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WO2006065147A1 - Systeme de palettisation - Google Patents

Systeme de palettisation Download PDF

Info

Publication number
WO2006065147A1
WO2006065147A1 PCT/NO2005/000459 NO2005000459W WO2006065147A1 WO 2006065147 A1 WO2006065147 A1 WO 2006065147A1 NO 2005000459 W NO2005000459 W NO 2005000459W WO 2006065147 A1 WO2006065147 A1 WO 2006065147A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet
circle
positions
pallets
objects
Prior art date
Application number
PCT/NO2005/000459
Other languages
English (en)
Inventor
Rune Myklebust
Original Assignee
Optimar Giske As
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 Optimar Giske As filed Critical Optimar Giske As
Publication of WO2006065147A1 publication Critical patent/WO2006065147A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a system for palletizing, and more particularly to a palletizing system that increases the palletizing efficiency, reduces dead time, lifting distances, and lifting time, as well as increases the number of pallets that may be loaded at any given time.
  • a robot In conventional palletizing, a robot is often used that picks up boxes, for example, from a fetch position and places them onto a pallet.
  • the pallets are usually positioned around the robot, and each one of the pallets may be transported away on a conveyor band when fully loaded.
  • the robot then picks up a new pallet from a stack of pallets and places it at the vacant position.
  • the boxes that are to be loaded onto the pallets are carried towards the robot on a separate conveyor band, and the robot picks up the box, finds out which pallet it is to be placed onto, lifts the box over to the proper pallet, and places it onto the pallet.
  • This manner of palletizing is very efficient and quick, but also has its associated limitations. Firstly, everything is being carried out in the same plane, i.e.
  • This object is achieved through a method that is characterized by the features set forth in the characterizing part of the independent claim 1 , and a system that is characterized by the features set forth in the characterizing part of the independent claim 1.
  • Other advantageous features and embodiments are set forth in the independent claims.
  • Fig. 1 shows a palletizing solution according to prior art
  • Fig. 2 shows an embodiment of the present invention
  • Fig. 3 shows the same embodiment as shown in fig. 2, but in a side view
  • Fig. 4 shows a cross-section of the working area of the robot.
  • Figure 2 shows an embodiment of the invention comprising an inner circle 2 of pallets surrounding a robot 1.
  • the current solutions may be improved significantly if two principles are being put in use.
  • the first principle is to not only work in one plane, but also in different height planes and/or in a radial direction.
  • the boxes may then be supplied using one or more conveyor belts 7 located in a separate plane, such as a higher level plane, for example, whereby the robot 1 picks up the boxes from this higher level plane and lowers them down to the lower level plane 2 where the pallets is located.
  • a supply and take away ring may be set up comprising carriages that are radially as well as broadwise moveable relative to the circle 3 formed by the ring.
  • the supply and take away ring may also function as a buffer.
  • This supply and take away ring supplies empty pallets, takes away fully loaded pallets, and may function as a temporary buffer for partly loaded pallets that only receives boxes from the robot 1 once in a while.
  • an outer circle 6 may be set up, comprising a pallet storage 5 for empty pallets, buffer positions and one or more conveyor band(s) 4 for taking away fully loaded pallets.
  • the supply and take away ring may then pick up empty pallets from the outer circle 6 when needed, feed fully loaded pallets to one of possibly several conveyor bands 4 that carry away the fully loaded pallets, put a partly filled pallet in a buffer position, or alternatively deliver the pallets to a fork lift 5 or a similar carrier.
  • the other principle is that the placing of the pallets relative to the robot 1 and the box fetch position 7 is determined based on how often the pallets is to receive boxes and possibly other factors, such as the weight of the boxes or how frequently particular boxes are supplied. In this manner, the lifting distance for the robot 1 is reduced to a minimum. Pallets that infrequently receive boxes, or that will not receive the next box or load of boxes in a long time, may be temporarily put in a buffer position in the outer circle 6. It is also possible to have the system include more than one box supply conveyor band 7, so that the boxes may be fed to the robot 1 from the conveyor band/fetch position 7 located closest to the pallet it ultimately is to be placed onto. In this case, the boxes are sorted before they get to the robot 1.
  • the supply system for the pallets may also include buffer positions for boxes that most preferably should be placed onto a pallet at a later time.
  • a control system keeps track of parameters such as what types of boxes that arrives, where they are to be placed, the distance between the box supply conveyor band and the pallet onto which the next boxes are to be placed, how often the various pallets are to be supplied with boxes, etc. This information is collected and processed by the control system, which then optimises and coordinates the positioning of the pallets and optionally the preliminary sorting of the boxes with respect to time, normal distribution and/or other efficiency measures. In some cases, certain pallets may be given higher priority because it is urgent to pass them further in the system, whereas other pallets are given lower priority because they are not as critical.
  • the control system includes programmable logic.
  • the control system is based on that the boxes are provided with a scanning tag.
  • the pallets, their position, and optionally their priority are kept track of in a similar manner.
  • the boxes, the pallets, their respective positions, buffer positions, and priority are coordinated by the control system, which uses the collected information for optimizing the total throughput of boxes and pallets.
  • the optimisation is performed by means of predefined algorithms that in different manners may be selected and combined in order to achieve the desired result.
  • the normal distribution principle may be used for calculating which positions are optimal for the different pallets and the overall throughput. Then the system may, for example, choose to prioritize the loading of selected pallets at the sacrifice of the total throughput, if desirable.
  • Buffer positions may be used for temporarily putting aside boxes or pallets that will not be placed onto a pallet or receive a new box, respectively, in a long time. If certain pallets are prioritized, the other pallets are given lower priority by being put at a "less favourable" position in the inner circle 2, or by being placed in a buffer position in the supply and take away ring / the second circle 3, or the outer circle 6.
  • both of the above principles may advantageously be used separately, as both principles separately represent a huge efficiency-increasing potential.
  • a synergy effect is obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un système de palettisation comprenant un robot (1), des objets à palettiser, une position de récupération (7) d'objets à palettiser, une pile de palettes (5), et un certain nombre de positions de palettes (2), ce système étant conçu de manière que le robot (1) puisse saisir un des objets à palettiser à partir de la position de récupération (7) et le placer sur une palette située dans une position de palette (2), ce système étant aussi conçu de manière à récupérer une palette vide d'une pile de palettes (5) et la placer dans une position de palette disponible (2). Cette invention se caractérise par le fait que la/les position(s) de récupération 87) soit/soient située(s) à une autre hauteur que celle des positions de palettes (2), et que les positions de palette (2) entourent complètement le robot (1) en un seul cercle (2).
PCT/NO2005/000459 2004-12-15 2005-12-13 Systeme de palettisation WO2006065147A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20045464 2004-12-15
NO20045464A NO322426B1 (no) 2004-12-15 2004-12-15 Palleteringssystem

Publications (1)

Publication Number Publication Date
WO2006065147A1 true WO2006065147A1 (fr) 2006-06-22

Family

ID=35220587

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO2005/000459 WO2006065147A1 (fr) 2004-12-15 2005-12-13 Systeme de palettisation

Country Status (2)

Country Link
NO (1) NO322426B1 (fr)
WO (1) WO2006065147A1 (fr)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011038442A2 (fr) 2009-10-02 2011-04-07 Tgw Mechanics Gmbh Système de préparation de commandes et procédé de chargement de supports de charges
DE102011053750A1 (de) * 2011-09-19 2013-03-21 Sim Automation Gmbh & Co. Kg Verfahren zum Be- und Entladen von Paletten sowie Palettierer zur Durchführung des Verfahrens
WO2014130937A1 (fr) * 2013-02-24 2014-08-28 Intelligrated Headquaters Llc Marchandises à robot pour le traitement de commande
WO2019169419A3 (fr) * 2018-03-09 2019-10-31 Tgw Logistics Group Gmbh Station de préparation de commandes et procédé destiné à préparer automatiquement des commandes de marchandises
DE102018206984B4 (de) 2018-05-04 2022-01-05 Kuka Industries Gmbh Roboterbasierte Güterkommissionierung
EP4026662A1 (fr) 2021-01-11 2022-07-13 Robotautomation Svenska AB Dispositif de transfert d'objets et système de robot comprenant le dispositif de transfert d'objets
US11691279B2 (en) 2019-04-25 2023-07-04 Berkshire Grey Operating Company, Inc. Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
US11718479B2 (en) 2017-03-22 2023-08-08 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects, including automated radial processing stations
DE102022121242A1 (de) * 2022-08-23 2024-02-29 C. & A. Veltins GmbH & Co. KG Verfahren und Vorrichtung zur Handhabung von insbesondere palettierter Ware in einer Anlieferung und/oder Auslieferung mit Fahrzeugen
US12037194B2 (en) 2018-03-09 2024-07-16 Tgw Logistics Group Gmbh Robot system with motion sequences adapted to product types, and operating method therefor
US12139340B2 (en) 2018-03-09 2024-11-12 Tgw Logistics Group Gmbh Robot system for gripping an item in a storage and picking system, and operating method for same
US12151372B2 (en) 2019-02-27 2024-11-26 Berkshire Grey Operating Company, Inc. Systems and methods for hose routing in programmable motion systems

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4978274A (en) * 1985-09-16 1990-12-18 R. De Groot Holding Laag-Zuthem B.V. Manipulator
US5281081A (en) * 1990-01-10 1994-01-25 Mitsubishi Denki Kabushiki Kaisha Stowage device for plural species of works
US6290448B1 (en) * 1998-04-07 2001-09-18 Focke & Co. (Gmbh & Co.) Lifting device (pallet device) with pivotal arm
EP1225002A1 (fr) * 2001-01-12 2002-07-24 Grundfos A/S Dispositif robotisé comportant deux robots disposés coaxialement et entourés par plusieurs stations de travail
DE10119679A1 (de) * 2001-04-20 2002-10-24 Flexlink Systems Gmbh Einrichtung zum Kommissionieren und/oder Palettieren von Stückgütern, insbesondere von Stückgütern auf Paletten, und Verfahren hierzu
US6691748B1 (en) * 2000-01-17 2004-02-17 Precision System Science Co., Ltd. Container transfer and processing system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4978274A (en) * 1985-09-16 1990-12-18 R. De Groot Holding Laag-Zuthem B.V. Manipulator
US5281081A (en) * 1990-01-10 1994-01-25 Mitsubishi Denki Kabushiki Kaisha Stowage device for plural species of works
US6290448B1 (en) * 1998-04-07 2001-09-18 Focke & Co. (Gmbh & Co.) Lifting device (pallet device) with pivotal arm
US6691748B1 (en) * 2000-01-17 2004-02-17 Precision System Science Co., Ltd. Container transfer and processing system
EP1225002A1 (fr) * 2001-01-12 2002-07-24 Grundfos A/S Dispositif robotisé comportant deux robots disposés coaxialement et entourés par plusieurs stations de travail
DE10119679A1 (de) * 2001-04-20 2002-10-24 Flexlink Systems Gmbh Einrichtung zum Kommissionieren und/oder Palettieren von Stückgütern, insbesondere von Stückgütern auf Paletten, und Verfahren hierzu

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011038442A2 (fr) 2009-10-02 2011-04-07 Tgw Mechanics Gmbh Système de préparation de commandes et procédé de chargement de supports de charges
DE212010000161U1 (de) 2009-10-02 2012-07-06 Tgw Mechanics Gmbh Kommissioniersystem
DE102011053750A1 (de) * 2011-09-19 2013-03-21 Sim Automation Gmbh & Co. Kg Verfahren zum Be- und Entladen von Paletten sowie Palettierer zur Durchführung des Verfahrens
WO2014130937A1 (fr) * 2013-02-24 2014-08-28 Intelligrated Headquaters Llc Marchandises à robot pour le traitement de commande
US9481518B2 (en) 2013-02-24 2016-11-01 Intelligrated Headquarters Llc Order fulfillment system and method
US12141650B2 (en) 2017-03-22 2024-11-12 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects, including automated radial processing stations
EP3602437B1 (fr) * 2017-03-22 2024-05-01 Berkshire Grey Operating Company, Inc. Systèmes et procédés de traitement d'objets, comprenant des stations de traitement radiales automatisées
US11718479B2 (en) 2017-03-22 2023-08-08 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects, including automated radial processing stations
US12139340B2 (en) 2018-03-09 2024-11-12 Tgw Logistics Group Gmbh Robot system for gripping an item in a storage and picking system, and operating method for same
EP4194376A1 (fr) * 2018-03-09 2023-06-14 TGW Logistics Group GmbH Poste de préparation de commandes et procédé de préparation automatique de commandes de marchandises
EP4474318A3 (fr) * 2018-03-09 2025-03-12 TGW Logistics Group GmbH Procédé de préparation automatique de commandes de marchandises
US12098037B2 (en) 2018-03-09 2024-09-24 Tgw Logistics Group Gmbh Picking station and method for automatic picking of goods
US12037194B2 (en) 2018-03-09 2024-07-16 Tgw Logistics Group Gmbh Robot system with motion sequences adapted to product types, and operating method therefor
WO2019169419A3 (fr) * 2018-03-09 2019-10-31 Tgw Logistics Group Gmbh Station de préparation de commandes et procédé destiné à préparer automatiquement des commandes de marchandises
DE102018206984B4 (de) 2018-05-04 2022-01-05 Kuka Industries Gmbh Roboterbasierte Güterkommissionierung
US12151372B2 (en) 2019-02-27 2024-11-26 Berkshire Grey Operating Company, Inc. Systems and methods for hose routing in programmable motion systems
US11691279B2 (en) 2019-04-25 2023-07-04 Berkshire Grey Operating Company, Inc. Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
US12138797B2 (en) 2019-04-25 2024-11-12 Berkshire Grey Operating Company, Inc. Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
US12065317B2 (en) 2021-01-11 2024-08-20 Robotautomation Svenska Ab Pallet transfer device for robot palletizing, a system for robot palletizing including the pallet transfer device and a method for robot palletizing
WO2022148561A1 (fr) 2021-01-11 2022-07-14 Robotautomation Svenska Ab Dispositif de transfert de palettes pour palettisation à robot, système de palettisation à robot comprenant le dispositif de transfert de palettes et procédé de palettisation à robot
EP4026662A1 (fr) 2021-01-11 2022-07-13 Robotautomation Svenska AB Dispositif de transfert d'objets et système de robot comprenant le dispositif de transfert d'objets
DE102022121242A1 (de) * 2022-08-23 2024-02-29 C. & A. Veltins GmbH & Co. KG Verfahren und Vorrichtung zur Handhabung von insbesondere palettierter Ware in einer Anlieferung und/oder Auslieferung mit Fahrzeugen

Also Published As

Publication number Publication date
NO322426B1 (no) 2006-10-02
NO20045464L (no) 2006-06-16
NO20045464D0 (no) 2004-12-15

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