System comprising a crane and a robot, and method for operating such a system

Abstract

The invention relates to a system comprising a crane (1) and a robot (2) having a robot arm (2a) which is designed as an articulated arm and on which a load receiving means, preferably a gripper (3), is provided for handling objects (9) and / or loads, in particular for repositioning objects and / or loads, the robot arm (2a) being suspended on a support means of a lifting mechanism (1c) of the crane (1) in order to be able to be lifted and lowered via the lifting mechanism, and comprising a controller which is designed to control movements of the crane (1) and of the robot arm (2a). The aim of the invention is to provide an improved system. This is achieved in that a sensor system (5) is provided for determining the position of the load receiving means and / or the distance thereof to a target position at which an object (9) and / or a load is to be received or dispensed, and the sensor system (5) interacts with the controller in such a way that the crane (1) is first moved and then the robot arm (2a) is moved relative to the crane (1), in particular relative to the support means of the crane (1), on the basis of the determined distance and / or the determined position. The invention also relates to a method for operating such a system.

Description

[0001] System comprising a crane and a robot, and methods for operating such a system

[0002] The invention relates to a system according to the preamble of claim 1 and a method for operating such a system. Such a system and method are already known from WO 2023280 365 A1.

[0003] Further systems and methods are known from DE 102012 003690 A1, WO 2016 / 154279 A1, DE 299 19 136 U1, DE 10 2017 100 883 A1, WO 2020 155600 A1, WO 2019 007 448 A1, RU 162 779 U1, ES 241 18 10 A2, CN 214 187 189 U and CN 116619251 A. DE 689 01 950 T2 and WO 2007 / 101475 A1 disclose systems for the surface treatment, in particular by painting, of aircraft.

[0004] Based on this prior art, the invention aims to improve the generic system, which can also be called a crane robot or robot crane, and the generic method in such a way that the flexibility, working radius and positioning accuracy of the system are increased, and thus loads can be handled more precisely and efficiently.

[0005] This problem is solved by a system having the features of claim 1 and a method having the features of claim 12. Advantageous embodiments of the invention are specified in the dependent claims and the following description.

[0006] According to the invention, a system comprising a crane and a robot, on whose robot arm (designed as an articulated or jointed arm) a load-handling device, preferably a gripper, is arranged, wherein the robot arm is suspended from a lifting element of a hoist of the crane in order to be raised and lowered by means thereof, and with a control system configured to control movements of the crane and the robot arm, can be improved by providing sensors for determining a position and / or distance of the load-handling device to a target position at which an object and / or a load is to be picked up or dropped off by means of the load-handling device, and, in particular in an automatic operating mode of the system, the sensors interact with the control system in such a way that first a movement of the crane (crane positioning) and then, preferably immediately thereafter,Depending on a determined distance and / or position, a movement of the robot arm with the load-handling device is executed relative to the crane, in particular relative to the crane's lifting mechanism. The relative movement of the robot arm (robot positioning) is preferably initiated by the control system, in particular a crane control system, preferably when the corresponding control system recognizes that the crane has reached its target position and thus the crane positioning for the corresponding work order is complete.

[0007] The load-handling device, in particular the gripper, is designed for handling, especially repositioning, objects and / or loads. The objects and / or loads are picked up and / or released by the load-handling device. The sensors preferably operate without contact and may also be used, or alternatively, to determine the position and / or distance of another controlled moving component of the crane or robot relative to the target position.

[0008] The subsequent movement of the robot arm can follow directly after the initial movement of the crane. In a preferred embodiment, a movement of the robot arm can always follow a movement of the crane. However, in some cases, after a movement of the crane, no further movement of the robot arm may be necessary—apart from the actual picking up or putting down of the object and / or load—for example, because at least the load-handling device, and / or the crane and / or the robot arm are already positioned with sufficient accuracy.

[0009] However, it is also possible that the control system, particularly via a robot controller, is configured to decide, after the crane has moved to and reached a first target position, whether to specify a new second target position for the crane before the first movement of the robot arm relative to the crane and / or lifting device, and whether to initiate at least one further movement of the crane to the second target position or immediately initiate the movement of the robot arm relative to the crane and / or lifting device. The control system preferably makes this decision using sensors and evaluating the sensor data, particularly by means of object recognition and based on the detected object, and preferably also initiates any necessary specification and / or movement.

[0010] The new second target position for the crane can therefore be generated by the control system, in particular the robot control system, preferably using sensors and evaluating the sensor data, especially by means of object recognition, after the crane has moved to the first target position.

[0011] This can be done, for example, to change the crane's current position so that the robot arm can reach the target position for gripping or otherwise picking up the desired load or object, such as a workpiece, more easily, or even at all if the load is still too far from the robot arm. A second target position for the crane can also be generated by the controller if the robot arm's first movement relative to the crane and / or lifting device occurs, but the initial pickup or gripping attempt fails, for example, due to an unfavorable load position relative to the lifting device, if maximum, especially predefined, deflections of the robot arm are reached, and / or to avoid an obstacle and minimize crane movement.

[0012] The detection that a change in the crane's position is required, and / or the creation of a new target position, is preferably carried out using sensors, in particular a sensor mounted on the robot arm, which may, for example, include a camera. In conjunction with the control system, the new target position or the necessary movement for the corresponding change in the crane's position is then determined by evaluating sensor data, such as camera images. Optional object recognition can also be performed in this context using the sensors and evaluating the sensor data, especially camera images, to decide, based on the detected object, how it should be picked up by the load-handling device, in particular whether a change in the crane's position and, accordingly, the specification of a new target position is required.Object recognition can also be taken into account by the controller when specifying the movements of the robot arm and corresponding target values.

[0013] For this purpose, it is preferred that the control system is configured to determine the position and / or distance of the load-handling device to the target position at least after each movement of the crane to a target position or (quasi) continuously, particularly at time-defined intervals, especially at discrete intervals, preferably by means of a sensor arranged on the robot arm. Thus, it can be determined before the movement of the robot arm whether this movement or a further movement of the crane is more advantageous.

[0014] Through continuous monitoring, the control system is constantly aware of the position or distance of the load-handling device relative to the target position. This allows conditions that might necessitate or even require the crane's movement to be altered before reaching the target position can be identified earlier. Examples include situations where the robot arm can better reach the load, avoid obstacles obstructing the crane or robot arm, anticipated failure of a gripping attempt, or an expected unfavorable load distribution on the robot arm.

[0015] The need to correct the target and actual crane positions can thus be identified and a corresponding correction made without any prior movement of the robot arm relative to the crane's lifting mechanism. This is particularly true if, based on the known kinematics of the robot arm, such a movement can be recognized in advance, or at the latest after the crane has moved to its initial target position, as futile and therefore unnecessary with regard to a load to be picked up or another work order.

[0016] In other words, the control system, with the integration of sensors, can correct an initial target position for the crane, especially a robot control system, before the first movement of the robot arm relative to the crane's lifting mechanism takes place.

[0017] However, it is also conceivable that such a correction occurs after the first movement of the robot arm relative to the load-bearing device and a first picking or gripping attempt has failed because the load was positioned unfavorably relative to the load-bearing device.

[0018] The initial movement of the crane preferably serves to roughly position the load-handling device, with or without a load, and the subsequent movement of the robot arm to fine-tune the positioning of the load-handling device, particularly to compensate for any difference to the target position that may remain due to the lower positioning accuracy of the crane's drives compared to the positioning accuracy of the robot arm. The positioning accuracy of the crane can, for example, be in the range of + / - 1 cm to + / - 5 mm, and the positioning accuracy of the robot or robot arm lower, particularly in the range of + / - 1 mm, preferably + / - 0.1 mm. Lower positioning accuracy can result, for example, in bridge cranes due to operational factors, if the drives for the crane bridge are speed-controlled to minimize load influences on the speed and to prevent potential tilting of the crane bridge.

[0019] Preferably, the coarse positioning is complete when the load-handling device, due to the crane-specific positioning accuracy, is located within an outer circumference around the target position. The relative movement of the robot arm is preferably initiated when the control system detects that the crane has reached its target position. Furthermore, fine positioning is preferably complete when the load-handling device, due to the robot-specific positioning accuracy, is located within an inner circumference around the target position.

[0020] The load-handling device serves to pick up a load, such as a workpiece, semi-finished product, or raw material, particularly during a manufacturing or assembly process, and to release it again after repositioning. The load-handling device can, for example, have a hook or a mechanical gripper for this purpose.

[0021] In addition to the robot arm, the robot also has drives or actuators, particularly for moving the rotary and / or linear axes of the robot arm, especially its segments in the case of an articulated or jointed robot arm. The robot arm is controlled to perform two- or three-dimensional movements via the system controller and / or a robot controller. In the case of a gripper or other active load-handling device, associated actuators can also be controlled via this system.

[0022] The inherent rigidity of the robot arm contributes to the improved positioning accuracy of the system.

[0023] The hoist is attached to a trolley of the crane and, together with the trolley, can be moved in a horizontal direction, particularly uniformly, along at least one crane girder of the crane. The trolley has a running gear with wheels to allow it to move on a track formed by or on the crane girder. This track, also known as the trolley track, can be formed by rails attached to the crane girder or by the crane girder itself. The trolley track can be located on a single crane girder (single-girder crane) or on two parallel crane girders spaced apart from each other (double-girder crane).

[0024] By positioning the robot arm on the crane, particularly between the lifting mechanism and the load-handling device, the crane and the robot mutually extend their functionality in such a system, especially their respective working ranges. The load-handling device can thus be moved, alone or with any load it may be carrying, independently of the crane's movements, particularly independent of linear horizontal movements of the trolley and hoist, including the lifting mechanism, and independently of vertical movements of the lifting mechanism, and thus relative to these movements, and vice versa.

[0025] To enable not only linear horizontal movements of the trolley, including the hoist, in the trolley's direction of travel, and thus further increase functionality and especially the working area, the crane girder itself can also be mounted on movable supports, particularly horizontally. For this purpose, the crane girder can be moved on wheels in a horizontal crane travel direction, transversely, especially at right angles, to the trolley's direction of travel on a running surface. Typically, the running wheels are arranged at opposite ends of the respective crane girder, which is then also referred to as a crane bridge. The running surface, also called the crane track, consists of two spaced-apart rails that extend parallel to each other and thus define the crane's direction of travel.The crane track rails of floor-mounted gantry cranes can be located on the ground, with the crane girder then supported by portal columns. In bridge cranes, the crane track rails are elevated above the ground, for example, mounted on stilts or, in floor-free versions, on opposite building walls. In floor-free overhead cranes, they are suspended, for example, from a steel structure or superstructure such as roof trusses or building ceilings. Alternatively, the crane can also be a wall-mounted crane, in which the rails are arranged at vertical intervals.

[0026] For movable mounting, the crane girder can alternatively be pivotably mounted at one of its ends, which means that the crane can be designed as a jib crane, in particular a wall jib crane or column jib crane.

[0027] The running surfaces of the trolley track and / or crane track can be formed by profile rails, preferably profile rails with a C-shaped cross-section, in which case the respective carriage travels within the profile rail, i.e., in an interior space defined by the profile rail. The respective running surface is then formed by opposing legs that define the opening of the interior space. Since the opening, due to the C-shaped cross-section, extends in a slit-like shape parallel to the longitudinal axis of the respective profile rail, the respective carriage of the trolley and / or crane girder, with its wheels arranged in the interior space, can travel along the corresponding running surface in the direction of trolley travel or crane travel, respectively.

[0028] The trolleys, including their wheels, which are housed within the interior of the respective profile rail, are connected to the crane girder or trolley through the opening. This allows the trolley to be suspended from the trolley track and the corresponding crane girder from the crane runway. Due to the C-shaped cross-section, the opening of the respective crane runway profile rail or trolley track profile rail extends in a slit-like shape and parallel to the longitudinal axis of the profile rail, and thus parallel to the crane or trolley travel direction.

[0029] Preferably, it is provided that the sensors can determine at least the actual position of at least one part of the crane, in particular the at least one crane girder and / or the trolley, and / or the robot, in particular the robot arm, and / or the load handling device.

[0030] It may also be provided that the control system compares the actual position with a target position and, in case of a deviation, controls a movement of at least part of the crane and / or a movement of the robot arm relative to the crane's lifting mechanism.

[0031] Advantageously, at least one interface connected to the controller may be provided, wherein the interface is configured and designed to transmit motion commands for the movements of the crane drives, in particular the trolley, the crane girder, and the hoist, as well as the robot arm, from an operator to the controller. For example, a manufacturer-independent communication standard such as OPC UA (e.g., PubSub over TSN with the Companion Specification Robotics) can be used as the interface. Alternatively, protocols such as TCP / IP, Modbus, PROFINET, or proprietary protocols are also conceivable.

[0032] Furthermore, it may be provided that the control system has an interface to a production control system; and that the interface is set up and designed to exchange sensor data from the sensors, target and / or actual values ​​regarding times and / or positions and / or movements of the trolley, the at least one crane girder, the hoist and the robot arm between the control system and the production control system.

[0033] In a further embodiment of the system, the control system can include a crane control unit and a robot control unit, with each crane control unit and the robot control unit being interconnected via an interface, preferably directly and, in particular, via a bidirectional signal-transmitting connection. Alternatively, the control system can also include a master control unit with respect to the crane control unit and / or the robot control unit. A signal-transmitting connection is also provided between each sensor and its respective sensor(s) and the control unit, in particular to the crane control unit and / or the robot control unit and / or the master control unit.

[0034] To implement a decentralized control concept, the crane control and the robot control are preferably each provided separately as independent control units, each of which then forms part of the overall system control. The crane control is for the crane and for controlling its travel drives, in particular a travel mechanism of the at least one crane girder and / or a travel mechanism of the trolley and the lifting drive of the hoist. The robot control is for the robot and its drives or actuators, in particular for moving the rotary and / or linear axes of the robot arm. The aforementioned drives preferably each comprise an electric motor.

[0035] Furthermore, the sensor system can be designed to operate without contact and preferably includes at least one sensor arranged on the robot arm, in particular a non-contact sensor, wherein the sensor is preferably an optical sensor, especially an optical camera and / or a lidar sensor. The respective sensor on the robot arm is preferably used for the fine positioning of the load-handling device (robot positioning).

[0036] Alternatively or additionally, the sensor system may include at least one sensor on the trolley and / or one sensor on the crane girder, the respective sensor preferably being a non-contact and / or optical sensor. Suitable sensors include, for example, a distance sensor, in particular a laser distance sensor, or an encoder or other sensor for position detection, especially using at least one barcode or QR code. The respective barcode or QR code may preferably be attached to the crane runway and / or trolley track, in particular to the associated crane girders or rails, and in the case of profile rails, within the respective profile rail or on its outer surface. The respective sensor on the trolley and / or on the crane girder is preferably used for the coarse positioning of the load-handling device (crane positioning).If at least one optical sensor is used, it can be equipped with a cleaning device, such as a wiper, and / or a device for dispensing a liquid and / or generating moisture and / or generating an airflow. Water, optionally mixed with a cleaning agent or other additives, can be used as the liquid. An airflow generating device can be used as an alternative or in addition to a wiper to remove any film of liquid or moisture from the sensor that may have formed during the dispensing or generation of moisture. When using an airflow generating device, an oil filter can also be provided to ensure that the airflow is clean (instrument air) and that no oil layer forms on the sensor, particularly on its lens(es).Generating specialized instrument air for operating specific instruments is preferable to using ordinary industrial air, which contains some oil. The costs are negligible if the airflow is not generated frequently, the sensor in question, especially its lens, is small, and an oil film on the sensor is avoided.

[0037] Advantageously, the robot arm can be designed to perform 2-dimensional or 3-dimensional movements.

[0038] The stability, and thus the positioning accuracy, of the system can be further increased by including at least one guide element and / or a horizontally rigid lifting structure in the lifting mechanism, preferably a lifting column from which the robot arm is suspended. Alternatively, a scissor mechanism with at least one scissor cross is also conceivable. The guide element and / or the lifting structure can form or supplement the lifting element itself, particularly if the lifting element includes a flexible element such as a rope or chain. When using a lifting column, this could, for example, have at least one telescopic rod or other telescopic device. The rigidity during vertical lifting and lowering movements can also be increased by a suitable guide element and / or a correspondingly rigid lifting structure, and pendulum movements of the load-handling device can be reduced or eliminated.This is especially true compared to conventional cranes, where the lifting mechanism is usually solely a chain or cable. Instead of a chain or cable, the hoist can also use a spindle or linear motor to raise and lower the robot arm with its load-handling attachment. Moving parts of the guide element and / or the lifting structure, such as one or more telescopic sections, can also be moved in this way.

[0039] Optionally, sensors can also be provided to detect a manual action on the crane and / or robot, in particular its robot arm, especially a multidimensional one, wherein the sensors interact with the control system in a manual operating mode of the system in such a way that a movement of the crane, the robot and / or the robot arm is carried out depending on the manual action, in particular with regard to direction and speed.

[0040] The sensor system preferably includes at least one force and / or torque sensor to detect forces and / or torques applied by an operator to the robot arm and / or the load-handling device and / or a load picked up thereby, in particular including their direction of action.

[0041] The control system allows switching between automatic and manual operating modes. This enables, for example, crane positioning for the rough positioning of the load-handling device in manual mode through appropriate manual intervention by an operator, and subsequently robot positioning for the fine positioning of the load-handling device in automatic mode.

[0042] The sensor system can be configured to detect a manual action, particularly a multidimensional one, in order to determine a force or torque, including its associated direction of action, particularly multidimensionally. In manual operating mode, the sensor system interacts with the control system in such a way that, depending on the detected force or torque and its associated direction of action, a movement can be executed by the crane and / or robot arm, preferably in the detected direction of action. The manual action, for example, the force or torque, is applied intentionally by an operator by acting accordingly on the robot arm and / or the load-handling device and / or a load being handled, for example, by pulling or pushing at least one of the aforementioned system components in the desired direction of movement.The sensor system therefore preferably includes at least one force and / or torque sensor to detect forces and / or torques applied by an operator to the robot arm and / or the load-handling device and / or a load held therein, in particular including their direction of action. Such sensors or force and / or torque sensors are known per se and can, for example, include spring elements, strain gauges, and / or piezoelectric elements. The determined magnitudes and directions of action of the forces and / or torques can thus be translated into target values ​​for the direction and speed of the crane movement, preferably in all three spatial directions or crane axes (x, y, z).

[0043] According to a further aspect of the invention, a method for operating a system according to the present disclosure is improved in that, particularly in an automatic operating mode of the system, the sensors determine a position and / or distance of the load-handling device to a target position at which the object and / or the load is to be picked up or dropped off, and interact with the control system in such a way that, in a first step, a movement of the crane is executed, and then, in a further step, depending on the determined distance and / or position, a movement of the robot arm is executed relative to the crane, in particular relative to the lifting element of the crane. The further step of moving the robot arm can follow directly after the first step of moving the crane or, as described above, only after at least one step for correcting the target and actual position of the crane.

[0044] The procedure may include at least one of the following steps: defining a target position and / or a target movement of at least a part of the crane and / or the robot arm and / or the load-handling device by the control system, in particular the crane control system and / or the robot control system and / or the production control system; determining the actual position of at least a part of the crane and / or the robot arm and / or the load-handling device by means of sensors;

[0045] Determining the necessary movements of at least part of the crane and the robot arm by the control system, in particular the crane control system and / or the robot control system, in order to reach the target position from the actual position;

[0046] Execution of the necessary movements of at least part of the crane by the control system, in particular the crane control system,

[0047] Execution of the necessary movements of the robot arm by the control system, in particular the robot controller.

[0048] Preferably, the position and / or distance of the load-handling device to the target position is determined at least after each movement of the crane to a target position or continuously, particularly at defined intervals. The advantages already mentioned above for the system apply accordingly.

[0049] Furthermore, it may be possible for the movements to be triggered by a production control system connected to the controller, and / or for the movements of the crane and / or the robot arm to be triggered by an input from an operator transmitted to the controller. Manual intervention as described above, for example by pushing or pulling, is also conceivable as an input from an operator using appropriate sensors.

[0050] Furthermore, such a procedure may provide for the storage of target positions, actual positions, target movements, actual movements, deviations between target and actual values ​​and / or sensor data in a database; and the database data may be used to train a self-learning algorithm to optimize the executed movements.

[0051] The sensor data can consist of camera images of objects captured by a camera, preferably mounted on the robot arm or the load-handling device. The objects are regularly picked up or dropped off via the load-handling device and moved by the system. The camera images are preferably generated from a top-down perspective (bird's-eye view). This pre-generated sensor data, stored in a database, can then be used as training data to enable object recognition in real time, for example, at a frame rate of 45 frames per second (FPS). In this context, AI algorithms, such as machine learning, particularly deep learning methods, and artificial neural networks, can be used for object recognition.

[0052] After switching to manual operating mode, the procedure may also include one of the following steps:

[0053] Determining a manual influence on the system, especially a multidimensional one, through the sensors used to detect a manual influence;

[0054] Performing a movement of at least part of the crane and / or the robot arm and / or the load-handling device depending on the determined manual action.

[0055] An embodiment of the invention is explained in more detail below. The following description shows:

[0056] Figure 1 shows a schematic view of a system with a crane and a robot.

[0057] Figure 1a shows a schematic view of an alternative embodiment of the system from Figure 1.

[0058] Figure 1b shows a schematic view of the system from Figure 1a in an alternative operating situation;

[0059] Figures 2a to 2c are schematic views of the system from Figure 1 at different process steps.

[0060] Figure 3 shows a schematic view of the control architecture of the

[0061] Systems from Figure 1,

[0062] Figure 3a shows a schematic view of an alternative

[0063] Control architecture of the system from Figure 1 and

[0064] Figures 4a and 4b show schematic top views of operating situations during an exemplary work order, "Grasping an object from a container." Figure 1 shows a schematic view of a system with a crane 1 and a robot 2. A gripper 3, serving as a load-handling device, is attached to the robot arm 2a, which is designed as an articulated or jointed arm. The robot arm 2a is suspended from a lifting element of a hoist 1c of the crane 1, allowing it to be raised and lowered relative to a floor 11. A control system is configured to control the movements of the crane 1 and the robot arm 2a. Movements of the crane 1 can include, in particular, movements of the trolley 1b along the trolley track formed on the crane bridge and movements of the crane bridge along the crane track formed by the rails 1d. In this example, the crane bridge is formed by two crane girders 1a.

[0065] The system also includes a sensor 5 for determining the position and / or distance of the gripper 3 to a target position at which an object 8 (see, for example, Figures 1b, 4a and 4b), such as a workpiece, is to be picked up or dropped as a load and, for example, placed down.

[0066] In an automatic operating mode of the system, the sensor system 5 interacts with the control system in such a way that first a movement of the crane 1 is performed and then, depending on a determined distance and / or a determined position, a movement of the robot arm 2a is performed relative to the crane 1, in particular relative to the lifting element of the crane 1.

[0067] To enable the robot arm 2a to perform corresponding 2- or 3-dimensional movements, the robot has 2 drives or actuators, in particular for moving the rotary and / or linear axes of the robot arm 2a. This allows individual segments of the robot arm 2a to be moved relative to each other and relative to the lifting element of the crane 1, in particular to pivot about the respective axis of rotation and / or to extend and retract telescopically, and thus to be moved translationally. Figure 1 shows an operating situation of the system in which the segments of the robot arm 2a are positioned relative to each other and, in particular, angled such that the load-handling device is located vertically below the trolley 1b and, in particular, aligned with or at least in the immediate vicinity of a vertical V that includes the longitudinal extension of the lifting element and the lifting column 6a.The sensor system 5 comprises at least one sensor, preferably arranged on the robot arm 2a, for position detection, for example in the form of an optical camera 5a. Alternatively or additionally, a lidar sensor 5b (see Figures 3 and 3a) can also be used for the robot arm 2. Furthermore, the sensor system 5 comprises at least one sensor on the trolley 1b and / or one sensor on the crane girder 1a, for example a distance sensor 5c, in particular in the form of a laser sensor, and / or an encoder 5d (see Figures 3 and 3a), for position detection of the crane 1.

[0068] The system shown in Figure 1 also includes sensors 7 for detecting multidimensional manual actions on the crane 1 and / or robot 2, in particular its robot arm 2a. In a manual operating mode of the system, the sensors 7 can interact with the control system such that a movement of the crane 1 and / or the robot 2 and / or the robot arm 2a is executed depending on the manual action. The sensors 7 include at least one force and / or torque sensor 7a to detect forces and / or torques applied by an operator to the robot arm 2a and / or the load-handling device and / or a load picked up thereby, in particular including their direction of action.The force or torque can be applied in a targeted manner by an operator by acting accordingly on the robot arm 2a and / or the load-handling device and / or a picked-up load, for example by pulling or pushing on at least one of the aforementioned components of the system in the desired direction of movement.

[0069] The lifting mechanism 1c comprises, in addition to its lifting drive, a lifting column 6a, in particular as part of and / or in addition to the support element from which the robot arm 2a is suspended. The lifting column 6a is a lifting structure rigid in the horizontal direction and also serves as a guide element. In the present example, the lifting column 6a is equipped as a telescopic device with several telescopic sections that can be extended and retracted in the vertical direction. The lifting mechanism 1c can also include, in particular as part of and / or in addition to the support element, a chain, a cable, a spindle, or a linear motor to raise and lower the movable parts, in particular the telescopic sections, of the lifting column 6a together with the robot arm 2a and load-handling device suspended therefrom. Figure 1a shows a schematic view of an alternative embodiment of the system from Figure 1.The system in Figure 1a differs from that in Figure 1 only in that a scissor mechanism 6 is provided instead of the lifting column 6a. The scissor mechanism 6 has several articulated scissor crosses which, for the purpose of lifting and lowering movements, form movable parts of the guide element or the horizontally rigid lifting structure.

[0070] Figure 1b shows a schematic view of the system from Figure 1a in an alternative operating situation, in which, for example, an object 9 is picked up as a load by the load-handling device. The segments of the robot arm 2a are also adjusted relative to each other and, in particular, angled such that the load-handling device is no longer located below the trolley 1b and is no longer aligned with the longitudinal extension of the load-handling device and the lifting column 6a. The load-handling device is therefore arranged alongside the vertical V, together with the load.

[0071] Due to the horizontal offset of the load-handling device relative to the vertical V, the lever arms and corresponding moments are larger compared to the robot arm 2a's position in Figures 1 and 1a, resulting in a more unfavorable load on the system. Such a deflection of the robot arm 2a can, however, be intentional, and the more unfavorable load accepted, in order to avoid an obstacle and thereby minimize the movements of the crane 1. It is also conceivable, however, to avoid or minimize corresponding settings of the robot arm 2a or deflections of the load-handling device, and thus the corresponding unfavorable loads. In this context, it is conceivable to store corresponding maximum values ​​for the positions or deflections of the load-handling device and / or the robot arm 2a in the control system.

[0072] Furthermore, the system configurations described within the scope of this disclosure and the process steps executable therewith are identical in Figures 1, 1a, and 1b, and in particular independent of whether a lifting column 6a, a scissor mechanism 6, or another device is used as a horizontally rigid lifting structure or as a guide element. Figures 2a to 2c show schematic views of the system from Figure 1 during various process steps in operating such a system to move the load-handling device to or beyond a target position S for the purpose of receiving or releasing a load. For the sake of simplicity, the target position S is considered here only in relation to the horizontal plane, and the vertical component or coordinate is neglected.

[0073] Figure 2a shows the rough positioning of the load-handling device or gripper 3 by a horizontal movement of the crane 1, which is carried out with the integration of the sensors 5 and the control system, in particular the crane control 4a (see Figures 3 and 3a). This first stage, or rough positioning, is complete when the load-handling device has reached the target position S. Due to the crane-specific positioning accuracy of, for example, + / - 5 mm, the load-handling device is then located within a corresponding circumference around the target position S, in Figure 2a the outer circumference shown.

[0074] Figures 2b and 2c show the beginning and end, respectively, of the fine positioning of the load-handling device. This fine positioning is carried out by moving the robot arm 2a relative to the crane 1, using the camera 5a and the control system, in particular the robot controller 4b (see Figures 3 and 3a). In Figure 2b, since the coarse positioning is complete, the sensor system 5, for example, the camera 5a or another suitable sensor, is activated to determine a position and / or distance, as requested by the controller. Based on this, the robot arm 2a, or at least one of its segments, is moved relative to the crane 1 or its lifting device in the direction of the target position S.

[0075] This second stage, or fine positioning, is complete when the load-handling device has reached the target position S. Due to the robot-specific positioning accuracy of, for example, + / - 0.1 mm, the load-handling device is then located within a corresponding circumference around the target position S, the inner circumference shown in Figures 2a to 2c. Similar to Figure 1b, the exemplary adjustment of the robot arm segments 2a at the end of fine positioning in Figure 2c is such that the load-handling device is offset from the vertical V. Figure 3 shows a schematic view of the control architecture of the system from Figure 1. According to an exemplary decentralized control concept, the control system comprises the crane control 4a and the robot control 4b as separate, independent controllers, which as such form part of the overall control system.The bidirectional signal transmission connections between the crane control 4a, the robot control 4b, and the production control 4c, or their interfaces, are also indicated by corresponding arrows. Figure 3 further illustrates the integration of the sensors 5 and 7 into the system's control, in particular via their signal transmission connections to the crane control 4a and / or the robot control 4c. Additionally, possible sensors of the sensor array 5 and sensor array 7 are shown as examples: the camera 5a and the lidar sensor 5b, each for the fine positioning of the load-handling device by corresponding relative robot positioning in the second stage; the distance sensor 5c and the encoder 5d, each for the coarse positioning of the load-handling device by corresponding crane positioning in the first stage; and the force and / or torque sensor 7a.

[0076] Furthermore, an interface connected to the control system, in particular the crane control system 4a, is available, which is set up and designed to transmit movement instructions for the movements of the drives of the crane 1 and the robot arm 2a from an operator 10 to the control system.

[0077] Figure 3a shows a schematic view of an alternative control architecture for the system from Figure 1. Unlike the decentralized control concept according to Figure 3, the control system in this alternative includes a higher-level master controller 4d. The crane controller 4a, the robot controller 4b, and the production controller 4c are each connected to the master controller 4d via an interface for signal transmission. The signal transmission connections of the sensors 5 and 7 to the controller are also provided via the master controller 4d. The interface for motion commands from an operator 10 to the controller is also connected via the master controller 4d. Otherwise, the descriptions of Figure 3 also apply to Figure 3a.Figures 4a and 4b show operating situations during an exemplary work order, "Grasping an object from a container," which is processed by the system according to the invention in automatic operating mode. The initial target position S1 for the crane 1, specified, for example, by the position control 4c, can be the center of a predetermined container 8. In Figures 4a and 4b, this target position S1 is represented by the center point of the cross shown with dotted lines.

[0078] The object 9 to be gripped, for example a workpiece, is located somewhere inside the container 8. The system's sensors 5, for example the camera 5a attached to the robot arm 2a, detect the position of the object 9 and provide the controller with sensor data representing the coordinates. The corresponding sensor data or coordinates are then used in conjunction with the controller to determine a target position S2 for the robot arm 2a with the gripper 3, and in particular a target position for the gripper. If necessary, the required movement or robot positioning relative to the lifting mechanism of the crane 1, which is in its target position S1, is then executed so that, after reaching the target position S2, the object 9 can be safely picked up by the gripper at the target position.The corresponding target position S2 is represented in Figure 4b by the center point of the cross shown with dashed lines.

[0079] Here too, optionally, after the crane 1 has moved to its first target position and before the robot arm 2a moves relative to the crane 1's lifting device, a further crane movement or positioning can be initiated to correct the target and actual positions of the crane 1 as described above. Whether this is necessary is determined by the control system, preferably the robot controller 4b, which then also generates the new target position for the crane 1. For this purpose, at least after the crane 1 has reached its first target position S1, the position and / or distance of the lifting device relative to the target position is determined.

[0080] The initially specified first target position S1 can be manually set by an operator. However, it can also be specified by a controller, particularly the production controller 4c, for example in an automated production line. The picking of several objects 9 in succession can follow fixed rules, such as "the next object" or "from top left to bottom right," or based on markings or similar.

[0081] Reference symbol list

[0082] 1 crane

[0083] 1 a crane girder

[0084] 1 b trolley

[0085] 1c hoist

[0086] 1d rail

[0087] 2 robots

[0088] 2a Robot arm

[0089] 3 grippers

[0090] 4a Crane control

[0091] 4b Robot control

[0092] 4c Production Control

[0093] 4D Master Control

[0094] 5 Sensors for determining a position and / or a distance

[0095] 5a Camera

[0096] 5b Lidar sensor

[0097] 5c distance sensor

[0098] 5D encoder

[0099] 6 Scissor mechanism

[0100] 6a Lifting column

[0101] 7 Sensors for detecting manual intervention

[0102] 7a Force and / or torque sensor

[0103] 8 containers

[0104] 9 objects

[0105] 10 operator

[0106] 11 Floor

[0107] S Target position

[0108] 51 Target position

[0109] 52 Target position

[0110] V Vertical

Claims

Patent claims 1. System comprising a crane (1) and a robot (2), on whose robot arm (2a), designed as an articulated or jointed arm, a load-handling device, preferably a gripper (3), for handling, in particular repositioning, objects (9) and / or loads is arranged, wherein the robot arm (2a) is suspended from a lifting element of a hoist (1c) of the crane (1) in order to be raised and lowered by means thereof, and with a control system configured to control movements of the crane (1) and the robot arm (2a), characterized in that a sensor system (5) is provided for determining a position and / or a distance of the load-handling device to a target position at which an object (9) and / or a load is to be picked up or dropped off, and the sensor system (5) interacts with the control system in such a way thatthat first a movement of the crane (1) and then, depending on a determined distance and / or a determined position, a movement of the robot arm (2a) relative to the crane (1), in particular relative to the lifting element of the crane (1), is carried out.

2. System according to claim 1, characterized in that at least one actual position of at least one part of the crane (1) and / or the robot (2), in particular the robot arm (2a), and / or the load handling device can be determined by the sensor system (5).

3. System according to claim 2, characterized in that the control compares the actual position with a target position (S, S1 , S2) and, in the event of a deviation, controls a movement of the crane (1) and / or a movement of the robot arm (2a) relative to the lifting means of the crane (1).

4. System according to one of the preceding claims, characterized in that the initial movement of the crane (1) serves to roughly position the load-handling device with or without a load, and the subsequent movement of the robot arm (2a) serves to finely position the load-handling device.

5. System according to the previous claim, characterized in that the coarse positioning is completed when the load-handling device is within a corresponding range due to the crane-specific positioning accuracy. outer circumference around a target position (S).

6. System according to one of claims 4 or 5, characterized in that the fine positioning is completed when the load handling device is located within a corresponding inner circumference around the target position (S) due to the robot-specific positioning accuracy.

7. System according to one of the preceding claims, characterized in that the control system is configured to decide, after the movement of the crane (1) to a first target position (S) and the reaching of the first target position (S), whether to specify a new second target position (S) for the crane (1) before the movement of the robot arm (2a) relative to the crane (1) and / or lifting means, and to initiate at least one further movement of the crane (1) to the second target position (S), or to immediately initiate the movement of the robot arm (2a) relative to the crane (1) and / or lifting means, wherein the control system preferably makes the decision using the sensors (5) and evaluation of the sensor data, in particular by means of object recognition and based on the recognized object, and preferably also initiates any specification and / or movement.

8. System according to one of the preceding claims, characterized in that the control system is configured to determine the position and / or distance of the load handling device to the target position at least after each movement of the crane (1) to a target position (S) or continuously, in particular at time-defined intervals, preferably by means of a sensor arranged on the robot arm (2a).

9. System according to one of the preceding claims, characterized in that the sensor (5) operates without contact and preferably comprises at least one sensor arranged on the robot arm (2a), wherein the sensor is preferably an optical sensor, in particular an optical camera (5a) and / or a lidar sensor (5b).

10. System according to one of the preceding claims, characterized in that the sensor system (5) includes at least one sensor on the trolley (1b) and / or a sensor on the crane girder (1a), wherein the respective sensor preferably comprises a distance sensor (5c), in particular a laser distance sensor, or an encoder (5d) or another sensor for position detection, in particular an optical sensor for position detection using a barcode or QR code.

11. System according to one of the preceding claims, characterized in that the lifting mechanism (1c) comprises at least one guide element and / or a lifting structure rigid in the horizontal direction, preferably a lifting column (6a) or a scissor mechanism (6) with at least one scissor cross on which the robot arm (2a) is suspended.

12. Method for operating a system according to one of the preceding claims, wherein, in particular in an automatic operating mode of the system, the sensor system (5) determines a position and / or a distance of the load-handling device to a target position at which the object (9) and / or the load is to be picked up or dropped off, and interacts with the control system in such a way that, in a first step, a movement of the crane (1) is performed, and then, in a further step, depending on the determined distance and / or the determined position, a movement of the robot arm (2a) is performed relative to the crane (1), in particular relative to the lifting element of the crane (1).

13. The method according to the preceding claim, comprising at least one of the following steps: Defining a target position (S) and / or a target movement of at least a part of the crane (1) and / or the robot arm (2a) and / or the load handling device by the control system, in particular the crane control system (4a) and / or the robot control system (4b) and / or the production control system (4c); Determining the actual position of at least part of the crane (1) and / or the robot arm (2a) and / or the load handling device using the sensors (5); Determining the necessary movements of at least part of the crane (1) and the robot arm (2a) by the control system, in particular the crane control system (4a) and / or the robot control system (4b), in order to reach the target position from the actual position; Performing the necessary movements of at least part of the crane (1) by means of the control system, in particular the crane control system (4a), Performing the necessary movements of the robot arm (2a) by means of the control system, in particular the robot controller (4b).

14. Method according to claim 12 or 13, characterized in that the position and / or distance of the load handling device to the target position is determined at least after each movement of the crane (1) to a target position (S) or continuously, in particular at time-defined intervals, preferably by a sensor arranged on the robot arm (2a).

15. Method according to one of claims 12 to 14, characterized in that Target positions, actual positions, target movements, actual movements, deviations between target and actual values ​​and / or sensor data are stored in a database; and the database data is used to train a self-learning algorithm to optimize the executed movements.

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