Picking device

Abstract

The present invention relates to a picking device (1) for picking at least one object (4), comprising a support structure, a movable load handling manipulator (2) arranged on the support structure, a handling element (3) arranged on the load handling manipulator (2) for handling the object (4), and a control unit (5) for controlling the load handling manipulator (2) and the handling element (3), wherein the handling element (3) has a vertically displaceable contact element (6) which can be applied to a front side (4-1) of an object (4) facing the handling element (3) and is configured to displace the front side (4-1) of the object (4) along a vertical object axis (8) in order to create a gap (9) below the front side (4-1) of the object (4), wherein the handling element (3) has two displaceable support elements (10, 10-1, 10-2).which are displaceable along a longitudinal axis (11) and along a transverse axis (12), wherein the displaceable support elements (10, 10-1, 10-2) can be attached to a bottom surface (4-2) of the object (4) through the gap (9) created below the front surface (4-1) of the object (4) in order to receive the object (4). The support elements (10, 10-1, 10-2) each have at least two spaced-apart fixing elements (13, 13-1, 13-2, 13-3, 13-4) that can be switched between a fixed state and a non-fixed state. The control (5) is configured to switch one fixing element (13, 13-1, 13-2, 13-3, 13-4) of the two support elements (10, 10-1, 10-2) into the fixed state during a rotation step and to cause a synchronous displacement of the two support elements (10, 10-1, 10-2) along the longitudinal axis (11) and transverse axis (12) in order to achieve a rotation of the object (4) about the vertical object axis (8).

Description

[0001] The invention relates to a picking device for picking at least one object, comprising a load handling manipulator, a handling element arranged on the load handling manipulator and a control system, wherein the control system is configured to switch one fixing element of two support elements of the handling element into a fixing state during a rotation step and to cause a synchronous displacement of the two support elements along the longitudinal axis and transverse axis in order to achieve a rotation of the object about a vertical object axis.

[0002] Order picking encompasses all methods for assembling specific objects, particularly goods in warehouses or distribution centers, from a provided assortment. This assembly is based on orders, such as customer orders or production orders. Recently, automated systems have been increasingly used for this purpose. For example, packages, as the objects to be picked, are picked by autonomously operated transport vehicles from a source position, such as a source pallet, and placed at a destination position, such as on a destination pallet transported by the vehicle.

[0003] Although such picking devices can obviously also include stationary, and therefore immobile, picking devices, mobile picking robots are also used for this purpose, which are designed in particular as at least semi-autonomous, in particular fully autonomous, picking robots that can independently pick up the packages at the corresponding source position by means of a robot arm, transport the picked-up packages to the target position independently, and place the picked-up packages at the target position independently.

[0004] Mobile order picking robots automatically receive order data such as order number, storage location coordinates, quantity, and weight of goods from a central computer. They can, for example, navigate to specific storage locations in racking systems and retrieve the desired item using a gripping system. This gripping tool can be a type of gripper, such as an adhesion gripper or a vacuum gripper.

[0005] Mobile order picking robots feature a load handling manipulator, usually mounted on a support structure designed as a lifting mast or on another lifting device, for the vertical positioning of the picking tool or gripper in the rack and on the target pallet. For fully autonomous, mobile order picking processes, special kinematics of the robot arm are frequently employed. Robots with standard kinematics, especially 6-axis industrial robots, are often too heavy, not designed for mobile use, and have kinematic limitations that make their use in this area difficult.

[0006] More advantageous are robot arms with flat kinematics that can be moved vertically along a lifting mast. Such robot arms have several flat, i.e., horizontally, arranged arm elements that create a cylindrical gripping area, ideally suited for working in confined warehouses. Mobile picking robots with flat arm kinematics are known, for example, from DE 10 2017 129 468 A1, DE 10 2017 130 577 A1, EP 3 868 519 A2, and EP 4 098 590 A1.

[0007] When automatically picking packages on pallets or in shelves using mobile picking robots, stationary picking devices, or other handling equipment, it is crucial for economic reasons to achieve the densest possible packing pattern, so that there are as few gaps as possible between the packages.

[0008] However, if the objects to be picked are oriented differently, i.e., with different angles of rotation around a vertical axis, the packing pattern cannot be made arbitrarily dense due to the often limited rotation around the vertical axis. This leads to a situation where, with many picking devices, such as state-of-the-art mobile picking robots, the packing pattern of the packages on the target pallet or in a rack deviates from an ideal packing pattern. Therefore, current state-of-the-art technology requires a way to optimize the packing pattern of a picking device, such as a mobile picking robot.

[0009] The present invention is based on the objective of providing a picking device which is capable of rotating a picked-up object about a vertical object axis.

[0010] This problem is solved according to a first aspect by a picking device for picking at least one object, comprising a support structure, a movable load handling manipulator arranged on the support structure, a handling element arranged on the load handling manipulator for handling the object, wherein the movable load handling manipulator is configured to position the handling element on the object, and a control unit for controlling the load handling manipulator and the handling element, wherein the handling element has a vertically displaceable contacting element which can be applied to a front surface of an object facing the handling element and is configured to displace the front surface of the object along a vertical object axis in order to create a gap below the front surface of the object, wherein the handling element has two displaceable support elements.which are displaceable along a longitudinal axis extending transversely to the vertical object axis and along a transverse axis extending transversely to both the vertical object axis and the longitudinal axis, wherein the displaceable support elements can be placed against a bottom surface of the object through the gap created below the front surface of the object in order to receive the object, wherein the support elements each have at least two switchable, spaced-apart fixing elements, wherein each of the fixing elements is configured in a fixing state to secure the bottom surface of the object in a loss-proof manner, and wherein each of the fixing elements is configured in a non-fixing state to release the bottom surface of the object, wherein the control is configured to switch one fixing element of the two support elements into the fixing state during a rotation step and to cause a synchronous displacement of the two support elements along the longitudinal axis and transverse axis.to achieve a rotation of the object around the vertical object axis.

[0011] This achieves the technical advantage that effective rotation of the object around the vertical object axis is possible while the object is located on the two support elements.

[0012] Previously, with conventional handling elements, it was often only possible to rotate the object around its vertical axis by placing the object on the ground and manually touching a corner of the object with the handling element. This was not only time-consuming and imprecise, but could also lead to damage to sensitive objects.

[0013] Because the present invention allows the object to be rotated around its vertical axis while it is on the two support elements, this rotation can be carried out much faster, making the operation of the picking device more economical.

[0014] According to the present invention, the rotation of the object about the vertical object axis is made possible by switching one of the two spaced-apart fixing elements of the respective support element into the fixing state, thereby achieving a loss-proof fixation of the underside of the object at this point and these fixing elements switched into the fixing state serve as pivot points for the subsequent rotation of the object on the support elements.

[0015] The control system is specifically designed to switch the other of the two spaced-apart fixing elements of the respective support element into the non-fixing state, so that the underside of the object can slide over the fixing elements switched to the non-fixing state during the subsequent rotation of the object, thus enabling the rotational movement of the object.

[0016] The actual rotation of the object around a vertical object axis during the rotation step is subsequently effected by the synchronous displacement of the two support elements along the longitudinal and transverse axes.

[0017] The control system is specifically designed to move the support elements in different directions along the longitudinal axis, enabling the object to rotate around the pivot points defined by the locking elements when they are in the fixed position. For example, one of the two support elements can be moved towards the handling element along the longitudinal axis, while the other support element can be moved away from the handling element along the longitudinal axis.

[0018] In order to enable effective rotation due to the constant radius of rotation around the pivot points, in addition to the displacement of the support elements along the longitudinal axis, a displacement of the support elements along the transverse axis must also take place, in particular in such a way that the two support elements are moved towards each other in order to be able to carry out the rotation process to the end.

[0019] Crucially, the control system synchronously moves the two support elements along the longitudinal and transverse axes, taking into account the constant radius of rotation around the pivot points, so that the final position of the rotated object can be effectively reached at the end of the rotation step.

[0020] In particular, the object comprises at least one single object or a plurality of objects. Specifically, the object comprises a package, especially a carton.

[0021] In particular, the support elements are designed as loading tines or support plates.

[0022] In particular, the picking device includes a stationary picking device in which the support structure is firmly and immovably connected to the floor of the warehouse.

[0023] In particular, the picking device includes a mobile picking robot which has a mobile or moving autonomous platform on which a vertically oriented lifting mast is arranged as a support structure.

[0024] In particular, the support structure of the picking device has a lifting carriage attached to it in a height-movable manner, via which the load handling manipulator can be moved vertically in the direction of the vertical object axis in order to position the load handling manipulator at an optional vertical height in relation to the object to be gripped.

[0025] In particular, the load handling manipulator is designed as a horizontally oriented robot arm, which is composed of several arm elements, each of which is articulated to the others via vertically oriented arm joint rotation axes. Specifically, the end arm element facing away from the support structure is connected to the handling element via a vertical wrist rotation axis. The arm elements are arranged one above the other and form a flat kinematic structure for the robot arm.

[0026] In particular, the fixing elements are arranged on the upper side of the support elements facing the object.

[0027] In particular, the handling element has a central transverse module, wherein in particular the support elements and / or the vertically movable contacting element and / or the movable load handling manipulator are attached to the central transverse module.

[0028] Thus, the present invention enables advantageous rotation of the object on the support elements around the vertical object axis, which can be carried out not only quickly and automatically, but also, for example, in autonomous picking devices, thereby significantly improving the speed and also the efficiency of goods handling.

[0029] According to one embodiment, the two support elements comprise a first support element with a first fixing element and a second fixing element, and a second support element with a third fixing element and a fourth fixing element, wherein in particular the first fixing element of the first support element and the third fixing element of the second support element are arranged on a side of the respective support element facing away from the handling element, and wherein in particular the second fixing element of the first support element and the fourth fixing element of the second support element are arranged on a side of the respective support element facing the handling element, wherein the control is configured to switch the first and fourth fixing elements or the second and third fixing elements into the fixing state during the rotation step.

[0030] This achieves the technical advantage that, by switching the first and fourth fixing elements into the fixing state, or alternatively by switching the second and third fixing elements into the fixing state, fixing elements at different distances from the handling element are switched into the fixing state at the beginning of the rotation step, so that the position of the fixed pivot points for the rotation of the object is advantageously determined.

[0031] In particular, the handling element has a central transverse module, wherein the support elements are attached to the central transverse module and can be moved from the central transverse module along the longitudinal axis and / or the transverse axis. Thus, in particular, the first fixing element of the first support element and the third fixing element of the second support element are arranged on a side of the respective support element facing away from the central transverse module of the handling element. Thus, in particular, the second fixing element of the first support element and the fourth fixing element of the second support element are arranged on a side of the respective support element facing the central transverse module of the handling element.

[0032] In particular, the control system is additionally designed to switch the second and third fixing elements, or the first and fourth fixing elements, to the unfixed state during the rotation step. This achieves the technical advantage that, in the area of ​​the unfixed fixing elements, the object can effectively slide over the top of the support elements during rotation.

[0033] According to one embodiment, the control system is designed to align the two support elements parallel to each other on the underside of the object during the rotation step.

[0034] This achieves the technical advantage that the parallel arrangement of the two support elements below the object ensures a secure stand for the object.

[0035] According to one embodiment, the control is configured to switch diagonally opposite fixing elements of the two support elements into the fixing state during the rotation step, wherein the control is particularly configured to switch the diagonally opposite first and fourth fixing elements or the diagonally opposite second and third fixing elements into the fixing state during the rotation step.

[0036] This achieves the technical advantage that by switching diagonally opposing fixing elements of the two support elements, effective pivot points for the rotation of the object around the vertical object axis can be obtained.

[0037] According to one embodiment, the synchronous displacement of the two support elements along the longitudinal and transverse axes comprises an opposite displacement of the two support elements along the longitudinal axis, as well as a displacement of the two support elements towards each other along the transverse axis, wherein in particular the opposite displacement of the two support elements along the longitudinal axis comprises the displacement of the first support element towards the handling element and the displacement of the second support element away from the handling element, or the displacement of the second support element towards the handling element and the displacement of the first support element away from the handling element.

[0038] This achieves the technical advantage that the opposite displacement of the two support elements along the longitudinal axis enables the corresponding rotation of the object by the fixing elements switched into the fixed state.

[0039] In particular, the control is configured to move the first support element along the longitudinal axis towards a central transverse module of the handling element and to move the second support element away from a central transverse module of the handling element during the rotation step, or the control is configured to move the second support element along the longitudinal axis towards a central transverse module of the handling element and to move the first support element away from a central transverse module of the handling element during the rotation step, in order to enable the rotation of the object about the vertical object axis.

[0040] In addition to the longitudinal movement of the support elements, the control system must also control a mutually directed displacement of the two support elements along the transverse axis due to the constant radius of rotation around the pivot points, so that the rotation can be carried out.

[0041] The control system is specifically designed to move the first and second support elements towards each other along the transverse axis, or to move the first support element towards the second support element along the transverse axis, or to move the second support element towards the first support element along the transverse axis.

[0042] According to one embodiment, the control system is designed to control the synchronous displacement of the two support elements along the longitudinal and transverse axes in such a way that the distance between the two fixing elements switched to the fixing state remains constant during the rotation step.

[0043] This achieves the technical advantage that the rotation of the object around the vertical object axis does not lead to any slippage of the object on the support elements, provided that the radius of the pivot points, i.e. the distance between the two fixing elements switched to the fixed state, remains constant during the rotation step.

[0044] According to one embodiment, the control system is configured to switch both fixing elements of one of the two support elements, in particular the first or second support element, into the fixing state during a repositioning step following the rotation step, in order to achieve a secure fixing of the object on the one support element, wherein the control system is configured to switch the two fixing elements of the other of the two support elements, in particular the second or first support element, into the non-fixing state, and is configured to subsequently move the other of the two support elements, in particular the second or first support element, along the longitudinal and transverse axes into a new position.

[0045] This offers the technical advantage that, through the corresponding repositioning step, one of the two support elements can be repositioned for a subsequent further rotation step, thus ensuring a further rotation of the object around the vertical object axis in the subsequent further rotation step, for example up to a rotation angle of 90° in relation to the original position of the object.

[0046] During the repositioning step, the control system re-switches the switchable fixing elements of the support elements, such that both fixing elements on one of the support elements are switched to the fixing state in order to securely fix the object on the corresponding support element, and that the two fixing elements on the other support element are switched to the non-fixing state in order to subsequently be able to slide the corresponding other support element under the underside of the object during the repositioning process.

[0047] The repositioning of the corresponding other support element into the new position following the switching of the fixing elements includes moving the corresponding other of the two support elements along the longitudinal and transverse axes.

[0048] According to one embodiment, moving the other of the two support elements, in particular the second or first support element, into the new position during the repositioning step includes moving the other of the two support elements, in particular the second or first support element, along the longitudinal axis away from the handling element and along the transverse axis away from one of the two support elements, in particular the first or second support element.

[0049] This provides the technical advantage that the repositioning of the other of the two support elements enables the subsequent further rotation step.

[0050] In particular, the control system is configured during the repositioning step to move the corresponding other of the two support elements away from one of the two support elements along the transverse axis. Specifically, the control system is configured to move the corresponding other of the two support elements away from the handling element, in particular from a central transverse module of the handling element, along the longitudinal axis.

[0051] According to one embodiment, the control system is designed to switch a fixing element of each of the two support elements into the fixed state during a further rotation step following the repositioning step and to cause a synchronous displacement of the two support elements along the longitudinal and transverse axes in order to achieve a further rotation of the object about a vertical object axis, in particular to achieve a rotation of the object about the vertical object axis by an angle of 90° relative to the original position of the object.

[0052] This results in the technical advantage that the further rotation step carried out after the repositioning step allows a further rotation of the object around the vertical object axis up to an angle of 90°.

[0053] For the switching of the fixing elements and the relocation of the support elements within the scope of the further rotary step, reference is made to the embodiments for the fixing elements and the relocation of the support elements within the scope of the rotary step already described in detail, which are hereby fully incorporated by reference.

[0054] In particular, a further repositioning step can follow the further rotation step, and a further rotation step can follow the further repositioning step, so that the rotation of the object around the vertical object axis can be carried out iteratively, i.e. step by step, in order to allow rotation of the object, in particular up to an angle of 360°.

[0055] According to one embodiment, the control system is designed to activate the vertically movable contact element for placement against the front of the object after the rotation of the object has been completed.

[0056] This achieves the technical advantage that by placing the vertically movable contact element on the front of the object, effective stabilization of the object on the support elements can be achieved after the rotation has been completed.

[0057] According to one embodiment, the fixing elements comprise vacuum suction cups, wherein the vacuum suction cups can be pressurized with a vacuum to be brought into the fixing state, and wherein the vacuum suction cups cannot be pressurized with a vacuum to be brought into the non-fixing state, and / or the fixing elements comprise engagement elements which can be displaced from the support elements along the vertical object axis onto the object to be brought into the fixing state, and which can be retracted along the vertical object axis into the support elements to be brought into the non-fixing state, and / or the fixing elements comprise openings in the support elements that can be pressurized with a vacuum to be brought into the fixing state, and wherein the openings cannot be pressurized with a vacuum to be brought into the non-fixing state.and / or the fixing elements comprise openings in the support elements that can be pressurized with vacuum, wherein the openings are each sealed to the outside with a membrane, and wherein a rotatable suction cup is arranged on the membrane, wherein the respective membrane is designed to expand upwards in the opening when pressurized with vacuum and to attach the rotatable suction cup to the underside of the object in a manner that prevents it from being lost.

[0058] This achieves the technical advantage that the corresponding switchable fixing elements allow effective rotation of the object around the vertical object axis.

[0059] The vacuum suction cups described according to the first variant can advantageously be switched between the fixed state and the non-fixed state by applying or switching off the vacuum, whereby vacuum-generating elements already present in the handling element can be used in particular.

[0060] To ensure particularly advantageous sliding of the support elements along the underside of the object, the vacuum suction cups arranged especially on the top side of the support elements are in particular at least partially, in particular completely, recessed in the support elements, wherein in particular the top side of the vacuum suction cups is flush with the top side of the support elements.

[0061] The fixing elements described according to the second variant are formed by openings or bores in the top of the support elements themselves that can be pressurized with vacuum and therefore allow the object to slide advantageously along the top of the support elements when no vacuum is applied to the opening, and to effectively fix the object to the openings when a vacuum is applied.

[0062] According to a third variant, it is also possible to use engagement elements as fixing elements. These elements are recessed or retracted into the support elements when not in use, and extend along the vertical axis of the object when in use, making contact with its underside. In this variant, the use of a vacuum is unnecessary, as contact between the engagement elements and the object can be achieved either through corresponding openings in the object into which the engagement elements can engage, or through a high frictional force between the upper surface of the engagement elements facing the object and the underside of the object, for example, by using a non-slip surface on the engagement elements.

[0063] The fourth variant comprises a modified combination of the first and second variants, whereby the openings in the support elements that can be pressurized with vacuum are sealed by a membrane, so that, depending on the presence of vacuum in the opening, the membrane can be deflected upwards or downwards, so that the rotatable suction cups attached to the membrane with their rubber-like surface come into contact with the underside of the object or the suction cups detach from the underside of the object.

[0064] According to one embodiment, the picking device has at least one sensor element configured to monitor the rotation of the object around the vertical object axis, and wherein the control is configured to switch the fixing elements depending on the sensor data provided by the sensor element and / or to control the displacement of the two support elements depending on the sensor data provided by the sensor element.

[0065] This achieves the technical advantage that the sensory monitoring of the object's rotation enables advantageous switching of the fixing elements and the displacement of the two support elements.

[0066] For example, the control system can detect, through sensor-based monitoring of the object's rotation angle around the vertical object axis, when the switching state of the fixing elements and the movement of the support elements along the longitudinal axis and / or transverse axis need to be changed during the rotation step, the repositioning step and / or the next rotation step.

[0067] According to one embodiment, the sensor element comprises a camera arranged on the handling element and / or a distance sensor arranged on the handling element.

[0068] This achieves the technical advantage that the aforementioned elements enable effective monitoring of the object's rotational position.

[0069] According to one embodiment, the vertically displaceable contacting element comprises a vacuum suction gripper or a rolling gripper.

[0070] This achieves the technical advantage that the vacuum suction gripper or rolling gripper effectively lifts the front of the object in order to slide the support elements underneath.

[0071] According to a second aspect, the present problem is solved by a method for rotating an object with a picking device, wherein the picking device comprises a support structure, a movable load handling manipulator arranged on the support structure, and a handling element arranged on the load handling manipulator for handling the object, wherein the movable load handling manipulator is configured to position the handling element on the object, and a control system for controlling the load handling manipulator and the handling element, wherein the handling element has a vertically displaceable contacting element, and wherein the handling element has two displaceable support elements which are displaceable along a longitudinal axis extending transversely to the vertical object axis and along a transverse axis extending transversely to the vertical object axis and also transversely to the longitudinal axis.wherein the support elements each have at least two switchable, spaced-apart fixing elements, wherein each of the fixing elements is configured in a fixing state to secure the underside of the object in a loss-proof manner, and wherein each of the fixing elements is configured in a non-fixing state to release the underside of the object, wherein the method comprises the following process steps: activation of the vertically displaceable contacting element by the control to apply the vertically displaceable contacting element to a front side of the object facing the handling element, and to displace the front side of the object along a vertical object axis to create a gap below the front side of the object; activation of the displaceable support elements by the control to apply the displaceable support elements through the created gap below the front side of the object to a bottom side of the object.To pick up the object, the control system switches one fixing element of each of the two support elements into the fixed state during a rotation step and synchronously displaces the two support elements along the longitudinal and transverse axes during the rotation step in order to achieve a rotation of the object about a vertical object axis.

[0072] This achieves the technical advantage of enabling effective rotation of the object around the vertical axis of rotation.

[0073] All advantageous embodiments defined for the picking device according to the first aspect are also advantageous embodiments for the method according to the second aspect.

[0074] Further advantages and details of the invention are explained in more detail by way of example with reference to the embodiments shown in the schematic figures. These show: The Fig. 1A and Fig. 1B a handling element of a picking device for picking objects according to an embodiment of the present invention; The Fig. 2A to 2E different stages of an object's rotation with the in the Fig. 1A and Fig. 1B picking device shown according to the embodiment of the present invention; The Fig. 3 a schematic representation of a fixing element designed as a rotatable suction cup of the picking device described in the embodiment of the present invention; and The Fig. Figure 4 shows a schematic representation of a method for rotating an object using a picking device.

[0075] The Fig. 1A and Fig. Figure 1B shows a handling element 3 of a picking device 1 for picking objects 4 according to an embodiment of the present invention.

[0076] Even if in the Fig. 1A and Fig. Figure 1B shows only the handling element 3 of the picking device 1; according to the present disclosure, the picking device 1 comprises a [missing information] in the Fig. 1A and Fig. 1B supporting structure not shown, to which a [unclear] is attached. Fig. 1A and Fig. 1B, a movable load handling manipulator 2, shown only schematically, is attached, wherein the movable load handling manipulator 2 is designed to attach the handling element 3 to the one shown in the Fig. 1A and Fig. Position object 4 as shown in 1B.

[0077] A control unit 5 of the picking device 1 for controlling the load handling manipulator 2 and the handling element 3 is located in the Fig. 1A and Fig. 1B is shown schematically only.

[0078] In the Fig. Figure 1A shows a side view of the handling element 3 positioned on object 4. Fig. Figure 1B shows a top view of the handling element 3 positioned on object 4.

[0079] The in the Fig. 1A and Fig. The picking device 1 shown in Figure 1B is used for picking, i.e., assembling specific objects 4, in particular goods in warehouses or distribution centers, from a provided total assortment.

[0080] The picking device 1 can comprise a stationary picking device 1, in which the items in the Fig. 1A and Fig. 1B The supporting structure, not shown, is firmly and immovably connected to the floor of the warehouse.

[0081] However, the picking device 1 can alternatively be set in the Fig. 1A and Fig. 1B includes a mobile picking robot not shown, which has a mobile (driving) autonomous platform on which a vertically oriented lifting mast is arranged as a support structure.

[0082] In particular, the information in the Fig. 1A and Fig. 1B The support structure of the picking device 1 (not shown) has a lifting carriage attached to it in a height-movable manner, via which the load handling manipulator 2 can be moved vertically to achieve an optional position in relation to the object 4 to be grasped.

[0083] The one in the Fig. 1A and Fig. Figure 1B, which is shown only schematically and only in sections, depicts the load handling manipulator 2 as a horizontally oriented robot arm, which is composed of several arm elements, each of which is articulated to the others via vertically oriented arm joint rotation axes. Even though the following is shown in the Fig. 1A and Fig. 1B is not shown, the last arm element can be connected in particular via a, in which Fig. 1A and Fig. 1B The invisible, vertical wrist rotation axis is connected to the handling element 3. The arm elements are arranged one below the other and one above the other, forming a flat kinematic structure of the robot arm.

[0084] Even if this is also in the Fig. 1A and Fig. As 1B is not shown, the object 4 to be picked is in particular a part of several objects 4 which are arranged, for example, on a pallet.

[0085] In particular, the handling element 3 has a central transverse module 3-1, wherein in particular the movable load handling manipulator 2 is attached to the central transverse module 3-1 of the handling element 3.

[0086] As from the Fig. 1A and Fig. As can be seen from Figure 1B, the handling element 3 of the picking device 1 has a vertically displaceable contacting element 6, which can be applied to a front surface 4-1 of the object 4 facing the handling element 3. The contacting element 6 is preferably arranged on the central transverse module 3-1 so as to be adjustable in the vertical direction 18.

[0087] In order to provide an effective, yet also releasable contact between the contacting element 6 and the front face 4-1 of the object 4, the contacting element 6 has a [missing information - likely a specific feature or feature]. Fig. 1A and Fig. Figure 1B shows only a schematic representation of the vacuum suction gripper 7. When the vacuum suction gripper 7 of the contacting element 6 is subjected to a vacuum, the contact between the front face 4-1 of the object 4 and the contacting element 6 is permanent, so that the control unit 5 can control the contacting element 6 such that the front face 4-1 of the object 4, which is permanently connected to the contacting element 6, moves along the line shown in the Fig. 1A is displaced in the vertical direction 18 shown, in particular in the vertical direction 18 upwards.

[0088] In this case, the control unit 5 only controls the contacting element 6 in such a way that the front face 4-1 of object 4 is only minimally raised, which is sufficient to create a contact element in the Fig. 1. To create a gap 9, shown only schematically, below the front 4-1 of the object 4, which, as described below, allows the insertion of support elements 10 of the handling element 3 into the gap 9, in order to then be able to underride and lift the object 4 with the support elements 10.

[0089] Even if that in the Fig. 1A and Fig. If 1B is not shown, the contacting element 6 can also have a rolling gripper for moving the object 4 along the vertical object axis 8 instead of the vacuum suction grippers 7.

[0090] For details on the roller gripper, please refer to the publications DE 10 2017 129 463 A1 and DE 10 2017 129 462 A1.

[0091] The handling element 3 has two movable support elements 10, which are designed in particular as load tines or support plates, and which are arranged parallel to each other and are hereinafter referred to as the first support element 10-1 and the second support element 10-2, with reference here to the markings in the Fig. 1B is referred to.

[0092] As in the Fig. As schematically represented by the arrow markings in Figure 1A, the support elements 10, 10-1, 10-2 are displaceable along a longitudinal axis 11 extending transversely to the vertical object axis 8 or the vertical axis 18. Thus, the support elements 10, 10-1, 10-2 can be inserted along the longitudinal axis 11 into the gap 9 created by lifting the object 4, below the front face 4-1 of the object 4. The support elements 10, 10-1, 10-2 are thus positioned as shown in the Fig. 1A and Fig. 1B is shown on a bottom side 4-2 of the object 4, so that an advantageous reception of the object 4 by the handling element 3 is ensured.

[0093] As in the Fig. As schematically represented by the arrow markings in Figure 1B, the support elements 10, 10-1, 10-2 can additionally be displaced along a transverse axis 12 extending perpendicular to the vertical object axis 8 or the vertical axis 18 and along a transverse axis 12 extending perpendicular to the longitudinal axis 11. This allows for stable support of the object 4 on the handling element 3, depending on the width of the object 4 to be picked up, by means of the transverse displacement of the support elements 10, 10-1, 10-2 along the transverse axis 12.

[0094] The support elements 10-1, 10-2 are preferably arranged adjustably on the central transverse module 3-1 in the direction of the longitudinal direction 11 and in the direction of the transverse direction 12.

[0095] As in the Fig. Figure 1A is shown only schematically, the support elements 10, 10-1, 10-2 each comprise at least two switchable fixing elements 13 or 13-1, 13-2, 13-3, 13-4, respectively, wherein each of the fixing elements 13, 13-1, 13-2, 13-3, 13-4 is configured in a fixing state to secure the underside 4-2 of the object 4, and wherein each of the fixing elements 13 is configured in a non-fixing state to release the underside 4-2 of the object 4.

[0096] Thus, the non-fixed state allows for an advantageous positioning of the support elements 10, 10-1, 10-2 arranged on the fixing elements 13 on the underside 4-2 of the object 4, and the fixed state allows for a loss-proof movement of the object 4 when the object 4 is subsequently lifted, such that the object 4 cannot slide off the support elements 10, 10-1, 10-2.

[0097] Thus, the handling element 3 enables effective gripping of an object 4, and the load handling manipulator 2 connected to the handling element 3 enables advantageous movement of the gripped object 4, such that the object 4 can, for example, be placed back onto a pallet, or that the object 4 can, for example, be pushed into a shelf.

[0098] However, if the different objects, for example those stored on the pallet, have different dimensions, it is often necessary to rotate the objects around the vertical object axis 8 to achieve the densest possible packing pattern of the objects on the pallet.

[0099] As detailed below in the Fig. As shown in detail in Figures 2A to 2E, the present invention aims to achieve a rotation of the object 4 about the vertical object axis 8 on the support elements 10, 10-1, 10-2.

[0100] The Fig. Figures 2A to 2E show different stages of a rotation of an object 4 with the in the Fig. 1A and Fig. 1B illustrated picking device 1 according to an embodiment of the present invention.

[0101] The one in Fig. The position of handling element 3 shown in 2A corresponds to that shown in the Fig. 1B shown position of handling element 3, except that in the Fig. 2A the vertically movable contacting element 6 is no longer in contact with the front face 4-1 of the object 4. For this purpose, the two support elements 10-1, 10-2 are moved in the direction of the longitudinal axis 11. Fig. 2A moved away to the left of the transverse module 3-1 to create space for the rotation of the object 4, which rests on the two support elements 10-1, 10-2, around the vertical object axis 8.

[0102] Nevertheless, even during a traversing movement of the in the Fig. 2A not shown load handling manipulator 2 or mobile picking robot, it must be ensured that the underside 4-2 of object 4 is fixed securely on the support elements 10, 10-1, 10-2.

[0103] The slip-proof mounting of the object 4 is achieved by the switchable fixing elements 13 of the support elements 10, 10-1, 10-2, wherein each of the fixing elements 13 is configured in a fixing state to secure the underside 4-2 of the object 4 in a loss-proof manner, and wherein each of the fixing elements 13 is configured in a non-fixing state to release the underside 4-2 of the object 4.

[0104] In the Fig. 2A to 2E, the non-fixing state of the fixing elements 13 is represented by a light circle, whereas the fixing state of the fixing elements 13 is represented by a grey-backed circle.

[0105] The two in the Fig. The support elements 10 shown in 2A to 2E comprise a first support element 10-1 with a first fixing element 13-1 and with a second fixing element 13-2, and a second support element 10-2 with a third fixing element 13-3 and with a fourth fixing element 13-4.

[0106] Here, the first fixing element 13-1 of the first support element 10-1 and the third fixing element 13-3 of the second support element 10-2 are arranged on a side of the respective support element 10-1, 10-2 facing away from the handling element 3, or the transverse module 3-1, respectively. The second fixing element 13-2 of the first support element 10-1 and the fourth fixing element 13-4 of the second support element 10-2 are arranged on a side of the respective support element 10-1, 10-2 facing towards the handling element 3, or the transverse module 3-1, respectively.

[0107] As in the Fig. 2A and also the Fig. As shown in 2B, the control 5 is designed to switch diagonally opposite fixing elements 13 of the two support elements 10 into the fixing state during the rotation step.

[0108] From the Fig. 2A shows that in particular the first and fourth fixing elements 13-1 and 13-4 are in the non-fixed state, and that the second and third fixing elements 13-2 and 13-3 are in the fixed state, thus holding the object 4 securely on the support elements 10, 10-1, 10-2.

[0109] Even if this is in the Fig. Since 2A is not shown, it would alternatively also be possible that in particular the first and fourth fixing elements 13-1 and 13-4 are in the fixing state, and that the second and third fixing elements 13-2 and 13-3 are in the non-fixing state.

[0110] As from the Fig. As further shown in Figure 2B, the control unit 5 is designed to align the two support elements 10, 10-1, 10-2 parallel to each other on the underside 4-2 of the object 4 during the rotation step.

[0111] As from the Fig. As further shown in Figure 2B, the two support elements 10, 10-1, 10-2 are each displaceable along the longitudinal axis 11 and transverse axis 12. The vertical object axis 8, extending transversely to the longitudinal axis 11 and transverse axis 12, is in the Fig. 2B is shown schematically only.

[0112] In summary, regarding the presentation of the Fig. 2A, it is stated that at the beginning of the rotation step, the two diagonal fixing elements 13 located on the underside 4-2 of the object 4 are used to effectively fix the corners of the object 4 to the support elements 10.

[0113] The corresponding one in Fig. The rotational movement of object 4 shown in 2B is achieved by the control 5 being designed to cause a synchronous displacement of the two support elements 10, 10-1, 10-2 along the longitudinal axis 11 and transverse axis 12 during the rotation step in order to achieve a rotation of object 4 about a vertical object axis 8.

[0114] The one in Fig. 2B schematically depicted synchronous displacement of the two support elements 10, 10-1, 10-2 along the longitudinal axis 11 and transverse axis 12 includes in particular an opposite displacement of the two support elements 10, 10-1, 10-2 along the longitudinal axis 11, as well as a displacement towards each other of the two support elements 10, 10-1, 10-2 along the transverse axis 12.

[0115] The opposite displacement of the two support elements 10, 10-1, 10-2 along the longitudinal axis 11 includes the displacement of the first support element 10-1 towards the handling element 3, or the transverse module 3-1, and the displacement of the second support element 10-2 away from the handling element 3, or the transverse module 3-1.

[0116] As from the Fig. As further shown in Figure 2B, the synchronous displacement of the two support elements 10, 10-1, 10-2 along the longitudinal axis 11 and transverse axis 12 is controlled by the control unit 5 such that the distance between the two fixing elements 13, which are switched to the fixed position, remains constant during the rotation step. This is achieved in particular by moving the two support elements 10-1, 10-2 towards each other along the transverse axis 12 during the rotation step. Thus, during the rotation step, it is prevented that the object slips on the two support elements 10-1, 10-2, so that a pure rotational movement of the object 4 takes place.

[0117] As from the Fig. Object 4, which can be removed from 2B, was rotated approximately 45° around the vertical object axis 8 at the end of the rotation step. The maximum possible rotation angle depends not only on the geometries of the support elements 10, 10-1, 10-2, but also on the size of object 4.

[0118] If after the turning step according to the Fig. 2B if sufficient rotational movement of object 4 has not yet been achieved, it can be, as in the following Fig. 2C and Fig. In 2D representation, a repositioning step is performed following the rotation step.

[0119] As in the Fig. As shown in Figure 2C, the control unit 5 is configured to switch both fixing elements 13 of one of the two support elements 10, 10-1, 10-2 into the fixing state during the repositioning step following the rotation step, in order to achieve a loss-proof fixing of the object 4 on one support element 10, 10-1, 10-2, and the control unit 5 is configured to switch the two fixing elements 13 of the other of the two support elements 10, 10-1, 10-2 into the non-fixing state.

[0120] Here, control unit 5 switches according to the setting in the Fig. In the embodiment shown in 2C, the first and second fixing elements 13-1, 13-2 of the first support element 10-1 are placed in the unfixed state, and the control unit 5 is switched according to the instructions in the Fig. In the embodiment shown in 2C, the third and fourth fixing elements 13-3, 13-4 of the second support element 10-2 are placed in the fixing state, so that the object 4 is held by the third and fourth fixing elements 13-3, 13-4 of the second support element 10-2.

[0121] As can be seen from the comparison of the Fig. 2B and the Fig. As shown in Figure 2C, the control unit 5 is designed during the repositioning step to subsequently move the other of the two support elements 10, in particular the first support element 10-1, along the longitudinal axis 11 and transverse axis 12 into a new position.

[0122] Moving the first support element 10-1 into its new position during the repositioning step involves moving it along the longitudinal axis 11 away from the handling element 3, or the transverse module 3-1, and along the transverse axis 12 away from the second support element 10-2. Moving the first support element 10-1 on the underside 4-2 of the object 4 is only possible because the first and second fixing elements 13-1, 13-2 have been switched to the non-fixed state.

[0123] The final position of the repositioning step is in the Fig. 2C shown.

[0124] As from the Fig. 2D and Fig. As 2E shows, the repositioning step is followed by another rotation step.

[0125] The control unit 5 is configured to switch one fixing element 13 of the two support elements 10 into the fixed state during the subsequent rotation step following the repositioning step, as shown in the Fig. It is shown in 2D.

[0126] In particular, the second fixing element 13-2 of the first support element 10-1 and the fourth fixing element 13-4 of the second support element 10-2 are switched to the fixing state, and the first fixing element 13-1 of the first support element 10-1 and the third fixing element 13-3 of the second support element 10-2 are switched to the non-fixing state, as shown in the Fig. It is shown in 2D.

[0127] As in the Fig. As shown in Figure 2E, the control unit 5 subsequently causes a synchronous displacement of the two support elements 10-1, 10-2 along the longitudinal axis 11 and the transverse axis 12 in order to achieve a further rotation of the object 4 about the vertical object axis 8, in particular to achieve a rotation of the object 4 about the vertical object axis 8 by an angle of 90° compared to the original position of the object 4, as can be seen from the comparison of the position of the object 4 in the Fig. 2A and the Fig. 2E is evident.

[0128] In particular, the first support element 10-1 is moved along the longitudinal axis 11 towards the handling element 3, or the transverse module 3-1, the second support element 10-2 is moved along the longitudinal axis 11 away from the handling element 3, or the transverse module 3-1, and the first and second support elements 10-1, 10-2 are moved towards each other along the transverse axis 12.

[0129] Even if that's not in the Fig. As shown in Figure 2E, the control unit 5 is particularly configured to activate the vertically displaceable contact element 6 for contact with the front surface 4-1 of the object 4 after the rotation of the object 4 has been completed, and the control unit 5 is particularly configured to displace the front surface 4-1 of the object 4 along a vertical object axis 8 in order to create a gap 9 below the front surface 4-1 of the object 4.

[0130] An advantage of the concept of the present invention is that a gripping principle can be used that engages the object 4 to be handled from below, requiring a relatively small distance between the underside 4-2 of the object 4 and the support on which the underside 4-2 of the object 4 rests at the source position, as is the case, for example, in a shelf, while still allowing the picked-up object 4 to be rotated before being placed back down at a target position. This is possible, among other reasons, because the support elements 10 can be relatively flat and, in particular, the fixing elements 13 can be integrated into the contour of the support elements 10, thus not increasing the height of the support elements 10, as will be explained below.

[0131] According to the present invention, the rotation of the object 4 is carried out in particular synchronously with the traversing movement of the load handling manipulator 2, which is designed in particular as a robot arm, so that the rotation of the object 5 about the vertical object axis 8 does not lead to any negative effects on the handling performance of the picking device 1.

[0132] Another advantage is that a secure grip on object 4 is guaranteed at all times, and no additional actuators need to be used, since drives for the transverse and longitudinal movement of the support elements 10 are already available.

[0133] In particular, the fixing elements comprise 13 vacuum suction cups, wherein the vacuum suction cups can be subjected to a vacuum in order to be brought into the fixing state, and the vacuum suction cups cannot be subjected to a vacuum in order to be brought into the non-fixing state.

[0134] This is advantageous because a vacuum system already present in the picking device 1 can be used for the fixing elements 13 designed as vacuum suction cups, requiring only one additional valve per vacuum suction cup. The corresponding valves can be housed in a space-saving manner in the handling element 3 or the transverse module 3-1, and a hose connection from the valves to the vacuum suction cups can be routed within the support elements 10 to the positions of the vacuum suction cups, whereby thin hoses can be used in particular to minimize dead space.

[0135] To ensure smooth sliding of the support element 10 along the underside 4-2 of the object 4 during initial pickup, the vacuum suction cups can be recessed, particularly in the support elements 10, so that the upper surface of the vacuum suction cups does not protrude above the upper surface of the support elements 10. The object 4 is then secured to the vacuum suction cups, which are recessed in the support element 10, by applying a vacuum.

[0136] In a further embodiment, the fixing elements 13 comprise openings 14 in the support elements 10 that can be pressurized with vacuum, wherein the openings 14 can be pressurized with vacuum to be brought into the fixing state, and the openings 14 cannot be pressurized with vacuum to be brought into the non-fixing state.

[0137] In this case, the fixing element 13 consists only of an opening 14 in the support element 10, whereby the object 4 is pressed against the surface, or rather against the opening 14, by the applied vacuum. Lateral forces that could cause the object 4 to slide on the support elements 10 are thus hardly absorbed. Rotation of the object 4 around the opening 14 is possible.

[0138] In one variant - as in the Fig. Figure 3 shows a rotatable suction cup 16 suspended from a membrane 15, or a bellows, in a bore-shaped opening 14 in the support element 10. The membrane 15 seals the opening 14 to the outside. When a vacuum is applied, the membrane 15 expands upwards, and the suction cup 16 comes into contact with the underside 4-2 of the object 4. The rubber-like surface of the suction cup 16 prevents the object 4 from slipping and allows it to absorb lateral forces. For this purpose, the dimensions of the suction cup 16 are preferably chosen to be only slightly smaller than the bore-shaped opening 14, so that lateral support is possible. In particular, a suction cup 16 that can be rotated about the vertical axis 18 and rotates with the object 4 can be used.

[0139] In a further embodiment, the fixing elements comprise 13 engagement elements which can be moved from the support elements 10 along the vertical object axis 8 onto the object 4 in order to be brought into the fixing state, and which can be recessed along the vertical object axis 8 into the support elements 10 in order to be brought into the non-fixing state.

[0140] Thus, instead of vacuum suction cups in the support elements 10, engagement elements, such as plungers, can also be used. These plungers extend from the support elements 10, and the object 4 is then rotated on them. The engagement elements, such as plungers, can be extended electrically, magnetically, pneumatically, or by vacuum. In particular, the tip of the engagement elements, such as the plunger, can be made of rubber or a rough material that generates high friction, so that the object 4 does not slip over these engagement elements, such as plungers. The engagement elements, such as plungers, can be moved by displacement control just above the surface of the support elements 10, or extended by force control until they support a significant proportion of the mass of the object 4. The engagement elements, such as plungers, can be very narrow or mounted on rotatable bearings.

[0141] In particular, the picking device 1 has at least one sensor element which is configured to monitor the rotation of the object 4 about the vertical object axis 8, and wherein the control 5 is configured to switch the fixing elements 13 depending on the sensor data provided by the sensor element and / or to control the displacement of the two support elements 10 depending on the sensor data provided by the sensor element.

[0142] The sensor element comprises in particular a camera arranged on the handling element 3 and / or a distance sensor arranged on the handling element 3.

[0143] Thus, the rotation process of object 4 can also be monitored by sensors. For this purpose, sensors can be integrated into the handling element 3. During a rotation of object 4 monitored by a camera, a sensor element located above the handling element 3, which is also located outside the load handling manipulator 2, for example on the mast of the picking device 1, can monitor object 4 and report its position and rotation back to the control unit 5.

[0144] A non-sensor-monitored, purely controlled rotation is also possible if the initial state (position) and dimensions of object 4 are stored in the control unit 5. In particular, contact can be made with the suction pad located on the contacting element 6 in the last step of the rotation. This allows for a controlled movement backward beyond the target position, thus aligning object 4 precisely. In this way, even large tolerances can be accommodated or compensated for. Similar methods were described in German patent application DE 102021 115 473.1 and can be used here.

[0145] The Fig. Figure 3 shows a schematic representation of a fixing element 13 designed as a rotatable suction cup 16 of the picking device described in the embodiment of the present invention.

[0146] In the Fig. Figure 3 shows a section through a support element 10 along the transverse axis 12. The fixing element 13 is arranged in a bore-shaped opening 14 of the support element 10 and recessed in the support element 10, so that the support element 10 can slide along the underside 4-2 of the object 4 without resistance.

[0147] As already described, this includes in the Fig. Figure 3 shows a fixing element 13, a membrane 15 sealing the opening 14 of the support element 10, on which a rotatable vacuum suction cup 16 is arranged. When a vacuum is applied, the membrane 15 expands upwards and the vacuum suction cup 16 comes into contact with the opening 14 of the support element 10. Fig. 3. The underside 4-2 of object 4, which is not shown, is in contact.

[0148] In particular, a vacuum suction cup 16 which can be rotated about the vertical axis 18 and subsequently along the direction of rotation 17, and which rotates with the object 4, can be used.

[0149] The Fig. Figure 4 shows a schematic representation of a method for rotating an object using a picking device.

[0150] The procedure 20 comprises as a process step the activation 21 of the vertically displaceable contacting element 6 by the control 5 to apply the vertically displaceable contacting element 6 to a front side 4-1 of the object 4 facing the handling element 3, and to displace the front side 4-1 of the object 4 along a vertical object axis 8 in order to create a gap 9 below the front side 4-1 of the object 4.

[0151] The procedure 20 includes as a process step the activation 22 of the movable support elements 10 by the control 5 to place the movable support elements 10 through the generated gap 9 below the front 4-1 of the object 4 onto a bottom 4-2 of the object 4 in order to receive the object 4.

[0152] The process 20 comprises as a process step the switching 23 of each of a fixing element 13 of the two support elements 10 into the fixing state by the control 5 during a rotation step.

[0153] The process 20 includes as a process step the synchronous displacement 24 of the two support elements 10 along the longitudinal axis 11 and transverse axis 12 by the control 5 during the rotation step in order to achieve a rotation of the object 4 about a vertical object axis 8. Reference symbol list 1 picking device 2 Load handling manipulator 3 Handling element 3-1 Central transverse module 4 objects 4-1 Front of the object 4-2 Underside of the object 5 Control 6 Contact element 7 vacuum suction grippers 8 Vertical object axis 9 columns 10 carrying element 10-1 First supporting element 10-2 Second support element 11 Longitudinal axis 12 Transverse axis 13 Fixing element 14 Opening of the support element 15 Membran 16 vacuum suction cups 17 Direction of rotation 18 vertical axis 18 20 methods for rotating an object 21. Procedure step: Activating the movable contact element 22nd procedure step: Activating the movable support elements 23. Procedure step: Switching one fixing element at a time into the fixing state Step 24: Synchronous relocation of the two support elements QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2017 129 468 A1

[0006] DE 10 2017 130 577 A1

[0006] EP 3 868 519 A2

[0006] EP 4 098 590 A1

[0006] DE 10 2017 129 463 A1

[0090] DE 10 2017 129 462 A1

[0090] DE 102021 115 473.1

[0144]

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