EP3501673B1 - Dispositif de nettoyage et son procédé de fonctionnement - Google Patents

Dispositif de nettoyage et son procédé de fonctionnement Download PDF

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Publication number
EP3501673B1
EP3501673B1 EP17210103.2A EP17210103A EP3501673B1 EP 3501673 B1 EP3501673 B1 EP 3501673B1 EP 17210103 A EP17210103 A EP 17210103A EP 3501673 B1 EP3501673 B1 EP 3501673B1
Authority
EP
European Patent Office
Prior art keywords
cleaning machine
shelf
machine according
cleaning
wiping
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.)
Active
Application number
EP17210103.2A
Other languages
German (de)
English (en)
Other versions
EP3501673A1 (fr
Inventor
Claus-Michael Honsel
Kevin Keller
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.)
Borbet Thueringen GmbH
Original Assignee
Borbet Thueringen 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 Borbet Thueringen GmbH filed Critical Borbet Thueringen GmbH
Priority to EP17210103.2A priority Critical patent/EP3501673B1/fr
Publication of EP3501673A1 publication Critical patent/EP3501673A1/fr
Application granted granted Critical
Publication of EP3501673B1 publication Critical patent/EP3501673B1/fr
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Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface

Definitions

  • the present invention relates to a cleaning device for the automated cleaning of essentially flat shelf bottoms of shelves.
  • shelves that can be managed by robots.
  • These are extensively known in the prior art and automatically managed shelves are used extensively in industry and trade.
  • logistics robots are used according to so-called pick-by-robot processes.
  • Such shelves which are used, for example, in production processes as intermediate storage, as storage for goods from large commercial warehouses and the like, include a large number of shelves.
  • Such shelves can be many meters high and very long overall.
  • Corresponding halls can accommodate shelves with hundreds or even thousands of shelf compartments.
  • So-called aisles are formed between the shelves and, depending on the system of the logistics robot, are provided with appropriate rails or other infrastructure so that the logistics robot can independently drive in front of a shelf compartment to carry out loading or unloading processes there.
  • the shelves are divided so that the logistics robot can move into the middle between two shelf parts and carry out lifting and lowering movements there.
  • the document US-A1-2016/214144 discloses a cleaning device with a wiping unit which comprises a strip-shaped cloth which is guided from a supply roll via the wiping unit to a storage roll.
  • WO-A1-2008/061951 discloses a cleaning device for the automated cleaning of flat shelves.
  • the object of the invention is to provide a cleaning device and a method for the automated cleaning of shelves, with which automated cleaning of shelves can be carried out using a logistics robot.
  • a cleaning device which comprises a carrying unit for arrangement on a robot which is provided for the automatic management of a corresponding shelf. This means that it can be positioned in front of a shelf and can move in and out of it.
  • the support unit is designed in such a way that it can be arranged on a corresponding robot.
  • the cleaning device has a functional assembly which is arranged on the carrying unit and has a holder for a wiping unit. The functional assembly is arranged on the support unit in such a way that the wiping unit can be pulled over a shelf surface touching a shelf surface when the robot moves in and/or out of a shelf compartment.
  • the invention makes use of the fact that the automatically managed shelving system already has a corresponding controller and robotics that is suitable for being positioned in front of a shelf, for moving in and out of it and for doing lifting and lowering movements, in which it are loading and unloading movements.
  • a corresponding robot in front of a shelf positioned drives into it, makes a lifting movement to lift a product stored on the shelf and drives out to unload the shelf.
  • the robot can enter the shelf compartment with a product in a higher position, there one Make a lowering movement to deposit the product on the shelf and exit again in the lowered position.
  • the invention now includes a support unit that can perform these movements with the robot, but is dimensioned so that it is not deposited in the shelf. However, it has protruding wiping units that wipe the shelves when performing these movements.
  • the robot carries out a loading movement, that is to say it enters the shelf compartment in a raised position with the carrying unit and the wiping units arranged thereon. The robot then makes a lowering movement and moves out of the shelf compartment again, with the wiping units automatically wiping over the shelves and picking up the dirt there.
  • the holder for the wiping units preferably has a stamping surface.
  • This can be a padded, flat surface over which, for example, a wiping cloth can be stretched so that its function is supported.
  • the wiping unit comprises a cloth. According to the invention, this is in the form of a strip.
  • the cloth is guided over at least one deflection roller. This is conical to ensure that the cloth is always centered either outwards or inwards.
  • the functional group has at least two holders for wiper units. This makes it possible, depending on the given structural condition of the shelf and its shelves, to bring the holder with the wiping units into the shelf and to have them take effect without the wiping units having to be repositioned in the case of very wide or, for example, divided shelves.
  • the wiping units are advantageously adjustable in relation to the carrying unit. Furthermore, the holder for the wiping units can advantageously be displaceable or movable relative to the functional assembly or the support unit. This makes it possible to move in and wipe even with unfavorable shelf constructions. It is essential here that the support unit is moved into the shelf and the wiping units can be positioned on the shelf in order to automatically guide the wiping units over the shelves when the support unit is pulled out of the shelf.
  • the functional assembly advantageously has a tank for a cleaning medium. This can be applied to the cloth and/or to the shelf.
  • the functional assembly can have nozzles, which are acted upon by cleaning medium via lines.
  • the functional assembly can also have a collecting unit for wiping residues, so that for example collecting plates or the like are positioned below the wiping units.
  • the invention provides a cleaning device that can be optimally used for cleaning shelves using the infrastructure and hardware that is present in automatic shelving units.
  • the logistics can also provide for certain aisles or shelving walls to be kept empty until they are cleaned, so that a certain shelving area can always be cleaned and then taken over again for management.
  • the method includes that the cleaning device with the carrying unit is arranged on a robot for shelf management.
  • This robot is then moved by the central controller to a loading position in front of a shelf. It then moves into the shelf and thus brings the cleaning device into the shelf. In an end position, the robot is lowered in the direction of a parking position, but without being lowered to such an extent that the cleaning device is parked.
  • the wiping units are arranged on the support unit in such a way that in this position they rest on a shelf surface. If the cleaning device is pulled out of the shelf in this position, the shelves of this shelf are cleaned automatically.
  • the robot moves over another shelf and repeats the steps of retracting, lowering and pulling out.
  • the wiping units in the lowered position carry out a corrective movement, for which purpose they are moved by a controller and by means of appropriate motors, stepping motors or the like.
  • An optical measuring device or a digital image evaluation can also be provided, so that images recorded by a camera can be analyzed in order to carry out an optimal positioning of the wiping units.
  • the optical monitors can also be used to record the cleaning status of the respective shelf compartment.
  • the cleaning cloth is unwound from a supply roll and wound onto a storage roll, being guided over a wiping unit on the way by deflection rolls.
  • the cloth can be renewed when it is dirty or the cloth can be advanced according to a specified rhythm.
  • the unwinding length of the cloth is queried / checked using a sensor on a deflection roller.
  • Water can be used as the cleaning medium, optionally with the appropriate chemicals, depending on the products that are stored on the shelf.
  • Other advantageous options are, in particular, controls and adjustments to the retraction and extension speed, the motor running time, the spraying time of the nozzles, the Level monitoring of the tank, the unrolled quantity/supply of the wipe and the consumables in total, runtime monitoring, maintenance intervals, etc..
  • the figures show the cleaning device 1.
  • the support unit 2 consists of frame elements 3.
  • a front panel unit 4 is formed by several frame elements combined with one another.
  • Supply rolls 5 and bearing rolls 6 are arranged on the support unit 2, the bearing roll 6 being driven by a motor 14 in order to wind up the cloth.
  • the cloth runs from the supply roll 5 via the deflection rollers 7 and 8, the wiping stamp 9 to the bearing roller 6, where it is wound up. In this way, a constant feed can ensure that a fresh cloth is always presented for the respective shelf element (not shown).
  • the deflection roller 8 is tapered to ensure that the cloth always runs inwards or outwards.
  • a wiping stamp 9 is formed, which is padded accordingly behind the cloth. Centering rollers 10 are arranged in the front region in order to introduce the cleaning device 1 into the gap between the two partial elements of a divided shelf. After lowering, the cloth is then pressed onto the shelves by the wiping stamp 9 and the shelf is cleaned when it is pulled out.
  • a spray unit 11 consisting of a spray bar 17 and nozzles 18 ensures that coming from the tank 12 cleaning medium is sprayed onto the rule floors before they are wiped.
  • rollers 5 and 6 as well as 7 and 8 are mounted on shafts 13, so that in the exemplary embodiment shown, corresponding cleaning units are formed on both sides of the carrying unit 2.
  • the centering rollers 10 are held by positioning holders 15, which in turn are fixed in a grooved beam 16.
  • the support unit 2 can be placed and fixed on the surface of a farm robot as it is.
  • the movement sequence of the robot, positioning in front of a shelf unit, retracting, lowering and pulling out, causes the shelves to be sprayed when retracting via the nozzles 18, and when extending the wiping stamp 9 wipes the respective cloth element over the shelves and cleans them.

Landscapes

  • Cleaning In General (AREA)

Claims (11)

  1. Dispositif de nettoyage (1) convenant pour le nettoyage automatisé d'étagères plates de rayonnages gérés par des robots logistiques, comprenant une unité de support (2) destinée à être disposée sur un robot logistique de gestion pouvant entrer et sortir d'un compartiment d'étagère et au moins un module fonctionnel présentant un support pour une unité d'essuyage et disposé sur l'unité de support (2), l'unité d'essuyage comprenant un chiffon en forme de bande qui est guidé d'un rouleau d'alimentation (5) à un rouleau de stockage (6) en passant par l'unité d'essuyage et le chiffon étant guidé sur un rouleau de renvoi conique (7, 8) et l'unité d'essuyage étant conçue de telle sorte qu'elle peut être tirée à travers la surface de l'étagère tout en touchant la surface de l'étagère.
  2. Dispositif de nettoyage selon la revendication 1, caractérisé en ce que le support présente une surface de poussoir.
  3. Dispositif de nettoyage selon la revendication 1, caractérisé en ce que le rouleau d'alimentation (5) est freiné.
  4. Dispositif de nettoyage selon l'une quelconque des revendications précédentes, caractérisé en ce que le module fonctionnel comprend au moins deux supports d'unités d'essuyage.
  5. Dispositif de nettoyage selon l'une quelconque des revendications précédentes, caractérisé en ce que le module fonctionnel comprend un réservoir (12) de produit de nettoyage.
  6. Dispositif de nettoyage selon la revendication 5, conçue de manière à ce que le produit de nettoyage soit appliqué sur le chiffon.
  7. Dispositif de nettoyage selon l'une quelconque des revendications 5 ou 6, conçue de manière à ce que le produit de nettoyage soit appliqué sur l'étagère.
  8. Dispositif de nettoyage selon l'une quelconque des revendications précédentes, caractérisée en ce que le module fonctionnel comprend des buses (18).
  9. Dispositif de nettoyage selon l'une quelconque des revendications précédentes, caractérisée en ce que le module fonctionnel comprend une unité de collecte des résidus d'essuyage.
  10. Dispositif de nettoyage selon l'une quelconque des revendications précédentes, caractérisée en ce que le module fonctionnel est mobile par rapport à l'unité de support (2).
  11. Procédé de nettoyage automatisé d'étagères sensiblement plates de rayonnages gérés par des robots logistiques, utilisant un dispositif de nettoyage (1) présentant les caractéristiques d'au moins l'une des revendications 1 à 10, dans lequel
    a) le dispositif de nettoyage (1) avec l'unité de support (2) est disposée sur un robot logistique pour la gestion d'étagères,
    b) le robot logistique est déplacé devant une étagère dans une position de chargement,
    c) le dispositif de nettoyage (1) est déplacé dans le compartiment d'étagère et abaissé dans une position finale vers une position de placement de sorte que chaque unité d'essuyage repose sur une surface d'étagère,
    d) le dispositif de nettoyage (1) est retirée du compartiment de l'étagère,
    e) les étapes b, c et d sont répétées pour un autre compartiment d'étagère.
EP17210103.2A 2017-12-22 2017-12-22 Dispositif de nettoyage et son procédé de fonctionnement Active EP3501673B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17210103.2A EP3501673B1 (fr) 2017-12-22 2017-12-22 Dispositif de nettoyage et son procédé de fonctionnement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17210103.2A EP3501673B1 (fr) 2017-12-22 2017-12-22 Dispositif de nettoyage et son procédé de fonctionnement

Publications (2)

Publication Number Publication Date
EP3501673A1 EP3501673A1 (fr) 2019-06-26
EP3501673B1 true EP3501673B1 (fr) 2022-02-09

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Application Number Title Priority Date Filing Date
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Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB735575A (en) * 1952-05-14 1955-08-24 United States Steel Corp Apparatus for automatically centering a moving endless belt
DE10135658B4 (de) * 2001-07-21 2005-03-17 Stranz, Andreas H., Dipl.-Ing.(FH) Verfahren und Vorrichtung zur Reinigung der Oberfläche eines Rotationskörpers
WO2008061951A1 (fr) * 2006-11-22 2008-05-29 Kj Industries A/S Appareil et procédé de nettoyage d'un système de stockage
DE202013004016U1 (de) * 2013-04-30 2014-08-01 Michael Körbitz Reinigungsvorrichtung für zur Aufbewahrung von Containments vorgesehenen Hochregalen
US20160129481A1 (en) * 2014-11-12 2016-05-12 Aviram MANN Cleaning head apparatus
US10040101B2 (en) * 2015-01-23 2018-08-07 The Boeing Company Robotic surface-cleaning assemblies and methods
GB201603520D0 (en) * 2016-02-29 2016-04-13 Ocado Innovation Ltd Robotic service device and handling method

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Publication number Publication date
EP3501673A1 (fr) 2019-06-26

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