EP2518000A1 - Chariot de manutention pouvant fonctionner sans conducteur - Google Patents

Chariot de manutention pouvant fonctionner sans conducteur Download PDF

Info

Publication number
EP2518000A1
EP2518000A1 EP12158803A EP12158803A EP2518000A1 EP 2518000 A1 EP2518000 A1 EP 2518000A1 EP 12158803 A EP12158803 A EP 12158803A EP 12158803 A EP12158803 A EP 12158803A EP 2518000 A1 EP2518000 A1 EP 2518000A1
Authority
EP
European Patent Office
Prior art keywords
truck
driver
drive part
load
driverless
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12158803A
Other languages
German (de)
English (en)
Other versions
EP2518000B1 (fr
EP2518000B2 (fr
Inventor
Matthais Klug
Christian Baerwolff
Jens Dwenger
Michael Arndt
Andreas Packeiser
Ansgar Bergmann
Sascha Jordan
Dr. Joachim Tödter
Michael Manske
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=45841310&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2518000(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP2518000A1 publication Critical patent/EP2518000A1/fr
Publication of EP2518000B1 publication Critical patent/EP2518000B1/fr
Application granted granted Critical
Publication of EP2518000B2 publication Critical patent/EP2518000B2/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • the invention relates to an industrial truck with a drive part and a load part, which has a relative to the drive part can be raised and lowered load-carrying means, the truck is driverless, automated operable and / or can be operated by an operator.
  • Generic trucks are mainly used as warehouse trucks for storage and retrieval of goods or for transport tasks in a warehouse or in a rack system.
  • both types of forklift trucks interfere with one another in carrying out work tasks, for example, driving towards one another in a narrow storage lane and thus none of the two forklifts can reach a desired target point, or unproductive waiting times arise.
  • it may be stationary conveyor technology, at which an industrial truck must request access, such as a Verschieberegal, a load elevator or on a conveyor belt to which a load is to be taken or parked, come to unproductive waiting during joint operation of manually operated by an operator forklifts and driverless, automated forklift trucks, as usually driverless, automated trucks over a Higher-level control can perform the access request faster, so that long waiting times can arise in manually operated forklifts.
  • the present invention has for its object to provide a truck of the type mentioned available whose vehicle condition can be better perceived by the environment.
  • This object is achieved in that is provided on the outer contour of the drive part at least one perceptible from the environment outside display for displaying vehicle information.
  • vehicle information can be displayed in a simple manner and be perceived from outside of the environment that reflect the current vehicle condition of the truck.
  • the arrangement or integration of the outer display in the outer contour of the truck makes it possible to continue to provide a large-scale display available that allows for good readability simultaneous display of multiple vehicle information and at the same time is protected from mechanical damage.
  • the vehicle information displayed on the outer display makes it possible in a simple way that, especially in a driverless, automated truck, the current vehicle condition from the environment of the truck, such as monitors of driverless, operated trucks or operator of manually operated trucks, can be perceived. As a result, it is possible in a simple manner that monitoring persons of driverless, operated industrial trucks and operators of manually operated industrial trucks can estimate the condition and behavior of driverless, automated industrial trucks and plan their behavior.
  • automated operable and manually operable by an operator truck can be displayed on the outside of the current operating mode for the environment recognizable whether the truck is currently operated without a driver or operated by an operator.
  • the current vehicle operating state can be displayed on the external display, so that it can be recognized from the environment in which operating state the industrial truck is currently located.
  • the indication of the state of charge of the traction battery on the outer display makes it easy to track the charging operation of the traction battery at a parked at a battery charging station truck and read the current state of charge of the traction battery during a charging from the outside.
  • it allows the display of the state of charge of the traction battery on the outer display in a simple manner, in operation of the driverless, automated forklift truck possible faulty behavior of the truck in a simple way, for example, if due to a low charge state of the traction battery of the truck certain vehicle functions, such as a desired lifting movement of the lifting device, can not be achieved, and the truck goes into a fault condition.
  • a current work order, a current destination or the location of the current charge for monitoring personnel of driverless, automated trucks or operators of manually operated trucks important information.
  • the outer display is provided with a touch-sensitive surface to allow operation of the truck from the outside.
  • the outer display thus continues to have the function of an externally accessible from the environment and operable control panel of the truck.
  • an inventive truck in driverless, automated operation without connection to a higher-level control, such as a material flow management system is operated, which assigns the use and the work and transport tasks to the trucks, can on such a touch-screen Operating unit trained outside display by an operator in a simple way a driverless, automated forklift a work or transport order will be awarded.
  • a higher-level control such as a material flow management system
  • the operator After picking up a load, wherein the charge can be received by manual operation of the truck by an operator, the operator can enter a desired destination on the external display designed as a touch screen operating unit, so that the truck for this transport task, for example a long-distance transport within a warehouse or a rack system, driverless, automated can be operated.
  • the truck for this transport task for example a long-distance transport within a warehouse or a rack system, driverless, automated can be operated.
  • the work or transport tasks can be entered in a simple manner and the desired destination, for example, from a list, can be selected.
  • stationary conveyor technology at which an industrial truck must request access, for example a mobile rack, a load elevator or a conveyor belt, to which a load is to be picked up or put down, is automated during joint operation of manually operated by an operator material handling equipment and driverless operated industrial trucks an unproductive waiting time of a manually operated Truck can be avoided because the operator of a manually operated truck on the trained as a touch-screen control unit external display in a driverless, automated truck and downgrade the driverless, automated truck.
  • an industrial truck according to the invention which can optionally be operated without a driver, automated and manually operated by an operator, there are particular advantages when the forklift is provided with a raised and lowered arranged driver's roof, with the driver's roof for driverless, automated operation in a on the drive part lowered position and is located for the operation of the truck by an operator in a raised position, below the driver's roof a driver's workplace is designed for an operator, and being arranged on the outer contour of the drive part controls for operating the driver's roof.
  • the truck according to the invention thus enables the driver's roof to be raised by an operator located inside the driver's workstation and, when the driver's safety roof is retracted onto the driver's safety part, to operate without operator control, automated operation.
  • a traction drive and / or a lifting drive of the load-receiving means of the truck are arranged on the outer contour of the drive part.
  • an operator outside the truck it is possible for an operator outside the truck to control the basic functions of the truck, for example the travel drive and / or the lifting drive of the load-lifting device.
  • This makes it possible, for example, to move the truck when the driver's roof is retracted, for example, to save this in height space in a shelf or at a battery charging station after leaving the driver's workplace and lowering the driver's roof or park for charging a traction battery.
  • the controls on the outer contour of the truck can be moved over short distances or lifted or lowered the load-carrying means.
  • an inventive truck 1 which comprises a drive part 2 and a load part 3, which is formed by a trained as a load lifting device 4.
  • the truck 1 can optionally be operated by an operator or operated in an unmanned automated operation.
  • the drive part 2 is provided with a raised and lowered driver safety roof 5.
  • the driver's roof 5 in a lowered on a vehicle body of the drive part 2 and retracted position for unmanned automated operation.
  • the truck 1 By lifting and extending the driver's roof 5 upwards, the truck 1 in the in the FIG. 2 shown operating position in which within the raised driver's roof 5 a driver's workplace F is designed for an operator in the drive part 2 and the truck 1 can be operated by an operator.
  • the driver's roof can be raised and lowered by means of a drive device, not shown.
  • a mast 6 for raising and lowering the load-receiving means 4 is arranged.
  • the mast 6 consists of two spaced apart in the vehicle transverse direction telescopic mast columns 6a, 6b.
  • Trained as a load lifting device 4 consists of two forks 11 a, 11 b, which are arranged on a in the telescopic mast 6 liftable and lowerable arranged fork carrier 7.
  • the forks 11 a, 11 b have about a horizontal pivot axis 8 hingedly arranged load sections, which can be folded in particular by 90 ° upwards.
  • FIG. 1 and 2 are the load sections of the forks 11 a, 11 b in a downwardly unfolded, substantially horizontal position in which the forks 11 a, 11 b, a load carrier can be raised.
  • FIG. 3 are the folding forks 11a, 11b shown in a folded around the pivot axis 8 upwards position, in the fork tines 11 a, 11 b are folded onto the mast 6 and are preferably folded flush into the mast 6.
  • the folding movement of the forks 11a, 11b can be achieved by a drive device, not shown.
  • the truck 1 is designed as a battery-electrically operated truck, wherein on the second, the mast 6 opposite end portion of the drive part 2, a traction battery 10, for example, a lithium-ion battery is arranged.
  • the load-facing area of the drive part 2 is provided with wheels close to the load 9a.
  • at least one load-distant wheel is arranged on the load-remote area of the drive part 2.
  • the remote load wheel is designed as a steerable drive wheel, wherein the wheels close to the load 9a are formed as rollers.
  • the traction drive is formed by at least one electric traction motor.
  • traction battery 10 In the field of traction battery 10 is also a unit space for a working hydraulic unit, not shown, for supplying a lifting drive, formed by means of which the mast 6 arranged on the load-receiving means 4 and is movable up and down to supply possibly existing hydraulic auxiliary drives or additional consumer serves.
  • the arranged in the drive part 2 traction battery 10 further has the function of the load part 3 opposite counterweight 11 of the truck 1.
  • the traction battery 10 is preferably arranged in the transverse direction of the truck 1 and extends over the entire vehicle width.
  • the driver's workplace F formed with the driver's roof 5 raised for an operator is arranged between the load part 3 and the traction battery 10 acting as counterweight 11 on the drive part 2 and preferably comprises a floor platform designed as a standing platform and a driver's seat.
  • An entry and exit in the driver's workstation 5 can be formed by a arranged on a vehicle side door 17.
  • the driver's roof 5 In the lowered position for the driverless operation of the truck 1, the driver's roof 5 is located directly at the top of the vehicle body of the drive part 2 and closes the formed inside the drive part 2, lower portion of the driver's workplace F above the door 17 like a lid from above. In the raised position of the driver's roof 5, the driver's workplace F for the operator in the lower half of the vehicle body K of the drive part 2 and in the upper half of the raised driver's roof 5 is formed.
  • the outer display 30 is located on the load part 3 facing end wall of the drive part 2 and the end wall is formed by the outer display 30, wherein the entire area above the lowered into the lowermost position fork carrier 7 and the entire area between the folded forks 11 a, 11 b taken on the end wall and possibly the upper transition region to the driver's roof 5 of the outer display 30 or formed as an external display.
  • the external display 30 is used to display vehicle information of the truck 1 in order to be able to perceive it from the environment.
  • this can be divided into different areas, so that several vehicle information can be displayed simultaneously.
  • a first area 31 of the outer display 30, which takes up the main part of the outer display 30 in terms of area the current vehicle status is displayed as main information.
  • the current direction of travel of the industrial truck 1 is displayed in a graphic section of the area 31 bounded by upper and lower brackets with an arrow while the truck is moving, wherein a text box of the area 31 below the graphical section contains a term, for example "direction", the driving is displayed.
  • a downwardly pointing arrowhead can in this case illustrate a direction of travel in the direction of the load part 3 and an upward arrowhead a direction of travel in the direction of the counterweight 11.
  • an increasing filling of the arrow can continue to clarify the speed.
  • this vehicle condition can be illustrated by an empty graphic section. If the truck 1 is in a lift-and-drop operation of the load handling device 4, this vehicle state is shown in the graphical section of the area 31 with a corresponding arrow pointing up for lift operation and down for sink operation, respectively 31 the lifting or lowering operation is described accordingly, for example, with the terms “work-up” or "work-down”.
  • a region 32 is formed on the outer display 30, in which the current vehicle operating state is displayed.
  • the truck is displayed as a simplified symbol.
  • the driver's protection roof 5 is retracted and the forks 11 a, 11 b folded upwards, so that this vehicle operating state is represented by a dice-like symbol of the truck 1. If the driver's protection roof 5 is extended upward, the forks 11a, 11b are folded down or the lifting device 4 is raised, this can be illustrated by a corresponding change of the symbol in the area 32.
  • a region 33 is formed on the outer display 30, in which the current operating mode of the truck 1 is displayed.
  • a corresponding text field can be provided, in which the operating mode driverless, automated by a suitable term, such as "aut”, or the manual operation by an operator with a suitable term, for example, "man”, can be illustrated.
  • the state of charge of the traction battery 10 can be displayed in another area 34 of the outer display 30, the state of charge of the traction battery 10 can be displayed.
  • a bar graph with multiple columns is provided for this purpose. In this way can be read from the outside of the state of charge of the traction battery 10 from the outside in a simple manner, for example, in a parked at a battery charging station truck 1 during a charging operation of the traction battery.
  • a further area 35 is provided in which, for example, a vehicle menu is displayed.
  • areas of the external display 30 can be designed to be pressure-sensitive, in order to enable a touch screen operation and menu guide. This makes it possible, for example, to intervene by an operator in the behavior of a driverless, automated truck, downgrade, for example, requesting an access to a stationary conveyor technology driverless truck.
  • touch-screen control unit accessible from the outside of the environment touch-screen control unit a driverless, automated forklift from a supervisor or an operator assigned a specific work and transport order, using the menu a selection or input of different working - And transport orders and the selection or input of a desired destination can be done.
  • controls 40 are arranged, with which an outside of the truck 1 operator lower the driver's roof 5 and can raise a lowered driver's roof 5 to produce the driver's workplace F for manual operation.
  • 2 controls 41 may be arranged on the outer contour of the drive part, with which located outside of the truck 1 operator can control one or more basic functions of the truck 1, for example, can control the travel drive of the truck 1 in both directions.
  • the controls 40, 41 - as in the Figures 5 and 6 is shown in more detail - arranged on both sides of the drive part 2.
  • controls 42 can be provided, with which an occupancy of the controls 40, 41 can be changed so that with the controls 40, 41 continue the load-carrying means 4 can be raised and lowered and / or the forks 11 a, 11 b on or can be unfolded.
  • the truck 1 according to the invention enables a simple way of automation of sub-processes, and can be operated, for example, for standard tasks or on standard routes in a warehouse or a rack system driverless and automated.
  • the external display 30 makes it possible in this case that, with a protected arrangement, a large-area display can be provided on which one or more vehicle information of the industrial truck 1 can be represented and easily perceived by the environment.
  • a large-area display can be provided on which one or more vehicle information of the industrial truck 1 can be represented and easily perceived by the environment.
  • the efficiency of the industrial trucks 1 used can be improved and with the forklifts 1 used a high turnover performance can be achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP12158803.2A 2011-04-27 2012-03-09 Chariot de manutention pouvant fonctionner sans conducteur Not-in-force EP2518000B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011018813A DE102011018813A1 (de) 2011-04-27 2011-04-27 Fahrerlos betreibbares Flurförderzeug

Publications (3)

Publication Number Publication Date
EP2518000A1 true EP2518000A1 (fr) 2012-10-31
EP2518000B1 EP2518000B1 (fr) 2014-01-15
EP2518000B2 EP2518000B2 (fr) 2018-02-07

Family

ID=45841310

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12158803.2A Not-in-force EP2518000B2 (fr) 2011-04-27 2012-03-09 Chariot de manutention pouvant fonctionner sans conducteur

Country Status (2)

Country Link
EP (1) EP2518000B2 (fr)
DE (1) DE102011018813A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2947043A1 (fr) * 2014-05-19 2015-11-25 STILL GmbH Procédé de commande d'un chariot de manutention
US10430073B2 (en) 2015-07-17 2019-10-01 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
EP2886507B1 (fr) 2013-12-19 2021-02-24 The Raymond Corporation Affichage à écran tactile intégré avec une fonctionnalité multimode
DE102019218581A1 (de) * 2019-11-29 2021-06-02 Continental Automotive Gmbh Fahrzeug mit einem Display und ein Verfahren zum Verfahren eines Displays
US11453552B2 (en) 2013-06-17 2022-09-27 Ocado Innovation Limited Systems and methods for order processing
EP4137362A1 (fr) * 2021-08-20 2023-02-22 STILL GmbH Chariot de manutention

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR112019006386A2 (pt) 2016-11-22 2019-06-25 Crown Equip Corp dispositivo de exibição e processamento para um veículo industrial.
DE102021213830A1 (de) 2021-12-06 2023-06-07 Psa Automobiles Sa Fahrerloses Transportsystem und Adaptereinrichtung hier für
DE102022203949A1 (de) 2022-04-25 2023-10-26 Psa Automobiles Sa Sicherheitseinrichtung für einen Anhänger eines fahrerlosen Transportsystems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1995206A1 (fr) * 2007-05-21 2008-11-26 Euroimpianti S.P.A. Procédé et appareil pour manipuler automatiquement des chargements
EP2336075A1 (fr) * 2009-12-15 2011-06-22 AMX Automation Technologies GmbH Dispositif de transport sans conducteur
DE102010005034A1 (de) * 2010-01-15 2011-07-21 Jungheinrich AG, 22047 Verfahren zur Bewirtschaftung eines Lagers mit einem Flurförderzeug sowie zur Ausführung des Verfahrens geeignetes Flurförderzeug

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5163001A (en) † 1989-02-17 1992-11-10 Luke Jr Walter Interactive display for use on an automatic guided vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1995206A1 (fr) * 2007-05-21 2008-11-26 Euroimpianti S.P.A. Procédé et appareil pour manipuler automatiquement des chargements
EP2336075A1 (fr) * 2009-12-15 2011-06-22 AMX Automation Technologies GmbH Dispositif de transport sans conducteur
DE102010005034A1 (de) * 2010-01-15 2011-07-21 Jungheinrich AG, 22047 Verfahren zur Bewirtschaftung eines Lagers mit einem Flurförderzeug sowie zur Ausführung des Verfahrens geeignetes Flurförderzeug

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11453552B2 (en) 2013-06-17 2022-09-27 Ocado Innovation Limited Systems and methods for order processing
EP2886507B1 (fr) 2013-12-19 2021-02-24 The Raymond Corporation Affichage à écran tactile intégré avec une fonctionnalité multimode
EP2947043A1 (fr) * 2014-05-19 2015-11-25 STILL GmbH Procédé de commande d'un chariot de manutention
US10430073B2 (en) 2015-07-17 2019-10-01 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
DE102019218581A1 (de) * 2019-11-29 2021-06-02 Continental Automotive Gmbh Fahrzeug mit einem Display und ein Verfahren zum Verfahren eines Displays
WO2021105304A1 (fr) 2019-11-29 2021-06-03 Continental Automotive Gmbh Véhicule équipé d'un écran et procédé pour déplacer un écran
EP4137362A1 (fr) * 2021-08-20 2023-02-22 STILL GmbH Chariot de manutention

Also Published As

Publication number Publication date
DE102011018813A1 (de) 2012-10-31
EP2518000B1 (fr) 2014-01-15
EP2518000B2 (fr) 2018-02-07

Similar Documents

Publication Publication Date Title
EP2518000B1 (fr) Chariot de manutention pouvant fonctionner sans conducteur
EP2440488B1 (fr) Système permettant de changer une batterie d'un véhicule de transport de charges lourdes de type véhicule de manutention, en particulier d'un véhicule de transport de charges lourdes sans chauffeur destiné à des conteneurs iso
AT512339B1 (de) Regallagersystem und verfahren zum betreiben desselben
EP2487067B1 (fr) Chariot industriel et train formé par de tels chariots
EP2100831B1 (fr) Véhicule de transport pour palettes et système de transport
EP2268562B1 (fr) Station pour navettes et dispositif de stockage pour navettes
EP2439165B1 (fr) Chariot de manutention doté d'un moyen de support de charges réglable en hauteur
EP3523221B1 (fr) Transstockeur et système de stockage à rayonnages avec accès et répartition de poids améliorés
EP2805911B1 (fr) Chariot de manutention, notamment chariot de préparation, avec poste de conduite relevable et abaissable
DE102015015127A1 (de) Vorrichtung und Verfahren zum Kommissionieren von Ladungsträgern
EP1803679A2 (fr) Procédé et dispositif pour le retournement de palettes
WO2022017688A1 (fr) Chariot élévateur à fourche à bras de roue, se présentant de préférence comme un véhicule guidé automatisé
EP1447374A2 (fr) Chariot élévateur
DE2017624A1 (de) Lasttragwagen für schmale Gänge
EP2848575A1 (fr) Procédé de commande à présélection de hauteur de levage d'un chariot de manutention
DE19956619B4 (de) Lagersystem für Paletten
WO2022184925A1 (fr) Système transtockeur, entrepôt à rayonnages en hauteur, procédé de mise en stock et de sortie du stock
DE3640770C2 (de) Transportwagen
EP2518005A1 (fr) Chariot de manutention
DE2808922A1 (de) Lademaschine
EP2518006B1 (fr) Chariot de manutention doté d'un protège-conducteur
DE102013112016A1 (de) Flurförderzeug mit einem Hubhöhenassistenzsystem
DE102020107927A1 (de) Transportsystem zum Kommissionieren
EP4159663A1 (fr) Système et procédé de transfert de charge entre un chariot de manutention et un véhicule plat autonome
EP3974350A1 (fr) Procédé de fonctionnement d'un système d'entreposage sur étag?res et système d'entreposage sur étag?res

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20130320

RIC1 Information provided on ipc code assigned before grant

Ipc: B66F 9/06 20060101AFI20130425BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20131003

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 649746

Country of ref document: AT

Kind code of ref document: T

Effective date: 20140215

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502012000325

Country of ref document: DE

Effective date: 20140306

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20140115

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140515

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140415

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140515

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502012000325

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140309

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

26 Opposition filed

Opponent name: KUKA LABORATORIES GMBH

Effective date: 20141014

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502012000325

Country of ref document: DE

Effective date: 20141014

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140309

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

PLAF Information modified related to communication of a notice of opposition and request to file observations + time limit

Free format text: ORIGINAL CODE: EPIDOSCOBS2

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150331

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150331

PLAB Opposition data, opponent's data or that of the opponent's representative modified

Free format text: ORIGINAL CODE: 0009299OPPO

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

R26 Opposition filed (corrected)

Opponent name: KUKA ROBOTER GMBH

Effective date: 20141014

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140416

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140331

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20120309

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20160309

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502012000325

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160309

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502012000325

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

PLAB Opposition data, opponent's data or that of the opponent's representative modified

Free format text: ORIGINAL CODE: 0009299OPPO

R26 Opposition filed (corrected)

Opponent name: KUKA ROBOTER GMBH

Effective date: 20141014

PUAH Patent maintained in amended form

Free format text: ORIGINAL CODE: 0009272

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: PATENT MAINTAINED AS AMENDED

27A Patent maintained in amended form

Effective date: 20180207

AK Designated contracting states

Kind code of ref document: B2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: DE

Ref legal event code: R102

Ref document number: 502012000325

Country of ref document: DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 649746

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170309

Ref country code: SE

Ref legal event code: RPEO

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170309

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140115

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20190321

Year of fee payment: 8

Ref country code: FR

Payment date: 20190326

Year of fee payment: 8

Ref country code: DE

Payment date: 20190325

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20190325

Year of fee payment: 8

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502012000325

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201001

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200310

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200309