EP3494855A1 - Procédé et dispositif d'échange de modules fonctionnels d'un robot électroménager - Google Patents

Procédé et dispositif d'échange de modules fonctionnels d'un robot électroménager Download PDF

Info

Publication number
EP3494855A1
EP3494855A1 EP18208089.5A EP18208089A EP3494855A1 EP 3494855 A1 EP3494855 A1 EP 3494855A1 EP 18208089 A EP18208089 A EP 18208089A EP 3494855 A1 EP3494855 A1 EP 3494855A1
Authority
EP
European Patent Office
Prior art keywords
module
functional module
functional
base station
base
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
EP18208089.5A
Other languages
German (de)
English (en)
Other versions
EP3494855B1 (fr
Inventor
Maximilian FREMEREY
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.)
BSH Hausgeraete GmbH
Original Assignee
BSH Hausgeraete 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
Application filed by BSH Hausgeraete GmbH filed Critical BSH Hausgeraete GmbH
Publication of EP3494855A1 publication Critical patent/EP3494855A1/fr
Application granted granted Critical
Publication of EP3494855B1 publication Critical patent/EP3494855B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/225—Convertible suction cleaners, i.e. convertible between different types thereof, e.g. from upright suction cleaners to sledge-type suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/0009—Storing devices ; Supports, stands or holders
    • A47L9/0063—External storing devices; Stands, casings or the like for the storage of suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Definitions

  • the present invention relates to a method and apparatus for exchanging functional modules of a modular household robot.
  • the present invention will be described with reference to a household floor care and cleaning apparatus as a modular home robot. But this is basically no limitation of the invention only to this use and Purpose given because other applications such. B. for assistance systems within and outside a home environment and / or beyond cleaning tasks are conceivable.
  • the present invention has for its object to improve a method and a corresponding device for more efficient replacement of functional modules of a modular robot while adapting and reducing space requirements for exchange and storage of functional modules. According to the invention this object is achieved with the features of the independent claims.
  • the inventive method solves this problem in that the replacement of a functional module after receiving the household robot in a base station and the release of the functional module is carried out automatically at the base station by the function module unlocked and released after the release of the modular household robot in z direction a kind of high-bay warehouse spent and stored at a predetermined height on a plane.
  • the function module is moved in a different spatial direction, which is substantially orthogonal to the z-direction, on one of the planes to a respective predetermined location.
  • a specific functional module is inserted, secured and connected by shifting from a predetermined location and after removal in the z-direction from the high-bay warehouse to the base module.
  • connecting means connecting the functional module with all electrical, mechanical or other connections to the base module, so that the household robot can be used directly from the base station with new functionality.
  • connecting means connecting the functional module with all electrical, mechanical or other connections to the base module, so that the household robot can be used directly from the base station with new functionality.
  • an inventive device as a solution to this problem, a base station, which is designed to accommodate the modular household robot such that at the base station, a kind of high-bay warehouse for receiving and removal and intermediate storage of functional modules in the z-direction is connected , While in known devices so far only a storage of various functional modules in a horizontally arranged line is known, which lie essentially in a working plane, according to the invention now requires a space in the working plane of the household robot by the base station essentially on the much smaller external dimensions of autonomously acting Household robot limited.
  • the type of high-bay warehouse outlined above can be flexibly adapted to the respective spatial circumstances using levels beyond the working level as well as a number of functional modules of the modular household robot to be stored, without requiring additional space in the working level.
  • the functional module taken from the modular household robot for storage in another spatial direction, which is substantially orthogonal to the z-direction, is displaced on a plane to a respectively predetermined location, wherein a plurality of on one level predetermined locations are used for temporary storage of functional modules.
  • a plurality of on one level predetermined locations are used for temporary storage of functional modules.
  • a gripper is provided in the high-bay warehouse, which is designed to engage or in a release element of each functional module for locking and unlocking of the functional module to the base module.
  • a release element of a function module is z. B. in the DE 10 2016 213 920.7 disclosed.
  • the release element is formed in a preferred embodiment of the invention with the gripper in the manner of a bayonet closure. Fixed to a correspondingly designed vertical transport unit thereby a secure displacement of the functional module in the z-direction in the high-bay warehouse for loading and unloading and intermediate storage is guaranteed.
  • the gripper is formed with the release element of a functional module to unlocked after a release unlocking and solution of connections from data and / or media lines of the functional module to the base module and in the opposite direction only a lock and only then a solution of Establish fixation of the respective functional module with the inclusion in the base module or transfer to a vertical transport unit.
  • the gripper is rotatable in coordination with the release element of a functional module to a certain extent, wherein the functional module itself is mounted or held against rotation about the z-axis, in particular by guides on the base module and / or the high-level bearing or the respective vertical transport unit.
  • the predetermined storage locations are formed at the predetermined locations of the respective functional modules themselves for supply and disposal of the respective functional modules according to an essential embodiment of the invention.
  • the function modules are disposed of and / or disposed of when an intermediate storage position is reached using an interface.
  • the function modules themselves can be supplied during an intermediate storage with consumables, worn or used up elements and waste, dust and / or wastewater removed and / or charged its own power supply of the function module.
  • the latter variant has the advantage that a function module has its own supply of electrical energy which can be used to cover its own energy requirement and / or as additional energy storage for the base module. In any case, thus loading times of the base module can be shortened in the base station, which increases a general availability and a readiness of the autonomously operating household robot in an advantageous manner.
  • Fig. 1 shows a modular cleaning robot 1.
  • the cleaning robot 1 comprises a base module 2 with units not shown in detail for drive, control, positioning and power supply, in particular in the DE 10 2016 213 920.7 disclosed.
  • a functional module 3 is placed and locked, being connected via interfaces data and / or media lines of the functional module 3 with those of the base module 2.
  • the cleaning robot 1 moves autonomously in a working plane, which is referred to below as zero level E0.
  • a major advantage of a modular cleaning robot 1 is that this cleaning robot 1 can perform many different functions as a functional unit depending on the function module 3 used in each case.
  • the customer in addition to a so-called mobile base platform or basic module 2, the customer only has to obtain the functional modules 3 suitable for the respective desired task, and not a new robot for each new task. but these advantages of such a versatile modular cleaning robot 1 are only fully when an exchange of a respective functional module of the cleaning robot 1 and thus the task change is automated and independent.
  • a speaking method and various forms of apparatuses will now be described: In the in Fig. 1 illustrated situation, the cleaning robot 1 is retracted on the zero level E0 in a base station 4.
  • the base station 4 is thereby formed into more than one parking position for "cleaning up" the cleaning robot 1, that at the base station 4, a type of high-bay warehouse 5 is connected for loading and unloading and intermediate storage of functional modules 3.
  • a type of high-bay warehouse 5 is connected for loading and unloading and intermediate storage of functional modules 3.
  • loading and unloading and intermediate storage of the functional modules 3 in the z-direction with displacement of the functional modules in the x-direction take place on different planes E1 to E3, which are provided here substantially equidistantly and parallel to the zero plane E0.
  • FIGS. 2a to 2d Individual workflows from a removal of a functional module to a temporary storage are based on the sequence of the FIGS. 2a to 2d shown to an embodiment.
  • the modular cleaning robot 1 moves with the functional module 3 on the base module 2 in the base station 4 a.
  • a gripper 6 with lifting device is in a ready position.
  • FIG. 2b towards the cleaning robot 1 is parked in the base station 4 and the gripper 6 is lowered to the functional module 3.
  • the gripper is locked by a rotation only at the function module 3, solves the further rotation fixations of the functional module 3 to the base module 2 and thus finally also separates contacts at interfaces. Material, energy and information flows between the base module 2 and the functional module 3 thus no longer take place.
  • the function module 3 is closed Figure 2c towards freely removable from the base module 2.
  • the functional module 3 is moved or raised in the z direction into the high-bay warehouse 5.
  • at Figure 2d has the functional module 3 in the z-direction in the high-bay warehouse 5 reaches a predetermined level with a free space in which the functional module 3 is to be stored.
  • a force and / or positive connection of the gripper 6 is resolved to the functional module 3, after the functional module 3 has been transferred to a vertical transport unit 7.
  • Fig. 3 shows an alternative embodiment of a connected to a base station 4 high-bay warehouse 5.
  • each storage level E1, E2, E3 now created two intermediate storage that each left and right function modules 3 stored and taken independently of the respective storage locations in the z direction can.
  • For a positioning of a respective functional module 3 in the z-direction and a subsequent displacement substantially orthogonal to the z-direction separate drives for horizontal transport units 7 are used. Each of these drives positions very precisely with a simple structure.
  • Fig. 4 represents a transfer of a functional module 3 of the gripping mechanism 6 to the storage mechanism in the form of a horizontal transport unit 7 in another embodiment of a high-bay warehouse 5 connected to a base station 4. From the domestic robot 1 remains only the base module 2 in this state of a replacement of a functional module in the base station.
  • this Embodiment are provided for each level E1 to E3 in the high-bay warehouse 5 three intermediate storage spaces L1_1 to L3_3, the horizontal transport units 7 in the form of electric motor-driven slide or short trains have.
  • the functional modules 3 in the embodiment of Fig. 4 with the attainment of a respective position L1_1, L1_3, L2_1, L2_3, L3_1 and L3_3 for interim storage using an interface 8 and / or disposed of.
  • z. B a cleaning fluid in a functional module 3 "wet cleaner” refilled and used wiper water is removed.
  • a functional module 3 "vacuum cleaner” a dust bag is automatically emptied, while a functional module 3 "dry wiper” a used wipe is replaced with a new one.
  • Additional contained in the respective functional modules 3 and not shown here own energy storage are also controlled via the interface 8 and possibly electrical energy is recharged.
  • the base station 4 thus has a defined "parking position" on which the modular cleaning robot 1 moves in the case of a change of a respective functional module 3.
  • this parking position itself is also used as a charging station, ie the energy reservoirs of the base module 2 of the modular cleaning robot 1 are loaded in this parking position.
  • the parking position according to the above terminology represents the zero level E0.
  • the exchange of a functional module 3 of the modular cleaning robot 1 initializes, the cleaning robot 1 ends its current activity and goes to the base station 4 on the zero level E0 in a parking position.
  • a control unit in the base module 2 interrupts the flow of information, energy and substances which are exchanged between the base module 2 and the functional module 3 still currently fixed thereto.
  • control unit of the base station 4 is prepared for the imminent replacement of the functional module by the initiated replacement of the functional module 3.
  • this control unit takes over the coordination of the processes described in the previous section for the removal, storage and assembly of a function module.
  • the functional module 3 is first removed in a next step by a mechanism in the vertical direction, the gripper with lifting device as a mechanism of a vertical transport unit.
  • This mechanism is in the present example a spindle drive together with corresponding lateral guides, which according to Fig. 4 can be moved in positive and negative z-direction.
  • a force, material, positive connection or combination thereof is established as a temporary contact to the functional module 3.
  • this can be done by means of finger grippers and corresponding hollows in the functional module 3 by form-fit or magnetic gripper and corresponding magnetic metals in the functional module 3 by adhesion.
  • the control unit specifies the free storage spaces within the high-bay warehouse 5 connected to the base station 4 for the storage of the function module 3 that has just been removed. If the corresponding height of a predetermined level is reached, a second mechanism takes over the storage, as in level E3 of FIG. 4 indicated, hereinafter called storage mechanism.
  • the storage mechanism is in accordance with FIG. 3 also from a spindle drive together with appropriate guidance, which can be moved in the positive and negative y-direction. In the embodiment of FIG. 4 However, sliding carriage or short trains are each provided with its own electric drive.
  • the gripping mechanism releases the temporary connection to the functional module.
  • the functional module is now located on the storage mechanism. By moving this mechanism in the y-direction, the functional module is brought into the final storage position. After reaching the corresponding end position sensors report that the current storage space is occupied by a function module 3 with a one-unique identifier xy. If the identifier of a function module 3 z. B. on "L3_1" and would be for simplicity with the intermediate storage position in FIG. 4 identical, the loaded functional module 3 would be placed in the storage level E3 on the corresponding sliding carriage and finally moved to the intermediate storage position L3_1.
  • a rigid assignment makes sense, because so special functional modules such. B., Staubsauge modules are stored only at certain predetermined positions, for example, to allow their cleaning, maintenance and re-supply of consumables within the high-bay warehouse 5 through a respective adapted interface 8.
  • the entire base station is ideally provided with a translucent outer shell, which may well have the appearance of a piece of furniture, eg. B. a dresser or a cabinet.
  • the base station of a modular cleaning robot can be homogeneously integrated into existing living concepts. It is advisable to offer different materials and colors for the outer shell to meet the individual taste of the customer.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)
EP18208089.5A 2017-12-06 2018-11-23 Procédé et dispositif d'échange de modules fonctionnels d'un robot électroménager Active EP3494855B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017222044.9A DE102017222044B4 (de) 2017-12-06 2017-12-06 Verfahren und Vorrichtung zum Austausch von Funktionsmodulen eines Haushaltsroboters

Publications (2)

Publication Number Publication Date
EP3494855A1 true EP3494855A1 (fr) 2019-06-12
EP3494855B1 EP3494855B1 (fr) 2020-10-14

Family

ID=64456866

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18208089.5A Active EP3494855B1 (fr) 2017-12-06 2018-11-23 Procédé et dispositif d'échange de modules fonctionnels d'un robot électroménager

Country Status (2)

Country Link
EP (1) EP3494855B1 (fr)
DE (1) DE102017222044B4 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110811448A (zh) * 2019-11-04 2020-02-21 段属光 扫地机器人拖地模块自动拆装方法、扫地机器人和基座
WO2021104689A1 (fr) * 2019-11-28 2021-06-03 Carl Freudenberg Kg Robot de nettoyage et système de nettoyage
CN113219960A (zh) * 2020-01-21 2021-08-06 科沃斯机器人股份有限公司 一种自移动装置的控制方法及自移动装置
CN114343484A (zh) * 2020-10-13 2022-04-15 广东美的白色家电技术创新中心有限公司 扫地机器人的管理库及扫地机器人系统
CN114795029A (zh) * 2022-04-28 2022-07-29 佛山市银星智能制造有限公司 清洁机器人基站、模组与控制清洁机器人模组工作的方法
WO2022253345A1 (fr) * 2021-06-04 2022-12-08 苏州宝时得电动工具有限公司 Système de maintenance de robot de nettoyage et son procédé de commande

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018000083B4 (de) 2018-01-09 2022-03-31 Carl Freudenberg Kg Reinigungsroboter, Reinigungssystem mit Reinigungsroboter und Verfahren zur Reinigung einer Fläche
CN111000497A (zh) * 2019-12-16 2020-04-14 段属光 扫地机器人拖地模块自动更换方法及基座
CN114343518A (zh) * 2020-10-13 2022-04-15 广东美的白色家电技术创新中心有限公司 扫地机器人的管理库及扫地机器人系统
US20220142422A1 (en) * 2020-11-06 2022-05-12 Mark Jeffery Giarritta Automatic multi-attachment changing station
CN113359765A (zh) * 2021-07-05 2021-09-07 北京理工大学 可重构无人车功能模块重构装置
CN114343481B (zh) * 2021-12-31 2023-08-22 深圳市杉川机器人有限公司 清洁单元集成装置、基站及清洁系统
CN114652237B (zh) * 2022-03-02 2023-08-01 深圳市杉川机器人有限公司 清洁系统及其清洁单元的更换方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6338013B1 (en) * 1999-03-19 2002-01-08 Bryan John Ruffner Multifunctional mobile appliance
EP1759965A1 (fr) * 2005-09-05 2007-03-07 Samsung Gwangju Electronics Co., Ltd. Système de robots mobiles avec plusieurs des modules de travail interchangeables et son procédé de controle
WO2017177672A1 (fr) * 2016-04-14 2017-10-19 Boe Technology Group Co., Ltd. Robot de nettoyage et procédé de nettoyage d'un tel robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08335112A (ja) 1995-06-08 1996-12-17 Minolta Co Ltd 移動作業ロボットシステム
DE102010017211A1 (de) 2010-06-02 2011-12-08 Vorwerk & Co. Interholding Gmbh Basisstation für ein selbsttätig verfahrbares Bodenreinigungsgerät sowie Verfahren zur Reinigung eines Bodens mittels eines solchen Bodenreinigungsgerätes
DE102016213920A1 (de) 2016-07-28 2018-02-01 BSH Hausgeräte GmbH Haushaltsroboter und Haushaltsrobotersystem

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6338013B1 (en) * 1999-03-19 2002-01-08 Bryan John Ruffner Multifunctional mobile appliance
EP1759965A1 (fr) * 2005-09-05 2007-03-07 Samsung Gwangju Electronics Co., Ltd. Système de robots mobiles avec plusieurs des modules de travail interchangeables et son procédé de controle
WO2017177672A1 (fr) * 2016-04-14 2017-10-19 Boe Technology Group Co., Ltd. Robot de nettoyage et procédé de nettoyage d'un tel robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110811448A (zh) * 2019-11-04 2020-02-21 段属光 扫地机器人拖地模块自动拆装方法、扫地机器人和基座
WO2021104689A1 (fr) * 2019-11-28 2021-06-03 Carl Freudenberg Kg Robot de nettoyage et système de nettoyage
US11690493B2 (en) 2019-11-28 2023-07-04 Carl Freudenberg Kg Cleaning robot and cleaning system
CN113219960A (zh) * 2020-01-21 2021-08-06 科沃斯机器人股份有限公司 一种自移动装置的控制方法及自移动装置
CN114343484A (zh) * 2020-10-13 2022-04-15 广东美的白色家电技术创新中心有限公司 扫地机器人的管理库及扫地机器人系统
WO2022253345A1 (fr) * 2021-06-04 2022-12-08 苏州宝时得电动工具有限公司 Système de maintenance de robot de nettoyage et son procédé de commande
CN114795029A (zh) * 2022-04-28 2022-07-29 佛山市银星智能制造有限公司 清洁机器人基站、模组与控制清洁机器人模组工作的方法

Also Published As

Publication number Publication date
DE102017222044B4 (de) 2019-07-04
EP3494855B1 (fr) 2020-10-14
DE102017222044A1 (de) 2019-06-06

Similar Documents

Publication Publication Date Title
DE102017222044B4 (de) Verfahren und Vorrichtung zum Austausch von Funktionsmodulen eines Haushaltsroboters
EP2792431B1 (fr) Installation de traitement pour des composants de structure d'avion
DE4203778C2 (de) Selbstfahrender Roboter-Transportkarren
DE60108264T2 (de) Vorrichtung zum transport von einem halbleiterwafer-träger
EP3335877B1 (fr) Installation de fabrication additive d'objets tridimensionnels
EP3231073A1 (fr) Système de protection d'un dispositif de déplacement d'éléments de transport
DE102017103931A1 (de) Fördersystem und Verfahren zum gleichzeitigen Transport von Werkstücken und Werkern
DE102013000569A1 (de) Fertigungsanlage zur Serienfertigung von Kraftfahrzeugen
DE102016004335B4 (de) Transporteinrichtung und Verfahren zum Transport von Objekten von Arbeitsstation zu Arbeitsstation einer Produktionsanlage und Produktionsanlage zur Herstellung von Produkten mit einer derartigen Transporteinrichtung
DE102013102576A1 (de) Verfahren und Steuerungseinrichtung zum Laden eines elektrischen Energiespeichers eines Kraftfahrzeugs sowie Kraftfahrzeug
DE102016014882A1 (de) Baukastensystem für ein fahrerloses Transportfahrzeug zum Herstellen wenigstens eines Produkts, insbesondere eines Fahrzeugs
DE102015015127A1 (de) Vorrichtung und Verfahren zum Kommissionieren von Ladungsträgern
DE202016009186U1 (de) Lagersystem mit einem Fahrzeug
WO2014166511A1 (fr) Table élévatrice et installation de transport
AT523564A1 (de) Transporteinrichtung
DE102007047596A1 (de) Handhabungsvorrichtung für elektronische Bauelemente, insbesondere IC's, mit einer Mehrzahl von auf einer Umlaufbahn geführten Umlaufwagen
DE102017109818A1 (de) Ladeportal
DE102012006836A1 (de) Kombinierte Abstell- und Aufladeeinrichtung für ein Elektro- oder Hybridfahrzeug
DE102016205352A1 (de) Primärspuleneinheit
DE102018109495A1 (de) Transportroboter mit aufgeladenem Mehrachsroboter
DE102017001828B3 (de) Transporteinrichtung zum Transport von Objekten von Arbeitsstation zu Arbeitsstation einer Produktionsanlage und Produktionsanlage zur Herstellung von Produkten mit einer derartigen Transporteinrichtung
DE102014009995A1 (de) System und Verfahren zum Bereitstellen von Bauteilen innerhalb einer Produktionsanlage
DE102012016206A9 (de) Manipulator
EP2544943B1 (fr) Process et ligne d'assemblage des elements d'une structure
EP3687021A1 (fr) Procédé de maintenance d'un système moyen ou haute tension et dispositif de maintenance pour effectuer la maintenance

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

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

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20191212

RBV Designated contracting states (corrected)

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

RIC1 Information provided on ipc code assigned before grant

Ipc: A47L 11/40 20060101AFI20200318BHEP

Ipc: A47L 5/22 20060101ALI20200318BHEP

Ipc: A47L 9/00 20060101ALI20200318BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200506

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

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

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1322739

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201015

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502018002735

Country of ref document: DE

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: NL

Ref legal event code: MP

Effective date: 20201014

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

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: 20201014

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: 20210215

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: 20201014

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: 20210115

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: 20210114

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: 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: 20210114

Ref country code: SE

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: 20201014

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: 20210214

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: 20201014

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: 20201014

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: 20201014

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: 20201014

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: 20201014

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502018002735

Country of ref document: DE

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

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: 20201014

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: 20201014

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: 20201014

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: 20201014

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: 20201014

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: 20201014

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: 20201014

Ref country code: LU

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

Effective date: 20201123

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20201130

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

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

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: 20201014

26N No opposition filed

Effective date: 20210715

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: 20201123

Ref country code: IT

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: 20201014

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: 20201014

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: 20201014

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: 20210214

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: 20201014

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: 20201014

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: 20201014

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: 20201014

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: BE

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

Effective date: 20201130

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

Ref country code: LI

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

Effective date: 20220630

Ref country code: CH

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

Effective date: 20220630

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

Ref country code: GB

Payment date: 20231123

Year of fee payment: 6

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

Ref country code: FR

Payment date: 20231122

Year of fee payment: 6

Ref country code: DE

Payment date: 20231130

Year of fee payment: 6