WO2022069181A1 - Système robotisé modulaire pour le transport d'un objet et procédé de transport d'un objet - Google Patents
Système robotisé modulaire pour le transport d'un objet et procédé de transport d'un objet Download PDFInfo
- Publication number
- WO2022069181A1 WO2022069181A1 PCT/EP2021/074881 EP2021074881W WO2022069181A1 WO 2022069181 A1 WO2022069181 A1 WO 2022069181A1 EP 2021074881 W EP2021074881 W EP 2021074881W WO 2022069181 A1 WO2022069181 A1 WO 2022069181A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- units
- unit
- autonomous
- control
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001105 regulatory effect Effects 0.000 claims description 21
- 230000001276 controlling effect Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 10
- 238000011217 control strategy Methods 0.000 abstract description 3
- 230000032258 transport Effects 0.000 description 30
- 230000033001 locomotion Effects 0.000 description 11
- 230000008878 coupling Effects 0.000 description 7
- 238000010168 coupling process Methods 0.000 description 7
- 238000005859 coupling reaction Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/40—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying long loads, e.g. with separate wheeled load supporting elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P9/00—Other vehicles predominantly for carrying loads, e.g. load carrying vehicles convertible for an intended purpose
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- 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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
-
- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31008—Cooperation mobile robots, carrying common pallet, object or pushing together
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
L'invention concerne un système robotisé modulaire (1) pour le transport d'un objet (10), comprenant au moins deux unités de robot autonomes (2) ; les au moins deux unités de robot autonomes (2) ayant chacune un entraînement (3) et au moins un élément de liaison (4) destiné à être relié à l'objet (10) ; des dispositifs de commande (5) desdites au moins deux unités de robot autonomes (2) étant configurés pour commuter, après que les au moins deux unités de robot autonomes (2) ont été reliés à l'objet, vers la commande en boucle ouverte et/ou en boucle fermée de l'unité robot-objet (20) qui a été formée, et à cet effet pour commuter une stratégie de commande en boucle ouverte et/ou en boucle fermée vers l'unité de robot-objet (20) qui a été formée, en fonction des propriétés cinématiques des entraînements (3) desdites au moins deux unités de robot autonomes (2), avec l'agencement des unités de robot (2) et avec les degrés de liberté des unités de robot tels que déterminés par leurs éléments de liaison. L'invention concerne également un procédé de transport d'un objet (10).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102020212464.7A DE102020212464A1 (de) | 2020-10-01 | 2020-10-01 | Modulares Robotersystem zum Transportieren eines Objektes und Verfahren zum Transportieren eines Objektes |
DE102020212464.7 | 2020-10-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022069181A1 true WO2022069181A1 (fr) | 2022-04-07 |
Family
ID=78000660
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2021/074881 WO2022069181A1 (fr) | 2020-10-01 | 2021-09-10 | Système robotisé modulaire pour le transport d'un objet et procédé de transport d'un objet |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102020212464A1 (fr) |
WO (1) | WO2022069181A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022115411B3 (de) | 2022-06-21 | 2023-08-03 | Beckhoff Automation Gmbh | Verfahren zum Betreiben eines modularen Roboters, Kontrolleinheit, modularer Roboter, Armmodul |
DE102022002372B3 (de) | 2022-06-30 | 2023-03-16 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zum Transportieren eines Gegenstandes |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150142249A1 (en) | 2013-11-20 | 2015-05-21 | Kabushiki Kaisha Toshiba | Coordinated transport robot system |
EP3355148A1 (fr) * | 2017-01-27 | 2018-08-01 | Wheel.me AS | Agencement de roulement, procédé et système de repositionnement automatiquede dispositifs attachés à l'agencement de roulement |
WO2020022479A1 (fr) | 2018-07-27 | 2020-01-30 | 日本電気株式会社 | Robot de transport, système et procédé de transport |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000042958A (ja) | 1998-07-24 | 2000-02-15 | Fuji Electric Co Ltd | 移動ロボットによる協調搬送方式 |
JP5588714B2 (ja) | 2010-04-01 | 2014-09-10 | 株式会社ジー・イー・エヌ | 搬送台車システム |
JP5752460B2 (ja) | 2011-03-11 | 2015-07-22 | Ihi運搬機械株式会社 | 物体移動装置 |
DE102015205032A1 (de) | 2015-03-19 | 2016-09-22 | Kuka Roboter Gmbh | Fahrzeugverbund und Verfahren zum Bilden und Betreiben eines Fahrzeugverbundes |
DE102015110555B4 (de) | 2015-06-05 | 2017-10-19 | Thomas Buck | Robotergestütztes Transportieren eines verfahrbaren Gegenstands |
US9921582B2 (en) | 2016-04-20 | 2018-03-20 | GM Global Technology Operations LLC | Reconfigurable automated guided vehicle system |
US11762389B2 (en) | 2018-09-10 | 2023-09-19 | Nec Corporation | Transport system, transport robot, control apparatus, control method, and program |
DE102019202558A1 (de) | 2019-02-26 | 2020-08-27 | Airbus Operations Gmbh | Unbemanntes bodengebundenes transportfahrzeug und verfahren zum transportieren von kabinenmonumenten |
-
2020
- 2020-10-01 DE DE102020212464.7A patent/DE102020212464A1/de not_active Ceased
-
2021
- 2021-09-10 WO PCT/EP2021/074881 patent/WO2022069181A1/fr active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20150142249A1 (en) | 2013-11-20 | 2015-05-21 | Kabushiki Kaisha Toshiba | Coordinated transport robot system |
EP3355148A1 (fr) * | 2017-01-27 | 2018-08-01 | Wheel.me AS | Agencement de roulement, procédé et système de repositionnement automatiquede dispositifs attachés à l'agencement de roulement |
WO2020022479A1 (fr) | 2018-07-27 | 2020-01-30 | 日本電気株式会社 | Robot de transport, système et procédé de transport |
Non-Patent Citations (3)
Title |
---|
KAZUHIRO KOSUGE ET AL: "Coordinate Motion Controlof Multiple Autonomous Mobile Robots Basedon Compliant Motion Control", 1 January 1998, DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 3, SPRINGER, DE, PAGE(S) 141 - 150, ISBN: 978-3-642-72200-4, XP009194918 * |
SUGAR T ET AL: "Coordination of multiple mobile manipulators", PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. ICRA 2001. SEOUL, KOREA, MAY 21 - 26, 2001; [PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION], NEW YORK, NY : IEEE, US, vol. 3, 21 May 2001 (2001-05-21), pages 3022 - 3027, XP010550602, ISBN: 978-0-7803-6576-6, DOI: 10.1109/ROBOT.2001.933081 * |
ZAERPOORA A ET AL: "Distributed object transportation on a desired path based on Constrain and Move strategy", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER BV, AMSTERDAM, NL, vol. 50, no. 2-3, 28 February 2005 (2005-02-28), pages 115 - 128, XP027792817, ISSN: 0921-8890, [retrieved on 20050228] * |
Also Published As
Publication number | Publication date |
---|---|
DE102020212464A1 (de) | 2022-04-07 |
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