte del manipulador. [0031] Referring to Figure 1, an isometric view of the storage system having the function of storing and / or supporting temporarily stackable products is shown. At least two storage modules (1) are seen that distance each other exposing a useful space to locate the stacked column (2a) and where each stacked column has different product distributions (2b). The stacked columns (2a) are arranged between storage modules (1) that are supported on at least two or more linear support guides, which are coupled through the rear face of each module (1). On these guides, the storage modules (1) move to zoom in or out allowing them to be compatible with the dimensions of the stackable products, this can be done at least once in the system configuration and commissioning process. The modules (1) are located at a higher height than the manipulator support guides.
Un módulo de almacenamiento (1 ) está compuesto al menos por cinco distribuciones de productos (2b) y cada columna apilada (2a) comprende; una cara inferior sobre la cual se soporta el primer producto de la pila, una cara lateral del soporte que está en contacto con la cara lateral de los productos apilados, una cara posterior que entra en contacto con la cara posterior de los productos apilados, un mecanismo con un componente flexible de metal, polímero o cualquier material con propiedades de restitución y bajo coeficiente de fricción que se ubica en la parte inferior de la cara frontal, este componente entra en contacto parcialmente con el producto inferior de la pila, evitando que el producto apilado caiga por su propio peso o que la columna pierda estabilidad, es decir, previene que los productos apilados que se encuentran más arriba se inclinen hacia delante y caigan o impidan la fluidez de extracción. En cualquier caso, el número de distribuciones de productos (2b) es igual al número de productos apilables más uno. A storage module (1) is composed of at least five product distributions (2b) and each stacked column (2a) comprises; a bottom face on which the first product of the stack is supported, a side face of the support that is in contact with the side face of the stacked products, a back face that comes into contact with the back face of the stacked products, a mechanism with a flexible component of metal, polymer or any material with restitution properties and low coefficient of friction that is located in the lower part of the front face, this component comes into partial contact with the bottom product of the battery, preventing the stacked product falls by its own weight or that the column loses stability, that is, it prevents the stacked products that are above bent forward and fall or impede extraction fluidity. In any case, the number of product distributions (2b) is equal to the number of stackable products plus one.
[0032] Haciendo referencia a la Figura 2, se muestra una vista en isométrico del sistema de extracción, específicamente se ve una representación del dispositivo seleccionador de producto (3), que muestra una posible distribución de sus componentes, el dispositivo comprende un sistema de palanca activada (4) que se utiliza para realizar la extracción del producto, en donde la palanca activada (4) puede ser cualquier sistema rotacional o lineal, que entra en contacto con el producto para su extracción, una distribución de los sistemas de alerta (5a), (5b) y (5c), en donde los sistemas de alerta pueden ser sensores, dispositivos visuales y/o auditivos o cualquier otro componente de seguridad o monitoreo que tengan la finalidad de informar sobre el estado del dispositivo seleccionador (3) con relación a la posición en el manipulador, el estado de la selección y variables o parámetros relacionados con el sistema de almacenamiento. El dispositivo seleccionador (3) además comprende un sensor selector (6) que permite la identificación de la columna apilada (2a) seleccionada, en donde la identificación se puede realizar mediante un elemento de identificación, en donde dichos elementos pueden ser sensores o etiquetas fijas para su reconocimiento, y un espacio (7) destinado para la colocación de las guías de movimiento que permiten que se desplace sobre la guía o riel (9). [0032] Referring to Figure 2, an isometric view of the extraction system is shown, specifically a representation of the product selection device (3) is shown, showing a possible distribution of its components, the device comprises an activated lever system (4) that is used to carry out the extraction of the product, wherein the activated lever (4) can be any rotational or linear system, which comes into contact with the product for its extraction, a distribution of the alert systems (5a), (5b) and (5c), where the alert systems can be sensors, visual and / or auditory devices or any other security or monitoring component that are intended to inform about the status of the selection device (3) in relation to the position in the manipulator, the status of the selection and variables or parameters related to the storage system. The selection device (3) also comprises a selector sensor (6) that allows the identification of the selected stacked column (2a), where the identification can be carried out by means of an identification element, where said elements can be sensors or fixed labels for recognition, and a space (7) intended for the placement of movement guides that allow it to move on the guide or rail (9).
[0033] Haciendo referencia a la Figura 3 muestra una vista en isométrico de la configuración y funcionamiento general del manipulador que permite el movimiento del dispositivo seleccionador (3), el cual está conformado por dos guías o rieles laterales fijos (8a) y (8b) paralelos al eje y, visto en un plano x-y, una guía móvil transversal (9) paralelo al eje x, en donde dicha guía (9) es la que soporta el dispositivo seleccionador (3). Con tal arreglo de guías es posible asegurar el movimiento en dos ejes (xy y) para desplazarse en el espacio de trabajo que abarca el sistema de almacenamiento de columnas apiladas.  [0033] Referring to Figure 3 shows an isometric view of the general configuration and operation of the manipulator that allows the movement of the selecting device (3), which is formed by two guides or fixed side rails (8a) and (8b ) parallel to the y-axis, seen in an xy plane, a transverse mobile guide (9) parallel to the x-axis, wherein said guide (9) is the one that supports the sorting device (3). With such an arrangement of guides it is possible to ensure the movement in two axes (xy y) to move in the workspace covered by the stacked column storage system.
[0034] Haciendo referencia a la Figura 4 muestra una vista superior del sistema de alistamiento de productos como una modalidad preferida de la invención, en dicho arreglo de componentes se aprecia un conjunto de al menos tres filas de módulos de almacenamiento (1 ), cada módulo cuenta con su respectiva columna apilada (2a), los cuales pueden ser ajustados a las dimensiones de los productos, la guía móvil (9) soporta al dispositivo seleccionador (3), en donde dicha guía a su vez esta soportada por las guías o rieles (8a) y (8b). En una modalidad preferida de la invención se muestra un medio de extracción de los productos, el cual puede ser a partir de al menos uno o más bandas transportadoras (10), tal como se ve en la Figura 4, en donde se muestran al menos dos bandas transportadoras (10). Por otra parte, para permitir el movimiento del dispositivo seleccionador (3), el sistema está dividido por tres niveles visto a partir de una vista frontal de la Figura 4, en este sentido el nivel inferior le corresponde a las bandas transportadoras (10), el nivel intermedio le corresponde al dispositivo seleccionador (3) y el nivel superior le corresponde a las columnas apiladas (1 ), de esta forma el dispositivo seleccionador (3) se mueve por debajo de las columnas apiladas (1 ) sin interponerse con la banda transportadora (10). [0034] Referring to Figure 4 shows a top view of the product enlistment system as a preferred embodiment of the invention, in said arrangement of components a set of at least three rows of storage modules (1) can be seen, each module has its respective stacked column (2a), which can be adjusted to the dimensions of the products, the mobile guide (9) supports the sorting device (3), where said guide is in turn supported by the guides or rails (8a) and (8b). In a preferred embodiment of the invention, a means of extracting the products is shown, which can be from at least one or more conveyor belts (10), as seen in Figure 4, where at least two conveyor belts (10) are shown. On the other hand, to allow the movement of the selecting device (3), the system is divided by three levels seen from a front view of Figure 4, in this sense the lower level corresponds to the conveyor belts (10), the intermediate level corresponds to the selection device (3) and the upper level corresponds to the stacked columns (1), in this way the selection device (3) moves below the stacked columns (1) without interposing with the band conveyor (10).
[0035] El sistema de alistamiento de productos apilables en una modalidad preferida tiene al menos un manipulador y al menos dos módulos de almacenamiento para cumplir con su función y al menos una banda transportadora (10). Sin embargo, el sistema de alistamiento de productos tiene la característica de ser modular o escalable por lo que se le atribuye principalmente al módulo de almacenamiento (1 ) como al manipulador, es decir, si se requiere adicionar nuevos productos de diferentes tamaños o dimensiones, es suficiente con agregar más módulos de almacenamiento (1 ) ajustables, de esta manera en otra modalidad de la invención los módulos de almacenamiento (1 ) se pueden escalar adicionando n cantidad de módulos de almacenamiento (1 ) de acuerdo a los requerimientos o demanda de la cantidad de productos correspondientes para almacenar. También se le atribuye porque en otra modalidad de la invención el sistema puede tener más de un manipulador, aunque es suficiente un manipulador para una cantidad de filas de módulos, se tiene la posibilidad de adicionar tantos manipuladores como se requieran para maximizar el tiempo de respuesta del sistema de alistamiento, por lo que puede haber uno o más manipuladores para desplazarse paralelamente en varios módulos de almacenamiento. [0035] The stackable product enlistment system in a preferred embodiment has at least one manipulator and at least two storage modules to fulfill its function and at least one conveyor belt (10). However, the product enlistment system has the characteristic of being modular or scalable, which is mainly attributed to the storage module (1) and to the manipulator, that is, if new products of different sizes or dimensions are required, it is sufficient to add more adjustable storage modules (1), in this way in another embodiment of the invention the storage modules (1) can be scaled by adding a number of storage modules (1) according to the requirements or demand of the amount of corresponding products to store. It is also attributed because in another embodiment of the invention the system may have more than one manipulator, although a manipulator is sufficient for a number of rows of modules, it is possible to add as many manipulators as required to maximize the response time. of the enlistment system, so there may be one or more manipulators to move in parallel in several storage modules.
[0036] Al menos uno o un conjunto de manipuladores se desplazan en el espacio de trabajo donde se encuentran los módulos de almacenamiento (1 ) para posicionarse por debajo de las diferentes filas de columnas y posteriormente el dispositivo seleccionador (3) selecciona al menos un producto requerido de la parte inferior de la columna apilada repetidamente, dicho dispositivo comprende una palanca activada (4) que puede ser un mecanismo rotacional o de desplazamiento lineal por fricción o mediante un sistema de pistones por válvulas de aire a presión o mediante otras tecnologías utilizadas para empujar el producto hacia afuera del módulo de almacenamiento y que este entre en contacto con el último producto de la columna apilada con el fin de seleccionar uno a uno varios productos de una misma columna apilada de una manera repetitiva. [0036] At least one or a set of manipulators are moved in the workspace where the storage modules (1) are located to be positioned below the different rows of columns and then the selection device (3) selects at least one required product from the bottom of the column stacked repeatedly, said device comprises a lever activated (4) which can be a rotational or frictional linear displacement mechanism or by a piston system by pressurized air valves or by other technologies used to push the product out of the storage module and that comes into contact with the last product of the stacked column in order to select one by one several products of the same column stacked in a repetitive manner.
[0037] Un manipulador o conjunto de manipuladores tiene sensores incluidos en el dispositivo seleccionador (3). El objetivo de los sensores es informar sobre su estado, los cuales miden los parámetros para determinar la posición relativa de los módulos de almacenamiento (1 ), la posición de los componentes o elementos fijos alrededor del sistema. También a partir de los parámetros medidos por los sensores permiten poner al sistema en estados, tales como, el estado de bloqueo, activado, calibrado o mantenimiento, entre otros estados configurados por el usuario. Con la medición de los parámetros a través del uso de sensores, los manipuladores adicionalmente cumplen con las funciones de identificar su posición sobre las guías lineales, la posición de la columna apilada (2a), el tipo de producto apilado y la salida efectiva de dicho producto una vez seleccionado. Del mismo modo, realiza la función de seleccionar uno a uno el producto de la columna apilada.  [0037] A manipulator or set of manipulators has sensors included in the selecting device (3). The objective of the sensors is to inform about their status, which measure the parameters to determine the relative position of the storage modules (1), the position of the components or fixed elements around the system. Also, based on the parameters measured by the sensors, they allow the system to be put into states, such as the state of blocking, activated, calibrated or maintenance, among other states configured by the user. With the measurement of the parameters through the use of sensors, the manipulators additionally fulfill the functions of identifying their position on the linear guides, the position of the stacked column (2a), the type of product stacked and the effective output of said product once selected. Similarly, it performs the function of selecting the stacked column product one by one.
[0038] El manipulador sobre el cual está montado el dispositivo seleccionador (3) además comprende de un sistema de soporte que básicamente son las guías lineales donde se soportan y se desplazan los manipuladores, dichas guías cuentan con un sistema de transmisión electromecánica para su desplazamiento. Además, el dispositivo seleccionador (3) en su interior cuenta con un circuito eléctrico y electrónico o un sistema embebido que coordina las señales de potencia y la lógica para el funcionamiento de los actuadores rotacionales y sensores utilizados en el sistema.  [0038] The manipulator on which the sorting device (3) is mounted also comprises a support system that is basically the linear guides where the manipulators are supported and moved, said guides have an electromechanical transmission system for their displacement . In addition, the selection device (3) inside has an electrical and electronic circuit or an embedded system that coordinates the power signals and logic for the operation of the rotational actuators and sensors used in the system.
[0039] En cuanto a la comunicación, un manipulador o un conjunto de manipuladores se comunican colaborativamente de forma alámbrica o inalámbrica a través de las diferentes tecnologías utilizadas actualmente, tal como posibles protocolos de red alámbricos (puertos seriales; RS232, I2C, SPI, RS485) e inalámbricos (wifi y/o bluetooth) entre otras comunicaciones utilizadas para el mismo fin. [0039] Regarding communication, a manipulator or a set of manipulators communicate collaboratively in a wired or wireless way through the different technologies currently used, such as possible wired network protocols (serial ports; RS232, I2C, SPI, RS485) e wireless (wifi and / or bluetooth) among other communications used for the same purpose.
[0040] La comunicación colaborativa del o de los manipuladores en robótica se refiere a un concepto de comunicación“inteligente” entre las diferentes entidades o elementos “independientes” del sistema. En la presente invención, a los manipuladores se les designa la ruta más óptima para distribuir el pedido consolidado a través del cálculo de dicha ruta. Por otra parte, cuando se tiene dos o más manipuladores, dichos manipuladores se apoyan para tomar el pedido, o quizá si un manipulador o más manipuladores sufren alguna falla otro manipulador podrá llevar a cabo la tarea de selección de los productos que le correspondían al manipulador que no se encuentra en funcionamiento.  [0040] The collaborative communication of the robotics manipulator (s) refers to a concept of "intelligent" communication between the different entities or "independent" elements of the system. In the present invention, the manipulators are designated the most optimal route to distribute the consolidated order through the calculation of said route. On the other hand, when you have two or more manipulators, these manipulators are supported to take the order, or perhaps if a manipulator or more manipulators suffer some failure another manipulator will be able to carry out the task of selecting the products that corresponded to the manipulator It is not working.
[0041] En la presente invención, el sistema de alistamiento de productos está configurado para realizar la gestión de los productos requeridos, a partir de los siguientes pasos, tal como; recibir la información del pedido ingresado por el usuario, almacenar los datos de información del pedido en el sistema de información mediante el sistema central de control, que puede ser cualquier conexión segura a una base de datos y sistemas de gestión como WMS o ERP, consultar los datos de la posición de los manipuladores medidos por los sensores, evaluar la mejor ruta para reducir el tiempo de dispensación, enviar los datos de las señales a los manipuladores, confirmar la selección de los productos a través de los parámetros medidos por los sensores, revisar los errores y el estado de los manipuladores para corregirlos y enviar de nuevo los datos correctos.  [0041] In the present invention, the product enlistment system is configured to manage the required products, from the following steps, such as; receive the order information entered by the user, store the order information data in the information system through the central control system, which can be any secure connection to a database and management systems such as WMS or ERP, consult the position data of the manipulators measured by the sensors, evaluate the best route to reduce the dispensing time, send the data of the signals to the manipulators, confirm the selection of the products through the parameters measured by the sensors, Check the errors and the status of the manipulators to correct them and send the correct data again.
[0042] Por lo tanto, la presente invención está bien adaptada para alcanzar los fines y ventajas mencionadas, así como aquellas que son inherentes a las mismas. Las modalidades particulares divulgadas anteriormente son sólo ilustrativas, ya que la presente invención se puede modificar y practicar en diferentes pero equivalentes maneras aparentes para aquellos experimentados en la materia que tengan el beneficio de las enseñanzas en este documento.  [0042] Therefore, the present invention is well adapted to achieve the aforementioned purposes and advantages, as well as those that are inherent therein. The particular modalities disclosed above are illustrative only, since the present invention can be modified and practiced in different but equivalent apparent ways for those skilled in the art who have the benefit of the teachings in this document.
[0043] Es por lo tanto evidente que las modalidades ilustrativas particulares divulgadas anteriormente se pueden alterar, combinar o modificar y que todas esas variaciones se consideran dentro del alcance y espíritu de la presente invención. La invención que se divulga ilustrativamente en este documento se puede practicar de manera adecuada en la ausencia de cualquier elemento que no se divulgue específicamente en este documento y/o cualquier elemento opcional que se divulgue en este documento. [0043] It is therefore evident that the particular illustrative modalities disclosed above may be altered, combined or modified and that all such variations are considered within the scope and spirit of the present invention. The The invention that is disclosed illustratively in this document can be suitably practiced in the absence of any element that is not specifically disclosed in this document and / or any optional element that is disclosed in this document.
[0044] Todos los métodos descritos en la presente, se pueden realizar en cualquier orden adecuado a menos que se indique de otro modo en la presente o se contradiga claramente por el contexto. El uso de cualquiera y todos los ejemplos o lenguaje de ejemplo (por ejemplo, “tal como”) proporcionado en la presente, se propone solo para ilustrar mejor la descripción y no posee una limitación del alcance de la descripción a menos que se reivindique de otro modo. Ningún texto en la memoria descriptiva se debe considerar como que indique algún elemento no reivindicado como esencial a la práctica de la descripción. Se va a entender que la terminología usada en la presente es para el propósito de describir solo modalidades particulares y no se propone para que sea limitante. En la presente se describe modalidades preferidas de esta descripción. Pueden llegar a ser evidentes varias variaciones de las modalidades preferidas para los expertos en la técnica en la lectura de la descripción anterior. Los inventores esperan que los expertos en la técnica empleen estas variaciones como sea apropiado y los inventores proponen que la descripción se practique de otro modo de lo que se describe específicamente en la presente. Por consiguiente, la descripción incluye todas las modificaciones y equivalentes de la materia citada en las reivindicaciones anexas a la presente como se permita por la ley aplicable. Además, cualquier combinación de los elementos descritos anteriormente en todas las variaciones posibles de la misma se abarcan por la descripción a menos que se indique de otro modo en la presente o se contradiga claramente de otro modo por el contexto. [0044] All methods described herein may be performed in any suitable order unless otherwise indicated herein or clearly contradicted by the context. The use of any and all examples or example language (for example, "as is" provided herein) is intended only to better illustrate the description and does not have a limitation on the scope of the description unless claimed in another way. No text in the specification should be considered as indicating any element not claimed as essential to the practice of the description. It will be understood that the terminology used herein is for the purpose of describing only particular modalities and is not intended to be limiting. Preferred embodiments of this description are described herein. Several variations of the preferred modalities for those skilled in the art may become apparent in reading the above description. The inventors expect those skilled in the art to employ these variations as appropriate and the inventors propose that the description be practiced in another way than is specifically described herein. Accordingly, the description includes all modifications and equivalents of the matter cited in the claims appended hereto as permitted by applicable law. In addition, any combination of the elements described above in all possible variations thereof are encompassed by the description unless otherwise indicated herein or clearly contradicted by the context.
[0045] Se hace constar que, con relación a esta fecha, el mejor método conocido por la solicitante para llevar a la práctica la presente invención, es el que resulta claro a partir de la presente descripción de la invención.  [0045] It is noted that, in relation to this date, the best method known by the applicant to implement the present invention is that which is clear from the present description of the invention.

Claims

NOVEDAD DE LA INVENCIÓN Habiendo descrito la presente invención, se considera como una novedad y, por lo tanto, se reclama como propiedad lo contenido en las siguientes: REIVINDICACIONES NOVELTY OF THE INVENTION Having described the present invention, it is considered as a novelty and, therefore, what is contained in the following is claimed as property: CLAIMS
1. Un sistema automático y modular para el alistamiento de productos apilables, el sistema está caracterizado porque comprende: 1. An automatic and modular system for the enlistment of stackable products, the system is characterized in that it comprises:
un módulo o una pluralidad de módulos de almacenamiento que tienen la función de almacenar y/o soportar productos apilables temporalmente;  a module or a plurality of storage modules that have the function of storing and / or supporting temporarily stackable products;
uno o una pluralidad de dispositivos seleccionadores de productos que se encuentran ubicados en un manipulador y están dispuestos por debajo de dichos módulos de almacenamiento, los cuales se utilizan para realizar la selección y extracción de al menos uno o más productos apilables;  one or a plurality of product selection devices that are located in a manipulator and are arranged below said storage modules, which are used to make the selection and extraction of at least one or more stackable products;
un manipulador o una pluralidad de manipuladores permiten desplazar al dispositivo seleccionador o los dispositivos seleccionadores en el espacio de trabajo de los módulos de almacenamiento;  a manipulator or a plurality of manipulators allow the selection device or the selection devices to be moved in the workspace of the storage modules;
un medio de extracción o una pluralidad de medios de extracción, se encuentran ubicadas en el nivel inferior del sistema para la extracción de dichos productos apilables;  an extraction means or a plurality of extraction means, are located in the lower level of the system for the extraction of said stackable products;
en donde los módulos de almacenamiento se distancian entre ellos exponiendo un espacio útil ajustable para ubicar una columna apilada con base en las dimensiones del producto apilable y en donde cada columna apilada cuenta con diferentes distribuciones de productos.  where the storage modules are separated from each other exposing an adjustable useful space to locate a stacked column based on the dimensions of the stackable product and where each stacked column has different product distributions.
2. El sistema de conformidad con la reivindicación 1 , caracterizado porque, cada columna apilada está compuesta por al menos cinco distribuciones de productos apilables y en donde el número de distribuciones de productos es igual al número de productos apilables más uno. 2. The system according to claim 1, characterized in that, each stacked column is composed of at least five distributions of stackable products and wherein the number of product distributions is equal to the number of stackable products plus one.
3. El sistema de conformidad con la reivindicación 1 , caracterizado porque cada columna apilada comprende: una cara inferior sobre la cual se soporta el primer producto de la pila; una cara lateral del soporte que está en contacto con la cara lateral de los productos apilados; una cara posterior que entra en contacto con la cara posterior de los productos apilados; un mecanismo que se ubica en la parte inferior de la cara frontal. 3. The system according to claim 1, characterized in that each stacked column comprises: a bottom face on which the first product of the stack is supported; a side face of the support that is in contact with the side face of the stacked products; a back face that comes into contact with the back face of the stacked products; a mechanism that is located in the lower part of the front face.
4. El sistema de conformidad con la reivindicación 3, caracterizado porque el mecanismo comprende un componente flexible de metal, polímero o cualquier material con propiedades de restitución y bajo coeficiente de fricción, este componente entra en contacto parcialmente con el producto inferior de la pila, evitando que el producto apilado caiga por su propio peso o que la columna pierda estabilidad. 4. The system according to claim 3, characterized in that the mechanism comprises a flexible component of metal, polymer or any material with restitution properties and low coefficient of friction, this component partially comes into contact with the bottom product of the stack, preventing the stacked product from falling by its own weight or that the column loses stability.
5. El sistema de conformidad con la reivindicación 1 , caracterizado porque el dispositivo seleccionador comprende un sistema de palanca activada que se utiliza para realizar la extracción del producto.  5. The system according to claim 1, characterized in that the selecting device comprises an activated lever system that is used to carry out the product extraction.
6. El sistema de conformidad con la reivindicación 1 , caracterizado porque el sistema de palanca activada puede ser un mecanismo rotacional o de desplazamiento lineal por fricción o mediante un sistema de pistones por válvulas de aire a presión o mediante otras tecnologías utilizadas para extraer el producto del módulo de almacenamiento y que este entre en contacto con el último producto de la columna apilada con el fin de seleccionar uno a uno varios productos de una misma columna apilada de una manera repetitiva.  6. The system according to claim 1, characterized in that the activated lever system can be a rotational or frictional linear displacement mechanism or by a piston system by pressurized air valves or by other technologies used to extract the product of the storage module and that it comes into contact with the last product of the stacked column in order to select one by one several products of the same stacked column in a repetitive manner.
7. El sistema de conformidad con la reivindicación 1 , caracterizado porque el dispositivo de selección comprende además un sistema de alerta, en donde los sistemas de alerta pueden ser sensores, dispositivos visuales, dispositivos auditivos o cualquier otro componente de seguridad o monitoreo con la finalidad de informar sobre el estado del dispositivo seleccionador o manipulador. 7. The system according to claim 1, characterized in that the selection device further comprises an alert system, wherein the alert systems can be sensors, visual devices, hearing devices or any other safety or monitoring component for the purpose of informing about the status of the selector or manipulator device.
8. El sistema de conformidad con la reivindicación 1 , caracterizado porque el dispositivo de selección comprende además un sensor selector que permite la identificación de la columna apilada seleccionada, la cual se realiza mediante un elemento de identificación, en donde dichos elementos pueden ser sensores o etiquetas fijas para su reconocimiento. The system according to claim 1, characterized in that the selection device further comprises a selector sensor that allows the identification of the selected stacked column, which is carried out by means of an identification element, wherein said elements can be sensors or Fixed labels for recognition.
9. El sistema de conformidad con la reivindicación 1 , caracterizado porque el manipulador o la pluralidad de manipuladores comprenden una configuración de dos guías de soporte para el desplazamiento de al menos una guía móvil o una pluralidad de guías móviles que permiten el desplazamiento en dos ejes de los dispositivos seleccionadores;  The system according to claim 1, characterized in that the manipulator or the plurality of manipulators comprise a configuration of two support guides for the movement of at least one mobile guide or a plurality of mobile guides that allow the movement in two axes of the selecting devices;
10. El sistema de conformidad con la reivindicación 1 , caracterizado porque los manipuladores se comunican colaborativamente de forma alámbrica o inalámbrica a través de diferentes tecnologías.  10. The system according to claim 1, characterized in that the manipulators communicate collaboratively in a wired or wireless manner through different technologies.
11. El sistema de conformidad con la reivindicación 10, caracterizado porque la comunicación entre dispositivos de selección y el sistema, puede comprender protocolos de red alámbricos (puertos seriales; RS232, I2C, SPI, RS485) e inalámbricos (wifi o bluetooth) entre otras comunicaciones utilizadas para el mismo fin.  11. The system according to claim 10, characterized in that the communication between selection devices and the system can comprise wired (serial ports; RS232, I2C, SPI, RS485) and wireless network protocols (Wi-Fi or bluetooth) among others Communications used for the same purpose.
12. El sistema de conformidad con la reivindicación 10, caracterizado porque la comunicación colaborativa entre los manipuladores comprende:  12. The system according to claim 10, characterized in that the collaborative communication between the manipulators comprises:
apoyar a uno o más manipuladores para que tomen el pedido;  support one or more handlers to take the order;
llevar a cabo la selección de los productos de uno u otros manipuladores si un manipulador o más sufren alguna falla;  carry out the selection of the products of one or other manipulators if a manipulator or more suffer any failure;
sustituir un manipulador que no está en funcionamiento por otro manipulador que esté disponible.  replace a manipulator that is not working with another manipulator that is available.
13. Un método para el alistamiento de productos mediante columnas apiladas, caracterizado porque el método comprende los siguientes pasos:  13. A method for the enlistment of products by stacked columns, characterized in that the method comprises the following steps:
recibir la información del pedido ingresado por el usuario;  receive the order information entered by the user;
almacenar los datos de información del pedido en el sistema de información mediante el sistema central de control, que puede ser cualquier conexión segura a una base de datos y sistemas de gestión como WMS o ERP; consultar los datos de la posición de los manipuladores medidos por los sensores; storing the order information data in the information system through the central control system, which can be any secure connection to a database and management systems such as WMS or ERP; consult the position data of the manipulators measured by the sensors;
evaluar la mejor ruta para reducir el tiempo de dispensación;  evaluate the best route to reduce dispensing time;
enviar los datos de las señales a los manipuladores;  send signal data to manipulators;
confirmar la selección de los productos a través de los parámetros medidos por los sensores;  confirm the selection of the products through the parameters measured by the sensors;
revisar los errores y el estado de los manipuladores para corregirlos y enviar de nuevo los datos correctos.  Check the errors and the status of the manipulators to correct them and send the correct data again.
PCT/IB2018/051077 2018-02-21 2018-02-21 Automatic modular system for preparing products by means of stacked columns WO2019162721A1 (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2272682A (en) * 1939-08-25 1942-02-10 Joseph W Srodulski Vending machine compartment structure
GB988138A (en) * 1964-02-14 1965-04-07 Lisle William Menzimer Improvements in storing and dispensing apparatus
US5271703A (en) * 1992-05-08 1993-12-21 Si Handling System, Inc. Automatic order selection system capable of responding to simultaneous order requests
US5772392A (en) * 1994-08-19 1998-06-30 Okura Yusoki Kabushiki Kaisha Object picking system
US6011998A (en) * 1997-05-09 2000-01-04 Lichti; Wayne High speed picking system
US6247890B1 (en) * 1998-09-08 2001-06-19 Industrial Technology Research Institute Automatic goods picking device
US20120228378A1 (en) * 2009-09-14 2012-09-13 Max Winkler Product marker, automatic picking machine and order-picking method
US20160300423A1 (en) * 2015-04-13 2016-10-13 Paul Mason Vending Machine Adjustable Depth Retainer

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2272682A (en) * 1939-08-25 1942-02-10 Joseph W Srodulski Vending machine compartment structure
GB988138A (en) * 1964-02-14 1965-04-07 Lisle William Menzimer Improvements in storing and dispensing apparatus
US5271703A (en) * 1992-05-08 1993-12-21 Si Handling System, Inc. Automatic order selection system capable of responding to simultaneous order requests
US5772392A (en) * 1994-08-19 1998-06-30 Okura Yusoki Kabushiki Kaisha Object picking system
US6011998A (en) * 1997-05-09 2000-01-04 Lichti; Wayne High speed picking system
US6247890B1 (en) * 1998-09-08 2001-06-19 Industrial Technology Research Institute Automatic goods picking device
US20120228378A1 (en) * 2009-09-14 2012-09-13 Max Winkler Product marker, automatic picking machine and order-picking method
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