Automatic automated installation

Patent metadata

Field	Value
Publication number	US-9737992-B2
Application number	US-201314384454-A
Country	US
Kind code	B2
Filing date	Mar 11, 2013
Priority date	Mar 12, 2012
Publication date	Aug 22, 2017
Grant date	Aug 22, 2017

Abstract

The invention relates to an automatic automated installation in which at least one robot ( 2 ) is used in at least one mode of operation in at least one work zone ( 3 ). The installation comprises a closed space ( 1 ) equipped with at least one door ( 4 ) offering access to at least one operator intervention work station ( 6 ) which is situated in said work zone ( 3 ) of said robot, and means ( 7 ) for detecting the presence of an element ( 25; 26 ) in said closed space ( 1 ) at said operator intervention work station ( 6 ). The detection means ( 7 ) are arranged in said closed space ( 1 ) to delimit at least two zones ( 8, 9, 10 ) and are also associated with means ( 21 ) for control of said at least one mode of operation of the robot ( 2 ), each zone ( 8, 9, 10 ) being associated with one mode of operation of the robot ( 2 ). The detection means ( 7 ) are positioned a predetermined height from a floor ( 18 ) of said space ( 1 ), said height being greater than the height of an empty pallet ( 12 ).

First claim

The invention claimed is:

1. An automated installation in which at least one robot is used in at least one mode of operation in at least one work zone, said installation comprising:
a closed space equipped with at least one door offering access to at least one operator intervention station, said at least one operator intervention station being situated in said work zone of said robot,
detection means for detecting the presence of an element in said closed space at said operator intervention station,
the detection means being arranged in said closed space to delimit at least two zones and detect incursion of an operator therein, and also being associated with control means for control of said at least one mode of operation of the robot, each zone delimited by the detection means being associated with one mode of operation of the robot,
wherein the detection means are positioned at a predetermined height from a floor of said closed space, said height being greater than the height of an empty pallet, such that said detection means does not transmit a detection signal when the operator introduces an empty pallet in the operator intervention station, as the pallet passes below a detection level of the detection means; and
wherein at least one of the two zones delimited by the detection means extends horizontally into the work zone of the robot into a space where the robot enters for depositing items onto the pallet.

2. The installation according to claim 1 , wherein said at least two zones each associated with one mode of operation of the robot at least partially cover said at least one operator intervention station.

3. The installation according to claim 1 , comprising two operator intervention stations comprised in said work zone of the robot, wherein the closed space comprises at least two openings for access to the two operator intervention stations and a door fitted so as to be mobile between said at least two openings, as well as sensors for the presence of the door at each of said at least two openings.

4. The installation according to claim 1 , wherein the detection means delimit:
a first zone in said closed space, said first zone controlling the triggering of a warning signal for the entry of said element into said closed space, and authorizes a mode of operation of the robot at a predetermined pace,
a second zone in said closed space, said second zone controlling a mode of operation of the robot at a pace that has been slowed down compared with said predetermined pace,
a third zone in said closed space, said third zone controlling the stopping of the operation of the robot.

5. The installation according to claim 1 , wherein the detection means comprise a laser scanner of said closed space.

6. The installation according to claim 1 , wherein the detection means comprise sensors.

7. The installation according to claim 1 , wherein the detection means comprise a camera.

8. The installation according to claim 1 , equipped with at least one sensor for the presence of a pallet in said at least one operator intervention station.

9. The installation according to claim 1 , equipped with means for detecting a full pallet.

10. The installation according to claim 1 , wherein the control means for control of said at least one mode of operation of the robot are associated with safety control means.

11. The installation according to claim 10 , wherein the safety control means identify at least one sequence of modes of operation of the robot and authorize or do not authorize the robot which is at a stop to work again, or trigger the stopping of the installation.

12. The installation according to claim 1 , wherein said at least one operator intervention station is a palletizing station and in that said detected element is an operator or a pallet truck.

13. An automated installation in which at least one robot is used in at least one mode of operation in at least one work zone, said installation comprising:
a closed space equipped with at least one door offering access to at least one operator intervention station, said at least one operator intervention station being situated in said work zone of said robot,
detection means for detecting the presence of an element in said closed space at said operator intervention station,
the detection means being arranged in said closed space to delimit at least two zones and detect incursion of an operator therein, and also being associated with control means for control of said at least one mode of operation of the robot, each zone delimited by the detection means being associated with one mode of operation of the robot,
wherein the detection means comprise a camera that scans said at least two delimited zones in the space, said at least two zones being situated above a predetermined height from a floor of said closed space, said height being greater than the height of an empty pallet, such that said detection means does not transmit a detection signal when the operator introduces an empty pallet in the operator intervention station, as the pallet passes below a detection level of the detection means; and
wherein at least one of the two zones delimited by the detection means extends horizontally into the work zone of the robot into a space where the robot enters for depositing items onto the pallet.

14. An automated installation, comprising:
a space equipped with a door offering access to an operator intervention station for placement and removal of pallets, the operator intervention station located at least in part in a first work zone within the space;
a robot automatically controlled in a mode so that at least a portion of the robot moves within the first work zone to place items on or remove items from a pallet located in the first work zone;
a detector that detects a physical presence of an object at the operator intervention station, the detector associated with a controller that controls operation of the robot in the mode;
wherein the detector is positioned and oriented to detect objects above a predetermined height from a floor of the space, the height being greater than a height of an empty pallet so that the detector does not transmit a detection signal when the empty pallet is placed in the operator intervention station below the predetermined height and the detector transmits a detection signal when an operator enters the operator intervention station; and
wherein the detector's field of detection extends horizontally within the first work zone of the robot, including where the robot moves for depositing items onto the pallet.

15. The installation according to claim 14 , wherein when the operator enters the operator intervention station to place an empty pallet, at least one of an audible or a visual alarm is actuated due to the detector transmitting a detection signal.

16. A method of operating an automated installation, the method comprising:
providing the installation, which comprises:
a robot controlled to operate in at least one mode of operation in at least one work zone of the installation;
a closed space equipped with at least one door offering access to at least one operator intervention station, said at least one operator intervention station being situated in said work zone of said robot;
detection means for detecting the presence of an element in said closed space at said operator intervention station;
the detection means being arranged in said closed space to delimit at least two zones and detect incursion of an operator therein, and also being associated with control means for control of said at least one mode of operation of the ro

Assignees

• Sidel Participations
• C E R M E X Constructions Etudes Et Rech De Materiels Pour L'Emballage D'Expedition

Inventors

• Mougin Didier
• Cheron Gael

Classifications

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J19/06

  Safety devices · CPC title

• G05B2219/40006

  Placing, palletize, un palletize, paper roll placing, box stacking · CPC title

• G05B2219/39082

  Collision, real time collision avoidance · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title