FR3054538A1 - COMMAND PREPARATION HANDLING TROLLEY - Google Patents

Abstract

The invention relates to a picking truck (1) comprising a battery electric drive system having a traction battery (7) and comprising a load part (3), the actuators (1) being provided with a multi-axis robot arm (10) with which goods can be deposited on the load part (3) and which has for each movement axis (A1-A4) an electric drive ( 20-23) which can be supplied with electrical energy from the traction battery (7). The picking truck (1) has an electronic control device (25) and for each axis of movement (A1-A4) of the robot arm (10) there is a sensor device (30). 33) which is in operative connection with the electronic control device (25). The electronic control device (25) is designed such that during a slowdown and / or braking of at least one axis of movement (A1-A4) of the robot arm (10), it occurs energy recovery in which electrical energy is fed back into the traction battery (7) of the picking truck (1).

Description

© Publication no .: 3,054,538 (to be used only for reproduction orders)

©) National registration number: 17 57030 ® FRENCH REPUBLIC

NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY

COURBEVOIE © IntCI ⁸ : B 66 F 9/075 (2017.01), B 66 F 9/24, 9/18, B25J9 / 16

A1 PATENT APPLICATION

©) Date of filing: 07.25.17. © Applicant (s): LINDE MATERIAL HANDLING GMBH © Priority: 26.07.16 DE 102016113734.0. - OF. @ Inventor (s): DR. DELMAS LAURENT. ©) Date of public availability of the request: 02.02.18 Bulletin 18/05. ©) List of documents cited in the report preliminary research: The latter was not established on the date of publication of the request. (© References to other national documents ® Holder (s): LINDE MATERIAL HANDLING GMBH. related: ©) Extension request (s): © Agent (s): CABINET HERRBURGER.

h> 4 / ORDER PREPARATION HANDLING TROLLEY.

FR 3 054 538 - A1 tüj) The invention relates to an order picking handling trolley (1) comprising an electric battery drive system which has a traction battery (7) and comprising a charging part (3) , the order picking handling trolley (1) being provided with a multi-axis robot arm (10) with which goods can be deposited on the load part (3) and which has for each axis of movement ( A1-A4) an electrical drive (20-23) which can be supplied with electrical energy from the traction battery (7). The order picking handling trolley (1) has an electronic control device (25) and, for each axis of movement (A1-A4) of the robot arm (10), there is a sensor device (30- 33) which is in functional connection with the electronic control device (25). The electronic control device (25) is designed so that when the robot arm (10) slows down and / or brakes at least one axis of movement (A1 -A4), it occurs energy recovery in which electrical energy is reinjected into the traction battery (7) of the order picking handling trolley (1).

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Field of the invention

The invention relates to an order picking handling trolley comprising a battery electric drive system which has a traction battery and comprising a charging part, the order picking handling trolley being provided with a robot arm. with several axes with which goods can be deposited on the load part and which has for each axis of movement an electric drive which can be supplied with electric energy from the traction battery.

State of the art

Order picking handling carts are used to prepare orders for goods from a shelf on the load section. In order to automate this operation, it is already known to provide the order picking handling trolley with a multi-axis robot arm which takes the goods from the shelf and places them on the load part of the trolley. handling of order preparation.

A generic type order picking trolley is known from document EP 2 987 761 A1.

In order picking trucks, the size of the traction battery is adapted to the electric driving drive and the electric lifting drive of the order picking truck to allow a period of use. determined from the order picking trolley with a battery charge. If, moreover, a multi-axis robot arm with electric drives is mounted on the order picking handling cart, which electric drives are also supplied with electrical energy by the traction battery of the order picking handling cart, the duration of use of the order picking handling trolley is reduced if the size of the traction battery is not changed or a larger traction battery must be provided to obtain the desired duration of use again with a charge drums.

Purpose of the invention

The object of the present invention is to provide an order preparation handling trolley of the type mentioned in the introduction which is improved in terms of energy consumption and has a long service life.

Presentation and advantages of the invention

This object is achieved according to the invention by the fact that the order picking handling trolley has an electronic control device and that a sensor device is provided for each axis of movement of the robot arm, which is in functional connection with the electronic control device, the electronic control device being designed in such a way that when there is a slowdown and / or braking of at least one axis of movement of the robot arm, there is a recovery of energy used to re-inject electrical energy into the traction battery of the order picking handling trolley. According to the invention, the order picking handling trolley is thus provided with energy recovery for the multi-axis robot arm with which it is possible, in corresponding operating states, for example during a slowing down and / or braking of the respective axes of movement of the robot arm, of recovering the electrical energy becoming available at the level of the electric drives of the robot arm, in order to charge the traction battery of the handling trolley for preparing the orders. As a result, the energy consumption of the order picking handling trolley can be improved and, without modifying the size of the traction battery, the duration of use of the order picking handling trolley provided with d can be increased. a robot arm with a battery charge.

According to an advantageous embodiment of the invention, the sensors detect the electric current and / or the torque of the electric drive of the corresponding axes of movement of the robot arm. As a result, the electrical control device can, using the measurement values supplied by the sensor devices, determine the activity of the robot arm and the operating states in which energy recovery is judicious and possible. , for example a slowdown and / or braking of the respective axis of movement of the robot arm.

Particular advantages are obtained according to an improvement of the invention, when the traction battery is produced in the form of a lithium-ion battery. A traction battery produced in the form of a lithium-ion battery also makes it possible to receive large amounts of energy in a short time so that a particularly efficient energy recovery is obtained from the axes of movement of the robot arm.

According to an advantageous embodiment of the invention, the order preparation handling trolley is produced in the form of an autonomous order preparation handling trolley without driver. Thanks to the energy recovery according to the invention, it is possible to obtain a long period of use with a battery charge in the case of an autonomous order picking handling cart, without driver.

Drawings

Other advantages and particular features of the invention will be explained in more detail with the aid of the exemplary embodiments illustrated in the schematic figures in which:

FIG. 1 illustrates a first embodiment of an order picking handling cart according to the invention, in side view,

FIG. 2 illustrates a second embodiment of an order picking handling cart according to the invention, in side view, and

- Figure 3 illustrates an assembly diagram of a handling cart for preparing orders according to the invention.

Description of embodiments

Figures 1 and 2 each illustrate an order picking handling cart 1 according to the invention. The order preparation handling trolley 1 is produced, in the illustrated exemplary embodiments, in the form of a horizontal order preparation trolley. The order preparation handling trolley 1 is produced in the form of an autonomous order preparation handling trolley 1, without driver.

The order picking trolley 1 has a drive part 2 and a load part 3. The load part 3 can be raised and lowered relative to the drive part 2 in a manner not illustrated by means of lifting drive. The load part 3 is formed by two load arms spaced laterally 4a, 4b. The order picking handling trolley 1 rests on a roadway by means of load rollers 5 which are arranged on the load arms 4a, 4b and a drive wheel 6 disposed on the drive part 2. The order picking handling trolley 1 has an electric battery drive system. For driving the driving wheel 6, there is provided an electric driving drive which is not illustrated in more detail. The drive wheel 6 is also arranged on the drive part 2 so that it can be steered around a vertical axis, an electric steering drive not shown more precisely being provided in the drive part 2 to steer the wheel. driving 6.

To provide the electric driving drive for the electric steering drive and the lifting drive, there is provided a traction battery 7, which is made for example in the form of a lithium-ion battery.

In the case of the order preparation handling trolley 1 according to FIG. 1, the drive part 2 is disposed between the traction battery 7 and the charging part 3. In the case of the order preparation handling trolley 1 In FIG. 2, the traction battery 7 is arranged between the drive part 2 and the charging part 3.

The order preparation handling trolley 1 according to the invention illustrated in FIGS. 1 and 2 is provided with a robot arm with several axes 10, for example with a robot arm with articulated arm. In the illustrated exemplary embodiments, the multi-axis robot arm 10 is disposed above the traction battery 7.

The robot arm 10 consists, in the illustrated exemplary embodiments, of a base 11 which is arranged so as to be able to rotate about a vertical axis A1 on the order picking handling trolley. On the base 11, a first articulated arm 12 is arranged so as to be able to pivot around a horizontal axis A2. On the first articulated arm 12, a second articulated arm 13 is arranged so as to be able to pivot around a horizontal axis A3. On the second articulated arm 13, a means for receiving the load 14, for example a gripping or suction device, is arranged so as to be able to pivot around at least one additional axis A4, for example a horizontal axis. The robot arm 10 makes it possible to receive goods from a shelf located laterally next to the order picking handling trolley 1 by means of the load receiving means 14 and to deposit them on the load part 3.

As can be seen in relation to FIG. 3, the robot arm 10 has, for each axis of movement A1-A4, an electric drive 20-23. The electric drive 20 is used to move the base 11 around the vertical axis A1. The electric drive 21 is used to move the first articulated arm 12 around the horizontal axis A2. The electric drive 22 is used to move the second articulated arm 13 around the horizontal axis A3. The electric drive 23 is used to move the load receiving means 14 around the additional axis A4.

The electric drives 20-23 are in connection with the traction battery 7 for the supply of electrical energy.

The order preparation handling trolley 1 has an electronic control device 25 which is in functional connection with the electric drives 20-23 for their control. For each axis of movement A1-A4 of the robot arm 10, a sensor device 30-33 is provided which is in functional connection with the electronic control device 25. The electronic control device 25 is designed so that in in the case of a slowdown and / or braking of the axes of movement Al-A4 of the robot arm 10, there is an energy recovery, the electrical energy being reinjected into the traction battery 7 of the carriage handling of order preparation 1.

The sensors 30-33 preferably detect the electric current and / or the torque of the associated electric drive 20-23 of the corresponding displacement axis Al-A4 of the robot arm 10.

With the sensors 30-33, the electronic control device 25 can detect the activity of the robot arm 10 and determine the operating states in which energy recovery is possible and judicious, for example when it occurs at the level Al-A4 axes slowing and / or braking the movement. The electronic control device 25 is provided for this purpose with an energy management system 25a in which there is produced, in corresponding operating states, energy recovery at the robot arm 10. During the energy recovery, the corresponding electric drive 20-23 of the corresponding axis A1-A4 of the robot arm 10 reinjects the electric energy into the traction battery 7 and therefore charges the traction battery 7 with electric energy.

In the case of the order preparation handling trolley 1 according to the invention, the energy recovery at the level of the robot arm 10 improves the energy consumption of the order preparation handling trolley 1 and makes it possible to obtain a long period of use of the order picking handling trolley 1 with a charge of the traction battery 7.

Claims (4)

1 °) Order preparation handling cart (1) comprising an electric battery drive system which has a traction battery (7) and comprising a charging part (3), the order preparation handling cart ( 1) being provided with a multi-axis robot arm (10) with which goods can be deposited on the load part (3) and which has for each movement axis (Al-A4) an electric drive (20- 23) which can be supplied with electrical energy from the traction battery (7), characterized in that the order picking handling trolley (1) has an electronic control device (25) and, for each axis of movement (Al-A4) of the robot arm (10), a sensor device (30-33) is provided which is in functional connection with the electronic control device (25), the electronic control device (25) being produced of such so that upon slowing down and / or braking of at least one axis of movement (Al-A4) of the robot arm (10), there is an energy recovery in which electrical energy is reinjected into the traction battery (7) of the order picking handling trolley (1). 2) Order-picking handling trolley according to claim 1, characterized in that the sensors (30-33) detect the electric current and / or the torque of the electric drive (20-23) of the axes of movement ( Al-A4) of the robot arm (10). 3) Order-handling handling trolley according to claim 1 or 2, characterized in that the traction battery is produced in the form of a lithium-ion battery. 4 °) order picking handling cart according to any one of claims 1 to 3, characterized in that the order preparation handling cart (1) is produced in the form of an autonomous order preparation handling cart . 1/2