WO2022008566A1 - Cellule robotisée pour manipuler une charge isolée - Google Patents

Cellule robotisée pour manipuler une charge isolée Download PDF

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Publication number
WO2022008566A1
WO2022008566A1 PCT/EP2021/068769 EP2021068769W WO2022008566A1 WO 2022008566 A1 WO2022008566 A1 WO 2022008566A1 EP 2021068769 W EP2021068769 W EP 2021068769W WO 2022008566 A1 WO2022008566 A1 WO 2022008566A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
receiving area
area
robot cell
piece goods
Prior art date
Application number
PCT/EP2021/068769
Other languages
German (de)
English (en)
Inventor
Frank Götz
Dirk Hablick
Original Assignee
rbc robotics 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 rbc robotics GmbH filed Critical rbc robotics GmbH
Priority to EP21745935.3A priority Critical patent/EP4178766A1/fr
Publication of WO2022008566A1 publication Critical patent/WO2022008566A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway

Definitions

  • the present invention relates to a robot cell and a method for separating piece goods using a robot cell.
  • robot systems for handling workpieces already exist in the prior art, with a three-dimensional position of a workpiece being detected by a camera system and a multi-axis articulated arm robot being controlled in such a way that the workpiece in question is removed in a defined manner, for example from a general cargo container removed from the robot and fed to a single conveyor.
  • Such robotic systems which are also commonly referred to as pick and place systems, are basically capable of picking up a general cargo container that is filled with good pieces or with components that are placed in the container in an undefined manner, piece by piece Piece to empty and supply those parts or the cargo of a single conveyor.
  • the present invention is now based on the object of providing an improved robot or an improved robot cell for handling piece goods, which is able to continuously feed individual piece goods to an individual conveyor device and which is also as compact as possible and can be produced inexpensively is.
  • a robot cell for handling piece goods includes a housing and a robot arranged inside the housing.
  • the robot is typically a multi-axis articulated arm robot.
  • the robot cell also has a first receiving area for a first general cargo container and a second receiving area for a second general cargo container.
  • the first receiving area and the second receiving area are arranged next to one another along a first direction.
  • the first and/or the second receiving area are typically located inside the housing.
  • the first recording area and the second recording area are arranged next to one another without overlapping.
  • the first receiving area can be defined by the size and dimensions of a general cargo container provided for this purpose. The same can apply to the second receiving area with regard to the second piece of goods containers.
  • the first and second receiving area, and consequently the first and second general cargo containers can have essentially identical geometries. For example, they can be the same size.
  • the robot cell can also have a conveying device for individual piece goods or for individual piece goods.
  • the conveying device protrudes through the housing into the interior of the housing.
  • One end of the conveyor protrudes from the housing solution.
  • An opposite end or a corresponding end section of the conveyor device is located within the robot cell, in particular within reach of the robot.
  • the robot cell has an opening or a passage in the housing, through which the robot can protrude or reach at least in sections.
  • the opening or the passage of the housing is adjacent to a processing area of a processing station arranged adjacent to the robot cell. This makes it possible, for example, for the robot to be able to transfer piece goods picked up from the pick-up area through the passage or the opening in the housing into the processing area of the processing station located adjacent to the robot cell.
  • individual piece goods can also be conveyed out of the robot cell or into the robot cell by means of the robot itself.
  • a processing area of a processing station for processing individual piece goods can also be provided or arranged in the area of the robot cell, i.e. inside the housing.
  • An entire processing station can also be arranged inside the housing of the robot cell.
  • the processing station can be designed, for example, for mechanical processing or geometrical measurement of an isolated workpiece or piece goods.
  • the processing area of the processing station is typically located along the first direction (x) adjacent one of the first and second receiving areas. In some configurations, the processing station is located between the first receiving area and the second receiving area. In other configurations, for example, the second receiving area is located between the first receiving area and the processing area of the processing station.
  • the robot cell includes a carrier on or on which the robot is movably mounted along the first direction.
  • the robot is designed in particular as part of a pick and place robot system.
  • the robot is designed in particular to first use sensors to grasp individual components or individual piece goods that are lying loose and possibly disorderly in the piece goods container and, according to the sensory detection, the robot, in particular its end effector, which is typically designed in the form of a gripper To be moved and controlled in such a way that individual cargo is removed from the cargo container in a defined manner and brought to the conveyor by the robot.
  • the robot Since the robot is movably mounted on or on the carrier along the first direction, it can be arranged either in the first or second receiving area or move to the first or second receiving area or alternatively be moved or moved to the first or second receiving area. If the robot is located, for example, on a section of the carrier directly adjoining the first receiving area, the robot can, for example, remove the individual cargo that is in the first cargo container and in the first receiving area of the Robot cell is located piece by piece from the cargo container and handed over to the conveyor.
  • the robot while the robot is positioned at the first receiving area and there piecemeal empties the cargo container, for example, an already emptied cargo container can be replaced or exchanged for a filled cargo container in the second receiving area.
  • the robot can move along the carrier and along the first direction into a section or brought or pushed into an area of the carrier which is directly adjacent to the second receiving area.
  • the robot can then individually remove the individually packaged goods that are located in the second receiving area and are typically provided by the second packaged goods container and successively feed them to the conveying device. Meanwhile, the first cargo container can be moved out of the first receiving area and replaced by a filled cargo container.
  • first and second receiving area each for a general cargo container, and the mobile mounting of the robot along the first direction, along which first and second receiving areas are also arranged next to one another, make it possible to move the robot to the first or second receiving area, depending on requirements and the situation to relocate.
  • the movable mounting of the robot enables a comparatively compact design of the robot, since it is placed or arranged directly on that cargo container in which the cargo to be handled at the respective time is located.
  • the first and/or the second receiving area and the general cargo containers that can be arranged therein are also located inside the housing of the robot cell.
  • the A housing is typically designed as a closed housing. It can have a rigid housing enclosing the entire effective area.
  • the robot, in particular its end effector, cannot protrude from the housing.
  • the enclosure thus represents a protective cage for the robot, so that staying outside the enclosure is completely risk-free.
  • first and second, optionally also third and/or fourth receiving areas for a total of several general cargo containers makes it possible to equip the robot cell with a plurality of general cargo containers, each filled with general cargo. It is typically provided that the robot first empties one of the general cargo containers to a large extent before, as a result of a displacement or movement along the carrier, it moves to another general cargo container in order to then empty it. Alternatively or additionally, the robot can also be used to load general cargo containers with general cargo if corresponding general cargo containers are arranged in one of the first and second receiving areas. Individual piece goods can either be fed to the robot cell from the outside via the conveyor device or made available in a processing area of a processing machine arranged adjacent to the robot cell.
  • the at least two general cargo containers act as buffers. While the robot is emptying one of the two general cargo containers, the other general cargo container can be taken out of the robot cell and again loaded with general cargo placed in the robot cell without the robot having to be stopped. Set-up times or changeover times for the robot, which would be caused, for example, by changing general cargo containers, can be reduced to a minimum as a result. At the same time, due to the mobile mounting of the robot on the carrier, a comparatively compact multi-axis articulated arm robot can be used that is also comparatively inexpensive to implement.
  • the carrier has an elongate guide, along which the robot is slidably mounted between a first work area and a second work area.
  • the elongate guide of the carrier can be designed as a guide rail.
  • the robot itself can be moved longitudinally on a slide on the guide rail, and therefore along the guide.
  • the carrier or the robot is provided with a drive by means which the robot can be moved along the length of the guide of the carrier.
  • the robot can use the carrier to move from the first work area to the second work area or vice versa, i.e. from the second work area can be moved to the first work area.
  • the position of the robot borders directly on the first receiving area, and consequently on the first general cargo container.
  • the position of the robot, in particular the foot of the robot is directly adjacent to the second receiving area, and consequently to the second general cargo container located there.
  • the robot in the first working area the robot has access to the first general cargo container located in the first receiving area.
  • the robot In the second working area, the robot has access to the second cargo container located in the second receiving area. Due to its mobility along the carrier, the robot can be of such a compact design that, when it is in the first work area, it has no or only very limited access to the second pick-up area and the second general cargo container located there. Conversely, it can equally be provided that when the robot is in the second work area, it has no or only limited access to the first receiving area or to the first general cargo container located in the first receiving area.
  • the first and the second receiving area are designed to be open at the top, so that the robot can pick up the piece goods located in the respective receiving area can be removed upwards.
  • the carrier can have a dual function.
  • the robot can be elevated, quasi arranged on a pedestal, and with its end effector, designed for example as a gripper, can be immersed from above into the cargo container, which is open at the top, in order to remove cargo individually there as required.
  • the robot has access to the conveyor device in the first and in the second work area.
  • the conveying device can be arranged in an intermediate region or in the middle of the first and second receiving region, for example.
  • the conveying device in particular its end lying inside the housing, can be arranged, for example, above the first and/or second receiving area.
  • the conveyor device can have several sub-conveyor devices, for example in the form of several slide or conveyor rails, with a first slide or conveyor rail in the first receiving area or in an area above it and a second slide or conveyor rail in protrudes into the second receiving area or into an area above it.
  • the conveyor device typically has at least one slide or conveyor rail, which is designed and suitable for individually receiving and conveying piece goods.
  • a slide or conveyor rail typically protrudes through the housing of the robot cell.
  • An inner end of the conveyor or slide rail extends into the working area of the robot, while an opposite end of the slide or conveyor rail lies outside the housing.
  • the conveyor or slide rail can protrude into the first receiving area or into an area above it.
  • One second conveyor or slide rail can protrude into the second receiving area or into an area above it.
  • the conveying device is formed adjacent to or elevated from an outer edge of the receiving area and that the carrier is formed adjacent to an opposite second outer edge of the respective receiving area or is elevated therefrom.
  • the first receiving area can be located perpendicularly or at an angle to the first direction between the carrier and the conveying device.
  • the second recording area is formed adjacent to the multi-axis articulated robot, for example to grasp piece goods, to dip into the piece goods container from above, pick up a piece of goods there, lift it and forward it to the conveyor device.
  • first and the second receiving area adjoin one another along the first direction (x) but with respect to a second direction (y), which are arranged, for example, transversely or perpendicularly to the first direction, aligned or flush with one another.
  • the first and/or the second receiving area can be arranged between the carrier and the conveyor device in relation to the second direction (y). They can be arranged in relation to a vertical direction (z) below the carrier or below the robot and below the conveyor.
  • the conveyor has two, namely a first and a second slide or conveyor rail, the first slide or conveyor rail receiving area above the first and the second slide or Conveyor rail is arranged above the second Aufnah me Suites for first and second general cargo containers and protrudes there from a housing.
  • the sliding or conveyor rails can, for example, be kinematically coupled to a conveyor belt lying outside of the robot cell, so that, for example, the robot can move out of the robot cell via the sliding and conveyor rails individually moved piece goods over the conveyor belt, i.e. they can be fed to further processing one after the other.
  • the robot cell can also be configured the other way around, for example to be designed to receive piece goods that are fed in individually and that get into the housing via the conveyor device. Inside the housing, the individual piece goods can then be removed from the conveyor by means of the robot and placed in the respectively assigned piece goods container.
  • a second piece of goods container which is typically located in the second receiving area, can be exchanged.
  • a full container can, for example, be taken out of the robot cell and a new, ie empty, general cargo container can be positioned inside the housing in the second receiving area.
  • the robot can be automatically moved or relocated along the carrier to the second work area and there remove the general cargo provided via the conveyor and deposit it piece by piece in the second general cargo container. Meanwhile, the first general cargo container well filled with pieces can be exchanged for an empty general cargo container.
  • the first receiving area is connected to the first general cargo container via a first access which can be closed by means of a first closure equippable.
  • the second receiving area can also be fitted with the second general cargo container via a second access which can be closed by means of a second closure.
  • the robot cell provides a first access for the first receiving area and a second access for the second receiving area, which is typically arranged adjacent thereto along the first direction.
  • Both entrances can each be closed or locked via a separate closure.
  • a further safety function can be implemented, namely that when the robot is adjacent to the first receiving area, i.e. in the first work area, the cargo container located there is not removed or the first lock provided there is locked, or secured against opening.
  • a robot controller can be designed to keep the first access closed by means of the first closure over the period of time during which the robot is in the first work area.
  • a safety function can be provided that only access to a receiving area for loading with the general cargo container is accessible in which the robot is not currently located.
  • the second access for the second general cargo container can be accessible from the outside.
  • the second closure can be opened or opened in order to exchange the second general cargo container in the second receiving area.
  • the first access and the first closure are only accessible or can only be opened if the robot is in the second work area, ie adjacent to the second receiving area or in the second receiving area. In this way it can be avoided that the multi-axis articulated arm robot reaches into or dips into such a receiving area which is accessible from the outside through the opening of an access.
  • the carrier extends inside the housing above the first and the second access.
  • the guidance of the carrier can run above the first and the second access, so that the general cargo container can be moved below the carrier into the first or second access and thus into the first or second receiving area.
  • the arrangement of the carrier above the first and second access enables a particularly space-saving arrangement for the robot inside the robot cell.
  • the outer dimensions of the robot cell can be minimized in this way.
  • the traverse paths for the robot can be shortened.
  • first and the second access are arranged next to one another on a first outside of the housing.
  • the first and second ports are typically juxtaposed along the first direction. By opening the first entrance, direct accessibility to the first receiving area is provided. Opening the second access provides direct access to the second receiving area.
  • the conveying device passes through a second outer side of the housing, which is remote from or opposite the first outer side. This allows the robot to work particularly efficiently.
  • first and second receiving areas being arranged, for example, in an aligned extension to the first and second access in each case, corresponding piece goods containers can be brought directly into the first and second receiving areas via the respective accesses.
  • the opening, through which the robot can protrude or reach at least in sections can be almost arbitrarily on one of the first outer side, the opposite second outer side or also be designed on a front side, between the first and second outer side of the robot cell, which is approximately cubic in shape.
  • the geometric design or positioning of an opening or a passage through which the robot can convey individual piece goods through the housing is typically adapted to the respective purpose of use of the robot cell.
  • the robot cell can remove individual piece goods and deposit them through the opening or through the passage of the robot cell in a processing area of a processing station arranged adjacent to the robot cell. There, the piece of goods can be processed as intended. After appropriate processing of the piece goods in the processing area of the processing station, the processed piece goods can, for example, be sent for further processing elsewhere.
  • the processing station can have its own conveyor device, for example.
  • the robot can be used to pick up the machined piece goods in the area of the processing area of the machining station and deposit them back through the housing into one of the first and second pick-up areas of the robot cell.
  • a cargo container located in the first receiving area is typically open at the top and is unrestrictedly accessible by the articulated arm robot arranged above the first receiving area.
  • the robot can thus dive into the pick-up area from above, pick up a piece of goods there and, after lifting it, transfer it to the front of the conveyor. Comparatively large pivoting movements of the multi-axis articulated-arm robot are not necessary here, which means that the cycle time of the robot, which includes approaching, gripping, lifting the workpiece and then depositing the workpiece in the area of the conveyor, can be reduced to a minimum.
  • the first access and the second access are located next to one another along the first direction on a floor of the housing.
  • the first and second lock can be configured as a pivoting door or a sliding door.
  • a locked or bolted closure, hence a correspondingly locked door blocks access to the receiving area.
  • the closure, and thus a correspondingly designed door can be provided in particular with an electromechanical lock or with an electromechanical locking mechanism, which can be actuated by means of the robot control.
  • the ground-side arrangement of the first and second access as well as the curse border arrangement of the first and second corresponding ground-side receiving area enables a particularly simple feeding and removal of individual piece goods containers.
  • An upper part of the robot cell can be used in particular to accommodate the multi-axis articulated arm robot.
  • the elevated arrangement of the robot for example in an upper part of the housing of the robot cell, enables an ergonomically favorable visual inspection of the robot, especially if the housing is at least partially transparent or designed as a kind of lattice housing.
  • the top of the enclosure can be completely free of openings, so there is no risk of the robot protruding from the area of the enclosure.
  • the first lock and/or the second lock can be locked, in particular electromechanically, depending on a current position of the robot in relation to the first direction. It is typically provided here that the first closure remains in a closed position or in a locking position, for example by means of the robot control, as long as the robot is in the first work area, and therefore in the first receiving area. Only when the robot is displaced or moved out of the first work area is the first closure unlocked, so that the closure can be opened and the first access point behind it for replacing the general cargo container becomes accessible. Of course, the same applies to the second closure. This can also be held in a closed position as long as the robot is in the second work area.
  • the robot cell also has a bulkhead that is movably mounted along the first direction between a first position and a second position. In the first position, the bulkhead closes the first receiving area at the top. In the second position, the bulkhead closes the second receiving area at the top.
  • the bulkhead is typically movably guided on the housing or on a carrier, for example on the carrier for the robot. It can be slidably mounted between the first and the second position by means of a horizontally aligned sliding guide.
  • the bulkhead can interact with a holding mechanism. For example, in the first position, which represents a first end position, it can latch with a holding part. For the second end position, too, a separate holding part can be provided for latching or securing the position of the bulkhead.
  • the use of a bulkhead that can typically be moved longitudinally is another safety feature.
  • the bulkhead In its first position, the bulkhead can separate the first receiving area from the rest of the interior of the enclosure. If the first access is then opened by opening the first closure, the entire first recording area can be richly accessible from the outside.
  • the bulkhead effectively prevents the robot from entering the first receiving area as long as the bulkhead is in the first position and/or as long as the first receiving area is accessible from the outside. This also applies to the second recording area in the same way.
  • the bulkhead can be moved from the first position to the second position and vice versa by means of an end effector of the robot, for example by means of a robot provided on the head of the multi-axis articulated arm gripper.
  • an end effector of the robot for example by means of a robot provided on the head of the multi-axis articulated arm gripper.
  • the robot itself can be programmed in such a way that in the course of a displacement or movement from the first working area in the direction and into the second working area, it correspondingly carries or takes the movably mounted bulkhead along with it.
  • the bulkhead typically has a handle structure for the robot, in particular for its end effector, which is accessible on its upper side.
  • the handle structure can have an upwardly projecting handle, for example, which can be gripped by the end effector and accordingly actuated to move the bulkhead.
  • the bulkhead can also have an opening or depression on its upper side, into which the end effector of the articulated arm robot can engage or with which the end effector can interact in order to exert a displacement force on the bulkhead.
  • the robot cell has a sensor arrangement for detecting the location and position of cargo that is located in the area of the conveyor or in the first and/or second cargo container.
  • the robot cell also has a robot controller which is coupled to the sensor arrangement in terms of data technology and which is designed to control the robot to intervene on an individual item as a function of the location and position detection of the item.
  • the sensor arrangement can be configured as an imaging sensor arrangement. It can have one or more imaging sensors, for example cameras, by means of which the location and position of individual piece goods in the area of the conveyor device and/or in one of the first and second recording areas can be recorded without contact.
  • the robot control of the robot cell has a data-technical evaluation, by means of which the data obtained by means of the sensor arrangement can be evaluated data-technically.
  • the robot, and therefore its robot controller is ultimately trained or programmed to identify individual items from the data from the sensor arrangement, to record its location and position in three-dimensional space and finally to control the multi-axis articulated-arm robot based on the data acquisition of the item in such a way that individual piece goods precisely recorded and it can be grasped.
  • the sensor data can be updated regularly, for example after each piece of goods has been picked up or after several successive gripping processes by the robot.
  • the sensor arrangement is advantageously located above the current position of the robot. Because of the mobility or Displaceability of the robot along the first direction, the sensor arrangement can be arranged, for example, in a transitional area between the first and second recording area above the first and second recording area, typically also above the robot. It is conceivable for both the first recording area and the second recording area to be technically detectable by means of a single sensor arrangement.
  • the sensor arrangement is slidably mounted on a sensor guide along the first direction between a first working area above the first receiving area and a second working area above the second receiving area.
  • the sensor arrangement is always arranged above that working area of the robot in which the robot is currently located. It is also conceivable here for a robot located in the first work area to operate below a sensor arrangement which is also arranged in the first work area.
  • the robot For the purpose of a complete recording of location and position data from the piece goods located in the first recording area, provision can also be made for the robot to be moved or displaced at least temporarily along the first direction in the direction of the second recording area or in the direction of the second working area, so that at least for the recording of position and location data of the piece goods, the robot is not in the way.
  • the sensor arrangement is movably mounted along the sensor guide, it can assume an ideal position for the respective working area of the robot.
  • the robot cell has at least a third receiving area for a third general cargo container.
  • the third recording area is arranged along the first direction (x) next to the second recording area. Viewed along the first direction, the second recording area adjoins the first recording area. The third recording area follows the second recording area.
  • the second accommodating area is located between the first and the third accommodating area.
  • the carrier, on which the robot is movably mounted along the first direction has at least an extent that corresponds to the extent of the first, second and third receiving area along the first direction (x). In this way, the robot can move to any desired position in one of the first, second and third receiving areas and remove existing piece goods from the respective receiving areas or deposit them there.
  • the flexibility and variability of the robot cell can be increased by providing at least three receiving areas for each piece goods container. For example, it is conceivable to position a first general cargo container loaded with the piece to be processed in the first receiving area and to position a second general cargo container to be loaded with processed general cargo in the second receiving area. The robot can then remove general cargo or corresponding workpieces to be processed from the first general cargo container remove and feed them, for example, to a processing station arranged next to the robot cell.
  • the robot can transport the processed piece goods or workpieces from the processing station back into the housing and deposit them in the second piece goods container.
  • processed piece goods can also be transported back into the housing of the robot cell by means of the conveyor device.
  • a first general cargo container positioned in the first receiving area is emptied and a general cargo container provided in the second processing area is successively loaded with general cargo that is then processed.
  • a third cargo container loaded with unprocessed workpieces or unprocessed cargo can be provided or exchanged. If, for example, all unprocessed general cargo or workpieces have been removed from the first general cargo container, the robot can then remove subsequent general cargo from the third general cargo container, feed them to the processing station and then move such machined workpieces from the processing station back to the first general cargo container. While cargo is now removed from the third cargo container and stored in the first cargo container, for example after processing, the second cargo container loaded with processed cargo can be exchanged for another cargo container in the second receiving area that is stocked with unprocessed cargo.
  • a fourth receiving area is provided for a fourth piece goods container, the flexibility and variability of the robot cell for handling and/or processing piece goods can be further increased.
  • the third receiving area also has a separate, and therefore a third, closable access and that the carrier extends inside the housing above the first and second access as well as above the third access.
  • the first access, the second access and the third access are arranged or provided next to one another on a first outside of the housing.
  • the bulkhead described above is preferably mounted movably along the first direction between a first position, a second position and a third position when a total of three receiving areas are provided, with the bulkhead closing the third receiving area at the top in the third position.
  • the housing has at least one transport receptacle for a hoist.
  • a forklift truck or a crane, for example, can be used as a hoist.
  • the transport receptacle can be arranged on a ceiling of the enclosure or on the bottom of the enclosure. However, arranging the transport receptacle on the ceiling is advantageous for the floor-side design of the first and second access for the respective first and second receptacle area.
  • the first receiving area and the second receiving area can be on the bottom, typically be arranged on the inside of a floor of the robot cell or on the inside of a floor of the housing, so that general cargo containers can be transported into and out of the respective receiving area, for example with a lifting trolley or similar transport devices.
  • the present invention relates to a method for separating piece goods provided in a plurality of piece goods containers using a previously described robot cell.
  • the general cargo provided in a plurality of general cargo containers be arranged in first and second receiving areas inside the housing of the robot cell.
  • the robot can approach a work area assigned to the respective general cargo container and then, using the sensor arrangement assigned to it, first detect the location and position of individual general cargo in the general cargo container that is open at the top and finally control the mechanical articulated-arm robot in such a way that it picks up individual general cargo one after the other from the general cargo container removed above and fed to a conveyor, which passes through the housing.
  • the individual piece goods positioned inside the housing on or at the conveyor device or deposited there are each transported further individually or separately by means of the conveyor device and fed to a corresponding further processing.
  • individual piece goods can also be conveyed or transferred to a processing area of a processing station adjacent to the robot cell by means of the robot.
  • the housing of the robot cell has at least one opening or passage through which the robot can protrude or reach at least in sections. It is conceivable here for the opening to be dimensioned in such a way that only the head provided with pieces or parts of the robot arm can protrude through the opening.
  • the robot itself can pass or be transported through the opening.
  • the carrier on which the robot is movably mounted along the first direction can also extend through the opening or passageway of the robot cell.
  • the robot itself can get out of the housing and typically into a protected or structurally separated area of an adjacent processing station.
  • a first piece goods container is arranged in the first receiving area of the robot cell.
  • the robot takes place an individual handling of individual cargo and a corresponding piece-by-piece conveying countries of cargo from the first cargo container to the conveyor or vice versa.
  • access to the second receiving area is opened and a second general cargo container is introduced from the receiving area and/or removed from it.
  • the robot can also be arranged in the second work area and interact there with the cargo in the second cargo container, while the first access to the first receiving area is opened and the first cargo container located there is replaced or exchanged.
  • the method described here can be carried out and executed using a previously described robot cell.
  • all the features, advantages and advantageous effects described for the robot cell apply equally to the process for separating piece goods and vice versa.
  • the present invention also relates to a method for equipping a unit load container with individually supplied unit loads via a conveyor device.
  • the robot can also be designed for picking up and/or handling piece goods provided in a processing area of a processing station arranged adjacent to the robot cell.
  • the robot can pick up items that have been made available in the processing area, for example items that have been processed in this way, and deposit them in one of the first and second picking areas, typically in a piece goods container provided there.
  • the robot cell can be inverted in terms of material handling or the robot can be correspondingly programmed inversely. He can, for example, take the individual piece goods supplied via the conveyor individually inside the housing and remove them from the conveyor and then store them unsorted in the respectively accessible or designated piece goods container.
  • FIG. 1 shows a perspective, partially transparent representation of an embodiment of the robot cell in a first view
  • FIG. 2 shows a perspective view of the robot cell from a different perspective
  • FIG. 3 shows a further representation of the robot cell according to FIGS. 1 and 2
  • Fig. 7 is a side view of the robot cell
  • FIG. 8 shows an embodiment of a robot cell that has been modified with regard to the material flow
  • FIGS. 1 to 7, 10 shows a further representation of the robot cell according to FIGS. 1 to 7, 10 an enlarged interior view of the robot cell
  • FIG. 13 shows a perspective representation of a further exemplary embodiment in which the robot can move out of the robot cell
  • FIG. 14 shows a perspective representation of a further exemplary embodiment, in which the head of the robot can protrude through an opening in the housing,
  • FIG. 15 shows a perspective view of a further exemplary embodiment according to FIG. 13,
  • FIG. 16 shows a further perspective illustration of the exemplary embodiment according to FIG. 15,
  • Fig. 17 is a perspective view of another embodiment with a total of three receiving areas and
  • FIG. 18 further perspective view of the embodiment according to FIG. 17. Detailed description
  • the robot cell 1 has a housing 2 .
  • a robot 10 is arranged inside the housing 2 .
  • the robot 10 is designed as a multi-axis articulated arm robot.
  • the robot 10 has a robot arm 12 . This is arranged on a foot 14 on a carrier 50 .
  • the robot arm 12 also has a head 16 with an end effector 18 designed as a gripper 19 .
  • the multi-axis articulated robot 10 has typically a forearm, an upper arm, and a wrist. For example, it can have six articulation axes.
  • the housing 2 has a side wall structure 7 with a first outside 3 and with an opposite outside 4 . Those outer sides 3, 4 extend along a plane formed by the vertical and a first direction (x).
  • the side wall structure 7 is at least conceptually divided into an upper part 34 and a lower part 36 adjoining it below. In the area of the lower part 36, two closures 25, 27 are provided on the first outer side 3, by means of which corresponding access points 21, 23 into the interior of the housing 2 can be closed or locked.
  • a first receiving area 20 for a first cargo container 24 and a second receiving area 22 for a second cargo container 26 is provided at least.
  • the first and second receiving areas 20, 22 adjoin each other along the first direction (x).
  • the first and the second receiving area 20, 22 can be separated from one another by a vertical partition wall 28 extending along a second direction (y).
  • the cargo containers 24, 26 can be designed cubic. They are open at the top, so that the robot 10 can immerse its robot arm 12 into the general cargo containers 24, 26 from above and individually grasp the general cargo 5 located within the general cargo containers 24, 26 and remove it from the respective general cargo containers 24, 26.
  • the robot cell 1 also has a conveyor device 40 .
  • the conveyor device 40 passes through the housing 2 to the outside.
  • the conveying device 40 has two conveying or slide rails 42,44. These have an internal end section 41 , that is to say inside the housing 2 , and an external end section 43 which is located outside the housing 2 .
  • the robot 10 is designed to pick up individual piece goods 5 from the piece goods container 24, 26, to lift them and at the first end section 41 the conveyor or slide rails 42, 44 to store.
  • the conveyor or slide rails 42, 44 are presently designed as an inclined plane.
  • the outboard end portion 43 is lower than the inboard end portion 41 when viewed in the vertical direction.
  • the piece goods 5 deposited on the inner end section 41 can slide along the conveyor or slide rail 42, 44 due to the force of gravity and can be picked up by a conveyor belt 45 on the outer end section 43 of the first and second conveyor or slide rail 42, 44 and finally further processing or an assembly line be supplied.
  • the first cargo container 24 can be moved via an access 21 into the first receiving area 20 inside the housing 2 and positioned there by means of an air vehicle and/or transport vehicle 86 .
  • Such a configuration is shown in FIG.
  • the robot 10 is located adjacent to the second receiving area 22, which is arranged along the first direction (x) next to the first receiving area 20. While the robot successively and successively removes cargo 5 from the second cargo container 26, which is arranged in the second receiving area 22, the first receiving area 20 can be made accessible from the outside for replacement and reloading with a first cargo container 24.
  • the robot 10 is located above the first and second receiving area 20, 22, which is occupied by the first and second cargo container 24, 26, respectively.
  • the robot 10 in the configuration shown there and during reloading of the first receiving area 20 can dip from above into the unit load container 26 located in the second receiving area 22, remove at least one unit load 5, lift it and move it to the inside Store end section 41 of a second conveyor or slide rail 44 .
  • the piece goods in question 5 can then slide down the conveyor or slide rail 44 and by means of the adjoining conveyor belt 45 are individually supplied to further processing.
  • the so-called second access 23 for this second receiving area 22 is closed by the second closure 27 .
  • the closure 27 can be controlled by a robot controller 90 and released as required.
  • the closure can have an electromechanical lock which can be actuated via a robot control 90 . However, as long as the robot is in the associated work area, opening the relevant access is effectively prevented.
  • the robot 10 is slidably mounted on or on the horizontal carrier 50 .
  • the carrier 50 has an elongate guide 52 which, for example, can essentially be formed by a corresponding guide rail 54 .
  • the guide 52 can have an elongate, stationary guide rail 54 and a carriage 56 which can be moved thereon or thereon.
  • the carriage 56 and/or the guide rail 54 can be coupled to a drive 55 so that the carriage 56 and the robot arm 12 arranged on the carriage 56 can be moved along the guide rail 54 .
  • the entire robot 10, and therefore the entire robotic arm can be moved longitudinally between the first work area 30 and the second work area 32 along the carrier or along the guide 52 as required.
  • the robot 10 removes individual cargo 5 piece by piece, for example from the second cargo container 26 located in the second receiving area 22, and transports this cargo 5 via the second conveyor or slide rail 44 to the Conveyor 40 conveyed to an area outside the enclosure 2.
  • the first piece goods container 24 can be exchanged in the first receiving area 20 .
  • the robot 10 can be moved into the first work area 30 along the carrier 50, triggered by the robot controller 90 connected to it in terms of data technology .
  • the robot 10 and therefore its robot arm 12 has unimpeded access to the first general cargo container 24, which is open at the top 5 ent take from the first cargo container 24 and a first conveyor or slide rail 42 out for further processing or assembly.
  • the second closure 27, which can be formed, for example, as a pivoting door on the lower part 36 of the side wall structure 7, can be released and opened accordingly, so that unhindered access is provided for the second receiving area 22 located behind it.
  • the emptied or almost emptied general cargo container 26 can be moved out of the second receiving area 22 with the aid of the lifting and/or transport vehicle 86, and another general cargo container can then be placed in the second receiving area 22 inside the housing 2.
  • the robot 10 or the robot arm 12 can remove individual cargo 5 from the first cargo container 24 and feed it individually to the conveyor device 40 .
  • the robot cell 1 has a movable bulkhead 60 above the receiving areas 20, 22 lying next to one another. This can be movably mounted, for example, by means of a guide hori zontally inside the housing 2 between a first position and a second position. In the first position of the bulkhead 60 shown, for example, in FIGS. 1 to 4, this closes the first receiving area 20 at the top.
  • the plate-like bulkhead 60 typically extends completely over the first cargo container 24 located underneath. Opening the first access 21 to the first receiving area 20, for example by opening the closure 25, as shown in Fig. 3, enables a first general cargo container 24 to be exchanged in the first receiving area 20.
  • the bulkhead 60 and also a partition 28 between the first and second receiving areas 20, 28 effectively prevent the robot 10 when the closure 25 is open, it can get into the area of the robot cell that is accessible from the outside.
  • the bulkhead 60 can be slidably mounted, for example, on a rear wall 62 inside the housing 2 by means of a sliding guide 61 .
  • the bulkhead 60 can have a handle 63 for the robot 10, in particular for the end effector 18 of the robot arm 12, on its upper side.
  • the handle 63 is in the form of a recess or a through-opening on the upper side of the bulkhead 60 .
  • the robotic arm 12 can engage its head 16 or end effector 18 with the handle 63 of the bulkhead 60 to move the bulkhead from the first to the second position, or vice versa, as needed second to the first position along the slider guide 61.
  • a robot controller 90 shown only schematically in FIG. 9, is provided.
  • the robot cell 1 comprises a sensor arrangement 80 which is coupled to the robot controller 90 in terms of data technology.
  • the sensor arrangement 80 is located above the first and second work area 30, 32 of the robot 10. It can be moved along a guide 82 from a first work area 81 above the first work area 30 of the robot to a second work area 83 above the second work area 32 of the robot 10 are moved as required.
  • the guide also extends along the first direction (x).
  • the sensor assembly 80 is movable on the elongate sensor guide 82, such as mounted to be longitudinally displaceable in order to record position-accurate data about the piece goods located in the first and second recording areas 20, 22.
  • the sensor guide 82 and/or the sensor arrangement 80 can also have an electrically actuable drive in order to move the sensor arrangement 80, for example under program control, along the sensor guide 82 between the first and second working areas 81, 82.
  • the sensor arrangement can have one or more imaging cameras or similar sensor arrangements, by means of which the location and/or position of individual piece goods 5 within the piece goods containers 24, 26 can be determined three-dimensionally.
  • the data-technical coupling of the sensor arrangement 80 with the robot control enables software-aided recognition of individual cargo within the respective receiving areas 20, 22 or within the cargo containers 24, 26 arranged there.
  • the sensor arrangement 80 is also arranged in the second work area 83 . It is located above the second receiving area 22 and thus also above the second cargo container 26 located there. To determine the location and/or position of the cargo 5 in the second cargo container 26, it can prove advantageous if the robot, as in particular in 4, is moved at least temporarily from the second work area 32, as shown in FIG. 3, into the first work area 30, as shown in FIG the conveyor 40 passes.
  • the robot 10 is outside the recording or visual range of the sensor arrangement 80. While the robot 10 is in the first working area 30, the sensor arrangement 80 can take a shadow-free and barrier-free image or multiple images of the second recording area 22 to be able to access updated data for the subsequent piece goods removal processes. After recording corresponding location and/or position data of the piece goods 5 in the second recording area 22, the robot 10 can be moved back into the second work area 32 again. In Figure 5, the bulkhead 60 is shown in an intermediate position between the first and second positions.
  • the first and second receiving areas are identical to the first and second receiving areas.
  • the conveyor or slide rails 42, 44 of the conveyor device 40 rest on an upper side of the rear wall 62.
  • the rear wall 62 can be designed in one piece or in several parts with an intermediate floor 64 on which the general cargo containers 24, 26 can be placed.
  • the intermediate floor 64 and the rear wall 62 connected to it can be positioned on a flat floor 6 of the enclosure 2 and, if necessary, fixed.
  • the carrier 50 for the robot 10 typically extends above the two receiving areas 20, 22. It extends along the first direction (x) across the width of the first and second receiving area 20, 22.
  • the carrier 50 has a horizontally running crossbar 58 on.
  • the transverse beam 58 rests with its longitudinal ends on opposite supports 57,59. The area delimited by the supports 57, 59, the crossbeam 58 and the floor 6 forms the first and the second access
  • the robot in particular its carrier 50, is arranged above the first and second receiving areas 20, 22 and thus also above the general cargo containers 24, 26 to be arranged therein, the result is a particularly space-saving design of the robot cell 1.
  • the general cargo containers 24, 26 are located, in relation to the second direction (y), perpendicularly or transversely to the first direction (x) between the rear wall 62 and the carrier 50. This allows a particularly small distance between the general cargo container 24 and the conveyor 40 to be provided.
  • the conveying or lifting paths for the robot 10 or for the robot arm 12 can in this way can be kept as short as possible, which has an advantageous effect on the shortest possible cycle times for the handling of the piece goods 5.
  • a reversal of the conveying direction for the piece goods 5 is provided.
  • individual piece goods 5 are fed to the conveyor or slide rails 42, 44 via the conveyor belt 45 and the piece goods 5 reach the interior of the housing 2 via the conveyor or slide rails 42, 44.
  • a stop At an inner end 41 of the conveyor or slide rails 42, 44 is a stop, not shown here, which prevents the piece goods 5 from falling uncontrolled into the underlying piece goods container 24, 26.
  • the robot 10 can take the cargo 5 located there and carefully, but in particular without damage, comparatively carefully place it in the second cargo container 26.
  • the robot 10 can be moved from the second working area 32 shown in FIG. 8 to the first working area 30 .
  • a total of two sensor arrangements 80, 80′ arranged next to one another along the first direction (x) are provided.
  • the first sensor arrangement 80 is located above the first receiving area 20.
  • the second sensor arrangement 80' is located above the second receiving area 22.
  • the robot controller 90 is coupled to both sensor arrangements 80, 80' in the same way. Depending on the requirement, data from the first and/or the second sensor arrangement 80, 80' can be transferred to the robot controller 90 as required.
  • FIG. 12 shows that the robot cell 1 can optionally be equipped with a transport receptacle 8 for a hoist 9 .
  • the transport receptacle 8 is located on an upper side or on a cover or roof of the enclosure 2.
  • the transport receptacle 8 has two longitudinally extended parallel to the base 6 running recordings or shafts, in which the configured as a hoist fork of a hoist, which is presently designed as a forklift, can engage.
  • the entire robot cell 1 can be raised by means of the transport receptacle 8 and placed as required, for example in a production environment.
  • the Trans port recording can be arranged on the outside of the housing 2 detachable. It can be screwed to the cover or the roof of the housing 2, for example. When not in use, the transport mount 8 can be removed.
  • FIG. 1 A further exemplary embodiment of the robot cell 1 is shown in FIG. In contrast to the exemplary embodiments of FIGS. 1 to 11, this has no conveying device for individual piece goods. Instead, the housing 2 has an opening 107 through which the robot 10 can pass, at least in sections.
  • the opening 107 is provided in particular and preferably exclusively in the area of the upper part 34 of the housing 2 or the side wall structure 7 . It is located on an end face 104 between the first outer side 3 and the opposite second outer side 4.
  • the carrier 50 is lengthened in such a way that it protrudes through the opening 107 from the interior of the housing 2 and enters the processing area 100 of a processing station 101 arranged adjacent to the robot cell 1 .
  • the processing station 101 can be designed in the most varied of ways.
  • the processing station 101 is used, for example, for the mechanical processing of piece goods 5, which are individually removed via the robot 10 from one of the two receiving areas 20, 22 and fed to the processing station 101.
  • the robot 10 can move completely through the opening 107 of the enclosure 2 .
  • the carrier 50 can extend into the processing area 100 of the processing station 101 .
  • the processing station 101 is arranged along the first direction (x) adjacent to the housing 2, approximately adjacent to the second receiving area 22.
  • the length of the carrier 50 essentially corresponds to that of the exemplary embodiments according to FIGS. 1 to 11.
  • the carrier 50 is arranged completely within the housing 2. Its longitudinal end is adjacent to the opening 107 in the end face 104 of the side wall structure 7 .
  • the opening 107 is designed exclusively in the area of the upper part 34 of the side wall structure 7 .
  • the opening 107 is dimensioned in such a way that the robot arm 12 can reach the adjoining processing area 100 of the processing station 101 through the opening 7 from the inside, ie from the housing 2 .
  • the foot 14 of the robot 10 remains here inside the housing 2.
  • the housing 2 of the robot cell is enlarged by the processing area 100 of the adjoining processing station 101 compared to the embodiments of FIGS.
  • the front wall 104 of the enclosure can be designed to be completely closed. Instead, an opening 107 is provided on the second outside 4 . Through that opening 107, the piece goods 5 processed, for example, in the processing area 100 can be supplied for further processing.
  • the robot 10 or the robot arm 12 can in this case be configured to feed piece goods 5 processed in the processing area 100 through the opening 107 for further processing.
  • the robot 5 picks up the piece goods 5 that have been processed in the area of the processing station 101 again and moves them back into one of the piece goods containers 24 , 26 .
  • the carrier 50 has an extension with which the robot 10 as a whole can reach the processing area 100 of the processing station 101, which along the first direction (x) to the second receiving area 22 adjacent.
  • the processing station 101 can also be integrated into the robot cell 1 .
  • the enclosure 2 can also be designed to be completely closed.
  • the robot cell can provide a processing area 100 for the processing station 101, the processing station 101 along the first direction (x) adjoining the second receiving area 22, optionally also borders on a third or fourth receiving area of the robot cell.
  • the robot cell 1 has a third receiving area 120 for receiving a third cargo container 124 in addition to the first receiving area 20 and the second receiving area 22 .
  • the third accommodating area 120 is arranged next to the second accommodating area 22 along the first direction (x).
  • the carrier 50 has a longitudinal extension which corresponds to the longitudinal extension of the first, second and third receiving area 20, 22, 120 along the first direction (x). In this way, the robot 10 can be moved or moved along the carrier 50 and positioned in or on one of the receiving areas 20, 22, 120 as required.
  • the robot arm 12 can deposit a single workpiece or piece goods 5 in the processing area 100 .
  • the third receiving area 120 is designed similarly or identically to the first or second receiving area 20 , 22 .
  • the third receiving area 120 has an access 121 via which a general cargo container 124 can be stored ver in the receiving area 120 .
  • the access 121 can be provided with a closure 125 which, like the closures 25, 27, can be closed or actuated.
  • the bulkhead 60 can also be moved over the upwardly open area of the receiving area 120 in order to protect the third receiving area 120 against interventions by the robot 10, particularly when the closure 125 is open.
  • the general cargo containers 124 shown in FIGS. 17 and 18 each have a carriage 130 with a plurality of stacking containers 131, 132, 133 arranged thereon.
  • the individual stacking containers 131, 132, 133 can be designed as panels or trays and have a stacking structure, so that the individual stacking containers 131, 132, 133 can be stacked on top of one another in a stable position.
  • Each of the stacking containers 131, 132, 133 can accommodate a plurality of piece goods 5 or workpieces.
  • the robot 10 can successively remove individual workpieces or piece goods 5 from the third processing area 120 , lead them to the adjoining processing station 101 and, after processing has taken place there, pick up the processed piece goods 5 again and place them in the first receiving area 20 .
  • the robot 10 can also be configured, for example, to transfer an overhead and consequently empty stacking container 133 from the third receiving area 120 to the second receiving area 22, for example onto the empty one located there To relocate chassis 130. Further unprocessed workpieces or piece goods 5 can then be removed from a stacking container 132 located underneath in the third receiving area 120 , fed to the processing station 101 and then deposited in the stacking container 133 , which is still empty, in the second receiving area 22 . Meanwhile, the piece goods container 124 loaded with machined workpieces can be moved out of the first receiving area 20 and replaced by another piece goods container 124 with workpieces or piece goods 5 to be machined.
  • the variability and self-sufficiency of the entire robot cell system shown here can be further increased by providing an additional recording area, for example a fourth recording area.

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

Abstract

La présente invention concerne une cellule robotisée (1) pour manipuler une charge isolée, comprenant les éléments suivants : une enveloppe (2), un robot (10) disposé à l'intérieur de l'enveloppe (2), une première zone de réception (20) pour un premier contenant de charges isolées (24), une deuxième zone de réception (22) pour un deuxième contenant de charges isolées (26), la première zone de réception (20) et la deuxième zone de réception (22) étant disposées côte à côte le long d'une première direction (x), un dispositif de transport (40) pour une charge isolée, lequel fait saillie à travers l'enveloppe (2), et un support (50) au niveau duquel ou sur lequel le robot (10) est monté mobile le long de la première direction (x).
PCT/EP2021/068769 2020-07-08 2021-07-07 Cellule robotisée pour manipuler une charge isolée WO2022008566A1 (fr)

Priority Applications (1)

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EP21745935.3A EP4178766A1 (fr) 2020-07-08 2021-07-07 Cellule robotisée pour manipuler une charge isolée

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DE102020117973.1 2020-07-08
DE102020117973.1A DE102020117973A1 (de) 2020-07-08 2020-07-08 Roboterzelle zur Handhabung von Stückgut

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010015780U1 (de) * 2010-11-23 2011-03-03 Goldfuss, Thomas Flexible Roboterzelle
US20200095001A1 (en) * 2018-09-26 2020-03-26 Dexterity, Inc. Robotic kitting system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10109446A1 (de) 2001-02-27 2002-09-05 Focke & Co Einrichtung zur Handhabung von Bobinen
DE102014008108A1 (de) 2014-06-02 2015-12-03 Liebherr-Verzahntechnik Gmbh Vorrichtung zum automatisierten Entnehmen von in einem Behälter angeordneten Werkstücken
DE102017000527A1 (de) 2017-01-20 2018-07-26 Liebherr-Verzahntechnik Gmbh Vorrichtung zum automatisierten Entnehmen von in einem Behälter angeordneten Werkstücken

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010015780U1 (de) * 2010-11-23 2011-03-03 Goldfuss, Thomas Flexible Roboterzelle
US20200095001A1 (en) * 2018-09-26 2020-03-26 Dexterity, Inc. Robotic kitting system

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DE102020117973A1 (de) 2022-01-13

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