ES2629404T3 - Sistema de almacenamiento y preparación de pedidos para la identificación y preparación de pedidos completamente automatizada de artículos, y puesto de preparación de pedidos correspondiente - Google Patents

Sistema de almacenamiento y preparación de pedidos para la identificación y preparación de pedidos completamente automatizada de artículos, y puesto de preparación de pedidos correspondiente Download PDF

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Publication number
ES2629404T3
ES2629404T3 ES14703831.9T ES14703831T ES2629404T3 ES 2629404 T3 ES2629404 T3 ES 2629404T3 ES 14703831 T ES14703831 T ES 14703831T ES 2629404 T3 ES2629404 T3 ES 2629404T3
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Spain
Prior art keywords
order
items
warehouse
preparation
grip
Prior art date
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Active
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ES14703831.9T
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English (en)
Inventor
Peter PUCHWEIN
Claus BLÖDORN
Peter Stelzer
Franz Mathi
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Knapp AG
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Knapp AG
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Application filed by Knapp AG filed Critical Knapp AG
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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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • 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
    • B65G1/1378—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 fixed commissioning areas remote from the storage areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0093—Program-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
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/26—Devices for applying labels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/78—Troughs having discharge openings and closures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39039—Two cameras detect same reference on workpiece to define its position in space
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39102—Manipulator cooperating with conveyor
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)

Abstract

Sistema (1) de almacenamiento y preparación de pedidos para la preparación de pedidos completamente automatizada de artículos que se almacenan en medios auxiliares (2) de carga de almacén y que se preparan asociados a un pedido, con: un almacén (5) de artículos; una primera tecnología (8) de transporte, que transporta los medios auxiliares (2) de carga de almacén extraídos del almacén (5) de artículos a un puesto (3) de preparación de pedidos que funciona sin operarios; una unidad (9) de agarre completamente automática en el puesto (3) de preparación de pedidos, que toma los artículos que han de prepararse para el pedido de los medios auxiliares (2) de carga de almacén y los deposita asociados al pedido, transportándose a continuación los artículos depositados en particular en un medio auxiliar (4) de carga de pedidos, asociados a un pedido, mediante una segunda tecnología (10) de transporte a otro lugar; un dispositivo (13) de identificación de imágenes para determinar posibles puntos de agarre para la unidad (9) de agarre, para agarrar artículos desde los medios auxiliares (2) de carga de almacén, caracterizado por que el dispositivo (13) de identificación de imágenes presenta al menos dos cámaras (14) en la zona de la unidad (9) de agarre, cuyas direcciones (15) de grabación están ajustadas entre sí y, en particular, están orientadas, inclinadas una hacia la otra, hacia el medio auxiliar (2) de carga de almacén situado en la zona (12) de agarre de la unidad (9) de agarre y por que la unidad (9) de agarre para la determinación de posibles puntos de agarre también puede desplazarse brevemente hacia un lado, para que al menos dos cámaras (14) del dispositivo (13) de identificación de imágenes puedan tener la vista despejada hacia los artículos en el medio auxiliar (2) de carga de almacén.

Description

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Claims (1)

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ES14703831.9T 2013-04-09 2014-02-10 Sistema de almacenamiento y preparación de pedidos para la identificación y preparación de pedidos completamente automatizada de artículos, y puesto de preparación de pedidos correspondiente Active ES2629404T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ATA50239/2013A AT514162A1 (de) 2013-04-09 2013-04-09 Lager- und Kommissioniersystem zum vollautomatisierten Erkennen und Kommissionieren von Artikeln
AT502392013 2013-04-09
PCT/EP2014/052521 WO2014166650A1 (de) 2013-04-09 2014-02-10 Lager- und kommissioniersystem zum vollautomatisierten erkennen und kommissionieren von artikeln

Publications (1)

Publication Number Publication Date
ES2629404T3 true ES2629404T3 (es) 2017-08-09

Family

ID=50073181

Family Applications (1)

Application Number Title Priority Date Filing Date
ES14703831.9T Active ES2629404T3 (es) 2013-04-09 2014-02-10 Sistema de almacenamiento y preparación de pedidos para la identificación y preparación de pedidos completamente automatizada de artículos, y puesto de preparación de pedidos correspondiente

Country Status (5)

Country Link
US (1) US9452894B2 (es)
EP (1) EP2984007B1 (es)
AT (1) AT514162A1 (es)
ES (1) ES2629404T3 (es)
WO (1) WO2014166650A1 (es)

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EP2984007A1 (de) 2016-02-17
US20160075521A1 (en) 2016-03-17
AT514162A1 (de) 2014-10-15
WO2014166650A1 (de) 2014-10-16
US9452894B2 (en) 2016-09-27

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