WO2017143367A1 - Système d'entreposage et de préparation de commandes partiellement automatique - Google Patents

Système d'entreposage et de préparation de commandes partiellement automatique Download PDF

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Publication number
WO2017143367A1
WO2017143367A1 PCT/AT2016/060115 AT2016060115W WO2017143367A1 WO 2017143367 A1 WO2017143367 A1 WO 2017143367A1 AT 2016060115 W AT2016060115 W AT 2016060115W WO 2017143367 A1 WO2017143367 A1 WO 2017143367A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulation
source
products
manipulator
person
Prior art date
Application number
PCT/AT2016/060115
Other languages
German (de)
English (en)
Inventor
Franz Mathi
Peter PUCHWEIN
Wolfgang Puntigam
Roman Schnabl
Original Assignee
Knapp Ag
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 Knapp Ag filed Critical Knapp Ag
Publication of WO2017143367A1 publication Critical patent/WO2017143367A1/fr

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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40154—Moving of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45047—Sorting

Definitions

  • the invention relates to a method for converting products, in particular from the food sector, wherein at least one selected product with a
  • Conversion device is converted from a source position to a target position.
  • the invention relates to a system for converting products, in particular from the food sector, with at least one source position and at least one target position, wherein selected products from the source position to the target position can be implemented.
  • Such a method and such a system are for example from
  • Food wholesalers are known, in which food such as mineral water, boxes of fruit and vegetables, frozen foods and much more usually sorted on pallets and stored in a warehouse.
  • the products on these pallets must sometimes be separated for storage in a rack storage on other pallets or carriers, in which case, for example, taken from a pallet of mineral water bottles six each welded together in a plastic foil mineral water bottles and stored as a packaging unit on a tray in the shelf storage.
  • Grocery stores provide delivery orders to the food wholesalers to re-stock their shelves as soon as possible and without their own warehousing.
  • the products contained in such a delivery order are cited as selected products in a picking order to which at least one destination load carrier is assigned when picking in the shelf warehouse of the food wholesaler.
  • Source carriers and destination load carriers can be formed by pallets, trays, boxes, crates or other charge carriers used in intralogistics.
  • This relocation or conversion of selected products is usually done manually by a person, since products in the food industry are very diverse in nature, packaging, weight and robustness. It takes some experience how the individual products can be attacked, picked up and stacked on the target cargo carrier without To be damaged.
  • the picking orders list those for picking
  • Patent application discloses that depending on the nature of the product, a person or a robot should handle the product. In the patent application, however, no further information is given as to how this should be done.
  • the invention has for its object to provide a method and a system for converting products, in particular from the food sector, in which both the health of employees and the different types of products in the
  • the present object is achieved by a method in which a person on input means of the transfer device, the manipulator and / or a
  • the transfer device lifts the selected product with the optionally manually defined manipulator and / or according to the manually manually defined manipulation method and / or at least one optionally manual manipulation position and converts from the source position to the target position.
  • the present object is achieved by a system in which a transfer device with at least one manipulator with at least one
  • Manipulation method for automatically converting selected products from the source position to the target position and that input means are provided which allow a person manipulator and / or the manipulation method and / or manually set at least one manipulation position on the selected product for the manipulator to lift the selected product and that the
  • Conversion device is designed to the selected product with the optionally manually specified manipulator and / or optionally manually specified
  • Such a transfer device can be formed, for example, by a robot, which converts products selected from the source load carrier to the target load carrier with a gripping arm as a manipulator.
  • the automated implementation of selected products can protect the health of the person responsible for separating or picking the products.
  • Manually set manipulation positions for the manipulator to manipulate the product This may be necessary, for example, in a packaging unit of six welded plastic bottles of mineral water, so instead of the suction manipulator on the robot, the gripping manipulator is used and the gripping arm is not right there where he would grab between two bottles and destroy the plastic film.
  • the robot After manual definition of the gripping points, the robot carries out the transfer or relocation of the selected product with the gripper arm at the defined gripping positions in an automated manner, that is to say without any further control activities by the person. Since just in
  • Food product products are very individually shaped and sensitive only allows this manual fixing of the manipulator, the manipulation method and
  • a manually selected manipulation point if the robot unit has several interchangeable manipulators, always also requires the definition of the type of manipulator, as well as selection of a manipulation method possible with the selected manipulator.
  • a robot can, for example, by means of a turret attachment or a tool magazine between different manipulators, in particular suction attachment, gripper fingers,
  • at least one camera of the robot delivers a live image of the selected product stored on the source carrier, and the person can use the input means, preferably by mouse click or touch screen, to define points at which the gripper arm should grasp the selected product.
  • a manually defined manipulation position can also be only one position on the selected product, at which a suction gripper sucks the selected product in order to convert it from the source position to the target position.
  • manipulation positions can also be positions on the selected product at which the selected product is clamped, trapped or spiked by other manipulation methods.
  • Warehouse management system based on the storage location of the source carrier or the robot using camera and image processing software, the product on the source carrier and can control the gripper with the same for the product stored in the database gripping points for moving the product.
  • the input means can also be arranged with one or more robots with one or more gripper arms on a carriage, with which the person moves the or the target charge carriers to the source carriers on which products to be picked are collected.
  • the advantage is obtained that the person can manually set individually manipulation positions for each selected product, on which the selected product is raised and implemented.
  • a person can also service multiple robots by merging the robots' live image and the gripping point setting input means at a central control station and allowing the person to "supervise" difficult products Specifies gripping points.
  • Sensor signal for the person when setting the gripping positions on the input means is displayed.
  • the person with a slight gripping force of the gripper arm can try a gripping position and change it again when the sensor signal indicates that the selected product is too soft or yielding at this point.
  • FIG 1 shows an embodiment of the system according to the invention for
  • FIG. 2 shows an embodiment of the system according to the invention for
  • Figure 1 shows a system 1 for picking products 2 from the
  • the products 2 are sorted stored on pallets forming source carriers 4, wherein the products 2 are at source positions 5.
  • the products 2 on the pallets have completely different shapes, weights and different robustness, as is common in the food sector. So are
  • Packaging units 6 each of six plastic-welded PET
  • the carriage 3 has a storage surface for two target charge carriers 10 with a plurality of target positions 11 for selected products 2. At a transit of the carriage
  • the carriage 3 now also has two transfer devices, by
  • the unit known to the person skilled in the art from one or more cameras will act on the source carriers
  • Processing image processing software and stores a database and understood means of input 16.
  • input means 16 a touch screen is provided, on which a person 17 receives the live image of the cameras, data entries of the database and control keys.
  • the person 17 is in a corridor on the carriage 3 between the storage areas for the Zielladungslic. 7
  • the picking order may comprise, for example, seven packaging unit 6 welded PET mineral water bottles, five lettuce heads 7 and a 10 kg potato sack 9.
  • the packing list stipulates that for the time being the seven packaging units 6 are to be picked on the target load carrier 10 shown on the left in FIG. 1, then the potato sack 9 and then the five lettuce heads 7.
  • the person 17 thus initially selects the packaging units 6 as products 2 selected for order picking. Since a higher-level warehouse management computer knows the storage location of the packaging units 6, the movement carriage 3 is either automatically controlled or manually controlled by the person 17 next to
  • Source carrier 4 drove with the packaging units 6. Now sees the person 17, the life image of the packaging units 6 on the touch screen and recognizes from the
  • the Verfahrwagen 3 next to the conveyor 8 moves to the potato sack 9 from the source position 5 on the conveyor 8 to the target position 11 on the
  • Touchscreen are displayed.
  • the person 17 controls the gripper by means of control inputs on the touchscreen and tries to set a gripping position, which is a lifting of the
  • Potato sack 9 allows. As soon as a suitable gripping position has been found, the person 17 sets this gripping position and activates the automated relocation of the gripper position
  • Trolley 3 automatically next to the source carrier 4 with the lettuce heads 7. Since the weight of the lettuce heads 7 is small, but this is not robust and the peripheral contour of each head of lettuce 7 is different sets the person 17 on the touch screen that the lettuce
  • the robots 12 and 13 retract their gripping arms 14 and 15 so that the person 17 can get off the carriage 3 to pick the lettuce heads 7 by hand and thus manually from the source carrier 4 onto the destination carrier 10.
  • This provides the advantage that the person can manually set depending on the nature of the product to be picked 2, and depending on their own strength and health, whether the selected product manually by the person 17 or automated with the gripper arm 14 or 15 of the robot 12 or 13 is to be moved from the source carrier 4 to the destination charge carrier 10.
  • the input means 16 of the robot 12 and 13 gripping points once, for the relocation of an individual product 2, or permanently, for this type of product 2 by storing in the database, set a particularly flexible and reliable way of picking is obtained.
  • the appropriate once defined grip points are then read from the database and used to relocate the selected product 2.
  • a completely automated shift of the selected number of products 2 is advantageously given.
  • Figure 2 shows an inventive system 18 for picking products 2 from the food sector according to the goods to man picking principle in one
  • Order picking 19 subsidized source carriers 4 with source positions 5 on fixed on the picking 19 provided destination cargo carrier 10 with target positions 11 moves.
  • the gripping arm 21 is formed by a delta arm mounted above the picking station 19.
  • the system 18 now also has input means 16 in the form of a screen with a mouse, on which the person 17 can determine whether selected products 2 manually by the person 17 or automated with the gripping arm 21 of the robot 20 of the
  • Source carrier 4 to be moved to the destination charge carrier 10 and thus to be picked. If the person 17 for the next selected product 2 manual
  • the conveyor belt 22 remains at a suitable location until the person 17 confirms the manual picking done on the input means 16.
  • the gripper arm 21 moves up to confirm the successful manual picking.
  • gripping points for products 2 can be permanently set manually or once by storing in the database.
  • Products 2 are not directly picked but separated from the pallets on which the products 2 are delivered sorted to other load carriers. These may be, for example, trays that facilitate storage in a high-bay warehouse. Even when separating the inventive measures are advantageously applicable.
  • a system according to the invention may have a larger number of robots and / or gripper arms.
  • Automated picking is to be distinguished from controlling an excavator arm, in which the person must input to the excavator arm any movement by means of control commands.
  • the term automated picking is part of this
  • the source position or target position can also be other surfaces such as tables, conveyor techniques, storage bins or the floor of a warehouse.
  • Manipulation positions are manually determined with the input means.
  • Transfer devices according to the invention may be formed, in addition to robots, by a gantry system, simple linear axes on which gripping arms are mounted, or other comparable systems for the automated transfer of products.
  • the person with the input means was able to determine whether a selected product should be implemented manually or automatically.
  • the robot or, more generally, the transfer device or the warehouse management computer it would also be possible for the robot or, more generally, the transfer device or the warehouse management computer to decide, or it has already been determined by entry in the database which selected products must be implemented manually and which automatically.
  • control keys of the input means to control the gripping arm in his movements, for example to move a product on a load carrier, in order to better grasp the or another product.
  • persons could sit in a control center on input means for transfer devices to control transfer devices, which are arranged in a remote picking warehouse.
  • a control center could control all robots from picking warehouses in one country.
  • Other authorized persons on site could make additional entries to the
  • Control center as well as by the authorized persons locally to be determined manually.
  • a Verfahrwagen was used to carry the conversion device, the manipulator and the input means.
  • the Verfahrwagens could also be a forklift or a self-propelled rails on a shelf storage shuttle used.
  • a manipulator could, for example, also be formed by a gripper in the form of a hand, which can thus perform different types of attack using different manipulation methods with this gripper.
  • the hand could be flat and thus grip by friction.
  • a so-called C-grip could grip positively or Hook.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)

Abstract

L'invention concerne un procédé pour transférer des produits (2), relevant en particulier du domaine alimentaire, selon lequel au moins un produit (2) sélectionné est transféré au moyen d'un dispositif de transfert (12, 13, 20), d'une position de gonflement (5) à une position cible (11), une personne (17) pouvant déterminer manuellement au niveau de moyens de saisie (16) du dispositif de transfert (12, 13; 20) un manipulateur (14, 15, 21) et une méthode de manipulation au niveau du produit (2) sélectionné pour le manipulateur (14, 15, 21) du dispositif de transfert (12, 13, 20) pour soulever le produit (2) sélectionné, puis le dispositif de transfert (12, 13, 20) soulève le produit (2) sélectionné avec le manipulateur (14, 15; 21) déterminé éventuellement manuellement et/ou selon la méthode de manipulation déterminée éventuellement manuellement et/ou dans la au moins une position de manipulation déterminée éventuellement manuellement et le transfère de la position de gonflement (5) à la position cible (11).
PCT/AT2016/060115 2016-02-26 2016-12-02 Système d'entreposage et de préparation de commandes partiellement automatique WO2017143367A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT500362016 2016-02-26
ATGM50036/2016 2016-02-26

Publications (1)

Publication Number Publication Date
WO2017143367A1 true WO2017143367A1 (fr) 2017-08-31

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Application Number Title Priority Date Filing Date
PCT/AT2016/060115 WO2017143367A1 (fr) 2016-02-26 2016-12-02 Système d'entreposage et de préparation de commandes partiellement automatique

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT520958A1 (de) * 2018-03-09 2019-09-15 Tgw Logistics Group Gmbh Robotersystem mit an Warentypen angepassten Bewegungsabläufen und Betriebsverfahren hierfür
DE102018103006A1 (de) * 2018-02-09 2019-10-24 Marley Spoon Ag Vorrichtung und Verfahren zum Bereitstellen von Zutaten für zumindest ein Gericht

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2544192A1 (de) * 1974-10-04 1976-04-08 Bygg Och Transportekonomie Ab Anordnung zur mechanischen aufnahme und packung von waren, insbesondere in warenspeichern
DE102006003859B3 (de) * 2006-01-27 2007-03-01 Robert Bosch Gmbh Verfahren zum Ablegen von Stückgütern in Behälter
DE102007002227A1 (de) 2007-01-10 2008-07-17 Swisslog Ag Verfahren und Vorrichtung zum Kommissionieren von Waren
US20120072023A1 (en) * 2010-09-22 2012-03-22 Toyota Motor Engineering & Manufacturing North America, Inc. Human-Robot Interface Apparatuses and Methods of Controlling Robots
US20150057793A1 (en) * 2012-02-21 2015-02-26 Amazon Technologies, Inc. System and method for automatic picking of products in a materials handling facility
US20150314440A1 (en) * 2014-04-30 2015-11-05 Coleman P. Parker Robotic Control System Using Virtual Reality Input

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2544192A1 (de) * 1974-10-04 1976-04-08 Bygg Och Transportekonomie Ab Anordnung zur mechanischen aufnahme und packung von waren, insbesondere in warenspeichern
DE102006003859B3 (de) * 2006-01-27 2007-03-01 Robert Bosch Gmbh Verfahren zum Ablegen von Stückgütern in Behälter
DE102007002227A1 (de) 2007-01-10 2008-07-17 Swisslog Ag Verfahren und Vorrichtung zum Kommissionieren von Waren
US20120072023A1 (en) * 2010-09-22 2012-03-22 Toyota Motor Engineering & Manufacturing North America, Inc. Human-Robot Interface Apparatuses and Methods of Controlling Robots
US20150057793A1 (en) * 2012-02-21 2015-02-26 Amazon Technologies, Inc. System and method for automatic picking of products in a materials handling facility
US20150314440A1 (en) * 2014-04-30 2015-11-05 Coleman P. Parker Robotic Control System Using Virtual Reality Input

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018103006A1 (de) * 2018-02-09 2019-10-24 Marley Spoon Ag Vorrichtung und Verfahren zum Bereitstellen von Zutaten für zumindest ein Gericht
AT520958A1 (de) * 2018-03-09 2019-09-15 Tgw Logistics Group Gmbh Robotersystem mit an Warentypen angepassten Bewegungsabläufen und Betriebsverfahren hierfür

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