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1. 发明公开

EP3418246A1 ROBOT TO PICK UP AND TRANSPORT OBJECTS, CORRESPONDING USE AND METHOD 审中-实审转让
公开(公告)号：EP3418246A1
公开(公告)日：2018-12-26
申请号：EP17176874.0
申请日：2017-06-20
申请人： Magazino GmbH
发明人： Schwab, Daniel , Schnurrer, Andreas , Zanger, Lukas
IPC分类号： B66F9/06 , B66F9/14 , B65G1/04 , B65G1/137
CPC分类号： B66F9/063 , B65G1/0407 , B65G1/1375 , B66F9/147
摘要： The present invention relates to a robot (2) configured to pick up and transport items; wherein the robot (2) comprises a pick up unit (10), wherein the pick up unit (10) comprises a pick up device (110) configured to pick up and release items, wherein the robot (2) is configured to move the pick up device (110) along a first direction, rotate the pick up device (110) around a first axis, and extend and retract the pick up device (110) along a second direction different from the first direction; wherein the robot (2) further comprises a shelf unit (8) configured to temporarily store items, wherein the shelf unit (8) comprises a rotatable portion (80) and a support structure (84), wherein the rotatable portion (80) is rotatable with respect to the support structure (84). The present invention also relates to a use of the robot and to a corresponding method.

2. 发明公开

EP3192616A1 ROBOT TO PICK UP AND TRANSPORT OBJECTS AND METHOD USING SUCH A ROBOT 审中-实审转让
标题翻译：拾取和运输物体的机器人和使用这种机器人的方法
公开(公告)号：EP3192616A1
公开(公告)日：2017-07-19
申请号：EP16151220.7
申请日：2016-01-14
申请人： Magazino GmbH
发明人： FLAMM, Timo , SCHWAB, Daniel , STEVEN, Joachim , WETZEL, Stephan , FRANKE, Kai , ZANGER, Lukas
IPC分类号： B25J5/00 , B65G1/137
CPC分类号： B25J5/007 , B25J18/025 , B65G1/0407 , B66F9/06 , B66F9/063 , B66F9/147
摘要： The present invention is directed to a robot (2) adapted to pick up and transport objects (1002) comprising a base plate (4), a drive unit (6), a pick up unit (10) and a shelf unit (8), wherein the drive unit (6), the pick up unit (10) and the shelf unit (8) are positioned on the base plate (4). The present invention is also directed to a method of transporting at least one object (1002), comprising: providing the robot (2), the robot (2) going to a first storing location where a first object (1002) is stored, the robot (2) picking up the first object (1002), and the robot (2) transporting the first object (1002) to a first destiny location.
摘要翻译：本发明涉及一种适于拾取和输送包括底板（4），驱动单元（6），拾取单元（10）和搁架单元（8）的物体（1002）的机器人（2）其中，所述驱动单元（6），所述拾取单元（10）和所述搁架单元（8）位于所述底板（4）上。本发明还涉及一种运输至少一个物体（1002）的方法，包括：提供机器人（2），机器人（2）前往存储第一物体（1002）的第一存储位置，拾取第一物体（1002）的机器人（2）以及将第一物体（1002）运送到第一命运位置的机器人（2）。

3. 发明公开

EP4140664A1 CAPABILITIES FOR ERROR CATEGORIZATION, REPORTING AND INTROSPECTION OF A TECHNICAL APPARATUS 审中-实审转让
公开(公告)号：EP4140664A1
公开(公告)日：2023-03-01
申请号：EP21194167.9
申请日：2021-08-31
申请人： Magazino GmbH
发明人： Gemignani, Guglielmo , Grimm, Markus , Tenorth, Moritz
IPC分类号： B25J9/16 , G05B19/418
摘要： A method of operating an autonomous vehicle or a robot. The vehicle or robot can be modelled as having a set of capabilities that allow it to perform tasks, which are associated with a set of required capabilities to complete it. For example, a task of moving to a position requires the robot to be able to correctly move its base, thus to have a navigation capability. The vehicle or robot is controlled using a vehicle state data structure (10), a robot state representation (10) or a vehicle state data structure 10, which comprise capability data fields (110) indicating a functionality of the autonomous vehicle and associated data fields (120,130,140) associated with a respective capability data field (110). The associated data field (120, 130, 140) comprises a required component state data field (130) indicating a configuration of a respective component required for the functionality and a required diagnostic data field (120) indicating a respective operational state of a component. The present invention also relates to a corresponding system, computer program product, and computer readable storage medium.

4. 发明公开

EP3372541A1 DEVICE AND METHOD FOR GRIPPING AND MOVING ITEMS 有权转让
公开(公告)号：EP3372541A1
公开(公告)日：2018-09-12
申请号：EP17000402.2
申请日：2017-03-11
申请人： Magazino GmbH
发明人： FRANKE, Kai , ZANGER, Lukas , SCHWAB, Daniel
IPC分类号： B65G47/90 , B25J5/00 , B25J18/02 , B65G1/04 , B66F9/06
CPC分类号： B65G1/0435 , B25J5/007 , B25J9/023 , B25J18/025 , B25J19/023 , B66F9/063 , G05D2201/0216
摘要： The present invention relates to a robot (1) configured to grasp and transport items; wherein the robot (1) is configured to assume a use configuration; wherein the robot (1) comprises a frame (10) having a vertical frame projection in the use configuration; and a gripping unit (5) configured to grasp an item, wherein the gripping unit (5) has a vertical gripping unit projection in the use configuration; wherein, in the use configuration, the gripping unit (5) is configured to assume a retracted state and an extended state. The gripping unit is positioned horizontally offset with respect to the frame.

5. 发明授权

EP3208216B1 GREIFER, ROBOTER MIT GREIFER UND VERFAHREN ZUM GREIFEN VON OBJEKTEN 有权转让
公开(公告)号：EP3208216B1
公开(公告)日：2019-02-20
申请号：EP16156754.0
申请日：2016-02-22
申请人： Magazino GmbH
发明人： Franke, Kai , Schmutz, Philipp
IPC分类号： B65G47/90 , B25J15/00 , B66C1/59

6. 发明公开

EP3214510A1 CONTROLLING PROCESS OF ROBOTS HAVING A BEHAVIOR TREE ARCHITECTURE 有权转让
标题翻译：具有行为树结构的机器人控制过程
公开(公告)号：EP3214510A1
公开(公告)日：2017-09-06
申请号：EP16158565.8
申请日：2016-03-03
申请人： Magazino GmbH
发明人： Tenorth, Moritz
IPC分类号： G05B19/042
CPC分类号： G05B19/0426 , G05B2219/39158 , G05B2219/40392
摘要： The present invention relates to a method for controlling a robot, the method including usage of a behavior tree architecture for tasks performed by the robot. The present invention also relates to a system comprising a data processing means adapted to carry out the method, wherein the system preferably comprises a robot. The present invention also relates to a use of a behavior tree architecture for programming, supervision, introspection and/or debugging.
摘要翻译：用于控制机器人的方法技术领域本发明涉及一种用于控制机器人的方法，该方法包括使用行为树架构来执行机器人执行的任务。本发明还涉及一种包括适于执行该方法的数据处理装置的系统，其中系统优选地包括机器人。本发明还涉及用于编程，监督，内省和/或调试的行为树架构的用途。

7. 发明公开

EP4122650A1 MOBILE ROBOT WITH IMPROVED SAFETY 审中-实审转让
公开(公告)号：EP4122650A1
公开(公告)日：2023-01-25
申请号：EP21187305.4
申请日：2021-07-22
申请人： Magazino GmbH
发明人： FRANKE, Kai , ZANGER, Lukas
IPC分类号： B25J5/00 , B25J19/02
摘要： Disclosed is a robot, comprising a housing, at least one manipulator, a control system configured for controlling the manipulator, a safety volume enclosed at least by a surface set comprising at least one boundary surface, a boundary sensor system, and a mobile base. Further, a system comprising such a robot, a method for operating a corresponding robot and a computer program product are disclosed.

8. 发明公开

EP4040293A1 CONTROLLING AN APPARATUS, E.G., A ROBOT, WITH A BEHAVIOR TREE 审中-实审转让
公开(公告)号：EP4040293A1
公开(公告)日：2022-08-10
申请号：EP21155238.5
申请日：2021-02-04
申请人： Magazino GmbH
发明人： Gemignani, Guglielmo
IPC分类号： G06F9/46 , G06F9/48 , B25J9/16 , G06F8/34
摘要： Disclosed is a method and a system for controlling an apparatus, by using a behavior tree for an assigned task performed by the apparatus, wherein the behavior tree comprises a planner section and an activation section, wherein the method comprises calling a planner section, determining the state of the apparatus and setting an activation status by a planner section in response to being called, and evaluating the activation status before executing the assigned task

9. 发明公开

EP3208216A1 GREIFER, ROBOTER MIT GREIFER UND VERFAHREN ZUM GREIFEN VON OBJEKTEN 有权转让
标题翻译：抓钳，抓钳机器人和抓取物体的方法
公开(公告)号：EP3208216A1
公开(公告)日：2017-08-23
申请号：EP16156754.0
申请日：2016-02-22
申请人： Magazino GmbH
发明人： Franke, Kai , Schmutz, Philipp
IPC分类号： B65G47/90 , B25J15/00 , B66C1/59
CPC分类号： B65G47/90 , B25J13/085 , B25J13/086 , B25J15/0033 , B25J15/0213 , B65H5/14 , B65H2555/31 , B65H2701/174 , B66C1/59
摘要： Die Erfindung betrifft einen Greifer (4) zum Greifen von biegeschlaffen Objekten (1000), der aufweist: ein erstes Greifzahnrad (10), das zur Drehung um eine erste Drehachse ausgelegt ist, ein zweites Greifzahnrad (8), das zur Drehung um eine zweite Drehachse ausgelegt ist, wobei das erste Greifzahnrad (10) und das zweite Greifzahnrad (8) derart angeordnet sind, dass sie ineinander eingreifen und derart, dass das biegeschlaffe Objekt (1000) durch Drehung des ersten Greifzahnrad (10) und des zweiten Greifzahnrads (8) zwischen den Greifzahnrädern (10, 8) einklemmbar ist, wobei die Drehachsen einen fixen Abstand zueinander haben. Die Erfindung betrifft auch einen Roboter mit dem Greifer (4), wobei der Greifer (4) an einem Ende eines Roboterarms (2) angeordnet ist und wobei der Roboter ein mobiler Roboter mit Rädern zum Fahren ist. Weiterhin betrifft die Erfindung ein Verfahren mit den folgenden Schritten: Bereitstellen eines biegeschlaffen Objektes (1000), Bereitstellen des Greifers (4) bzw. des Roboters, Positionieren des Greifers (4) derart, dass die Greifzahnräder (10, 8) das Objekt (1000) berühren, Drehung der Greifzahnräder (10, 8) derart, dass das Objekt (1000) zwischen den Greifzahnrädern (10, 8) eingeklemmt wird.
摘要翻译：本发明涉及一种夹持器（4）用于夹持非刚性对象（1000），包括：适于绕第一旋转轴线，第二夹持器齿轮（8），该第二用于围绕旋转的第一夹持器齿轮（10）设计旋转轴，其中，所述第一夹持器齿轮（10）和所述第二夹持器齿轮（8）被布置成使得它们彼此并且这种接合使得柔韧对象（1000）（由第一夹持器齿轮（10）和第二夹紧齿轮的旋转8 ）可夹紧在夹紧齿轮（10,8）之间，其中旋转轴线具有彼此固定的距离。本发明还涉及一种具有夹具（4）的机器人，其中夹具（4）布置在机器人臂（2）的一端，并且其中机器人是具有用于驱动的轮子的移动机器人。此外，本发明涉及包括以下步骤的方法：提供一非刚性对象（1000），提供所述夹持器（4）或机器人，夹具的定位（4），使得所述夹持器齿轮（10，8）（对象1000 ），夹紧齿轮（10,8）的旋转使得夹紧齿轮（10,8）之间的物体（1000）被夹紧。

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