Logistics system with a mobile conveying device and a stationary conveying device and method for operating a logistics system

Abstract

Logistics system with a mobile conveyor and a stationary conveyor, in particular wherein the stationary conveying means comprises at least one means of transport, in particular chain (2), characterized by the fact that the mobile conveying device has a lifting mechanism designed to receive a unit load (4), wherein the stationary conveying device can be passed under by the mobile conveying device when the lifting mechanism is retracted, in particular is continuously passable underneath, in particular wherein the stationary conveying device cannot be continuously passed under by the mobile conveying device when the lifting mechanism is extended, wherein the unit load (4) picked up by the lifting device is to be placed on the means of transport when the lifting device is moved into position, wherein a further piece of goods (4) picked up by another transport means of the stationary conveying means can be picked up by the lifting mechanism when it is extended, wherein the stationary conveying device has limiting means (44) for limiting the unit load picked up by the conveying device in the transverse direction, wherein a centering means (40) with an inclined surface is arranged on the lifting mechanism.

Description

[0001] The invention relates to a logistics system with a mobile conveyor and a stationary conveyor and a method for operating a logistics system.

[0002] It is generally known that mobile conveyors, i.e. driverless transport vehicles (FTS), and / or automatically guided vehicles (AGV), transport piece goods within a production facility.

[0003] From DE 27 17 199 C2 a device for transferring and / or picking up transport goods by means of a transport vehicle is known.

[0004] An intralogistics system is known from US 8 444 369 B2.

[0005] From US 4 508 484 A, the closest prior art is an installation for automatic loading and unloading of loads in transport vehicles.

[0006] EP 2 607 292 A1 discloses a system for transporting goods arranged on aids.

[0007] From DE 10 2008 039 764 B4 a device for picking up and delivering piece goods to a driverless transport system is known.

[0008] A method for loading and unloading a vehicle is known from US 2013 026 35 55 A1.

[0009] A device for automated storage and removal is known from JP 2000 335 709 A.

[0010] From DE 10 2004 047 018 B4 a device for the precise transfer of objects from a conveyor belt to a mobile transport device is known.

[0011] DE 10 2012 206 633 A1 describes an electronic fall protection device for autonomous shuttles with distance measurement.

[0012] The invention is therefore based on the object of achieving more efficient intralogistics for a production plant.

[0013] According to the invention, the object is achieved in the logistics system according to the features specified in claim 1 and in the method according to the features specified in claim 9.

[0014] Important features of the invention in the logistics system with a mobile conveyor and a stationary conveyor, in particular, wherein the stationary conveying means comprises at least one transport means, in particular a chain, the mobile conveying means comprises a lifting mechanism which is provided for receiving a piece of goods, wherein the stationary conveying means can be driven under by the mobile conveying means when the hoist is retracted, in particular can be driven under continuously, in particular wherein the stationary conveying means cannot be driven under continuously by the mobile conveying means when the hoist is extended, whereby the piece goods picked up by the lifting gear can be placed on the means of transport when the lifting gear is retracted.

[0015] The advantage of this is that it enables fast and effective intralogistics transport. After the drop-off, the mobile conveyor can continue to move under the stationary conveyor until it reaches the pick-up area for another piece of cargo. This enables a non-stop, on-the-fly transfer. Only the speed of the mobile conveyor needs to be adjusted, and in particular synchronized, to that of the stationary conveyor. This allows for effective utilization of the mobile conveyor.

[0016] According to the invention, a further piece of cargo picked up by another transport means of the stationary conveyor can be picked up by the lifting gear when the lifting gear is extended. The advantage here is that the picking up or dropping off of a piece of cargo is possible simply by extending or retracting the lifting gear.

[0017] According to the invention, the stationary conveyor comprises limiting means for limiting the piece goods picked up by the conveyor in the transverse direction. This is advantageous in that it allows centering of the piece goods before or after pick-up and / or delivery.

[0018] According to the invention, a centering means with an inclined surface is arranged on the lifting mechanism, in particular, two centering means spaced apart from one another in the transverse direction to the conveying direction are arranged on the lifting mechanism, each having an inclined surface. The inclined surfaces are arranged mirror-symmetrically to one another, in particular, the transverse direction being the normal direction of the mirror plane. Advantageously, the inclined surfaces center the piece goods when they are picked up, i.e., when they touch.

[0019] In an advantageous embodiment, the transport means is driven by an electric motor, in particular wherein a shaft connected to two sprockets in a rotationally fixed manner is driven by the electric motor and the sprockets each drive a chain as a transport means, In particular, centering discs are connected to the shaft in a rotationally fixed manner to center the piece goods. The advantage here is that the centering discs allow the piece goods to be centered in the conveying direction, i.e., centrally in the conveying section.

[0020] In an advantageous embodiment, the stationary conveyor has a clearance through which the vehicle can pass with the vehicle's lifting gear extended, and a shaft driven by an electric motor delimits the clearance in or against the conveying direction. This is advantageous in that it allows the vehicle to pass underneath without any piece goods being picked up. This allows the mobile conveyor to continue traveling in a straight line underneath the stationary conveyor after the piece goods have been delivered. This allows the mobile conveyor to reach the area where the piece goods are picked up as quickly as possible. This enables on-the-fly replacement and therefore the best possible utilization of the mobile conveyor. In particular, the conveyor's idle times are extremely short.

[0021] In an advantageous embodiment, the transport means of the stationary conveyor are mounted on support arms of support elements that project toward the conveyor line. This is advantageous in that the mobile conveyor is oriented transversely to the conveying direction, particularly with the transverse direction being parallel to the travel plane of the mobile conveyor. In particular, the mobile conveyor can thus be designed to be wider than the width of the conveyor line in the transverse direction to the conveying direction.

[0022] In an advantageous embodiment, the vehicle is designed to be wider in the transverse direction than the transverse dimension of the means of transport and / or the transverse dimension of the cargo. This is advantageous because it allows for stable loading of the cargo.

[0023] In an advantageous embodiment, a sensor for detecting an edge of the piece goods is arranged on the mobile conveyor and / or a sensor for detecting the vehicle is arranged on the stationary conveyor and / or a sensor for detecting a piece of goods is arranged on the stationary conveyor One or more transponders are arranged on the ground and / or on the ground, particularly for detecting a position. The advantage of this is that precise sequence control can be implemented without particularly demanding control requirements.

[0024] Important features of the method are that it is intended for operating a logistics system, wherein in a first method step a mobile conveyor with the lifting gear extended moves into the area of ​​a stationary conveyor, wherein a piece of goods is picked up on the lifting gear, in particular, according to which the speed of the mobile conveying means, i.e. vehicle, is reduced to the speed of a means of transport of a stationary conveying means, In a subsequent process step, the lifting gear is retracted, whereby the piece goods are placed on the transport means of the stationary conveyor, In a subsequent process step, the mobile conveyor moves under the stationary conveyor.

[0025] The advantage here is that a flying transfer is possible, meaning quick and easy drop-off of one piece of cargo and quick and easy pick-up of another. Preferably, all piece goods are on the same pallet, allowing reliable identification of the piece of cargo. For this purpose, the pallets are equipped with skids whose edges are easily recognizable.

[0026] In an advantageous embodiment, in a subsequent process step, the mobile conveyor moves under the stationary conveyor with the hoist retracted, in particular, according to which the speed of the mobile conveying means, i.e. vehicle, is reduced to the speed of another means of transport of the stationary conveying means,

[0027] In a subsequent process step, the lifting gear is extended, whereby the general cargo sitting on the other means of transport is picked up,

[0028] In a subsequent process step, the mobile conveyor moves out of the area of ​​the stationary conveyor. This is advantageous because it also allows for easy subsequent pickup of piece goods.

[0029] In an advantageous embodiment, the edge of a piece of goods picked up on the stationary conveyor, in particular the edge of the pallet picked up on the stationary conveyor, is detected by a sensor arranged on the mobile conveyor, and the speed of the mobile transport means is then reduced to the speed of the other transport means. The advantage of this is that improved synchronization can be achieved.

[0030] In an advantageous embodiment, one or more stationary transponders are read by a reader on the mobile conveyor, and the read information is fed to a control system of the mobile vehicle. The advantage here is that position information can be utilized, thus allowing the on-the-fly transfer process to be precisely controlled.

[0031] Further advantages emerge from the dependent claims. The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0032] The invention will now be explained in more detail with the aid of illustrations: In the Fig. 1 shows a plan view of a section of a transport system according to the invention, wherein a corner converter is shown as the converter means 3. In the Fig. 2 shows a plan view of a section of another transport system according to the invention, wherein a rolling track curve section 20 is shown as the transfer means 3. In the Fig. 3 shows the inventive flying transfer, in particular the delivery of a piece of goods to a chain conveyor and also the area for the subsequent flying pickup of another piece of goods 4. Fig. 4 and Fig. 5 shows the sequence of delivery of the piece goods by vehicle 1 to the chain conveyor. In the Fig. 4 shows a front view of the transport system, with the piece goods 4 placed on the chains of the chain conveyor. In the Fig. 5 shows a side view, wherein the vehicle has an extended lifting gear on which the piece goods 4 are still sitting before they are delivered to the chain conveyor. In the Fig. 6 shows a side view, wherein the vehicle has a retracted lifting gear and the piece goods 4 rest on the chain conveyor and are transported. Fig. 7, Fig. 8, Fig. 9 shows the sequence of picking up the general cargo by vehicle 1. Fig. 7 shows an oblique view, where the vehicle 1 with retracted lifting gear passes under the chain conveyor for the subsequent pickup of the piece goods 4. Fig. 8 shows an oblique view, where the vehicle 1 with retracted lifting gear synchronizes its speed to the chain conveyor. Fig. 9 shows an oblique view, wherein the vehicle 1 with the lifting gear extended moves the picked-up piece goods 4 out of the chain conveyor.

[0033] As shown in the figures, by means of the inventive embodiment of the chain conveyor, a flying transfer of piece goods 4 between a mobile conveying means, i.e. vehicle 1, and a stationary conveying means, i.e. for example a chain conveyor, can be carried out.

[0034] For this purpose, the vehicle 1 is equipped with a lifting gear on which piece goods 4, for example a pallet, can be picked up.

[0035] An object with a mass between 100 kg and 2000 kg can be arranged on the example pallet. This means that very massive piece goods 4 can be transported.

[0036] Vehicle 1 can drive underneath the stationary conveyor when its lifting gear is retracted and no piece goods are loaded onto the lifting gear.

[0037] The on-the-fly transfer advantageously involves transferring a piece of cargo from the vehicle to the stationary conveyor and subsequently picking up the piece of cargo, particularly where the vehicle does not have to stop but instead travels under the stationary conveyor at a speed exceeding a minimum value.

[0038] To deliver the piece goods 4, the vehicle moves them to the stationary conveyor with the lifting gear extended, for example a scissor lift table. After driving underneath the stationary conveyor and, if necessary, synchronizing the speed of the vehicle 1 or adjusting the speed of the vehicle 1 to the transport speed of the stationary conveyor, the lifting gear is lowered so that the piece goods projecting laterally beyond the lifting gear rest on the stationary conveyor, in particular on its transport means, such as a chain 2, conveyor belt, or similar means. This enables the vehicle 1 with the lifting gear retracted to continue driving underneath the stationary conveyor, while the piece goods 4 picked up by the transport means are moved further by the stationary conveyor.

[0039] The vehicle then passes under another means of transport of the stationary conveyor and, by extending the lifting gear, is able to pick up a piece of cargo 4 sitting on the other means of transport and, with the lifting gear extended, to drive it out of the stationary conveyor.

[0040] As in Fig. 1, a chain conveyor with a chain 2 can be used as a stationary conveying means, wherein the piece goods 4 picked up by the vehicle 1 onto the chain 2 are fed to a transfer device which conveys the piece goods away to the left.

[0041] General cargo arriving parallel to the left is diverted in the direction of travel of the vehicle by another transfer unit i3, where it is transferred to another chain conveyor as a further means of transport. After synchronization, the undercarriage 1 is then loaded with general cargo 4 by extending its lifting gear and then exits the additional chain conveyor with another chain 2.

[0042] Alternatively, instead of the Fig. 1 corner converter 3 a lift or as in Fig. 2, a roller conveyor curve section 20 is used in each case. It is only important that the vehicle 1 with the retracted lifting gear can drive underneath.

[0043] The respective means of transport, i.e. chain conveyor and further chain conveyor, each have chains 2 which are driven by a drive 42, wherein chain wheels are connected in a rotationally fixed manner via a respective shaft 5.

[0044] As in Fig. As shown in Figure 3, sensors are provided for precise control of the process: Here, the vehicle 1 has a sensor 12 designed to detect the rear edge of the piece goods 4, in particular its pallet. Thus, the lifting gear is extended when picking up the piece goods 4 when the rear edge is detected.

[0045] During the prior transfer of the piece goods 4 from the vehicle 1 to the means of transport, a transponder 8 provided on the ground is important, since, when read by a reader mounted on the vehicle 1, position information can be transmitted. The hoist must be retracted at the latest after receiving this position information, as otherwise a collision of the hoist with the transfer device 3 or with the shaft 5, which is driven by the electric motor 42, could occur.

[0046] A sensor 6, which is preferably designed as a light barrier, detects the vehicle when it passes through the sensitive area of ​​the sensor 6 and then emits a signal, in response to which a piece of goods 4 previously positioned at a light barrier 7 is conveyed from the transfer device 3 to the further chain conveyor.

[0047] Further along the track, another transponder 9 is arranged on the ground, from which position information can be transmitted by reading it using a reader arranged on the vehicle 1. At the latest after receiving this position information, the speed of the vehicle 1 must be synchronized to the transport speed of the additional transport means, i.e., the additional chain conveyor, or at least adjusted to a similar target value, and the lifting gear must be extended to pick up the piece goods 4.

[0048] In the event of an error that the lifting of the piece goods 4 fails and thus the piece goods 4 is still resting on the chain 2 of the further chain conveyor, a safety switch 10 is provided, the triggering of which can be effected by the piece goods 4.

[0049] The triggering of the safety switch 10 causes the additional chain conveyor to stop. The transponder 9 is positioned such that the lifting gear is only raised after the electric motor 42 of the additional chain conveyor has passed under the shaft 5.

[0050] The speed of the vehicle 1 intended for delivering the piece goods 4 to the chain conveyor is reduced after passing over the transponder 9 in order to achieve an adjustment of the speed of the vehicle 1 to the transport speed of the further chain conveyor.

[0051] As in Fig. As shown in Figure 4, chain 2 is guided over sprockets mounted in support arms of support elements 43 that project laterally, i.e., toward the conveyor line. Thus, the vehicle 1 can be designed to be wider transversely to the conveying direction than the piece goods 4.

[0052] In the receiving area of ​​the lifting gear, i.e., on the top side of the lifting gear, centering means 40 with an inclined surface are provided so that a lower edge of the piece goods, in particular a lower edge of a skid of the piece goods 4, in particular a pallet, is positioned in the desired position on the lifting gear during pickup. Centering is thus achieved in a simple manner. The centering means 40, which are opposite one another in the transverse direction, each have an oppositely designed inclined surface, so that this centering occurs automatically.

[0053] The centering means 40 are preferably designed as bent sheet metal parts. The runner edge 41 is guided by the inclined surface of the respective sheet metal part.

[0054] Sheets 4 extending in the conveying direction and limiting the piece goods 4 in the transverse direction are attached to the support arms as limiting means 44 for laterally limiting the piece goods 4.

[0055] Centering discs 45 are also releasably and force-fitted to the shaft 5, so that after the force-fit fastening is released, they can be moved axially, i.e., in the shaft axis direction, and thus adjusted to individual properties, in particular to the desired axial position of the skid edge 41 of the piece goods 4, in particular the pallet. The conical design of the centering discs 45 enables automatic centering of the piece goods 4 on the conical outer surfaces of the centering discs 45.

[0056] The electric motor 42 is designed as a geared motor and drives a sprocket that is non-rotatably connected to the output shaft of the geared motor, thus driving the chain 2 provided as a transport means. A further sprocket spaced transversely and the further chain 2 meshing with it are driven via the shaft 5 that is non-rotatably connected to the output shaft.

[0057] The distance between the two chains 2 in the transverse direction is smaller than the width of the piece goods 4 and than the width of the vehicle in the transverse direction.

[0058] As in Fig. As shown in Figure 5, the vehicle 1 travels under the chain conveyor with the lifting gear extended, so that the picked-up piece goods 4 are arranged above the chains 2 of the chain conveyor. Entry into the area of ​​the chain conveyor occurs at a higher transport speed than that of the chain conveyor and is then reduced to a value essentially corresponding to the transport speed.

[0059] The lifting gear is then lowered and the piece goods 4 are placed on the chains 2. As in Fig. 6, the vehicle 1 is thus able to drive under the shaft 5 and / or the adjacent converters 3 when the lifting gear is retracted.

[0060] As in Fig. As shown in Figure 7, the lifting gear is retracted before entering the area of ​​the additional chain conveyor. Thus, the vehicle 1 is able to pass under the shaft 5 along with the centering discs 45 provided thereon. After retraction, the speed of the vehicle is reduced to the transport speed of the piece goods 4, i.e., the chain speed of the additional chain conveyor, as shown in Fig. 8 shown.

[0061] As in Fig. As shown in Figure 9, the piece goods 4 are picked up by extending the lifting gear of the vehicle 1 and then the vehicle is driven out of the area of ​​the further chain conveyor.

[0062] During further travel, the lifting gear can be retracted or extended as required, thus allowing the height of the piece goods 4 to be adjusted to the respective requirements.

[0063] In a further embodiment according to the invention, in order to synchronize the speed, a value corresponding to the transport speed of the stationary means of transport is transmitted to the vehicle 1 via a data transmission channel and the speed value detected on the vehicle 1 is adjusted by the control system there to the transmitted value by controlling the drive of the vehicle 1 accordingly. List of reference symbols 1 vehicle, especially transport vehicle 2 chain 3 Implementation means 4 General cargo, especially pallets 5 Wave 6 Sensor, especially light barrier 7 Sensor, especially light barrier 8 transponders 9 transponders 10 safety switches 20 roller conveyor curve section 40 Centering devices with inclined surface 41 Skid edge of the general cargo 4 42 electric motor 43 Supporting element with cantilevered support arm 44 Limiting devices, in particular for lateral limitation of the general cargo 4 45 conical centering discs

Claims

[1] Logistics system with a mobile conveyor and a stationary conveyor, in particular wherein the stationary conveying means comprises at least one transport means, in particular a chain (2), characterized by , that the mobile conveying means has a lifting mechanism which is provided for receiving a piece of goods (4), wherein the stationary conveying means can be driven under by the mobile conveying means when the hoist is retracted, in particular can be driven under continuously, in particular wherein the stationary conveying means cannot be driven under continuously by the mobile conveying means when the hoist is extended, wherein the piece goods (4) picked up by the lifting gear can be placed on the means of transport when the lifting gear is retracted, wherein a further piece goods (4) picked up by a further transport means of the stationary conveyor can be picked up by the lifting gear when it is extended, wherein the stationary conveying means comprises limiting means (44) for limiting the piece goods picked up by the conveying means in the transverse direction, wherein a centering means (40) with an inclined surface is arranged on the lifting mechanism. [2] Logistics system according to claim 1, characterized by that two centering means (40) are arranged on the lifting mechanism, which are spaced apart from one another in the transverse direction to the conveying direction and each have an inclined surface, wherein the inclined surfaces are arranged mirror-symmetrically to one another. [3] Logistics system according to at least one of the preceding claims, characterized by that the transverse direction is the normal direction of the mirror plane. [4] Logistics system according to at least one of the preceding claims, characterized by , that the transport means is driven by an electric motor (42), in particular wherein a shaft (5) connected to two chain wheels in a rotationally fixed manner is drivable by the electric motor (42) and the chain wheels each drive a chain (2) as a transport means, in particular wherein centering discs (45) for centering the piece goods (4) are connected to the shaft (5) in a rotationally fixed manner. [5] Logistics system according to at least one of the preceding claims, characterized by that the stationary conveying means has a free space through which the vehicle (1) can pass with the lifting gear of the vehicle (1) extended and a shaft (5) driven by an electric motor (42) delimits the free space in or against the conveying direction. [6] Logistics system according to at least one of the preceding claims, characterized by that the transport means of the stationary conveyor are mounted on support arms of support elements (43) projecting towards the conveyor line. [7] Logistics system according to at least one of the preceding claims, characterized by , that the vehicle (1) is wider in the transverse direction than the extent of the means of transport in the transverse direction and / or than the extent of the piece goods (4) in the transverse direction. [8] Logistics system according to at least one of the preceding claims, characterized by , that a sensor (6, 7) for detecting an edge of the piece goods (4) is arranged on the mobile conveyor and / or a sensor (6, 7) for detecting the vehicle (1) is arranged on the stationary conveyor and / or a sensor (6, 7) for detecting a piece of goods (4) is arranged on the stationary conveyor and / or one or more transponders (8, 9) are arranged on the ground, in particular for detecting a position. [9] Method for operating a logistics system, in particular according to at least one of the preceding claims, characterized by , that in a first method step, a mobile conveyor with the lifting gear extended moves into the area of a stationary conveyor, with a piece of goods (4) being picked up on the lifting gear, after which the speed of the mobile conveying means, i.e. vehicle (1), is reduced to the speed of a means of transport of the stationary conveying means, in a subsequent process step, the lifting gear is retracted, whereby the piece goods (4) are placed on the transport means of the stationary conveyor, In a subsequent process step, the mobile conveyor moves under the stationary conveyor. [10] Method according to claim 9, characterized by , that In a subsequent process step, the mobile conveyor passes under the stationary conveyor with the hoist retracted, in particular according to which the speed of the mobile conveying means, i.e. vehicle (1), is reduced to the speed of another means of transport of the stationary conveying means, In a subsequent process step, the lifting gear is extended, whereby the piece goods (4) sitting on the further means of transport are picked up, In a subsequent process step, the mobile conveyor moves out of the area of the stationary conveyor. [11] Method according to claim 9 or 10, characterized bythat the edge of a piece of goods (4) picked up on the stationary conveyor, in particular the edge of the pallet picked up on the stationary conveyor, is detected by means of a sensor (6, 7) arranged on the mobile conveyor and then the speed of the mobile transport means is reduced to the speed of the further transport means. [12] Method according to one of claims 9 to 11, characterized by that one or more stationary transponders (8, 9) are read by a reading device of the mobile conveyor and the read information is fed to a control of the mobile vehicle (1).

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