• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    AUTOMATIC LOW-PICKING-WHOLE. The automatic layer picking assembly for a warehouse includes a movable layer transport device (50) including a layer positioner (58) operable to position the movable layer transport device (50) separately from a pallet transport device (30) with respect to the determined pallet positions (20). ) during an operation where pallet layers are mixed.
    公开号:BE1021234B1
    申请号:E2014/0427
    申请日:2014-06-03
    公开日:2015-08-27
    发明作者:Gerard Paulussen
    申请人:Intrion Nv；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The present invention relates generally to an automatic low-picking whole. More specifically, an automatic low-picking unit for a warehouse in which products are arranged in layers on pallets, and in which an automatic layer-picking unit is active to assemble mixed layer pallets comprising a multiple number of pallet layers with different products.
    Background of the Invention Automatic layer picking assemblies for a warehouse suitable for assembling mixed layer pallets are known, for example, from AU2010 / 235933 (Robotic Automation, 2011), US2008 / 0267759 (Axium, 2008) and US2008 / 0008573 (California Natural Products, 2008). These assemblies generally comprise a layer transport device in the form of a robot arm mounted on a pallet transport device that transports a target pallet along a plurality of source pallets. During the mixing operation, the pallet transport device must first position the target pallet in the immediate vicinity of the source pallet from which a pallet layer must be transferred to the target pallet. Subsequently, the robot arm mounted on the pallet transport device performs a layer transfer operation by positioning its layer picking device at the source pallet, peaking a pallet layer from this source pallet, placing this pallet layer at the target pallet and placing this pallet layer on the target pallet. The flow rate of such an automatic low-picking unit is limited by various factors. The inertia of the pallet transport device is relatively large since it must transport the target pallet and the robot arm; this limits the maximum acceleration and therefore also the maximum speed of the pallet transport device during the mixing operation. Moreover, the scalability of such a system is limited because each of the pallet transport devices requires its own layer transport device.
    An alternative system for producing mixed layer pallets is described, for example, in US2007 / 0280814 (Axium, 2007). Such a system comprises a pallet layer transport device in the form of a robot arm with a suitable gripper that dissects the source pallets and stores the products thereof in an intermediate buffer. Next, the target pallet comprising pallet layers, each comprising different products from different source pallets, is assembled by the pallet layer transport device with the products stored in this intermediate buffer. The flow rate of such a system is limited by the fact that all target pallets must be fully decomposed into the intermediate buffer and it is clear that the need for such an intermediate buffer and the associated space requirements limit the scalability of such a system.
    [04] Thus, there is still a need for an improved automatic low-picking unit that is capable of overcoming the above drawbacks and capable of realizing a simple and efficient arrangement that allows improvements in the field of flow rate and scalability.
    Summary of the invention According to a first aspect of the invention, an automatic layer-picking unit is provided, comprising: - a plurality of source pallets each positioned at a pallet position and each comprising products arranged in a plurality of pallet layers ; - at least one pallet transport device: - comprising a pallet positioning device which is operable to position a pallet relative to the pallet positions; and operative to transport a target pallet during a blending operation comprising a multiple number of layer transfer operations; - a movable layer transport device: - comprising a layer picker and a layer positioning device; and operative to transfer at least one pallet layer from a source pallet to a target pallet during a layer transfer operation of the mixing operation; - a controller - coupled to the at least one pallet transport device and the movable layer transport device; and operable to control them such that during the multiple number of layer transfer operations of the mixing operation a particular target pallet receives a mix of a multiple number of pallet layers from a given set of a multiple number of source pallets,
    CHARACTERIZED THAT during the mixing operation the layer positioning device is operable to position the movable layer transport device separately from the pallet transport device relative to the determined pallet positions.
    This allows a system with an increased flow rate since the separately movable layer transport device can be positioned faster during the layer transfer operation since it has a lower inertia. Moreover, the inertia of the pallet transport device is also reduced since the low transport device is no longer mounted on it. This also reduces the number of movement operations, especially acceleration, to which the target pallet, which is inherently less stable due to its mixed layer composition, is exposed. Since both the pallet transport device and the movable layer transport device can be moved separately, the pallet transport device with the target pallet no longer needs to be in the immediate vicinity of the corresponding source pallet before the layer transfer operation can be started. The scalability of the system is also improved since a fast moving low inertia low transport device can operate more than one pallet transport device at a time and it is no longer necessary to decompose the source pallets into intermediate buffers.
    [07] According to a preferred embodiment, during each of the layer transfer operations of the mixing operation during which at least one particular pallet layer is transferred from a particular source pallet to a specific target pallet on a particular pallet transport device, the controller is further configured to control the movable layer transport device such that : - its low-positioning device positions it at the pallet position of the determined source pallet; - its layer picker peaks the at least one particular pallet layer of the particular source pallet; - its layer positioning device positions the at least one specific pallet layer on the determined pallet transport device at the determined target pallet; and - its layer picker places the at least one particular pallet layer of the determined source pallet on the determined target pallet.
    This enables the movable layer transport device to efficiently perform a layer transfer operation separately from the pallet transport device since the layer positioning device is capable of positioning the layer transport device separately during the layer transfer operation.
    [09] According to a further embodiment, during each of the layer transfer operations of the mixing operation during which at least one particular pallet layer is transferred from a specific source pallet to the specific target pallet, the controller is further configured to control the pallet transport device such that: - its pallet positioning device reduces a transfer distance between the determined source pallet and the determined target pallet; while the layer positioning device positions the movable layer transport device at the pallet position of the particular source pallet; and - before the layer picker peaks the at least one particular pallet layer of the particular source pallet.
    [10] In this way the flow of the system is improved since the first phase of the low transfer operation can be started while the positioning of the target pallet is still in progress. Moreover, the simultaneous reduction of the transfer distance further optimizes the layer transfer operation as performed by the movable layer transport device since the distance to be covered during the subsequent positioning steps is reduced.
    [11] Preferably, the controller is further configured to control the pallet transport device such that: - its pallet positioning device reduces the transfer distance: - after the layer picker has peaked the at least one particular pallet layer from the determined source pallet; and - while the layer positioning device positions the determined source pallet layer on the determined pallet transport device at the determined target pallet.
    [12] This optimizes the flow even further since also during this positioning step of the movable layer transport device, the pallet transport device simultaneously reduces the transfer distance that it must travel.
    [13] According to an embodiment, the controller is further configured to control the pallet transport device such that its pallet positioning device reduces the transfer distance until it reaches a certain threshold.
    [14] This enables the controller to coordinate the operation of the pallet transport device in a simple and efficient manner.
    [15] According to a further embodiment, the automatic low-picking assembly comprises a plurality of pallet transport devices which are simultaneously operative to transport a target pallet during a plurality of mixing operations, and the controller is further configured to control the following simultaneously: - one of the multiple number of pallet transport devices for cooperating with the layer transport device during the low transfer operation of one of the simultaneous mixing operations; - another of the multiple number of pallet transport devices so that its pallet positioning device reduces the transfer distance for the next layer transfer operation of another of the simultaneous mixing operations.
    [16] By optimizing the position of the pallet transport devices while the lower inertia movable low transport device cooperates with another pallet transport device to perform a low transfer operation for another mixing operation, the flow rate of the automatic low picking assembly can be further increased.
    [17] The controller is preferably operable to control the at least one pallet transport device and the movable layer transport device such that during the layer transfer operation the determined target pallet directly receives the at least one determined pallet layer from the determined source pallet.
    [18] Such a direct pallet layer transfer without the use of intermediate buffers or decomposition enables improved scalability.
    [19] According to an embodiment: - the pallet positions of source pallets are arranged linearly, next to each other along at least one pallet position line; and - the pallet transport device is operative to move along at least one pallet transport line that is generally parallel with at least one pallet position line.
    [20] Such a linear arrangement is well suited to set up the system in a warehouse and allows efficient low transfer operation since the transfer distance between the pallet transporter and the source pallet is largely determined by the distance along the pallet transport line to this source pallet. It is clear that this linear movement pattern allows the pallet transport device to move in the immediate vicinity of the source pallets, which further optimizes the transfer distance during a low transfer operation.
    [21] Preferably: - the pallet positions of source pallets are arranged linearly, side by side along a multiple number of pallet position lines; and - the pallet transport device is operable to move along at least one pallet transport line that is generally parallel to and between two pallet position lines.
    [22] This allows optimum use of the available floor space since efficient layer transfer operations can be performed on both sides of the pallet transport line.
    [23] According to an embodiment, the automatic layer picking assembly comprises a multiple number of movable layer transport devices. Optionally, each of the movable layer transport devices is operable to move in a layer transfer area, at least in part comprising at least one of the pallet transport lines and its adjacent pallet position lines.
    [24] This allows improvements in scalability since a single, fast-moving low inertia low transport device can operate a multiple number of pallet transport devices moving along a low transfer area assigned to this low transport device. Such a modular arrangement thus makes it possible to scale up the system by simply duplicating the subsystem in such a layer transfer area.
    [25] According to a further embodiment, at least one of the pallet transport devices operable to transport a target pallet is further configured to position a source pallet at a pallet position.
    [26] This allows a simple and modular arrangement in which the same devices can transport both the target pallets and the source pallets.
    [27] According to yet a further embodiment, the automatic low-picking assembly comprises at least one further pallet transport device separate from the at least one pallet transport device which is operable to transport a target pallet, said further pallet transport device being operable to place a source pallet at a pallet position. positioning at a higher speed and / or acceleration than the at least one pallet transport device which is effective for transporting a target pallet.
    [28] This embodiment offers the advantage that the pallet transporters positioning the source pallets are not affected by the acceleration and speed limits that apply to the pallet transporter of the mixed target pallets due to the limited inherent stability of their mixed layer structure.
    According to a further embodiment, the pallet transport device comprises one of the following devices: - an automatically guided vehicle; - a vehicle operative to move along a rail; - a robot vehicle; - a conveyor belt.
    [30] Such devices are well suited as a pallet transport device and are well suited to be placed under the control of the controller.
    According to a further embodiment, the movable layer transport device is a gantry robot comprising a pallet layer manipulator.
    Such a gantry robot provides an implementation that allows the desired number of degrees of freedom of movement to enable efficient positioning of the movable layer transport device and efficient picking and depositing operation by means of the pallet layer manipulator.
    [33] According to a second aspect of the invention, a method is provided for operating an automatic layer-picking unit according to the first aspect of the invention, characterized in that the method comprises the step that the layer positioning device during the mixing operation position low-transport device separately from the pallet-transport device relative to the determined pallet positions.
    Such a method results in an increased flow rate and improved scalability due to the separate positioning of the lower inertia movable layer transporter and the absence of an intermediate buffer.
    [35] According to an embodiment, the controller further controls the movable layer transport device to perform the following steps: - its layer positioning device positions the movable layer picker at the pallet position of the determined source pallet; - its layer picker peaks the determined pallet layer of the determined source pallet; - its layer positioning device positions the determined pallet layer at the determined target pallet on the determined pallet transport device; and - its layer picker places the determined pallet layer of the determined source pallet on the determined target pallet, during each of the layer transfer operations of the mixing operation during which a specific pallet layer is transferred from a specific source pallet to the determined target pallet on a specific pallet conveyor.
    [36] This enables efficient low transfer operation that can be performed separately from the positioning of the pallet transport device.
    Brief description of the drawings [37] Figures 1A-D are a schematic illustration of an embodiment of the automatic layer picking assembly according to the invention; Figures 38 are a schematic illustration of various steps of a pallet mixing operation performed by the automatic layer picking assembly of Figures 1A-D; and [39] Figures 7 and 8 are schematic embodiments of the method of operation of the automatic layer picking assembly of Figures 1A-D.
    Figures 40, 10A and 10B are schematic illustrations of alternative embodiments of the automatic layer picking assembly of Figures 1A-D.
    Detailed Description of the Embodiments [41] Figure 1A is a schematic representation of a plan view of an automatic layer picking assembly 1 for a magazine 2. As shown, a plurality of source pallets 10 are each positioned at a pallet position 20. These pallet positions 20 are generally adjacent to each other in a linear fashion along a pallet position line 22. However, in alternative embodiments, the pallet positions 20 for the source pallets 10 may be arranged differently. Figures 1B and 1C show a side view of two of these source pallets 10, each comprising products 14 arranged in a plurality of pallet layers 12 on a pallet 16. The source pallet 10 shown in Figure 1B comprises other products, with dimensions other than the source pallet that is shown in Figure 1C and as can be seen, this can cause the pallet layers to have 12 different layer heights. It is clear that such a pallet layer 12 is formed by means of a separate, substantially horizontal layer of articles 14 that cover substantially the same surface as the pallet 16, and that these pallet layers 12 are stacked on top of each other. Although the embodiments shown in Figures 1B and 1C show articles that are also vertically aligned for all pallet layers 12, it is clear that alternative embodiments are possible in which the positions of the articles 14 of each of the pallet layers 12 are shifted relative to each other to form a brick-like stacking structure. It is further clear that, although the embodiment is described with reference to a magazine 2, any other suitable working environment for such an automatic low-picking unit 1 is possible, for example assembly halls, shipping facilities, storage facilities, etc.
    Figure 1A further shows a pallet transport device 30 that transports a target pallet 40 during a blending operation as will be explained in more detail with reference to Figures 2-6. As shown, the pallet transporter 30 moves along the source pallets 10 along a pallet transport line 32 which generally runs parallel to pallet position line 22. It is clear that according to alternative embodiments other movement patterns are possible. The pallet transport device 30 can for example be an automatically guided vehicle which is guided along the pallet transport line 32. According to an alternative embodiment, the pallet transport device 30 can for instance be a vehicle which is movable along an above-ground rail system along the pallet transport line 32, for example as known from EP2172381. According to yet a further alternative embodiment, the pallet transport device 30 can be another suitable vehicle that is movable along a rail, for example as known from DE4330795 or WO2008152245. According to yet a further embodiment, the pallet transport device can be implemented as a suitable robot vehicle. In general, any suitable pallet transport means 30 including pallet positioning device 38 can be used which makes it possible to position a pallet in a suitable manner relative to the pallet positions 20. During a mixing operation, the pallet transport device 30 transports a target pallet 40 as shown in more detail in Figure 1D. As shown, the target pallet 40 comprises a plurality of pallet layers 12 arranged on a pallet 16, the plurality of pallet layers 12 comprising different products 14, possibly resulting in pallet layers 12 of different dimensions. The desired pallet layers 12 to be received by the target pallet 40 are determined by a mixing set. Such a mixing set determines the number and the product 14 of each of the desired pallet layers 12 for the target pallet. As shown in Figure 1D, the mixing set comprises one pallet layer 12 of the source pallet shown in Figure 1B and one pallet layer 12 of the source pallet 10 shown in Figure 1C. It is clear that during such a mixing operation the mixing set can comprise any alternative number of pallet layers of any alternative number of products 14. This means that the mixing set, which determines the desired pallet layers 12 for a target pallet 40 during a mixing operation, generally a multiple number of pallet layers 12 comprises of a specific set of a plurality of source pallets 10. Optionally, the mixing set moreover determines the specific order of each of the desired pallet layers 12 on the target pallet 40. Such a target pallet 40 comprises at least two pallet layers, each of which is made up of different products 40 is often referred to as a mixed pallet. Such mixed pallets are especially useful in logistical processing with regard to products with a medium consumption, for example in the context of a warehouse that supplies retailers. Products with a high consumption can be regularly and efficiently delivered by the warehouse in the form of a certain number of full pallets. Products with low consumption can be delivered efficiently as a certain number of individual products. However, when products with medium consumption are delivered on full pallets, this results in the need for more storage capacity at the retailer and when they are supplied as individual products, this does not allow efficient operation in the warehouse or at the retailer since the products are not can be processed longer in bulk. The use of mixed pallets to supply the retail trade reduces the need for storage capacity at the retailer while the bulk processing of these products remains possible. The order of pallet layers 12 in the mixing set can optionally be further optimized, for example depending on the desired order for the retailer's supply operation. Each pallet layer 12 of the mixing set on the target pallet 40 is transferred from a source pallet 10 comprising the desired product 14.
    [43] This means, therefore, that each mixing operation comprises a multiple number of such layer transfer operations. It is clear that in the embodiment depicted in Figures 1A-D the mixing set on the target pallet 40 was assembled during a mixing operation comprising a low transfer operation from the source pallet of Figure 1C and a low transfer operation from the source pallet of Figure 1B. The layer transfer operation is performed by means of a movable layer transport device 50 which is capable of transferring a pallet layer 12 from a source pallet 10 to a target pallet 40. As schematically shown in Fig. 1A, the layer transport device 50 is, for example, a gantry robot 50 comprising a suitable pallet layer manipulator 56 Such a gantry robot is for example mounted to move generally in a horizontal plane in an area above the position line 22 of the source pallet and the pallet transport line 32. In this horizontal plane the robot is movable in a free movement space of two degrees, as is generally known for such a gantry robot, by means of suitable movement means allowing movement along a path forming a first movement component 52, as shown generally parallel to the source pallet line 22, and also along an above-ground bridge forming a second movement component 54, generally transverse to the source pole line 22 and which bridges the area from the source pallets 10 to the target pallet 40. These gantry robot movement means in this way form an embodiment of layer positioning device 58 capable of positioning the layer transport device 50 during a layer transfer operation in the area generally defined by the source pallet line 22 and the pallet transport line 32. This means that the layer transport device 50 by by means of this layer positioning device 58 in the vicinity of a source pallet 10 can be positioned to peak a pallet layer 12 and in the vicinity of a target pallet 40 to place a pallet layer 12 during a layer transfer operation. The pallet layer manipulator 56 can be formed, for example, as a suitable gripper, for example a mechanical gripper or a pneumatic gripper, for releasably coupling a pallet layer. This makes it possible to peak a pallet layer 12 of a source pallet 10 when the layer transport device 50 is positioned in the vicinity of the source pallet by means of the layer positioning device 58 and to place a pallet layer 12 on a target pallet 40 when the layer transport device 50 is in the vicinity of the target pallet 40 is positioned by means of the layer positioning device 58. In this way, the pallet layer manipulator 56 forms a layer picker 56 which is able, in cooperation with the layer positioning device 58, to perform a layer transfer operation by transferring a pallet layer 12 from a source pallet 10 to a target pallet 40. The pallet layer manipulator 56 may optionally be movable relative to the layer transport device 50 along additional degrees of freedom of movement. For example, it can be lowered along a generally vertical direction when positioned above a pallet layer 12, for example to bring the pneumatic gripper into contact with the top surface of the pallet layer before the pallet layer 12 is peaked, after which it can be raised again to remove peaked pallet layer 12 from the source pallet. The same hoisting functionality can for instance be performed before and after the gripper places the pallet layer 12 on the target pallet 40. It is clear that other layer transport devices 50 may be suitable for performing the layer transfer operation, as long as they comprise layer positioning device 58 for positioning the layer transport device 50 relative to the source pallets 10 and the target pallet 40, and include layer picker 56 that allows a pallet layer 12 to peak and post.
    [44] As further shown in Figure 1A, the pallet transport device 30 and the movable layer transport device 50 are coupled to a controller 60. This can be achieved, for example, by means of a suitable wired or wireless communication network and although controller 60 is schematically depicted as a separate component, it can be arranged at least in part or in divided form in separate devices of the automatic layer-picking unit 1, for example in the movable layer transport device 50 and / or the pallet transport device 30. During the multiple number of layer transfer operations of a mixing operation, the controller 60 controls generally the layer transport device 50 and the pallet transport device 30 in such a way that a particular target pallet 40 receives a mixing set of a plurality of pallet layers 12 of a particular set of a plurality of source pallets 10, as will be explained in more detail with reference to Figures 2-6.
    [45] As mentioned above with reference to the embodiment of Figure 1A, the layer positioning device 58 is operated by means of the controller 60 to position the movable layer transport device 50 separately from the pallet transport device 30 during the mixing operation relative to the determined pallet positions 20. This means That is, unlike prior art systems, the layer transport device 50 is not mounted on the pallet transport device 30 and can rely on its own separate moving means in the form of the layer positioning device 58 to position a pallet during a layer transfer operation. Since during most layer transfer operations the layer transport device 50 only needs to transport the articles 14 from pallet layers 12 instead of all articles from a complete pallet, it is clear that this can lead to a system with lower inertia than the pallet transport device 30 and can therefore move faster. which leads to faster layer transfer operations and an increased flow rate of the automatic layer picking unit 1.
    [46] As will now be explained with reference to the embodiment of Figures 2-6, during each of the layer transfer operations of the blending operation, a particular pallet layer 12 is transferred from a specific source pallet 10 to the specific target pallet 40 located on a specific pallet transport device 30. is located. The controller 60 coordinates these layer transfer operations by controlling the operation of the pallet transport device 30 and the movable layer transport device 50. As shown in Figure 2, the layer positioning device 58 positions the movable layer transport device 50 at the pallet position 20 of the particular source pallet 10 including the pallet layer 12 with the products 14 to be transferred to the target pallet 40. Next, in Figure 3, the layer transport device 50 becomes positioned above this particular source pallet 10 and layer picker 56 peaks the particular pallet layer 12 of this particular source pallet 10, for example by placing its pneumatic gripper on top of this layer and creating a suitable vacuum to attach itself to this particular pallet layer 12. Next, as shown in Figure 4, the layer positioning device 58 starts moving this particular pallet layer 12 in the direction of the determined target pallet 40 until it is located at the determined target pallet 40 on the determined pallet transport device 30, as shown in Figure 4. Next, the layer picker 56 this particular pallet layer 12 on the determined target pallet 40, for example by lowering the pneumatic gripper until this particular pallet layer is placed on top of the target pallet or on any previous pallet layer 12 that is already present, and then release this determined pallet layer 12 by removing the vacuum created by the pneumatic gripper. Then, as shown in Figure 6, the next layer transfer operation of the mixing operation is started by controlling the controller 60 by the layer positioning device 58 so that it moves the layer transport device 50 to the next source pallet position 20 where a source pallet is stored comprising a subsequent pallet layer 12 of the mixing set.
    [47] According to the embodiment shown in Figures 2-6, during each of the layer transfer operations of the blending operation, the controller 60 also controls the pallet transport device 30. As shown in Figure 2, the pallet positioning device 38 moves the pallet transport device 30 along the pallet positioning line 32 in such a manner that the transfer distance 70 is reduced. This means that the distance between the determined source pallet 10 and the determined target pallet 40 involved in the layer transfer operation is reduced. This smaller transfer distance 70 during the low transfer operation as depicted in Figure 2, results in a more efficient transfer operation; this means while the layer positioning device 58 positions the movable layer transport device 50 at the pallet position 20 of the determined source pallet 10 and before the layer picker 56 peaks this determined pallet layer 12 of the determined source pallet 10. This is because the distance that the pallet layer 12 must bridge after it has been peaked is reduced and this action does not delay the start of operation of the layer transport device 50 during a layer transfer operation. As shown in Figure 4, the pallet transporter 30 is positioned and held in the immediate vicinity of the source pallet after the layer picker 56 has peaked the determined pallet layer 12 of the determined source pallet 10. The controller 60 can realize this by instructing the pallet transporter 30 to keep moving by means of the pallet positioning device 38 until the transfer distance 70 reaches a certain threshold, for example when the transfer distance 70 is smaller than the determined threshold. As shown in Figure 5, the pallet transport device can then remain stationary until the layer transfer operation is completed by the layer transport device 50 which places the determined pallet layer 12 on the target pallet. A subsequent layer transfer operation is then initiated by the controller 60, as shown in Figure 6, by separately moving both the pallet transport device 30 and the layer transport device 50. The slower moving pallet transport device 30 is moved along the pallet positioning line 32 so that the transfer distance 70 is reduced for the next pallet layer 12 to be transferred during the mixing operation, while the faster layer transport device 50 is moved by the layer positioning device 58 to this layer 12 for picking.
    An embodiment of the operating method that is similar to what was explained with reference to Figures 2-6 is shown schematically in Figure 7. Here, the different operating phases are shown during a multiple number of low transfer operations LT of a mixing operation. During a first step POS, the layer positioning device 58 of the layer transport device 50 positions the movable layer picker 56 at the pallet position 20 of the determined source pallet 10, in a similar manner as shown in Figure 2. During a next step P1, the layer picker 56 peaks this pallet layer 12 of the source pallet 10, for example by means of a gripper as described above with reference to Figure 3. Next, in step POT, the layer positioning device 58 transports this pallet layer 12 which is held by the layer picker 56 to the target pallet 40 on the pallet transporter 30 as shown in Figure 4. Finally, in step PL, the layer picker 56 places the pallet layer 12 on the target pallet 40 as shown in Figure 5. In this way, the layer transfer operation LT is completed, after which a subsequent layer transfer operation LT of the blending operation is started by the layer positioning device 58 which again performs the first step POS in which it zic positions itself at the next source pallet 10, as shown in Figure 6. These layer transfer operations are repeated until all layer transfer operations of the blending operation have been performed by the layer transport device 50, after which a subsequent blending operation can be started. As further shown in Figure 7, the pallet transporter 30 is controlled simultaneously, but separately, by the controller so that its pallet positioning device 38 moves it along the pallet positioning line 32 during a step called PPOS in Figure 7. As described above with reference to Figures 2 and 3, the pallet positioning device 38 moves the pallet transport device 30 during the POS and P1 steps of the layer transport device 50. Although different from the situation depicted in Figure 4, the pallet transport device 30 also continues to move during the POT step while the layer transport device 50 simultaneously the pallet layer 12 moves from the source pallet 10 to the target pallet 40. As shown in Figure 7, during the PPOS step, the movement of the pallet transporter 30 is controlled so that the transfer distance 70 between the source pallet of pallet layer 12 involved in the transfer operation and the target pallet 40 is reduced. According to this embodiment, the movement of the pallet transport device 30 is stopped when it drops to a certain threshold 72. It then remains stationary until a subsequent low transfer operation LT is initiated. The PPOS step is performed again and the pallet transporter 30 is moved again to reduce the transfer distance to the pallet layer 12 of the source pallet involved in this next layer transfer operation.
    [49] However, it is clear that according to alternative operational conditions or alternative embodiments, the PPOS step in which the pallet transporter 30 is positioned may last until the PL step in which the layer transporter 50 places the pallet layer 12 on the target pallet when the control system 60 is capable of is to coordinate movement of both the layer transport device 50 and the pallet transport device 30 to place the pallet layer 12 on a moving target pallet 40. It is also clear that according to still further embodiments, alternative restrictions may be imposed on the steps of the operating method described with reference to Figure 7. Such a restriction may mean, for example, that due to the number of degrees of freedom of movement of the layer positioning device, it is required to position the pallet transporter aligned with respect to the source pallet 10 before the POT phase during which the layer is moved from the source pallet to the target pallet and PL phase during which the pallet layer 12 is placed on the target pallet 40. This may, for example, be the case for an embodiment of the layer transport device 30 which allows a layer transfer operation with the aid of means that linearly transfer a pallet layer 12 from the source pallet 10 to the target pallet 40 which must be linearly aligned with the source pallet. In such a case, the control system 60 coordinates the operation of the layer transporter 50 so that it does not start the POT and PL phases before the PPOS phase of the operation of the pallet transporter 30 is completed, for example by aligning it with the source pallet of this pallet layer position, which can be expressed by means of a suitable threshold for transfer distance. According to yet a further alternative embodiment, the PPOS phase of the pallet transport device 30 need not end as soon as the transfer distance is lowered to the determined threshold as shown in Figure 7. The PPOS phase can continue, for example, even if the transfer distance 70 continues to decrease, beyond the determined threshold 72, for example by continuing to move the target pallet 40 to the pallet layer 12 involved in the transfer operation, or possibly by continuing to move the target pallet 40 when it passes through this pallet layer 12 and only stopping it when the transfer distance exceeds the certain threshold 72.
    Figure 8 shows a further embodiment of the operation of an automatic low-picking unit 1 comprising two pallet transport devices 30.1, 30.2. A first pallet transport device 30.1 transports a first target pallet 40 involved in a first mixing operation and simultaneously a second pallet transport device 30.2 operative to transport a second target pallet 40 involved in a second mixing operation. It will be understood that what will be described with reference to the embodiment of Figure 8 can be applied to any other alternative embodiment comprising three, four, five or any other suitable multiple number of pallet transport devices, each being operated simultaneously during a multiple number. simultaneous mixing operations under control of the control system 60. The operational steps shown in Figure 8 relate to two simultaneous mixing operations. The layer transfer operations LT1 relate to a first mixing operation involving the first pallet transport device 30.1 and the layer transport device 50. The layer transfer operations LT2 relate to a second, simultaneous mixing operation involving the second pallet transport device 30.2 and the layer transport device 50. As shown, in a manner similar to that explained with reference to Figure 7, during the layer transfer operation LT1 of the first mixing operation, the layer transport device 50 operates according to the steps referred to as POS, PI, POT and PL during which it is subsequently positioned at the source pallet 10 it peaks the pallet layer 12, it is positioned at the target pallet 40 of the first pallet transport device and it places the pallet layer 12 on this target pallet 40. During this low transfer operation LT1, as described above with reference to Figure 7, the first pallet transport device 30.1 performs the PPOS1 phase by moving the target pallet 40 so that the transfer distance 70.1 is reduced until a certain threshold 72.1 is reached. While this layer transfer operation LT1 of the first mixing operation takes place, as shown, the second pallet transport device 30.2 already initiates the PPOS2 phase during which the transfer distance 70.2 for the next layer transfer operation LT2 of the second simultaneous mixing operation is already reduced. Subsequently, this layer transfer operation LT2 of the second mixing operation is carried out by means of the operational steps POS, P1, POT, PL for the layer transport device 50 and the operational PPOS2 step for the second pallet transport device 30.2 continues until the transfer distance 70.2 reaches a certain threshold 72.2. As shown, the operational PPOS1 step of the first pallet transport device 30.1 is already initiated during this layer transfer operation LT2. In this way, the faster layer transporter 50 with lower inertia can operate two or alternatively more pallet transporters 30.1, 30.2 with higher inertia and these pallet transporters 30.1, 30.2 can reduce the respective transfer distance 70.1, 70.2 while the layer transporter 50 performs a low transfer operation of another, simultaneous mixing operation so that the efficiency of each of the simultaneous mixing operations is further optimized.
    According to the embodiment of Figure 1A, the pallet positions 20 of source pallets 10 are arranged linearly, side by side along a pallet position line 22. The pallet transport device 30 then moves along a pallet transport line 32 which is generally parallel with at least one pallet position line 22. This allows a simple and efficient arrangement in which the pallet transport device 30 can move in the immediate vicinity of the source pallets, which generally crosses the component of the transfer distance. on the pallet transport line 32. Although the pallet position line 22 in Figure 1A is a straight line, it is clear that other linear shapes, such as bent, angled, ... are possible according to alternative embodiments. It is further clear that the number of pallet positions 20 arranged in such a linear manner, and thus generally forming rows or lines of pallet positions 20, may be higher than the one pallet position shown in Figure 1A. The automatic low-picking unit 1 can, for example, comprise any suitable multiple number of such linearly arranged rows of pallet positions 20 along a pallet position line 22, each of which has sufficient space to allow movement of the pallet positioning device 30 along a corresponding pallet transport line 32. It is clear that in general such a multiple number of pallet positions 20 will be arranged in a multiple number of parallel rows of such pallet positions 20 since this normally makes optimum use of the available floor space of the warehouse. According to yet a further alternative embodiment, the pallet positions 20 of source pallets 10 are arranged linearly, side by side along a multiple number of pallet position lines 22 so as to form, for example, a multiple number of rows of pallet positions 20. These rows of pallet positions are arranged so that the pallet transport device 30 can generally move parallel to and between two position lines 22 along a pallet transport line 32. This means that the pallet transporter 30 has available on both sides of the transport line 32 source pallets 10 for which the vertical component of the layer transfer distance 70 can be minimized, while still maintaining a simple movement pattern. Such a modular arrangement of the magazine is well suited for use in combination with an embodiment comprising a plurality of movable layer transport devices 50. These movable layer transport devices 50, for example in the form of a gantry robot, then each cover a layer transfer area which passes through at least a part of the one or more pallet transport lines 32 and their adjacent pallet positions are defined along their pallet position lines 22. However, also in other embodiments described above, multiple layer transport devices 50 can be active simultaneously to operate multiple pallet transport devices 30 during a plurality of simultaneous mixing operations.
    [52] It is furthermore clear from all the embodiments described above that during a low transfer operation, the controller 60 controls the pallet transport device 30 and the movable layer transport device 50 so that the target pallet 40 involved in the transfer operation receives the pallet layer 12 directly from the determined source pallet 10, i.e. without the need for an intermediate buffer or the division of pallet layer 12 into different articles 14.
    [53] Preferably, the pallet transport device 30 comprises a pallet loader capable of automatically loading a pallet, for example from an endless conveyor belt transporting pallets in the warehouse, or from an automatic or manually controlled forklift. The pallet loader is also preferably capable of unloading the pallet from the pallet conveyor 30 under the control of the controller 60. In this way, the target pallet 40 can be automatically loaded and unloaded from the pallet conveyor 30 before the mixing operation is initiated and after a mixing operation is initiated. completed. According to an embodiment, the pallet loader of the pallet transport device 30 is also capable of automatically loading source pallets 10 which are to be transported to specific pallet positions 20 in the automatic low-picking unit 1, where they can be unloaded again. Or alternatively, empty source pallets 10 can be loaded to free their pallet position 20 for a new source pallet. In this way, the pallet transport devices 30 that are active in the automatic layer-picking unit 1 can be controlled in a flexible and adaptable manner to participate in layer transfer operations or the source pallet supply in order to create a flexible and scalable arrangement without increasing the complexity.
    Fig. 9 shows an alternative embodiment of the automatic low-picking assembly 1. In a similar manner as in the embodiment of Figs. 1A-1D, a plurality of pallet positions 20 for source pallets 10 are arranged along a pallet position line 22. However, here separate pallet transport devices 30S, 30D provided to position the source pallets 10 and the target pallets 40, respectively. As shown, the pallet conveyor 30D configured to position the target pallet 40 is a suitable conveyor, for example an endless conveyor, such as a chain conveyor or belt conveyor, which places the target pallet 40 along a target conveyor line 32D that is generally parallel to the pallet position line 22 In general, such a conveyor belt thus comprises a pallet positioning device, for example in the form of a suitable chain drive which cooperates with the conveyor chain of the conveyor belt under the control of the controller 60, which in this way makes it possible to bring the target pallet 40 into the correct position with respect to the pallet positions 20 for the source pallets 10. Two further pallet transport devices 30S, similar to those of Figure 1A, are shown that are separate from this conveyor belt that forms the pallet transport device 30D to position the target pallet 40. These further pallet transport devices 30S are each effective for positioning a source pallet 10 in a pallet position 20. One of the further pallet transport devices 30S is depicted carrying a source pallet 10 with products containing a label D containing pallet layers 12 and is appropriately controlled by the controller 60 to position this source pallet 10 at a suitable pallet position 20 which is also labeled with D in Figure 9. Still a further pallet transport device 30S is suitably controlled by the control system 60 to position another source pallet comprising different products with a label G at a corresponding pallet position that also carries a label G in Figure 9. In this way, the controller 60 controls these further pallet transport devices 30S to continuously position source pallets 10 containing specific products at appropriate pallet positions 20 as schematically shown in Figure 9, the source pallets 10 including products labeled A to H. When they perform this source pallet positioning, these further pallet positioning devices move 30S, as shown schematically in Figure 9, along a source pallet conveyor line 32S that is generally parallel to the pallet position line 22. As shown in the embodiment in Figure 9, the source pallet conveyor line 32S is positioned such that the motion path 32S of the further pallet conveyor devices for the source pallets 10 does not interfere with the movement path 32D of the pallet transport device for the target pallet 40 along the transport line 32D for target pallets. This is particularly advantageous if the further pallet transport devices 30S for the source pallets are operated at higher speeds and / or accelerations than the transport device 30D for the target pallet 40. In this way, the positioning operation of the source pallet can be performed efficiently since the source pallets 10 are generally performed with higher speeds and / or accelerations can be transported than the target pallets 40 with mixed layers. This is a consequence of the lower inherent stability in the target pallets 40 with mixed layers compared to the source pallets 10 comprising only a single product type. In this way, the flow achieved when source pallets 10 are positioned at suitable pallet positions is not limited to the limits for safely positioning target pallets 40. In a similar manner, as explained with reference to the above embodiments, the pallet mixing operation can be performed by the separate movable layer transport device 50 and the pallet transport device 30D for the target pallet 40, preferably the transfer distance 70 between the particular source pallet 10 concerned and the particular target pallet 40 is reduced. For example, during a pallet mixing operation where the target pallet 40 must receive two pallet layers from the products with label A, one pallet layer from products with label C and three pallet layers from products with label G. The conveyor belt 30D can for example be controlled by the controller 60 around the target pallet first. to be positioned at the source pallet position with respect to product B, while at the same time the layer transport device 50 transfers the required number of pallet layers from the source pallets comprising product A and product C. Subsequently, the conveyor belt 30D can move the target pallet in the direction of the source pallet position for product G while at the same time low transport device 50 is also moved to that position which is supplied in the illustration by the further pallet transport device 30S which can move faster and is not impeded by conveyor belt 30D to carry out this supply operation, so that the flow during the mixing operation is further increased.
    Figures 10A and 10B show yet another alternative embodiment in which, just as for the embodiment of Figure 9, the further pallet transport device 30S for the source pallets 10 is separate from the pallet transport device 30D for the target pallet 40. Both the pallet transport device 30D is used for this. the target pallet 40 and the further pallet transport device 30S for the source pallets represented as a suitable conveyor belt. The conveyor belt 30S for the source pallets 10 can be operated faster than the conveyor belt 30D for the target pallets 40, as explained above. In order to further reduce the risks with regard to the possible decrease in the stability of the target pallet 40 with mixed layers and to process the simultaneous mixing operations with a multiple number of target pallets, specific pallet positions are provided in accordance with this specific embodiment of Figures 10A and 10B labeled DP1 and DP2, wherein a target pallet can be appropriately positioned under control of the controller 60 during a blending operation. In this way, the positioning of the target pallet 40 becomes more discontinuous compared to the above-described embodiments. This means, for example, that when a blending operation is performed to assemble a target pallet with pallet layers of products labeled A, C and E, the target pallet will first be positioned at the pallet position 20 labeled DP1 by the conveyor belt 30D as shown in Figure 10A. The conveyor belt 30D, in conjunction with a suitable device, will then transfer the target pallet 40 from the conveyor belt 30D to this pallet position 20 labeled DP1. The layer transport device 50 can already simultaneously peak the desired number of pallet layers of product A, but on the basis of the stability of the target pallet with mixed layers it can be preferred to wait before these pallet layers of product A are placed on the target pallet 40 until they are firmly is positioned at the pallet position 20 labeled DP1. Subsequently, the layer transport device 50 can be controlled to peak the desired number of pallet layers of product C and then place it on the target pallet 40 which is still located at pallet position 20 labeled DP1. Since the source pallet 40 is not present on the conveyor belt 30D during these layer transfer operations, the conveyor belt 30D can be suitably driven to position one or more other target pallets 40, which are for example involved in simultaneous mixing operations, without thereby impeding the mixing operation in which the target pallet involved which is at pallet position 20 labeled DP1. When the control system 60 subsequently detects that for the next layer transfer for the target pallet 40 a source pallet 10 is required comprising products E which is positioned at pallet position 20 for which the transfer distance 70 exceeds a certain threshold 72, this source pallet 40 is repositioned on the conveyor belt 30D and transported from the pallet position 20 labeled DP1 to a suitable pallet position DP2 for which the transfer distance 70 is lower than this determined threshold 72. At the same time, the separately movable layer transport device 50 can peak all the desired number of pallet layers of products F, but preferably waits before placing these pallet layers on the target pallet until it is securely positioned at pallet position 20 labeled DP2 to ensure sufficient stability for this target pallet 40 with mixed layers. As further shown in Figure 10A, during the layer transfer operations when the target pallet 40 is positioned at pallet position DP1, the fast moving conveyor belt 30S can efficiently supply the suitable pallet position 20 labeled SPE for the source pallet 10 including pallet layers with products E so that they are available for the layer transfer operations when the target pallet 40 is positioned at pallet position DP2 as depicted in Figure 10B.
    It is clear that further alternative embodiments, similar to the embodiments mentioned above, are possible with separate pallet transporters 30S, 30D for source pallets 10 and target pallets 40, respectively. For example, other combinations of specific embodiments of suitable separate pallet transporters 30S, 30D than those mentioned above are possible, as long as generally the permitted maximum acceleration and / or speed of the pallet transporter 30S for the source pallets 10 is higher than that of the pallet transporter 30D for the target pallet 40. In that regard, for example, it is advantageous for the pallet transport device 30D of the target pallets 40 comprising mixed layers and a corresponding decrease in structural stability, that it is controlled by the controller 60 with a soft start and soft stop function. It is further also clear that according to alternative embodiments, a different number of these separate pallet transport devices may be present to serve any suitable number of pallet positions. According to an example, a single target pallet conveyor 30D can serve a multiple number of rows of pallet positions that are each supplied with source pallets of a corresponding multiple number of source pallets conveyor 30S. Moreover, it is clear that, as explained above, a modular arrangement can be provided in which each of the elements involved in the automatic layer picking assembly serves a specific layer transfer area. It is also clear, especially when the pallet transport device 30 is a conveyor belt, that it can also simultaneously position any suitable multiple number of source or target pallets.
    [57] It is also clear that, according to some embodiments, the layer transport device 50 can transfer a suitable multiple number of pallet layers from a source pallet to a target pallet during a layer transfer operation. According to yet a further alternative embodiment, the layer transport device 50 may further be suitable for transferring a complete source pallet or target pallet, this may be useful, for example, when the pallet transport devices 30 are conveyor belts and the source pallets 10 or target pallets 40 must be positioned on and from the conveyor belt to a specific pallet position 20, which in such a case can be performed by the same device as for the layer transfer operation.
    [58] Although the present invention has been illustrated with reference to specific embodiments, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be practiced with various modifications and modifications without leaving the scope of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being described by the appended claims and not by the foregoing description, and all modifications falling within the meaning and scope of the claims, are therefore included here. In other words, it is assumed that this covers all changes, variations or equivalents that fall within the scope of the underlying basic principles and whose essential attributes are claimed in this patent application. In addition, the reader of this patent application will understand that the words "comprising" or "include" do not exclude other elements or steps, that the word "a" does not exclude a plural, and that a single element, such as a computer system, a processor or other integrated unit can fulfill the functions of different tools mentioned in the claims. Any references in the claims should not be construed as limiting the claims in question. The terms "first", "second", "third", "a", "b", "c" and the like, when used in the description or in the claims, are used to distinguish between similar elements or steps and do not necessarily describe a sequential or chronological order. Similarly, the terms "top", "bottom", "over", "under" and the like are used for the purposes of the description and do not necessarily refer to relative positions. It is to be understood that those terms are interchangeable under proper conditions and that embodiments of the invention are capable of functioning in accordance with the present invention in sequences or orientations other than described or illustrated above.
    权利要求:
    Claims (15)
    [1]
    CONCLUSIONS
    An automatic low-picking unit (1), comprising: - a plurality of source pallets (10) each positioned at a pallet position (20) and each comprising products (14) arranged in a plurality of pallet layers (12) ); - at least one pallet transport device (30): - comprising a pallet positioning device (38) which is operable to position a pallet relative to the pallet positions (20); and - operative to transport a target pallet (40) during a blending operation comprising a plurality of layer transfer operations; - a movable layer transport device (50): - comprising a layer picker (56) and a layer positioning device (58); and operative to transfer at least one pallet layer (12) from a source pallet (10) to a target pallet (40) during a layer transfer operation of the blending operation; - a controller (60) - coupled to the at least one pallet transport device (30) and the movable layer transport device (50); and operable to control them such that during the multiple number of layer transfer operations of the mixing operation a particular target pallet (40) receives a mixture of a multiple number of pallet layers (12) from a given set of a multiple number of source pallets (10), WITH THE FEATURE THAT the layer positioning device (58) is operable to position the movable layer transport device (50) separately from the pallet transport device (30) relative to the determined pallet positions (20) during the mixing operation.
    [2]
    An automatic layer picking unit according to claim 1, characterized in that during each of the layer transfer operations of the blending operation during which at least one particular pallet layer (12) is transferred from a specific source pallet (10) to a specific target pallet (40) ) on a particular pallet transport device (30), the controller (60) is further configured to control the movable layer transport device (50) such that: - its layer positioning device (58) positions it at the pallet position (20) of the determined source pallet (10) ; - its layer picker (56) peaks the at least one particular pallet layer (12) of the determined source pallet (10); - its layer positioning device (58) positions the at least one particular pallet layer (12) at the determined target pallet (40) on the determined pallet transport device (30); and - its layer picker (56) places the at least one particular pallet layer (12) of the determined source pallet (10) on the determined target pallet (40).
    [3]
    An automatic layer picking unit according to claim 2, characterized in that during each of the layer transfer operations of the blending operation during which at least one particular pallet layer (12) is transferred from a specific source pallet (10) to the determined target pallet (40) ), the controller (60) is further configured to control the pallet transport device (30) such that: - its pallet positioning device (38) reduces a transfer distance (70) between the determined source pallet (10) and the determined target pallet (40); while the layer positioning device (58) positions the movable layer transport device (50) at the pallet position (20) of the determined source pallet (10); and - before the layer picker (56) peaks the at least one particular pallet layer (12) of the determined source pallet (10).
    [4]
    An automatic low-picking unit according to claim 3, characterized in that the controller (60) is further configured to control the pallet transport device (30) such that: - its pallet positioning device (38) reduces the transfer distance (70): - after the layer picker (56) peaks the at least one particular pallet layer (12) of the particular source pallet (10); and - while the layer positioning device (58) positions the determined source pallet layer (12) at the determined target pallet (40) on the determined pallet transport device.
    [5]
    An automatic low-picking unit according to claim 3 or 4, characterized in that the controller (60) is further configured to control the pallet transport device (30) such that its pallet positioning device (38) reduces the transfer distance (70) to this a certain threshold (72).
    [6]
    An automatic low-picking unit according to any one of claims 3 to 5, characterized in that the automatic layer-picking unit comprises a multiple number of pallet transport devices (30) which are simultaneously active to reach a target pallet (40). during a multiple number of mixing operations, and that the controller (60) is further configured to simultaneously control the following: - one of the multiple number of pallet transport devices (30) cooperating with the layer transport device (50) during the low transfer operation of one of the simultaneous mixing operations; - another of the plurality of pallet transport devices (30) such that its pallet positioning device (38) reduces the transfer distance (70) for the next layer transfer operation of another of the simultaneous mixing operations.
    [7]
    An automatic low-picking unit according to any one of the preceding claims, characterized in that the controller is operable to control the at least one pallet transport device (30) and the movable layer transport device (50) such that during the layer transfer operation the determined target pallet (40) directly receives the at least one particular pallet layer (12) from the particular source pallet (10).
    [8]
    An automatic low-picking unit according to one of the preceding claims, characterized in that: - the pallet positions (20) of source pallets (10) are arranged linearly, side by side along at least one pallet position line (22); and - the pallet transport device (30) is operable to move along at least one pallet transport line (32) which is generally parallel with at least one pallet position line (22).
    [9]
    An automatic low-picking unit according to claim 8, characterized in that: - the pallet positions (20) of source pallets (10) are arranged linearly, side by side along a multiple number of pallet position lines (22) - the pallet transport device (30) operates is to move along at least one pallet transport line (32) that is generally parallel to and between two pallet position lines (22).
    [10]
    An automatic layer-picking unit according to one of the preceding claims, characterized in that the automatic layer-picking unit (1) comprises a plurality of layer transport devices (50).
    [11]
    An automatic low-picking unit as claimed in claim 10, if dependent on claim 8 or 9, characterized in that each of the movable layer transport devices (50) is operative to move in a layer transfer area which comprises at least in part at least one of the pallet transport lines (30) and its adjacent pallet position lines (22).
    [12]
    An automatic low-picking unit according to any one of the preceding claims, characterized in that at least one of the pallet transporters (30) operable to transport a target pallet (40) is further configured to carry a source pallet (10) positioning at a pallet position (20).
    [13]
    An automatic low-picking unit according to any one of the preceding claims, characterized in that the automatic layer-picking unit comprises at least one further pallet transport device (30S) which is separate from the at least one pallet transport device (30D) which operates is to transport a target pallet (40), wherein this further pallet transport device (30S) is operable to position a source pallet (10) at a pallet position (20) with a higher speed and / or acceleration than the at least one pallet transport device (30D) operable to transport a target pallet (40).
    [14]
    An automatic low-picking unit according to one of the preceding claims, characterized in that the pallet transport device (30) comprises one of the following devices: - an automatically guided vehicle; - a vehicle operative to move along a rail; - a robot vehicle; - a conveyor belt; and / or that the movable layer transport device (50) is a gantry robot comprising a pallet layer manipulator.
    [15]
    A method for operating an automatic layer-picking assembly according to any one of the preceding claims, characterized in that the method comprises the steps that during the mixing operation the layer positioning device (58) separates the movable layer transport device (50) from the pallet transport device (30) positions with respect to the determined pallet positions (20).
    类似技术:
    公开号 | 公开日 | 专利标题
    BE1021234B1|2015-08-27|AUTOMATIC LOW-PICKING WHOLE
    NL2015044B1|2017-01-24|System and method for storing objects.
    US10981723B2|2021-04-20|Robotic inventory handling
    RU2555083C2|2015-07-10|Suspended robot-aided system, and its operating method
    JP2022017357A|2022-01-25|Systems and methods for picking items
    JP6882464B2|2021-06-02|Robot sorting and optimizing items along the vertical axis
    JP5592497B2|2014-09-17|System and method for unloading items
    JP6315097B2|2018-04-25|Picking system and picking method
    JP2010516593A|2010-05-20|3D automation selection module
    KR20210053330A|2021-05-11|Robot Kiting System
    JP3969334B2|2007-09-05|How to load goods
    US8788088B2|2014-07-22|Production system, processed object manufacturing method, and container transferring method
    WO2021254018A1|2021-12-23|Automatic distribution wall
    US20210171282A1|2021-06-10|Automatic system and method for storing materials and assembling packages therefrom
    JP2005272053A|2005-10-06|Commodity storage facility
    JP2004307110A|2004-11-04|Object stacking method and facility for it
    KR101676715B1|2016-11-17|Stocker system and method for controlling the same
    JP2021008346A|2021-01-28|Picking device for automated warehouse
    JP2008120541A|2008-05-29|Article stacking device
    JP6679376B2|2020-04-15|Automatic warehouse system
    JP4411537B2|2010-02-10|Collecting equipment
    JP2018154479A|2018-10-04|Multi-tier automatic warehouse
    JP2003335402A|2003-11-25|Automatic high-rise warehouse
    JP2007204258A|2007-08-16|Article conveying facility
    JP2005075494A|2005-03-24|Article storage apparatus
    同族专利:
    公开号 | 公开日
    EP2865621A1|2015-04-29|
    CA2929005C|2017-09-12|
    WO2015062823A1|2015-05-07|
    CA2929005A1|2015-05-07|
    EP2865621B1|2015-09-23|
    US20160244277A1|2016-08-25|
    US9758321B2|2017-09-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20080131255A1|2006-11-30|2008-06-05|Transbotics Corporation|Palletizing systems and methods|
    DE2062845A1|1970-12-21|1972-07-06|Pierau E|Picking facility|
    GB2212468B|1987-11-20|1992-06-10|Sony Corp|Automatic assembly apparatus|
    US4896087A|1989-01-31|1990-01-23|Staubli International Ag.|Robotic workcell control system having improved input/output interfacing for better workcell operation|
    DE4290927T1|1991-04-01|1994-01-13|Fanuc Robotics North America|Process and system for flexible assembly of assemblies|
    US5268837A|1992-04-23|1993-12-07|Digital Equipment Corporation|Robotics workstation|
    DE4330795C2|1993-09-10|1996-05-30|Eisenmann Foerdertech|Mobile load handler|
    US20070280814A1|2006-05-17|2007-12-06|Axium Inc.|System and method to build mixed pallet layers from full pallet layers|
    US20080008573A1|2006-07-10|2008-01-10|California Natural Products|Automated build-by-layer rainbow pallet system|
    CA2630133A1|2007-04-27|2008-10-27|Axium Inc.|Order picking system|
    FR2915977B1|2007-05-11|2009-12-11|Savoye|SHUTTLE WITH TRAY FOR STORAGE WAREHOUSE AND / OR LOGISTIC PREPARATION.|
    DE102008049974A1|2008-10-01|2010-04-22|Eisenmann Anlagenbau Gmbh & Co. Kg|Electric monorail|
    AU2010235933A1|2009-10-23|2011-05-12|Robotic Automation Pty Limited|Robotic Layer Picker System|
    US20130177379A1|2012-01-06|2013-07-11|Kuka Systems Corporation North America|Automated layer picking and storage system|EP3192616A1|2016-01-14|2017-07-19|Magazino GmbH|Robot to pick up and transport objects and method using such a robot|
    US20180057284A1|2016-08-31|2018-03-01|Siemens Industry, Inc.|Computer Optimized Mixed Parcel Loading Equipment|
    CN109941688B|2019-03-10|2021-01-15|河北建设集团股份有限公司|High-rise brick conveying machine for building construction|
    CN112249187A|2019-07-22|2021-01-22|北京极智嘉科技有限公司|Sorting system and robot|
    法律状态:
    2020-08-19| HC| Change of name of the owners|Owner name: ABB ROBOTICS SOLUTIONS NV; BE Free format text: DETAILS ASSIGNMENT: CHANGE OF OWNER(S), CHANGEMENT DE NOM DU PROPRIETAIRE; FORMER OWNER NAME: INTRION NV Effective date: 20200514 |
    优先权:
    申请号 | 申请日 | 专利标题
    EP13190549.9A|EP2865621B1|2013-10-28|2013-10-28|Method and assembly for automatic layer picking|
    EP131905499|2013-10-28|
    [返回顶部]