DE102012109040A1 - Device for performing operations on cuboidal objects, has frame, which is adapted to shape of object, where climbing device is provided, with which frame is movable on stacks of objects along in or against stacking direction - Google Patents

Abstract

The device (20A) has a frame (21), which is adapted to the shape of an object (23), where a climbing device is provided, with which the frame is movable on the stacks of objects along in or against the stacking direction. The frame is partially supported by the stack. One or more fastening devices or one or more preparation devices or one or more acquisition devices or one or more removal devices or one or more laser marking devices are provided for a transponder, particularly an Radio frequency identification (RFID) transponder, to pallets. An independent claim is included for a method for carrying out operations of stacked objects.

Description

The invention relates to a device for carrying out activities on, preferably parallelepiped, objects, which are stacked in a stack, and a method for performing activities on stacked objects.

Devices for carrying out activities on objects in the context of the present invention are known as robots that can manipulate objects with tools in a variety of ways. In this case, this type of device has at least three freely movable axes. For example, robots typically have one or more drives, such as electric motors, to perform movements, an internal or external control unit, and a power supply. A robot can continue to operate autonomously or remotely.

The invention relates generally to a device, in particular a robot, for carrying out activities on objects which are arranged in stacked or stacked form.

In the present invention, a distinction is made between three different types of robots. In this case, a robot can be either stationary, ie permanently installed, semi-stationary or mobile, for example based on a vehicle.

Stationary robots are usually located on conveyors that carry the items that are to be manipulated, for example, from a warehouse to the robot and / or back again from there into the warehouse. An example of this is the robot of EP 1 636 104 B1 with a feed conveyor. This has the disadvantage that the articles between the bearing and conveyor and on the conveyor must be moved, which means an additional handling effort. Further disadvantages are that such a conveyor is complex and cost-causing and requires additional space.

Furthermore, robots may be termed semi-stationary, which are moved in a localized area by means of often complex guide installations, for example by means of rail or cable systems, to carry out activities on or with objects. This leads to the disadvantages of increased complexity of the system, restriction of the range of motion to the location of the installation and additional expense for the installation.

Mobile robots move toward the objects that are to be handled or manipulated. Thus, these robots have a mobile robot chassis and one or more robot arms. The robot arm can move a manipulation or handling tool attached thereto to the respective required position. In this case, the distance between the robot chassis and the object to be manipulated or handled is bridged by the robot arm and the required flexibility in the positioning of the tool is created.

For example, the EP 1471401 B1 a mobile robot that has a robotic arm with multiple joints and moves on wheels with wheels on the ground. The range of the robot arm limits the manipulation and handling range or working range of the ground-based robot. The disadvantage is thus that the working range of the robot is limited to the ground. This means that the robot can no longer reach objects above its maximum working range or working height. Likewise, the robot may, for example, find it difficult or impossible to reach the backs of objects because the range of motion of the arm is limited. Furthermore, the horizontal movements of the robot must be coordinated in two axes with the multi-axis movements of the arm. Thus, the design of this robot leads to the problem that the mechanical and control complexity of the robot is high.

Thus, the working range is limited in a conventional mobile robot in particular in the amount that can reach this with his tools. The disadvantage here is that the range of the mobile robot is basically limited in its height by the length of the robot arm, since the robot chassis remains on the ground. In addition, a mobile robot often can not approach an object from all sides. While mobile robots often use a multi-axis robotic arm to increase range and flexibility, it has the disadvantage that a robotic arm is a complex and expensive device. The design of the robot arm is always a compromise between complexity and flexibility. The higher the range of the robot arm and the more mobile it is, the more complex the mechanical and control technology implementation of the robot arm.

Also, in mobile robots, in addition to the robotic arm, one or more means for moving the robot as such must be coordinated to move the tool to a suitable working position on the object to avoid the absence of a fixed one Position ratio between object and tool to compensate. This leads to a multi-axis motion control including the necessary sensor technology, for example for determining the position of the arm, and also the mechanically complex design of the robot arm itself with joints, motors, etc.

The objects that are manipulated by the robot, for example, pallets, products in their packaging, cardboard, plastic boxes or prefabricated parts may be, which are preferably cuboid and stackable. These may be stacked for storage in a warehouse, such as an industrial warehouse. The stack heights of the objects, for example in high-altitude storage, can be considerable. This leads to the problem that conventional mobile robots can not reach all of the inventory items to manipulate them and / or have a very complex robotic arm, while stationary robots require conveyance of the item from the warehouse and semi-stationary robots require warehouse-specific additional installation need. When working in a warehouse, therefore, all three types of robots have the common problem of high complexity and thus a high cost.

A known activity for a robot is further in attaching tagging means to items. For example, objects are provided with barcodes, which can also be created or written using laser marking devices, or transponders are attached thereto. Such transponders, such as RFID (Radio Frequency Identification) transponders, enable, in particular automatic, identification and / or localization of an object. This facilitates the collection and storage of relevant data. An RFID transponder is part of an RFID system. In this case, the transponder is located on or in the object. An RFID transponder may have fixed or variable (data) content. Another component of the RFID system is an RFID reader for contactless reading of the contents of the RFID transponder, with which an RFID transponder with a variable content can also be changed or described in terms of content. Transponders are used in large quantities. So many transponders have to be attached to many objects in the shortest possible time.

One application case for attaching transponders to objects, also called tagging, in large quantities is the attachment of RFID transponders to pallets. With such labeled pallets can improve the pallet management and the tracking of stored goods. This allows the pallets to be automatically identified throughout their lifecycle, which, for example, can be used in an inventory management of pallets. For example, there are conventional plastic pallets in which an RFID transponder is already firmly integrated during production. However, the much larger market for wooden pallets has hardly been developed using RFID technology. So there are large stocks of wooden pallets that have no RFID transponder. Furthermore, there are frequently specifications, for example in the RTI (Pallet Tagging) guideline, on which points an RFID transponder can be attached to the wooden pallets. Thus, the Guideline provides in detail, one transponder, so two per pallet, with an identical data content on the middle longitudinal and transverse board to install. Likewise, it is proposed in the RTI Guideline to install a content-identical barcode together with the RFID transponder. A problem now is that a manual attachment of the RFID transponder or the barcode to the pallets is time-consuming and costly. Also, the RFID transponders and barcodes must be attached to the pallet with some positioning accuracy, which in turn requires additional time for manual attachment.

Furthermore, wooden pallets once provided with RFID transponders according to the RTI guideline are regularly checked, for example, whether an RFID transponder is damaged by the daily use of the pallet. If an RFID transponder is damaged, both transponders on a pallet are removed and replaced with a new one so that the wooden pallet has only one matching set of RFID transponders. Alternatively, in the case of RFID transponders with a variable content, only the damaged RFID transponder can be replaced and the still functioning RFID transponder can be suitably changed in content. In this alternative, moreover, the barcodes on or at the RFID transponders must be adapted in such a way with a laser marking device that they are again identical in content. Manual execution of these operations is time consuming and expensive.

Furthermore, stationary robots are used to equip pallets with RFID transponders. For example, the WO 2007/011954 A3 a stationary system for attaching RFID transponders to pallets or cardboard boxes. In this case, the RFID transponder is attached to the article while the article continuously moves past the stationary system. This has the disadvantage that the objects for attaching the transponder to the stationary robot must be spent, which is time-consuming and involves a considerable effort. Likewise, this robot is not suitable Check the RFID transponder and replace it if necessary.

Thus, the known robot types have the common problem that they are either unsuitable for activities on stacked goods, in particular the mounting or checking of RFID transponders, and / or have a high complexity, for example in the form of a transport device or a rail installation, and thus require a considerable additional effort.

Thus, in view of the problems discussed above, the object underlying the invention is to provide a device for carrying out activities, in particular the mounting of transponders, on low-complexity stacked objects, and a method for carrying out tasks on stacked objects, in particular wooden pallets The activities include, in particular, the mounting, checking and removal of transponders.

The object underlying the invention is achieved by a device of the type mentioned, which has a frame and a climbing device with which the frame can move along the stack of objects in or against the stacking direction, the frame at least temporarily only from the Pile is worn. In this case, the direction of stacking is understood to mean the direction in which the objects are stacked up, that is, vertically upwards.

Because the frame is supported, at least temporarily, only by the stack of articles, the robot uses the on-site means to increase its working range. Thus, the robot exploits the objects as such, in order to move to these and is thus not limited in height. Also, no long robot arms are required as a tool carrier so that the robot can handle all the articles of the stack as the robot chassis or frame moves toward the article. Furthermore, in this way, the distance between the frame and the object is small and constant, which makes a complex, multi-axis robotic arm unnecessary. Thus, the complexity of the mobile robot of the present invention is correspondingly low.

On the frame of the robot, which is also referred to as a frame, the climbing device or other devices are attached. The frame may for example consist of a metal or plastic profile. For example, the profile may be hollow inside to reduce the weight of the frame while still providing sufficient stability and to accommodate the various devices of the robot. Further, the frame is adapted to the shape of the object to be climbed so that the frame at least partially encloses it. Thus, the frame for a cuboid object, seen from above, for example, U or O-shaped, be formed. In the case of an article with a triangular base, the frame can be designed to be V-shaped, as viewed from above. Furthermore, an O-shaped frame can be closed, that is, completely continuous in the circumference, or opened, that is, not designed to be continuous in the circumference. Now that many dimensions of objects that serve, for example, as a container, packaging or material carrier are standardized, a mobile robot with such a customized frame can find a variety of applications.

Purpose of the climbing device is an unlimited movement of the device or the robot in or against the stacking direction or down or up along the stack. With the climbing device, therefore, a new vertical degree of freedom of movement of the robot is created where it is required, that is, on the objects that are to be manipulated. The climbing device can work with a plurality of climbing organs, for example conventional crawler tracks or crawler belts. But instead of caterpillars, for example, wheels can be used. The climbing organs can be designed with or without projections, depending on the object to be climbed on. If the article is very smooth, for example a cardboard, then a rubberized, smooth crawler with appropriate adhesion can be used. If the object is roughly textured or has a surface that can be engaged, such as a wooden pallet, the climbing organ may have lamellar or gear-like projections whose vertical distance is adapted to the structure of the article such that the climbing organ on the object or the stack of objects fittingly engages. The climbing organs are arranged so that they allow vertical feeds of the robot and provide the necessary support. The climbing members of the climbing device are driven by one or a plurality of drive devices, such as electric motors. Also, the climbing device is controlled with conventional, mentioned in the beginning, means. Next, the climbing device and the shape of the frame are adapted so that the climbing organs abut the object and thus sufficient support for the robot is present. Next, the climbing organs in its vertical position to a certain extent flexible, for example, sprung or adjustable on brackets, so that the climbing organs abut objects with a certain tolerance. This also allows a Climbing a pile of various objects that are within a certain size range in size.

As compared with a conventional mobile robot, the robot of the present invention is thus capable of easily moving not only in the horizontal direction but also vertically, or in or against the stacking direction. It is also advantageous here that the working range of the robot in the stacking direction is basically not restricted. Consequently, the higher the stack of objects, the higher the robot can climb because the object itself serves as a supporting element.

Compared to a stationary robot, no additional conveyor is required and no pilot installation is required compared to a semi-stationary robot. Thus, the mobile robot of the present invention can also be brought between different camps, which makes its use more flexible.

Thus, compared to all three types of robots, the device has lower complexity, higher flexibility and associated lower costs.

According to a development, the frame has one or more arms, which are pivotable such that they are in an open or a closed position. In this case, the frame can pivot in parts such that the frame takes on a different shape. This makes it possible to change the shape of the robot. One advantage is that the robot can also operate in confined spaces, since its horizontal space requirement is less when the frame arms are in the open position.

Opening and closing the frame arms also allows the frame to be easily attached to the item. For example, an O-shaped frame can assume an L-shape through the opening of two arms and thus be moved up to the stack of, for example, cuboid objects from two directions. By the subsequent closing of the arms, the frame encloses the object again in an O-shape from all sides. Thus, in the O-shaped configuration of the frame, the open position of the frame arms allows the robot to approach the stack of items and the subsequent closed position of the arms allows the frame to enclose the item from four sides. In this case, the enclosing may consist of a complete enclosing, in which the frame has a continuous circumference, or of a partial enclosing, in which the frame has a gap in the circumference. For example, the two arms may engage or contact each other in their closed position to form a continuous O-shape of the frame. Conversely, in the closed position of the arms, an air gap or gap may also remain in the frame. Similarly, in a U-shaped frame which assumes an L-shape through the opening of an arm, the frame can be brought to the object not only from one side, for example, the long side, but also from the broad side to the object.

According to a further embodiment, the frame encloses the object in the closed position of the arms at least from three sides and while this does not surround the object in the open position of the arms. For example, an O-shaped frame or a U-shaped frame may take on an L-shape as explained above. It is advantageous in this case that mounted on the O-shaped frame manipulation tools can reach the object in the closed position of the arms from all four sides, without a complex robot arm is required as a tool carrier. Also in the U-shape, the frame encloses the object from three sides, which leads to the advantage that, for example, manipulation tools mounted on the frame can easily reach the object from at least three sides. A robot arm of a conventional robot would have to have a multi-axis mobility and thus a high complexity in order to be able to manipulate the object from several sides, for example if the body of the conventional robot can not approach the stack from multiple sides.

Further, the described U-shape or O-shape frame design allows a climbing device attached to the frame to interact with the article from multiple sides, making it more effective and reliable.

Additionally or alternatively, the arms have at least one, preferably two, back pressure elements, in particular runners, which abut against the object or the plurality of objects in the closed position of the arms. Alternatively, these counterpressure devices can also consist of rollers or balls, which are mounted on the holder in a rollable or rotatable manner on the arm or the arms. For example, the runners can be so long or long that they rest on several objects of the stack at the same time. By means of these counter-pressure organs, the frame is aligned with the object or objects. This improves the running behavior of the robot on the objects. Also can at a Climbing the positioning of not exactly exactly stacked objects are compensated by the counter-pressure elements, since the frame can adapt to the respective slightly different position of the corresponding item in the stack. Also, the back pressure means are preferably arranged on the climbing members through the object opposite side of the frame, so that they can absorb the horizontal portion of the force exerted by the climbing organs on the object. Thus, the object or the stack is not displaced or twisted by the forces emanating from the climbing organs. This also prevents slippage of the robot on the stack, for example during a climbing process, and reduces the number of climbing organs required.

According to a development of the invention, the center of gravity of the device is seen from the vertical direction substantially in the center, in particular close to the geometric center of the stack. Thus, the robot is balanced in its horizontal weight distribution such that the solder of the center of mass of the robot is reliably in the supporting base of the object or the stack of objects so that it does not tip over. This weight distribution can be achieved for example by a symmetrical design of the frame and the devices attached thereto or by balancing with the aid of weights which are mounted in or on the frame or by a suitable balancing arrangement of the devices of the robot. The advantage here is the increased stability of the stack in a climbing process of the robot on the stack. The closer the center of gravity of the robot is to the center of the stack, the more stable the stack will be, especially when the robot is accelerating, when the robot climbs on it.

Preferably, the climbing members of the climbing device, which are arranged on the sides of the frame facing the object, are so opposed by the object, so that their forces on the object mutually to a large extent or completely. Thus, the object between the climbing organs is clamped or held. Thus, the object or the stack is not displaced or twisted by the forces emanating from the climbing organs and also slipping on the object is avoided. This leads to an advantageous climbing process without the risk of a crash of the robot.

According to a development of the invention, the robot has a movement device which allows a horizontal movement of the device. For example, wheels attached to the frame may allow for a grounding procedure. Furthermore, the movement device can preferably be driven by electric motors. This facilitates the transport of the robot to and from the stack.

According to a development of the invention, at least one processing device is attached to the frame. This can be, for example, a classic manipulation tool such as a drilling or milling device. Further examples are means for marking the object, preferably at least one laser marking device for bar codes, devices for attaching transponders to the object or devices for removing markings or transponders on the object. The fact that the frame is located directly in the vicinity of the object to be machined, a complex robotic arm is unnecessary as a tool carrier, because the frame itself can serve as a tool carrier. Also, for example, in an O- or U-shaped frame, the processing means may be mounted on several sides of the frame. This leads to the advantages that several activities can be carried out simultaneously from several sides, that it is possible to work on sides of the stack which would be difficult to reach by a mobile robot (for example the rear side or the side of a stack facing away from the approach side). , the robot has a low complexity because of the missing robot arm / tool carrier and the positioning of the processing device relative to the object is simple, since this position is defined by the climbing device and the dimensions of the frame.

According to a development of the invention, the frame may comprise one or more fastening devices and / or one or more attachment preparation devices one or more detection devices and / or one or more removal devices and / or one or more laser marking devices for transponders, in particular RFID transponders, to objects, preferably Pallets, carry. In combination with the climbing ability of the robot, automated activities on wooden pallets, such as the installation of RFID transponders, can be carried out directly at the stack in the warehouse. In addition, bar codes that are attached together with a transponder can be described matching the laser marking device in the code. This reduces the complexity of the robot and the work process itself. As a result, for example, both the production of a recess and the introduction of the transponder on each pallet of the pallet stack without restriction, for example by the Stack height, automatically feasible. As a result, for example, medium and / or larger pallet pools can be equipped in a simple and cost-effective manner with transponders. Especially with larger quantities, the use of transponders, especially RFID transponders, with or without associated barcode is interesting. Here, the use of the device according to the invention leads to a significant reduction of time and / or personnel costs and allows the equipment of objects, such as pallets, in large quantities at low cost.

Furthermore, according to a further development, the device can be used to read transponders on the object and to check for errors. Due to the large number of transponders on the objects of the stack, it is necessary that the reader is brought into the immediate vicinity of the transponder in order to enable unambiguous identification. Now that the frame of the robot maintains a constant, low distance to the object and moves on the stack, a reader mounted on the frame can effectively and reliably read many transponders of the stack. For example, RFID transponders can be checked on stacks of wooden pallets. Thus, this activity can be advantageously automated.

Likewise, a further development of the device can be used to check a transponder on the object and to react appropriately in consequence of a detected fault. In particular, the device may remove the defective transponder and replace it with a new one. Alternatively, the device may remove multiple transponders and replace them with new ones if only one transponder on the object is defective, for example, to service pallets in accordance with the specifications of the RTI Guideline having two transponders with their respective optional barcodes. In addition, if necessary, the barcode belonging to the transponders can also be written by means of a laser inscription device. Another alternative in the maintenance of pallets according to the RTI Guideline is that only one, defective transponder of the pallet is removed and replaced by a new one, while the other transponder remains unchanged. Then, the new transponder is suitably described to the other transponder, for example by means of an RFID reading device, and further written by the laser marking device belonging to this new transponder barcode, so that this also fits to the existing other barcode at the other transponder. Thus, a complex operation, ie checking, removing and repositioning of one or more transponders and the comparison of these mutually advantageously automated.

The device according to a further embodiment can now operate autonomously, ie independently, or remotely controlled, ie by means of a control unit which is not integrated in the robot. In the case of autonomous activity, the robot can operate without user interaction. In the case of remote control, a user can control the robot by means of, for example, an operating device and issue individual instructions.

According to a development of the invention, the internal dimensions of the frame can be matched to the dimensions of a Euro pallet. This makes the device particularly suitable for climbing stacks of Euro pallets.

According to a further aspect of the invention, according to claim 14, a method, in particular a method for carrying out activities on stacked objects with a climbing operation, is proposed, wherein the method consists of the following steps: S1) starting the stack, S2) carrying out at least one activity on at least one of the stacked objects, S3) carrying out at least one movement in or against the stacking direction to another object, the device at least temporarily supported only on the stack, S4) repeating the method steps S2) and S3) until all activities of the device at the objects are completed and S5) driving away from the stack. This means that revolving tasks can be carried out automatically not only on one object but on several stacked objects. For example, the activity may be performed systematically from the bottom up, item by item, or in an order that is independent of the local order of the items in the stack and is, for example, application specific. Thus, for example, the robot can first detect the objects in a stack according to a criterion by sensor and then carry out the activities only on certain objects of the stack that fulfill the criterion. The approach and departure to and from the stack can also be done either by the device itself, for example by means of a horizontal movement device, or this can be done by external influence on the device, for example by a user or another tool. In principle, the method makes it possible to advantageously carry out automated activities on stacked objects. Further, the device can operate independently due to the method, for example, this can automatically attach transponder to pallets.

Furthermore, according to an embodiment of the invention, the step of carrying out an activity may include the steps of: S2a) preparing at least one location on the object, on or in which at least one transponder is to be attached to the object; and S2b) attaching at least one transponder to the article at or in the at least one location. Thus, for example, a transponder can be mounted sunk in a recess.

Also, in a further development of the method, the method step of carrying out the at least one activity may include the following steps: S2c) checking at least one transponder which is attached to or in the article; S2d) removing the at least one transponder from the object when an error is detected; S2e) attaching the at least one transponder to the object as a replacement.

According to a further development of the method, the method step of performing at least one activity may include the following steps for replacing transponders: S2f) checking whether transponders are present on the object; S2g) removing the at least one transponder from the object if at least one transponder is present; S2h) attaching at least one transponder to the object.

With the above-described developments of the method, as described in more detail in the device, activities with transponder can be carried out on pallets in an advantageous manner.

The above-described features and functions of the present invention, as well as other aspects and features, will be further described below with reference to a detailed description of preferred embodiments with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWING

Hereby shows:

1 a plan view of a device according to the invention of a first embodiment with a frame and a climbing device;

2 a side view of a device according to the invention of a first embodiment during a climbing operation on a stack of objects;

3a a top view of a device according to the invention of a second embodiment with pivotable arms;

3b a side view of an inventive device of a second embodiment with pivotable arms;

4 a plan view of a robot according to a third embodiment of the invention with a frame, a climbing device and a processing device;

5 a plan view of a robot according to the invention of a fourth embodiment with a frame, a climbing device and a processing device;

6 a plan view of a robot according to the invention of a fifth embodiment with the focal points of the robot and the stack;

7 a plan view of a robot according to the invention of a sixth embodiment with a frame, a climbing device and a processing device for wooden pallets;

8th a side view of the device according to the invention of the sixth embodiment from the direction indicated by the arrow A in 7 is characterized;

9 a side view of the device according to the invention of the sixth embodiment of the direction indicated by the arrow B in 7 is characterized;

10 a detailed perspective view of the device according to the invention of the sixth embodiment of a stack of pallets with the processing device;

11 a detailed perspective view of the device according to the invention of the sixth embodiment with the processing device on a stack of pallets;

12 a method of performing operations on stacked objects by the apparatus of the present invention;

13 a perspective view of the apparatus of the present invention in the implementation of steps S1 or S5 of the method of 10 on a stack with wooden pallets;

14 a perspective view of the apparatus of the present invention during or after the implementation of the step S3 method of 10 on a stack with wooden pallets;

DETAILED DESCRIPTION OF THE FIGURES

1 shows a plan view and 2 shows a side view of a device according to the invention 20A a first embodiment. The device 20A consists of a frame 21 and a climbing device with two climbing organs 24 , The frame 21 has a substantially U-shape. The two climbing organs 24 the climbing device are mounted opposite each other on the inside of the U-legs of the frame.

The object 23 is preferably box or cuboid. However, the object may also have a different shape, for example cylindrical, as long as the surfaces on which the climbing organs 24 attack, define the outer circumference of the object. Next is the object 23 doing so inside the area, passing through the U-shape of the frame 21 is defined and there are several items 23 to a pile 41 piled up.

Such is the shape of the frame 21 to the object 23 adapted so that the frame 21 surrounding the object from three sides and the climbing organs 24 on the object 23 from two different sides. The climbing organs 24 allow a vertical feed of the device 20A in and against the stacking direction (in 2 indicated by the double arrow S) and are preferably driven by at least one electric motor. Also, the climbing members are preferably positioned on the frame so as to tilt the frame 21 and / or avoid jamming during climbing. At the two climbing organs 24 the device according to the invention 20A this position was chosen so central that the frame 21 opposite the connecting line between the two climbing organs 24 resulting tilt axis is in equilibrium. However, this position may vary depending on the weight distribution of the device 20A vary.

So is the object 23 so between the climbing organs 24 in that it is not displaced or overturned by a horizontal force emanating from the climbing organs. In addition, by the to the object 23 adapted position of the climbing organs 24 in the U-shape of the frame 21 a sufficient liability of these to the object 23 ensured, for example, to prevent slipping. The control and the drive of the device 20A takes place in the usual way. Thus, the device according to the invention can move up or down the stack.

3a shows a plan view and 3b a side view of a device according to the invention 20B a second embodiment with a frame 21 the two swiveling arms 26 having. It is now each a climbing organ 24 the climbing device attached to each one inside of the three sides of the U-shaped frame. By this arrangement, a tilting of the frame 21 at the stack 41 avoided as the frame 21 is now stably supported at three points. Thus, in this embodiment, in contrast to the first embodiment, the position of the climbing organs is asymmetrical. Next, the frame has two joints 27 on which two arms 26 can be pivoted. So shows 3b the poor 26 pivoted with the solid line at right angles, ie in the open position of the frame 21 while the arms 26 , which are indicated by the dotted line, are in the closed position. The arm 26 , which is indicated by the dashed line, represents a transition between the open and closed position, ie during the arm 26 is moved from the closed position to the open position or vice versa. By means of these swiveling arms 26 can the frame 21 be flexibly adapted to the conditions of use. For example, the frame requires 21 in the open position of the arms 26 less footprint or can the frame 21 so better at the object 23 be brought here, as the insertion process of the frame 21 to the object 23 less forward distance required.

4 shows a plan view of a device according to the invention 20C a third embodiment with a U-shaped frame 21 , three climbing organs 24 the climbing device and a mounted on the frame processing device 25 , The climbing organs 24 are here arranged such that the climbing organ 24 that is on the left side of the 4 located, the horizontal (pushing) forces of the other two climbing organs 24 that are on the right side of the 4 are located. Again, the use of at least three climbing organs prevents tilting of the frame.

The processing device 25 is with working direction in the direction of the object 23 that is between the thighs of the frame 21 is attached to the frame. The processing device 25 may be, for example, a drill or a milling cutter. This is the right climbing organ 24 of the 4 through the object 23 opposite and is between the two left climbing organs 24 of the 4 arranged. Due to this position of the processing device 25 in relation to the climbing organs 24 is the stability of the positioning of the processing device 25 guaranteed, even if the processing device 25 a horizontal force in any horizontal direction (for example right or up in 4 ) on the object. This is the case, for example, when a drill is placed in the object 23 penetrates or a tiller the surface of the object 23 erodes.

5 shows a plan view of a device according to the invention 20D a fourth embodiment. Here is the frame 21 in contrast to the previous embodiments one to three executed in an asymmetric form and the processing device 25 there is no climbing organ 24 opposite, which could absorb the forces emanating from the processing device. This embodiment is for processing equipment 25 suitable, which only forces on the object 23 exercise, which still by the horizontal adhesion of the two climbing organs 24 can be taken on the object without these slipping away horizontally. An example of such a processing device 25 would be a painting, in which by means of a spray paint on the object 23 is applied or a laser marking device for barcodes. The asymmetry of the frame can be compensated by a suitable weight distribution in the frame, which is why such a shaping is possible. Such an asymmetric shape of the frame 21 For example, due to a particular application for the device 20D to be required.

6 shows a plan view of a device according to the invention 20E a fifth embodiment of the invention. The frame 21 with an open O-shape has two movable arms 26 up and down are on the frame 21 a climbing device with two climbing organs 24 and two processing facilities 25 appropriate. On the arms 26 are two back pressure organs 28 with the associated brackets 34 appropriate. Alternatively, the frame 21 This embodiment should also be executed closed.

Because of this shape of the frame 21 becomes the object 23 bordered by four sides. This has the advantage that the center of gravity GR of the device 20E can be better adapted to the stack. This will be explained in more detail as follows. The center of mass GR is the vertical projection of the center of mass of the entire device 20E understood in the horizontal plane. The center of gravity is thus not the center of mass in three-dimensional space, but the perpendicular of the weighted average of the positions of the individual masses (points) of the device 20E , A stack of loosely stacked objects 23 then flips over when the mass center of gravity GR of the device 20E outside the supporting surface of the object 23 , which also corresponds to the footprint of the stack is located. After further the device 20E positively or negatively accelerated in a climbing operation in or against the stacking direction, act additional forces that increase the risk of tipping over of the stack. The closer the center of gravity GR is now to the geometric center of the stack GS, the more stable the stack is with an acceleration of the device 20E , Due to the four-sided enclosure of the object 23 This balancing of the center of gravity can be simple, for example, by weights or by a fundamentally balanced arrangement of the devices on the frame 21 , be made.

The poor 26 are to be opened or closed in the manner described above. Will the device 20E brought to the pallet stack or drives this automatically up, so are the arms 26 in the open position. Then the arms close 26 to the device 20E to lock on the pallet stack. Likewise, the arms can 26 to be opened to the device 20E to remove from the stack.

They are also on the arms 26 on the climbing organs 24 through the object opposite sides of the frame 21 in each case several counter-pressure organs 28 , The counterpressure organs 28 are preferably designed in runner shape. However, the backpressures can 28 be realized with other suitable components, such as rollers or balls. These counterpressure organs 28 prevent slipping of the climbing organs in a simple way 24 on the object. The horizontal contact forces of the climbing organs 24 , these against the object 23 exercise and which in 6 with Fk1 and Fk2, lead to counter forces the frame 21 from the object 23 Pushing away. This is how the frame works 21 through the counterpressure organs 28 on the object 23 (Counter) held. In addition, the contact pressure of the climbing organs 24 be great for the device 20E for example, on objects 23 with a smooth surface sufficient adhesion for climbing the stack reached. The brackets 34 the counterpressure organs 28 serve to attach this to the frame 21 , Next, the brackets can 34 be adjustable in order to adjust the robot to varying dimensions of the objects can. In addition, the brackets can 34 have a suspension.

7 shows a plan view of a device according to the invention 20F a sixth embodiment of the invention. Next shows 8th shows a side view of the device 20F from the direction indicated by the arrow A in 7 is marked and 9 shows a side view of the device 20F from the direction indicated by the arrow B in 7 is marked. A preferred application for this device 20E is it, at (wood) pallets 23a transponder 40 to fix. Another application may be in the checking and replacing of transponders 40 consist of (Euro) pallets.

The frame 21 with an open O-shape has a climbing device with two climbing organs 24 , two transponder mounting devices 29 , two preparation devices 32 , as well as two counterpressure organs 28 with associated brackets 34 on. One climbing organ each 24 is on the long side and the broad side of the frame 21 arranged. Every climbing organ 24 again has two tracks 37 or caterpillars 37 on. Every caterpillar band 37 is in the vertical direction as an endless belt over two or more wheels 39 curious; excited. Under the wheels 39 is per caterpillar band 37 at least one drive wheel, which is preferably driven by an electric motor. Any remaining, non-driven wheels then serve as a guide or idler wheels. The impeller 39 can be designed, for example, as a gear or as a leadership role. Preferably, the vertical distance between the wheels can be adjusted to a mechanical bias of the crawler belt 37 suitable to adjust. In addition, the caterpillars show 37 preferably projections 38 on the caterpillar band 37 are spaced so that this one height of a (Euro) range 23a correspond. Thus take the thus spaced protrusions 38 suitable intervention in the spaces between the pallets 23a and thus increase the vertical force fit between the climbing device and the pallet 23a , This is a slipping of the device 20E avoided on the pallet stack and the carrying capacity of the device 20E elevated. Similarly, by using two caterpillars each 37 per frame side provides an increased level of stability and reliability of the climbing device.

Next points the frame 21 the device according to the invention 20F a movable first arm 26a and a second movable arm 26b on. These parts of the frame 21 are by means of the joint 27 over a joint axis 35 movably mounted and open in the sense of the second embodiment up or close. In this case, preferably provides a joint drive 36 for an automatic opening or closing operation of the arms 26a and 26b , Alternatively, these can also be closed or opened manually. Are now both arms 26a and 26b in the open position, the device can be brought to the pallet stack or drive up automatically. Then the two arms close 26a and 26b to the device 20F to lock on the pallet stack.

They are also on the arms 26a and 26b on the climbing organs 24 through the pallet stack respectively opposite sides of the frame 21 in each case several counter-pressure organs 28 , The counterpressure organs 28 are preferably designed in runner shape. However, the backpressures can 28 be realized with other suitable components, such as rollers or balls. The clear distance between the back pressure organs 28 and the palette 23a facing surface of the crawler belts 37 is dimensioned so that these to the (after EN 13698-1 standardized) external dimensions of a Europool range is adjusted. Alternatively, however, this can also be any other size standard for pallets. This serves to hold the pallets 23a in the horizontal direction, similar to that already described in the above fifth embodiment. Next are the back pressure organs by means of brackets 34 on the arms 26a and 26b appropriate. Optionally, the clear distance with the help of adjustable brackets 34 be fine-tuned or it can be the bracket 34 a suspension of the counterpressure organs 28 involve the running behavior of the device 20F continue to improve.

Next, the device 20F two preparation devices 32 on which the pallet for attaching the transponder 40 is prepared, and two transponder mounting devices 29 for attaching transponders 40 on the object. The preparation devices 32 are preferably surface milling, which on the frame 21 are mounted and movable in both horizontal axes. These are initially recesses for transponders 40 in the material of the pallet 23a produced. For this purpose, the preparation facilities 32 moved horizontally from a rest position to a suitable working position in which the pallet 23a is prepared. After making the recess, the preparation devices 32 removed from the immediate area of the recess produced. Then the transponder mounting devices 29 active and bring the transponder 40 by means of fasteners on the pallet 23a at. The attachment consists, for example, in the triggering of nail-firing mechanisms in which nail from a fastener magazine 31 together with the transponder 40 in the palette 23a to be shot. Alternatively, the transponders 40 also to the pallet 23a clamped or glued, the mounting magazine then stores either staples or adhesive. In addition, the transponders 40 in a transponder magazine 30 stored. These magazines 30 and 31 allow u. A. Automated and revolving operation of the transponder mounting devices 29 , Also, by the climbing device, the vertical positioning of the preparation facilities 32 and the transponder mounting devices 29 carried out. In addition, there is the frame 21 in direct and constant proximity to the pallet 23a , Both factors eliminate a complex, for example three-axis, robot or tool arm. The climbing device also fulfills several purposes. On the one hand, this ensures an unrestricted vertical freedom of movement of the device 20F and on the other hand it replaces another vertical axis of movement of a robot or tool arm.

10 shows a perspective detailed view of the device according to the invention of the sixth embodiment with the preparation device 32 and the transponder mounting device 29 on a pile of pallets. So take the tabs 38 the caterpillars 37 fitting engagement in the recesses of the pallet 23a , Also shown is how the preparation device 32 a recess in the pallet 23a incorporated by horizontal method of Fräßkopfes.

11 shows a perspective detailed view of the device according to the invention of the sixth embodiment with the preparation device 32 and the transponder mounting device 29 on a pile of pallets. In this case, by means of the transponder attachment device 29 a transponder 40 attached to the pallet while the preparation device 32 is removed from the immediate area of the recess produced.

12 FIG. 12 illustrates a process flow of performing activities on stacked objects through one of the devices. FIG 20A to 20F the first to sixth embodiments of the present invention.

At the beginning, the stack is approached at S1. The start of the stack at S1 can be done manually, ie by external influence on the robot, or independently, ie by means of an additional horizontal movement device of the robot. Should the device be movable arms 26 have, so they can be opened and closed during startup as described above. Next, the device moves 20A -F in addition to the horizontal movement also vertically on the stack to a working position.

At the step S2 following S1, an operation is performed on one of the stacked objects. This activity can be done, for example, by one at the frame 21 attached manipulation device can be performed and can also consist of several individual activities. After completion of the operation, the method proceeds to step S3.

At S3, the device performs 20A -E one or more movements in or against the stacking direction to another object, wherein the device is at least temporarily supported only on the stack. This is how the device moves 20A -E to the next item 23 to be edited. It climbs up or down the stack. When the device 20A -F the next item 23 has reached, the method according to the invention continues with step S4.

In step S4, it is determined whether all (desired) activities on the stack have been completed. This can determine a control unit in an autonomous robot or determine a user in a remote-controlled robot. Should now other activities on objects 23 of the stack, the process returns to step S2. Thus, this loop consisting of S2, S3 and S4 is performed until all activities of the device 20A -F on the objects 23 are completed. Once all activities have been completed, the process can conclude with step S5.

In step S5, the device moves 20A -F from the stack. If necessary, this step still contains a vertical movement in the direction of the stacking direction, that is, a climb down the stack to the floor. Should the device 20A -F arms 26 have, so they can also be opened to allow the departure.

13 shows a perspective view of the device 20F of the present invention in carrying out the steps S1 or S5 of the method of 10 on a stack with wooden pallets. Here is the first arm 26a already or still closed, while the second arm 26b still by means of the joint drive 36 opened or closed.

14 shows a perspective view of the device 20F the present invention during the implementation of the method of 12 in the exemplary application of attaching transponders 40 on a stack with wooden pallets. It has already been on a number of pallets 23a Activities performed. Here is this, for example, the attachment of transponders 40 on the pallets 23a , There is no transponder on the top pallet 40 attached, which is why the device 20F moved up to take this position.

The invention allows, in addition to the illustrated embodiments, further design approaches.

Although the object 23 in the figures has a rectangular base, this may also have a different shape. For example, if the article has a cylindrical shape, the frame may be 21 also have a correspondingly adapted ring shape.

Although in the present embodiments, the frame 21 only one or two arms 26 This can also have more than two arms 26 which also come together again through joints 27 can be connected.

Although the in 3 drawn angle of attack O of the arm 26 in the open position 90 Degree is, this can also be greater, for example, 120 degrees.

Although the arms point 26 the present embodiments 20A -F equally long arms 26 on, however, these arms can 26 also have a different length. For example, the first arm 26a shorter than the second arm 26b ,

In the present embodiments, the processing device is 25 , For example, the transponder mounting device 29 or the preparation device 32 in a simple way on the frame 21 appropriate. However, the processing facility 25 on the frame also movable, for example, along the frame along slidably or rotatably mounted. This can u. A. be useful if the items 23 not all stacked in the same orientation of the stack, for example, when the pallets 23a alternately stacked head to head and floor to floor. Then, for example, the transponder attachment device 29 between the differently oriented pallets 23a turn 180 degrees to allow the transponders 40 in each case constant orientation on each pallet 40 are attached. Thus, the processing device 25 to the respective orientation of the object 23 to be adjusted in the stack.

LIST OF REFERENCE NUMBERS

20

contraption

21

frame

23

object

23a

palette

24

climbing organs

25

processing device

26

poor

26a

first arm

26b

second arm

27

joint

28

Backpressure organs

29

Transponder fastening device

30

transponder Magazine

31

Fastener magazine

32

preparation device

33

processing tool

34

Support of the counterpressure organs

35

joint axis

36

joint drive

37

The track

38

head Start

39

Wheel

40

transponder

41

Pile of objects

GR

Mass center of gravity of the robot

GS

geometric center of the pile

Fk1, Fk2

Force direction of the climbing organs

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1636104 B1 [0005]
• EP 1471401 B1 [0008]
• WO 2007/011954 A3 [0015]

Cited non-patent literature

• EN 13698-1 [0076]

Claims (18)

Contraption ( 20 ) for carrying out activities on, preferably cuboid, objects ( 23 ), which are stacked into a stack, with: one to the shape of the article ( 23 ) adapted frameworks ( 21 ); and a climbing device with which the frame ( 21 ) on the stack of objects ( 23 ) in or against the stacking direction, the frame ( 21 ) is at least temporarily supported only by the stack. Contraption ( 20 ) according to claim 1, characterized in that the frame ( 21 ) one or more arms ( 26 ) which are pivotable so that they are in an open or a closed position. Contraption ( 20 ) according to claim 2, characterized in that the frame ( 21 ) the object ( 23 ) in the closed position of the arms ( 26 ) encloses at least three sides and the framework ( 21 ) the object ( 23 ) in the open position of the arms ( 26 ) does not surround. Contraption ( 20 ) according to one of the preceding claims, characterized in that the arm ( 26 ) or the arms ( 26 ) at least one counter-pressure element, in particular a runner, which in the closed position of the arms ( 26 ) on the object ( 23 ) or the stack of items ( 23 ) is present. Contraption ( 20 ) according to one of the preceding claims, characterized in that the gravimetric center of gravity of the device ( 20 ) is substantially in the center of the stack as viewed from the vertical direction. Contraption ( 20 ) according to one of the preceding claims, characterized by an arrangement of climbing organs ( 24 ) of the climbing device on the frame ( 21 ) such that by the climbing organs ( 24 ) forces in the horizontal direction cancel each other to a large extent or completely. Contraption ( 20 ) according to one of the preceding claims, characterized by a movement device for horizontal movement. Contraption ( 20 ) according to one of the preceding claims, characterized by one or more processing devices ( 25 ) for the object ( 23 ). Contraption ( 20 ) according to one of the preceding claims, characterized by one or more fastening devices ( 29 ) and / or one or more preparation devices ( 23 ) and / or one or more detection devices and / or one or more removal devices and / or one or more laser labeling devices for transponders ( 40 ), in particular RFID transponders, on pallets ( 23a ). Contraption ( 20 ) according to one of the preceding claims, characterized in that they are attached to the objects ( 23 ) attached transponder ( 40 ) checked for errors. Contraption ( 20 ) according to one of the preceding claims, characterized in that the device ( 20 ) at least the faulty transponder ( 40 ) using the removal device. Contraption ( 20 ) according to one of the preceding claims, characterized in that it operates autonomously and / or remotely controlled. Contraption ( 20 ) according to any one of the preceding claims, wherein the article ( 23 ) is a (Euro) pallet. Method for carrying out activities on stacked objects ( 23 ), with the following steps: S1) starting the stack; S2) carrying out at least one activity on one of the stacked objects ( 23 ); S3) carrying out at least one movement in or against the stacking direction to another object ( 23 ), the device ( 20 ) is at least temporarily supported only on the stack; S4) repeating the method steps S2) and S3) until all the activities of the device ( 20 ) on the objects ( 23 ) are completed; S5) driving away from the stack; The method of claim 14, wherein the operation comprises mounting a transponder ( 40 ) and the object ( 23 ) is a palette. A method according to claim 14, characterized in that the step of performing an activity comprises the steps of: S2a) preparing at least one location on the object ( 23 ) or in which at least one transponder on the object ( 23 ) is to be attached; S2b) attaching at least one transponder ( 40 ) on the object ( 23 ) at or in the at least one place; A method according to claim 14, characterized in that the step of carrying out an activity comprises the steps of: S2c) checking at least one transponder ( 40 ), which on or in the object ( 23 ) is attached; S2d) removing the at least one faulty transponder ( 40 ) of the object ( 23 ) when an error is detected; S2e) attaching at least one transponder ( 40 ) on the object ( 23 ) as a replacement; A method according to claim 14, characterized in that the step of carrying out at least one activity comprises the steps of: S2f) checking whether the object ( 23 ) at least one transponder ( 40 ) is available; S2g) removing the at least one transponder ( 40 ) of the object ( 23 ), if at least one transponder ( 40 ) is available; S2h) attaching at least one transponder ( 40 ) on the object ( 23 );

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