FI105668B - Plockningssystem - Google Patents
Plockningssystem Download PDFInfo
- Publication number
- FI105668B FI105668B FI954688A FI954688A FI105668B FI 105668 B FI105668 B FI 105668B FI 954688 A FI954688 A FI 954688A FI 954688 A FI954688 A FI 954688A FI 105668 B FI105668 B FI 105668B
- Authority
- FI
- Finland
- Prior art keywords
- robot
- goods
- stack
- units
- gripper
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
Claims (10)
1. Robotsystem för att flytta i en robots (12) arbetsomrade staplade fleren- ' heters varupartier med hjälp av ett i roboten existerande varuenheter frän en 5 stapel plockande och/eller till en stapel avlastande uppifrän till greppet pä varuenheten placerat griporgaM20), kännetecknad därav, att i roboten finns det en vertikalt rörlig tornliknande ram (21), vilken har sä ett uppat öppet lastutrymme, att där ryms pä varuenheten, som är gripen av den ne-dersta roboten, betydlig mängd av pä varandra staplade varuenheter för att 10 möjliggöra, att genom att styra griporganets (20) rörelse i vertikal riktning kan man frän en varustapel plocka och/eller till en varustapel avge en eller flera lädformiga varuenheter sä, att det till robotens ram (21) samman-kopplat griporganet (20) kan fritt bilda till ett avlastningsställe flyttbar flera varuenheter omfattande stapel sä, att varuenheternas ordning i stapeln är 15 enligt given flyttningsorder.
2. Robotsystem enligt patentkrav 1, kännetecknad därav, att roboten (12) är en som sädan känd bro- eller portalrobot, som har en över arbetsomrädet rörlig bro (5), längs vilken robotenheten (12) rör sig samt stöder och styr 20 griporganet (20).
3. Robotsystem enligt patentkrav 1 eller 2, kännetecknad därav, att i robotens (12) arbetsomräde finns det ocksä ett avlastningsställe, t.ex. i form av en bandtransportör (14), vart roboten (12) kommer ät att avlasta den frän 25 arbetsomrädet samlade varustapeln. * ___ * ·
4. Robotsystem enligt nägot ovannämnda patentkrav, kännetecknad därav, att robotens (12) griporgan (20) omfattar den vertikalt rörliga tornliknande ramen, som man fritt kan röra pä den hanterade varustapeln sä, att varus- 30 tapein stannar innanför ramen eller delvis sträcker sig ovanför ramen. m •« 105668
5. Robotsystem enligt patentkrav 4, kännetecknad därav, att i griporganets (20) nedre ända finns det gripfingrar (25, 26) eller liknande, med vilka man fär grepp av den nedersta varuenheten av varuenhetparti som skall lyftas.
6. Robotsystem enligt nägot ovannämnda patentkrav, kännetecknad därav, att griporganet (20) är konstruerat sä, att man kan med det med en gäng lyfta och transportera större mängd av varuenheter än vad det finns i den högsta tillätna varustapeln i arbetsomrädet.
7. Robotsystemets användningsmetod enligt nägot ovannämnda patentkrav, kännetecknad därav, att roboten (12) styrs att plocka önskat parti varuenheter frän den första varustapeln och därefter plocka mera varuenheter frän en eller flera annan varustapel under redan plockade varuparti
8. Metoden enligt patentkrav 7, kännetecknad därav, att man placerar till varje varustapel bara en varusort i robotens (12) arbetsomräde.
9. Metoden enligt patentkrav 7, kännetecknad därav, att roboten (12) styrs att bära sä mänga varuenheter i sitt griporgan (20), att det finns i griporga- 20 net (20) större parti av varuenheterna än i den högsta tillätna varustapeln i : arbetsomrädet.
10. Metoden enligt nägot av patentkrav 7-9, kännetecknad därav, att roboten (12) styrs att flytta önskade partier av varuenheter frän varustaplar 25 till ett annat ställe för att ändra plockningsordningen av varuenheter i stall peln. • · i
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI954688A FI105668B (sv) | 1995-10-02 | 1995-10-02 | Plockningssystem |
DE69622116T DE69622116T2 (de) | 1995-10-02 | 1996-10-01 | Kommissioniersystem |
AT96307193T ATE220034T1 (de) | 1995-10-02 | 1996-10-01 | Kommissioniersystem |
EP96307193A EP0767113B1 (en) | 1995-10-02 | 1996-10-01 | Picking system |
DK96307193T DK0767113T3 (da) | 1995-10-02 | 1996-10-01 | Lagerstablesystem |
NO19964165A NO321230B1 (no) | 1995-10-02 | 1996-10-02 | Plukkesystem |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI954688A FI105668B (sv) | 1995-10-02 | 1995-10-02 | Plockningssystem |
FI954688 | 1995-10-02 |
Publications (3)
Publication Number | Publication Date |
---|---|
FI954688A0 FI954688A0 (sv) | 1995-10-02 |
FI954688A FI954688A (sv) | 1997-04-03 |
FI105668B true FI105668B (sv) | 2000-09-29 |
Family
ID=8544123
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FI954688A FI105668B (sv) | 1995-10-02 | 1995-10-02 | Plockningssystem |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP0767113B1 (sv) |
AT (1) | ATE220034T1 (sv) |
DE (1) | DE69622116T2 (sv) |
DK (1) | DK0767113T3 (sv) |
FI (1) | FI105668B (sv) |
NO (1) | NO321230B1 (sv) |
Cited By (2)
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WO2012127102A1 (en) | 2011-03-18 | 2012-09-27 | Cimcorp Oy | Overhead robot system and a method for its operation |
US10901404B2 (en) | 2014-06-03 | 2021-01-26 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
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NO972004D0 (no) | 1997-04-30 | 1997-04-30 | Hatteland Electronic As Jacob | Metode for organisering av vareflyt for en horisontalt lagdelt og dypstablet lagerbeholdning med uensartede komponenter, samt forflytningsutstyr for standariserte beholdere til formålet |
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US2701065A (en) * | 1950-09-06 | 1955-02-01 | Charles A Bertel | Apparatus for storing and handling containers |
DE2629718A1 (de) * | 1976-07-02 | 1978-01-05 | Krupp Gmbh | Verfahren und einrichtung zum umschlagen von stapelbaren behaeltern |
-
1995
- 1995-10-02 FI FI954688A patent/FI105668B/sv not_active IP Right Cessation
-
1996
- 1996-10-01 DK DK96307193T patent/DK0767113T3/da active
- 1996-10-01 DE DE69622116T patent/DE69622116T2/de not_active Expired - Lifetime
- 1996-10-01 AT AT96307193T patent/ATE220034T1/de active
- 1996-10-01 EP EP96307193A patent/EP0767113B1/en not_active Expired - Lifetime
- 1996-10-02 NO NO19964165A patent/NO321230B1/no not_active IP Right Cessation
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012127102A1 (en) | 2011-03-18 | 2012-09-27 | Cimcorp Oy | Overhead robot system and a method for its operation |
US9272845B2 (en) | 2011-03-18 | 2016-03-01 | Cimcorp Oy | Overhead robot system and a method for its operation |
US10901404B2 (en) | 2014-06-03 | 2021-01-26 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
US10955834B2 (en) | 2014-06-03 | 2021-03-23 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
US11066239B2 (en) | 2014-06-03 | 2021-07-20 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
US11079770B2 (en) | 2014-06-03 | 2021-08-03 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
US11635769B2 (en) | 2014-06-03 | 2023-04-25 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
US11640176B2 (en) | 2014-06-03 | 2023-05-02 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
US11650601B2 (en) | 2014-06-03 | 2023-05-16 | Ocado Innovation Limited | Methods, systems and apparatus for controlling movement of transporting devices |
Also Published As
Publication number | Publication date |
---|---|
FI954688A0 (sv) | 1995-10-02 |
FI954688A (sv) | 1997-04-03 |
NO321230B1 (no) | 2006-04-10 |
DE69622116D1 (de) | 2002-08-08 |
EP0767113A3 (en) | 1997-07-23 |
DE69622116T2 (de) | 2003-03-27 |
DK0767113T3 (da) | 2002-10-28 |
NO964165L (no) | 1997-04-03 |
NO964165D0 (no) | 1996-10-02 |
EP0767113B1 (en) | 2002-07-03 |
EP0767113A2 (en) | 1997-04-09 |
ATE220034T1 (de) | 2002-07-15 |
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