WO2011129699A1 - Fourche pour le transport d'une charge, et robot et utilisation associés - Google Patents

Fourche pour le transport d'une charge, et robot et utilisation associés Download PDF

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Publication number
WO2011129699A1
WO2011129699A1 PCT/NL2011/050259 NL2011050259W WO2011129699A1 WO 2011129699 A1 WO2011129699 A1 WO 2011129699A1 NL 2011050259 W NL2011050259 W NL 2011050259W WO 2011129699 A1 WO2011129699 A1 WO 2011129699A1
Authority
WO
WIPO (PCT)
Prior art keywords
fork
units
load
adjustable
picking
Prior art date
Application number
PCT/NL2011/050259
Other languages
English (en)
Inventor
Johannes Michiel Marie Bekelaar
Original Assignee
Fps Food Processing Systems B.V.
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 Fps Food Processing Systems B.V. filed Critical Fps Food Processing Systems B.V.
Publication of WO2011129699A1 publication Critical patent/WO2011129699A1/fr

Links

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
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/142—Movements of forks either individually or relative to each other
    • B66F9/144—Movements of forks relative to each other - independent

Definitions

  • the present invention relates to a fork for picking up, transporting, and putting down a load, wherein the load comprises a pattern of partial loads and wherein the fork comprises adjustable fork pins.
  • a fork is known from EP1169260.
  • EP1169260 EP1169260.
  • the fork described in EP1169260 is less suitable. With that fork, picking up successive stacks, for instance having mutually different dimensions, viz., in each case a next tower of, for instance six, trays, is possible but highly time-consuming and also involves a risk of the stacking of a tower placed next to it being disturbed. It will be clear that the consequences of this are highly disadvantageous, viz., highly time-consuming in restoration, and irreparable upon damage to such products, i.e., the damaged eggs.
  • the fork according to the invention comprises fork units each having at least two partial pins for picking up, transporting and putting down a partial load with such a fork unit, wherein the fork units are mutually adjustable.
  • the fork units are adjustable prior to picking up of the load, during transporting of the load, after putting down of the load, or in a combination thereof;
  • the fork units are adjustable independently of each other;
  • the fork units are automatically adjustable, a control being comprised for delivering control signals;
  • control delivers control signals based on detection signals; and the detection signals are delivered by a camera system.
  • monitoring and control can be obtained with a camera system.
  • FIG. 1 is a schematic view of a robot provided with a fork according to the present invention.
  • FIGS. 2A and 2B are schematic views of forks according to the present invention.
  • a robot 1 of a generally known type is provided with a fork 2 according to the invention.
  • a robot 1 comprises in a known manner a foot 10 and arms 11, 12, with which a working range or working area for picking up, transferring, and placing loads is delimited.
  • the fork 2 is mounted via a frame 22.
  • the fork 2 comprises four fork units 20, each having, in this case two, pins 21.
  • fork unit per se reference is made to, for example, EP1169260, which unit is especially used for processing trays for eggs with the pins having mutual distances matching the nest patterns of such trays.
  • FIGS. 2A, 2B the two views show two possibilities of use.
  • the fork units 20 have mutual intermediate distances 30, while in FIG. 2B greater intermediate distances 40 are shown.
  • the feature whereby adjustment is applied in putting down can be advantageously applied in placing trays on pallets having positioning edges.
  • the fork units 20 may be brought towards each other over a small distance, for example, 0.5 cm, whereby the towers of trays are pressed against each other. In this way, upon further placement and stacking, very firmly formed pallet loads are obtained. When switching to other types of loads, adjustment may already be carried out during the flight to such a next batch.
  • Automatic adjustment is carried out through control signals which are delivered by a control.
  • a control for example in the form of a computer, may be operated by an operator.
  • Highly suitable for automatic detection are camera systems which are so positioned as to cover the working range of such a robot.
  • a further variant can involve automatic adjustment of the pins, individual mutual adjustment of intermediate distances, or even height-adjustable design.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Food Science & Technology (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

La présente invention porte sur une fourche (2) pour la saisie, le transport et le déchargement d'une charge, la charge comprenant un motif de charges partielles et la fourche comprenant des unités de fourche ajustables (20), une unité de fourche précitée comprenant au moins deux broches (21) pour la saisie, le transport et le déchargement d'une charge partielle à l'aide d'une telle unité de fourche, les unités de fourche étant mutuellement ajustables.
PCT/NL2011/050259 2010-04-15 2011-04-15 Fourche pour le transport d'une charge, et robot et utilisation associés WO2011129699A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP10003962.7 2010-04-15
EP10003962 2010-04-15

Publications (1)

Publication Number Publication Date
WO2011129699A1 true WO2011129699A1 (fr) 2011-10-20

Family

ID=44210006

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NL2011/050259 WO2011129699A1 (fr) 2010-04-15 2011-04-15 Fourche pour le transport d'une charge, et robot et utilisation associés

Country Status (1)

Country Link
WO (1) WO2011129699A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015153697A1 (fr) * 2014-03-31 2015-10-08 Intelligrated Headquarters, Llc Chargeur et déchargeur de poids-lourd autonome
EP2982625A1 (fr) * 2014-08-08 2016-02-10 Sanovo Technology Italia S.R.L. Dépalletiseur pour plateaux d'oeufs
CN106064384A (zh) * 2016-07-29 2016-11-02 苏州高通机械科技有限公司 一种改进型结构稳定的机械手
US9623569B2 (en) 2014-03-31 2017-04-18 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
US9969573B2 (en) 2013-05-17 2018-05-15 Intelligrated Headquarters, Llc Robotic carton unloader
US10124967B2 (en) 2013-08-28 2018-11-13 Intelligrated Headquarters Llc Robotic carton unloader
WO2018206801A3 (fr) * 2017-05-12 2019-01-10 Witron Logistik + Informatik Gmbh Tampon de sortie de marchandises pour une installation de préparation des commandes
US10464762B2 (en) 2013-05-17 2019-11-05 Intelligrated Headquarters, Llc PLC controlled robotic carton unloader
WO2020014202A1 (fr) * 2018-07-11 2020-01-16 Amazon Technologies, Inc. Effecteur terminal de bras robotique conçu pour venir en prise avec une pluralité de contenants de stockage, et procédé d'utilisation d'un tel effecteur terminal
CN111232659A (zh) * 2020-01-15 2020-06-05 雷海燕 一种农用码垛机的夹持装置
US10807805B2 (en) 2013-05-17 2020-10-20 Intelligrated Headquarters, Llc Robotic carton unloader
US10906742B2 (en) 2016-10-20 2021-02-02 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2252096A (en) * 1991-01-14 1992-07-29 Okura Yusoki Co Ltd Handling device
JPH06305695A (ja) * 1991-04-11 1994-11-01 Asahi Breweries Ltd トラックローダ
JP2000007296A (ja) * 1998-06-17 2000-01-11 Toyota Autom Loom Works Ltd フォークリフトの多列フォーク装置
EP1169260A1 (fr) 1999-04-14 2002-01-09 FPS Food Processing Systems B.V. Dispositif de levage pour de piles de plateaux
US20040240979A1 (en) * 2003-05-29 2004-12-02 Beavers Joe Curtis System, apparatus, and method for manipulating a stack of paper, cardboard, and the like
EP1911690A1 (fr) * 2006-10-11 2008-04-16 Ditta Barosi, Aldo Plateau pour oeufs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2252096A (en) * 1991-01-14 1992-07-29 Okura Yusoki Co Ltd Handling device
JPH06305695A (ja) * 1991-04-11 1994-11-01 Asahi Breweries Ltd トラックローダ
JP2000007296A (ja) * 1998-06-17 2000-01-11 Toyota Autom Loom Works Ltd フォークリフトの多列フォーク装置
EP1169260A1 (fr) 1999-04-14 2002-01-09 FPS Food Processing Systems B.V. Dispositif de levage pour de piles de plateaux
US20040240979A1 (en) * 2003-05-29 2004-12-02 Beavers Joe Curtis System, apparatus, and method for manipulating a stack of paper, cardboard, and the like
EP1911690A1 (fr) * 2006-10-11 2008-04-16 Ditta Barosi, Aldo Plateau pour oeufs

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10464762B2 (en) 2013-05-17 2019-11-05 Intelligrated Headquarters, Llc PLC controlled robotic carton unloader
US9969573B2 (en) 2013-05-17 2018-05-15 Intelligrated Headquarters, Llc Robotic carton unloader
US10829319B2 (en) 2013-05-17 2020-11-10 Intelligrated Headquarters, Llc Robotic carton unloader
US10807805B2 (en) 2013-05-17 2020-10-20 Intelligrated Headquarters, Llc Robotic carton unloader
US10124967B2 (en) 2013-08-28 2018-11-13 Intelligrated Headquarters Llc Robotic carton unloader
EP3725713A1 (fr) * 2014-03-31 2020-10-21 Intelligrated Headquarters, LLC Chargeur et déchargeur de poids-lourd autonome
US9623569B2 (en) 2014-03-31 2017-04-18 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
WO2015153697A1 (fr) * 2014-03-31 2015-10-08 Intelligrated Headquarters, Llc Chargeur et déchargeur de poids-lourd autonome
CN106458479B (zh) * 2014-03-31 2019-08-06 因特利格兰特总部有限责任公司 自主货车装载机和卸载机
US10029374B2 (en) 2014-03-31 2018-07-24 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
US10661444B2 (en) 2014-03-31 2020-05-26 Intelligrated Headquarters, Llc Autonomous truck loader and unloader
CN106458479A (zh) * 2014-03-31 2017-02-22 因特利格兰特总部有限责任公司 自主货车装载机和卸载机
EP2982625A1 (fr) * 2014-08-08 2016-02-10 Sanovo Technology Italia S.R.L. Dépalletiseur pour plateaux d'oeufs
CN106064384A (zh) * 2016-07-29 2016-11-02 苏州高通机械科技有限公司 一种改进型结构稳定的机械手
US10906742B2 (en) 2016-10-20 2021-02-02 Intelligrated Headquarters, Llc Carton unloader tool for jam recovery
WO2018206801A3 (fr) * 2017-05-12 2019-01-10 Witron Logistik + Informatik Gmbh Tampon de sortie de marchandises pour une installation de préparation des commandes
US11383927B2 (en) 2017-05-12 2022-07-12 Witron Logistik + Informatik Gmbh Shipping buffer for an order-picking system
GB2591347B (en) * 2018-07-11 2022-09-28 Amazon Tech Inc Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same
WO2020014202A1 (fr) * 2018-07-11 2020-01-16 Amazon Technologies, Inc. Effecteur terminal de bras robotique conçu pour venir en prise avec une pluralité de contenants de stockage, et procédé d'utilisation d'un tel effecteur terminal
GB2591347A (en) * 2018-07-11 2021-07-28 Amazon Tech Inc Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same
US10639800B2 (en) 2018-07-11 2020-05-05 Amazon Technologies, Inc. Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same
CN111232659A (zh) * 2020-01-15 2020-06-05 雷海燕 一种农用码垛机的夹持装置

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