EP4281257A1 - Système de préparation de commandes - Google Patents

Système de préparation de commandes

Info

Publication number
EP4281257A1
EP4281257A1 EP22702193.8A EP22702193A EP4281257A1 EP 4281257 A1 EP4281257 A1 EP 4281257A1 EP 22702193 A EP22702193 A EP 22702193A EP 4281257 A1 EP4281257 A1 EP 4281257A1
Authority
EP
European Patent Office
Prior art keywords
picking
tool magazine
pick
picking system
robot
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP22702193.8A
Other languages
German (de)
English (en)
Inventor
Peter Krumbholz
Jonas Groh
Udo Herrmann
Michael Hildebrandt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Linde Material Handling GmbH
Original Assignee
Linde Material Handling 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 Linde Material Handling GmbH filed Critical Linde Material Handling GmbH
Publication of EP4281257A1 publication Critical patent/EP4281257A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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] or computer integrated manufacturing [CIM]
    • G05B19/41865—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] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G05B19/4187—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] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow by tool management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0483—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof with head identification means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32037—Order picking
    • 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32422—Tool management and database management
    • 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
    • G05B2219/33—Director till display
    • G05B2219/33124—Configuration of different kind of tool magazines, tool changers and buffers
    • 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
    • G05B2219/39468—Changeable hand, tool, code carrier, detector
    • 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
    • G05B2219/40284—Toolrack on vehicle with manipulator, toolchanger
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49304—Tool identification, code

Definitions

  • the invention relates to a picking system for the automatic picking of objects, the picking system comprising a mobile picking robot and a pick-up tool magazine in which pick-up tools intended for picking up different objects are stored, and the picking robot has a load-handling manipulator with a robot arm that has a Has interface to which the recording tool can be attached and from which the recording tool can be removed, whereby the attached recording tool can be replaced with another recording tool from the recording tool magazine.
  • Order picking is understood to mean all methods for putting together specific objects, in particular goods in warehouses or goods distribution centers, for example a warehouse, from a provided overall range.
  • the composition should be based on orders, eg customer orders or production orders.
  • automatic systems have increasingly been used for this purpose.
  • packages are picked up as objects to be picked by autonomously or automatically operated transport vehicles from a source position, for example a source pallet, and placed on a target pallet transported on the vehicle.
  • mobile picking robots are used for this purpose, which can independently pick up the packages to be picked using robot arms. These picking robots automatically receive the order data such as order number, coordinates of the storage location, number of items and weight of the goods from a central computer.
  • the pick-up tool can be designed as a gripper, for example as an adhesion gripper or vacuum gripper.
  • Mobile picking robots have a load handling manipulator, which usually includes a lifting mast or another lifting device for vertical positioning of the gripper on the shelf and on the target container.
  • Special kinematics of the robot arm are often used for the fully autonomous, mobile picking process.
  • Robots with standard kinematics, especially 6-axis industrial robots, are often too heavy, not designed for mobile use and have kinematic limitations that make use in this area difficult.
  • Robot arms with flat kinematics that can be moved vertically on a lifting mast are more advantageous.
  • Such robot arms have several arm elements arranged flat, ie horizontally, which span a cylindrical gripping space which is ideally suited for working in narrow warehouses.
  • Mobile picking robots with flat arm kinematics are known, for example, from DE 10 2017 129 468 A1 and DE 10 2017 130 577 A1.
  • the variety of packages to be handled is a major challenge.
  • the variance is caused by different sizes, surfaces, materials, air permeability, weights and shapes of the different packages.
  • the automated order picking system has to react to this with very expensive universal grippers or with specialized but interchangeable grippers.
  • An autonomous picking system should be able to pick up a large proportion of the packages in the warehouse in order to be able to operate profitably.
  • hybrid systems of machine and human are conceivable, with a machine picking the first half of the target pallet and a human picking the target pallet, a large majority of the packages must be able to be handled automatically in order to even get into the technology of autonomous picking.
  • EP 2 987 761 A1 discloses an industrial truck for picking with at least one load handling device for a transport container for goods, in particular a load fork, and a travel drive for the industrial truck and with sensor means known for detecting the environment.
  • a robot manipulator arm with a gripper is arranged on the industrial truck, which can reach the area of the load handling device and at least one area outside the base area of the industrial truck with the gripper and can be controlled by a controller based on the data from the sensor means.
  • This publication also addresses the fact that it can make sense to use different grippers for different goods.
  • a holder or storage position for further grippers can be provided on the industrial truck, for example in the case of a pallet truck on the top of the drive part.
  • the robot manipulator arm can independently exchange a gripper that is connected to it, for example via an interchangeable mount, for one of the other grippers if this is necessary because of the goods that are to be handled.
  • the present invention is based on the object of designing an order-picking system of the type mentioned at the outset in such a way that it is easier to exchange the pick-up tools as required.
  • identification systems are installed at the interface of the robot arm and/or on the receiving tool magazine, which enable the receiving tools to be distinguished.
  • the identification systems are advantageously installed both at the interface of the robot arm and at the receiving tool magazine. This enables both information about what is currently on the picking robot recording tool in use as well as information about the stock of recording tools stored in the recording tool magazine can be called up, so that a needs-based replacement of the recording tool is further facilitated.
  • the identification systems are set up to recognize different codings of the mounting tools.
  • the coding of the receiving tools can include mechanical markings.
  • the coding of the pick-up tools can also include electronic and/or optical markings, in particular barcodes.
  • the identification systems include optical and/or radio-based sensor devices.
  • the optical sensor devices can be cameras or laser scanners, for example.
  • RFID devices can be used in the radio-based sensor devices.
  • the tool holder magazine preferably has an electronic data processing device in which a computer program is stored that is set up for automatic management of the tool holder magazine.
  • the automatic management of the holding tool magazine includes, in particular, checking the holding tools in and out of the holding tool magazine.
  • the automatic management of the pick-up tool magazine can also include a selection of the pick-up tools in anticipation of future picking processes.
  • the correspondingly suitable grippers can be selected.
  • the computer program for the automatic management of the recording tool magazine must be designed to be correspondingly more complex if the recording tools in the magazine have to be shared between several mobile picking robots because the recording tool magazine is on an escort vehicle, for example. In this case, it must be ensured that the pick-up tool magazine is available in good time near the mobile picking robot in order to avoid waiting times.
  • the electronic data processing device of the picking tool magazine is advantageously operatively connected to an electronic control device of the mobile picking robot.
  • the mobile picking robot can thus communicate with the pick-up tool magazine, so that the pick-up tools suitable for the particular needs of the mobile picking robot can be made available in a targeted manner in the pick-up tool magazine.
  • the pick-up tool magazine is expediently accommodated on the mobile picking robot. Good accessibility of the magazine with the robot arm of the picking robot is to be ensured here. In addition, the pick-up tool magazine must not hinder the picking robot when it reaches the shelf. In the case of autonomous picking robots, which have a lifting mast and kinematics attached thereto, it is explicitly proposed to attach the magazine to the lifting mast or next to the lifting mast in order to meet the requirements mentioned. The picking robot remains accessible to the shelves on both sides of a shelf aisle. In particular, it is proposed to arrange the pick-up tool magazine locally next to or above or below a package buffer of the mobile picking robot.
  • the pick-up tool magazine is accommodated on an escort vehicle. Additionally or alternatively, the receiving tool magazine can also be installed in a stationary manner on the infrastructure. Then the autonomous picking system has to drive to the tool magazine to change the pick-up tool.
  • the tool magazine is expediently constructed like a shelf with storage spaces for the tool holders arranged one behind the other and/or one above the other and/or next to one another. Care must be taken to ensure that all parking spaces are easily accessible.
  • the receiving tool magazine can also be managed according to a FiFo (first-in-first-out) system or a FiLo (first-in-last-out) system. Appropriate logic must be stored in the computer program for managing the tool holder magazine.
  • the receiving tool magazine has a drive device which enables the receiving tool to be made available at a transfer position.
  • the receiving tool magazine can be designed, for example, in the manner of a revolver magazine.
  • the interface of the robot arm of the mobile picking robot can preferably be locked and opened.
  • the interface can thus be locked for picking operations, but can also be opened to change the pick-up tool.
  • the opening and locking can be done manually or automatically. Both variants offer advantages:
  • a picking system that includes a mobile picking robot and an accompanying vehicle that transports the target plate to be picked - the so-called twin truck concept - an autonomous picking robot can be assigned to each aisle in the warehouse or aisle/warehouse section. The escort vehicle then drives back and forth between these picking robots until the target pallet is ready.
  • a spatial division of the packages makes sense here, so that each autonomous picking robot can use a pick-up tool that is specialized for the respective package category. A manual tool change is sufficient for this.
  • the identification systems installed on the receiving tool magazine can be operatively connected to a display device that shows the operator that the suitable receiving tool has been selected.
  • an actuator device arranged at the interface is provided for locking and opening the interface.
  • a rotary device of the load handling manipulator can also be provided for locking and opening the interface.
  • the possibility of rotating the pick-up tool can be used by the load handling manipulator. This is an advantageous embodiment because no additional actuator has to be installed.
  • a rotary axis in the load handling manipulator is often already installed in autonomous picking robots because it is necessary for the process.
  • the interface of the robot arm of the mobile picking robot is connected upstream or downstream of a compensating element of the robot arm. If the interface is located above the compensating element and is therefore upstream of the compensating element, the compensating element is also changed with the receiving tool. This offers advantages if other pick-up tools are intended for heavier packages, which then also require compensating elements with greater restoring forces. If the interface is below the compensating element and is therefore connected downstream of the compensating element, this can offer cost advantages because only one such compensating element has to be kept available for each picking robot.
  • a further advantageous embodiment provides that the interface of the robot arm of the mobile picking robot has passages for cables and for supplying media to the pick-up tool. This always makes sense when the recording tools use technologies that support a medium (e.g. with vacuum grippers) or require energy or sensors.
  • the interface must be designed in such a way that existing tool turning systems continue to function.
  • the receiving tool magazine can also be locked and opened.
  • An actuator device arranged on the receiving tool magazine is expediently provided for locking and opening the receiving tool magazine.
  • the receiving tool magazine has a locking option for the positions for the receiving tools.
  • parking space interfaces can be provided in the receiving tool magazine.
  • the parking space interfaces can also be designed in a simplified manner compared to the interfaces of the robot arm of the picking robot, since a pick-up tool located in the pick-up tool magazine does not have to be supplied with energy, data or media.
  • the parking space interfaces located in the receiving tool magazine can be the same for different receiving tools, but can also be adapted to the individual circumstances of the respective receiving tool.
  • At least two different mounting tools can be stored in the mounting tool magazine. This can involve pick-up tools, in particular grippers, of the same technology, for example vacuum suction grippers, which are designed for different weights and/or sizes of the packages, or else pick-up tools that use different technologies, in particular gripper technologies.
  • special tools for removing a slipsheet from the source pallet for removing a film, e.g. a stretch wrapping film, or for wrapping, i.e. wrapping the finished target pallet, can also be stored in the tool magazine.
  • a film e.g. a stretch wrapping film
  • wrapping i.e. wrapping the finished target pallet
  • Another advantage is the possibility of using standard interfaces and standard grippers.
  • the invention is suitable for all conceivable arm kinematics of robot arms, in particular for the flat arm kinematics frequently used in order-picking robots. However, it can also be used with six-axis industrial robot kinematics.
  • FIG. 1 shows a picking system according to the invention with a picking robot and an integrated pick-up tool magazine
  • FIG. 2 an escort vehicle with a packed target pallet
  • FIG. 3 two alternative versions of the picking system with picking robot and integrated pick-up tool magazine
  • FIG. 4 a picking robot without an integrated pick-up tool magazine
  • FIG. 5 shows two alternative versions of an escort vehicle with a pick-up tool magazine
  • FIG. 6 shows a detailed view of the receiving tool, on the left in the state mounted on the robot arm and on the right in the state stored in the receiving tool magazine.
  • FIG. 1 shows a picking system S according to the invention with a mobile picking robot R and an integrated pick-up tool magazine M.
  • the mobile picking robot R has a flat arm kinematics of a load handling manipulator L according to the so-called Scara principle.
  • This design is characterized by an autonomous vehicle 1 with a vertical lifting mast 2 and a carriage 3 that can be moved vertically thereon, to which the flat kinematics of the robot arm A is attached.
  • the lifting mast 2 represents the first vertical axis i1 of the load handling manipulator L.
  • the first arm element 4 of the arm kinematics of the robot arm A is attached to the carriage 3 .
  • the arm element 5 is fastened to this via the vertical axis i2.
  • the arm element 6 is fastened via the vertical axis i3 and the foremost arm element 7 is fastened to it via the vertical axis i4, which carries the receiving tool 8 designed as a gripper 8 .
  • the gripper 8 is designed as a vacuum gripper 8 which, for example, grips objects 9 designed as packages 9 from above, as shown in FIG.
  • the gripper 8 is attached to a compensating element 10 .
  • the compensating element 10 allows flexibility for several degrees of freedom.
  • An interface 11 is provided between the compensating element 10 and the foremost arm element 7 .
  • the compensating element 10 with the gripper 8 can be attached to this interface 11 or removed from it.
  • the interface 11 can be locked for the picking operation, but can also be opened for the gripper change. The opening and locking can be done manually or automatically.
  • the pick-up tool magazine M housed on the vehicle 1 is provided for storing different grippers 8, so that the load handling manipulator L can place the gripper 8 attached to the foremost arm element 7 in the pick-up tool magazine M and replace it with another gripper 8. In FIG. 1, the receiving tool magazine M is empty.
  • Identification systems 11 and 12 are installed at the interface 11 of the robot arm A and in the receiving tool magazine M.
  • the grippers 8 can thus be distinguished from one another. Different grippers 8 are coded differently.
  • the identification systems 11 and I2 can recognize the different codes of the grippers 8.
  • the codes can be, for example, optical codes using a barcode.
  • the identification systems 11 and 12 include optical sensors, for example cameras or laser scanners, in order to recognize the codes.
  • the tool magazine M has an electronic data processing device D1 in which a computer program is stored that is set up for automatic management of the tool magazine M.
  • the data processing device D1 is operatively connected to an electronic control device D2 of the mobile picking robot R.
  • the data processing device D1 is integrated into the control device D2 of the mobile picking robot R.
  • the control device D2 of the autonomous picking system communicates with the data processing device D1 of the receiving tool magazine M. There the grippers 8 are booked into and out of the receiving tool magazine M. Any faults can also be stored and processed here. In addition, the correspondingly suitable grippers 8 can be selected in anticipation of the next pick.
  • FIG. 2 shows an escort vehicle 12 of the picking system S with a target pallet packed with packages 9 .
  • the support vehicle 12 is shown in a perspective view, while it is shown in plan view in the figure on the right.
  • Figure 2 it is indicated how a package 9 is deposited by means of the gripper 8 attached to the arm element 7 of the picking robot R, not shown in FIG.
  • FIG. 1 Two alternative versions of the picking system S with a picking robot R and an integrated pick-up tool magazine M are shown in FIG. In the illustration on the left in FIG. In the right-hand image of FIG. 3, the pick-up tool magazine M is attached to the lifting mast 2.
  • the recording tool magazine M can be arranged above the package buffer 13, on the other side of the mast 2 or on both sides of the mast 2.
  • FIG. 4 shows a picking robot R of the picking system S according to FIG. 1 without an integrated pick-up tool magazine M.
  • the pick-up tool magazine M is accommodated on a separate escort vehicle 14 of the order-picking system S, as shown in FIG.
  • the support vehicle 14 can supply one picking robot 1 or several picking robots 1 with pick-up tools 8 .
  • the support vehicle 14 is shown with an empty pick-up tool magazine M.
  • a gripper 8 is inserted into the receiving tool magazine M by means of the robot arm A of the picking robot R, not shown in FIG.
  • FIG. 6 shows a detailed view of the pick-up tool 8 designed as a gripper 8 .
  • the gripper 8 is shown in the mounted state on the robot arm A.
  • the gripper 8 is attached to the compensating element 10 .
  • the compensating element 10 is fastened to the robot arm A with the gripper 8 via the interface 11 .
  • the identification system 11 is arranged in the area of the interface 11 and can be used to identify different grippers 8 .
  • the gripper 8 with the compensating element 10 is placed in a holder 15 of the receiving tool magazine M.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Quality & Reliability (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de préparation de commandes (S) destiné à la préparation automatique de commandes d'objets (9), ledit système de préparation de commandes (S) comprenant un robot de préparation de commandes (R) mobile et un magasin d'outils de prise (M) dans lequel sont stockés des outils de prise (8) destinés à la prise d'objets (9) différents, ledit robot de préparation de commandes (R) comprenant un manipulateur (L) pour la manipulation de charges, qui est doté d'un bras robotique (A) disposant d'une interface (11) à laquelle l'outil de prise (8) peut être fixé et de laquelle l'outil de prise (8) peut être ôté, ce qui permet ainsi de remplacer l'outil de prise (8) fixé par un autre outil de prise (8) du magasin d'outils de prise (M). Selon l'invention, des systèmes d'identification (I1, I2), qui permettent de différencier les outils de prise (8), sont installés sur l'interface (11) du bras robotique (A) et/ou sur le magasin d'outils de prise (M).
EP22702193.8A 2021-01-21 2022-01-20 Système de préparation de commandes Pending EP4281257A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021101213.9A DE102021101213A1 (de) 2021-01-21 2021-01-21 Kommissioniersystem
PCT/EP2022/051174 WO2022157217A1 (fr) 2021-01-21 2022-01-20 Système de préparation de commandes

Publications (1)

Publication Number Publication Date
EP4281257A1 true EP4281257A1 (fr) 2023-11-29

Family

ID=80168220

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22702193.8A Pending EP4281257A1 (fr) 2021-01-21 2022-01-20 Système de préparation de commandes

Country Status (3)

Country Link
EP (1) EP4281257A1 (fr)
DE (1) DE102021101213A1 (fr)
WO (1) WO2022157217A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003242469A (ja) * 2002-02-21 2003-08-29 Daishowa Seiki Co Ltd 情報保持体
DE102014111886A1 (de) 2014-08-20 2016-02-25 Still Gmbh Flurförderzeug zum Kommissionieren
DE102017130577A1 (de) 2017-12-11 2019-06-13 Linde Material Handling Gmbh Mobiler Kommissionierroboter mit gekoppelten Armgelenksdrehachsen des Roboterarms
DE102017129468A1 (de) 2017-12-11 2019-06-13 Linde Material Handling Gmbh Mobiler Kommissionierroboter mit um eine Hub-Neige-Achse ergänzter, flacher Kinematik
EP3560656A1 (fr) * 2018-04-25 2019-10-30 Martin Huber Système de commande d'une machine-outil
EP3738719B1 (fr) * 2019-05-13 2024-05-01 IGZ Ingenieurgesellschaft für logistische Informationssysteme mbH Robot de préparation de commandes mobile, poste de travail de préparation de commandes marchandise vers homme et système de préparation de commandes

Also Published As

Publication number Publication date
WO2022157217A1 (fr) 2022-07-28
DE102021101213A1 (de) 2022-07-21

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