Driverless transport system with passive transfer station for the exchange and static provision of transport goods

Abstract

Intralogistics system (10) for the static provision of transport goods (12) with: a driverless transport vehicle, AGV, (20); a transfer station (24) for the static provision of at least one of the transport goods (12) on a storage area (28) of the transfer station (24); and a controller (48); wherein the AGV (20) has a load-handling device, LAM, (34) which defines a transport surface (38) on which the at least one of the transported goods (12) rests during a transport journey, on an upper side of the AGV (20), wherein the LAM (34) has a first finger link (42) and a second finger link (44) along a direction of travel (31) of the AGV (20), each of which is switchable between a raised position and a lowered position; wherein the transfer station (24) is arranged to buffer at least two of the transport goods (12) one after the other on a corresponding plurality of parking spaces (30) on the parking area (28); wherein the transfer station (24) comprises a multi-lane transfer conveyor (26) defining the storage area (28); wherein the transfer conveyor (26) and the LAM (34) are configured to interchange each of the transport goods (12) to be provided in a meshing manner with one another by the AGV (20) passing through the transfer station (24); wherein the control (48) is arranged to switch each of the finger members (42, 44) between the positions as a function of a passage depth (DT) during a passage of the AGV (20) through the transfer station (24); and wherein each of the finger members (42, 44) projects beyond the storage surface (28) and the transport surface (38) in the respective raised position and is positioned below the storage surface (38) in the respective lowered position.

Description

The present disclosure relates generally to an intralogistics system for handling transported goods and in particular for the static provision of at least one of the transported goods, such as (standardized) storage containers, having: a rodless transport vehicle (FTF); a (passively operated) transfer station for the static provision of at least one of the transported goods on a (planar) storage area of the transfer station (in the production logistics); and a controller.DE 20 2018 101 313 U1 (SSI Schafer) shows various loading and unloading stations which are operated with FTFs and which each have a load-receiving means on their upper side, which is formed from elongate webs or (support) slats arranged parallel to the direction of travel, which webs are spaced apart from one another horizontally perpendicularly to the direction of travel and which together define with their upper sides a planar (i.e. flat, planar, straight and non-curved) transport plane or transport surface on which transport goods rest or are seated during transport. The webs are comb- or lamella-like in design in order to pick up and / or discharge the transport goods in a combing manner. The picking up and dispensing is preferably carried out passively, in particular inertia-based, in that the FTF passes, in particular in a combing manner, through rigidly arranged picking up or dispensing members of a loading station (pick-up) or of an unloading station (dispensing), wherein the members of the stations are arranged correspondingly in a comb-like manner, so that the members and the webs do not collide with one another during a passage. The webs have fingers at their upstream or downstream ends in the direction of travel for the purpose of receiving or dispensing, which fingers serve as drivers (cf. there FIGS. 5 and 6 ), slides (cf. there FIG. 14 ) or stops (cf. there FIG. 10 ). The fingers project vertically perpendicularly from the transport plane and are fixed immovably at the corresponding ends of the webs.DE 10 2014 111 396 A1 (SSI Schafer) discloses types of FTF of different heights, whose load-receiving-means-forming, lamellar or comb-like webs have rigid fingers protruding vertically from the transport surface at their downstream and / or upstream ends. The fingers can also be configured to be movable by being retractable and extendable in a height direction. Furthermore, an unloading station and a loading station (cf. there FIG. 9 ) with so-called "spaghetti conveyors" (cf. there FIG. 8A ) are used. The spaghetti conveyors have driven individual conveyors which are spaced apart perpendicularly to the direction of travel and are oriented parallel to the direction of travel in order to mesh with the webs of the FTF during passage of the FTF. The webs or slats can alternatively also be formed in the manner of brushes by bristles (cf. FIG. 8B there), which are elastically deformable, so that they are pressed down by the spaghetti conveyor during the passage of the FTF through the stations, and which are so hard that the goods are kept at a minimum distance to the top side of the vehicle during transport.Since the spaghetti conveyor is actively driven, it is difficult to construct the individual conveyors narrow. The drive requires space. The freely cantilevered suspension is made more difficult because the drive is present. The spaghetti conveyor must be monitored by external sensors to synchronize cargo delivery and pick-up with the FTF. The control effort during a transport goods exchange is considerable if the spaghetti conveyor is not operated permanently, which would be disadvantageous in terms of energy.In general, when the transported goods are exchanged in a intermeshing manner between the FTF and a transfer conveyor, the FTFs pass through the transfer conveyor (pass through) and thus under a longitudinally adjoining main conveying technique. These FTFs must also again emerge under the main conveying technique. For this purpose, space is required when planning the FTF routes, which cannot be used differently. The freedom of planning of a layout is limited by this, which is undesirable. In addition, the main conveying technology must be positioned higher than usual, which can make retrofitting inventory installations difficult. The FTF could also be made lower. In this case, however, a more complex supporting structure would be required for driving under the main conveying technology.U.S. Pat. No. 4,508,484 A (Inventory AG) shows a loading and unloading station which is traversed by an FTF in a combing manner (cf. FIGS. 1-4 there). The station has a frame (not shown) with an integrated chain conveyor, the conveyor chains of which are arranged laterally with respect to the FTF passing through and which is driven by racks which are arranged on an upper side of a housing of the FTF below webs. During travel, i.e. when discharging from left to right, the gear racks engage with a drive pinion of the chain conveyor, which can be coupled to the two lateral conveyor chains K via a coupling (not shown) and a transfer drive (not shown). The chain conveyor has on the input side an ascending (ramp) section which merges into a (horizontal) section where the transport goods are separated from the FTF. Thereafter, the transport goods can be transferred from the chain conveyor to a driven continuous conveyor arranged downstream, in that the chain conveyor is driven by a motor (not shown).Although in this solution external sensors are dispensed with at the top, which bring about a synchronization of the movements of the FTF and of the transfer conveyor during the transport goods exchange, the transmitting drive is disadvantageous. The FTF and the transfer conveyor come into mechanical contact for the transfer, which requires exact alignment and results in increased wear. Smaller height differences between the racks on the FTF and the drive pinions of the transfer conveyor may result in mechanical blockage if the racks are positioned too high or failure of the drive of the transfer conveyor if the racks are positioned too low. The racks arranged on the left and right of the FTFs must be positioned exactly with respect to each other in the longitudinal direction of the FTF in order to operate the left and right conveyor chains of the transfer conveyor synchronously. The mechanical overdrive thus imposes high requirements on the positioning accuracy, which are difficult to meet in practical practice.JP S61-50 853 B2 (SHINKO ELECTRIC CO LTD) discloses in its Figs. 1-4 a transfer station which couples on one side to an FTS and on the other side to a driven roller conveyor. A transport platform (load-receiving means) of the FTF provided on the top side is equipped with two vertically retractable push shields, which can be activated individually. The transport platform meshingly interacts with the transfer station, which has a ramped input / output section and a horizontal buffer section and which is constructed in two lanes from freely rotating rollers. The horizontal portion couples to the driven roller conveyor. When the transport goods are delivered to the roller conveyor, the rear push plate pushes the transport goods resting on the platform first onto the ascending section and subsequently onto the horizontal section, while the FTF moves into the transfer station, whereby the transport goods are separated from the platform. Subsequently, the FTF (with the push shield raised or lowered) moves back out of the transfer station again, so that the delivery is ended (cf. FIG. 4 there). When picked up, the transport goods are conveyed by the roller conveyor onto the non-driven horizontal section of the transfer station, so that the FTF can travel under the transport goods (with lowered push shields) available there, in that the FTF with lowered shields travels into the station. The front push plate (during retraction) is then extended in order to withdraw the transport goods from the horizontal section, while the FTF extends back out of the transfer station again. During this, the transport goods are pulled from the horizontal section into the inclined section and from there onto the FTF platform (cf. FIG. 3 therein). In this solution, the transfer station consisting of two sections is very long in the direction of travel, so that much space is lost. During a transfer of a transport goods item (delivery or pick-up), the FTF must travel forward and backward and can carry out either a delivery or a pick-up during this. The FTF cannot accept and deliver during the same drive cycle. This reduces the throughput (number of transfers / unit time).US 11 148 890 B2 relates, according to its title, to mobile carriers for use in systems and to a method for processing objects, including mobile matrix carrier systems.DE 10 2015 114 370 A1 relates according to its title to a sensorless transport system in a storage and picking system.In principle, there is a need in intralogistics, in particular in production logistics, to provide and pick up transported goods with a high throughput. For example, machines which process and / or produce semi-finished products (primary materials, prefabricated raw materials, semi-finished workpieces, blanks, semi-finished products, primary products, intermediate products, etc.) or end products in an automated manner must constantly be supplied with empty (standardized with respect to a dimension) transport containers or cartons, into which the products are placed and transported to other logistics points (next processing station, store, shipping, goods exit, etc.). Also, such machines must be supplied with material which is also provided in transport containers or cartons. The transport containers remain at the machines for a certain period of time (at locations defined precisely in advance), i.e. they are provided statically. The transport itself is preferably carried out by using a suspension system (FTS) with one or more suspension vehicles (FTF). The transport container change time should be as short as possible. During the change-over time, the machine is either not supplied with material or cannot output and discharge products.It is therefore an object of the present disclosure to provide an intralogistics system and a method for the static provision of at least one item to be transported which at least partially overcome the above-mentioned disadvantages.This object is achieved by an intralogistics system according to claim 1.The transfer station is short in the direction of travel of the FTF. A ramp-shaped input section is not required. The transfer station can be traversed completely by the FTF even when the finger members are in their elevated positions, which enables the delivery and reception of a respective item of transport during one and the same passage of the FTF.The FTF does not have to travel back and forth in order to discharge or pick up a transport goods. The (driving) control is thereby facilitated.Throughput is increased because less time is required for replacement.The intralogistics system is particularly suitable for use in production logistics, where the transported goods are to be provided statically.Each of the finger members projects in the respective elevated position (vertically) beyond the storage surface and the transport surface and is positioned below the storage surface in the respective lowered position.This makes it possible to push transport goods located on the FTF onto the transfer station and to remove transport goods located on the transfer station by means of the finger members. In addition, transport goods can also be passed under on the transfer station without pushing or pulling them.The parking spaces are preferably spaced apart from one another in the direction of travel of the FTF.This measure enables the finger members to be movable between the transported goods located on the transfer station without undesirably repositioning these transported goods. Transported goods to be picked up can thus be selected.In particular, the FTF travels without directional changes through the entire transfer station.In this way, a first of the transported goods can be delivered to the transfer station and a second of the transported goods can be picked up by the transfer station during the same passage. Throughput is increased while vehicle control remains simple.Preferably, each of the transport goods is standardized with regard to its width, and in particular also with regard to its length.This measure allows the intermeshing exchange between the FTF and the transfer station.Preferably, at least the first finger member is in its raised position when entering the transfer station, while the passage is in its lowered position as a function of a first passage depth and is then switched back into the raised position as a function of a second passage depth, wherein the first passage depth is smaller than the second passage depth.This measure enables the delivery of a first item to be transported and the reception of a further item to be transported during the same journey using only a single FTF, which increases the throughput. The time in which the first storage place is unoccupied, i.e. in which no transport goods are available there, is practically zero, which cannot be achieved with two separate FTFs for the pick-up and discharge.In particular, the depositing surface is defined by points located at the highest position of the multi-track transfer conveyor. The placement surface is arranged higher than the support surface.These measures also support the intermeshing exchange between the LAM and the transfer station.Preferably, the system comprises a sensor for determining a current position of the FTF, particularly during passage through the transfer station, wherein: the controller is electronic; the controller communicates with the sensor; the controller is configured to determine a depth of passage of the FTF; and the controller is configured to generate signals based on the depth of passage that cause the finger members to be moved to their raised position and to their lowered position.The object is furthermore achieved by a method for the static provision of transported goods according to claim 9.The method enables the advantages already described above.It is understood that the features of the present disclosure mentioned above and those still to be explained below can be used not only in the respectively specified combination but also in other combinations or alone without departing from the scope of the claimed invention.Further features and advantages of the invention will become apparent from the following description of preferred exemplary embodiments with reference to the drawings. The following are shown: FIG. 1 is a block diagram of an intralogistic system; FIG. 2 is a block diagram of an FTF; FIG. 3 shows a sequence of an exchange of a transport goods between an FTF and a transfer station; FIG. 4 is a side view of a transfer station; FIG. 5 is a rear view of the transfer station of FIG. 5 ; FIG. 6 shows a detailed view of FIG. 4 ; FIG. 7 shows a flow diagram of a method for statically providing at least one transport good; FIG. 8 shows a side view of a further transfer station for providing a plurality of transport goods; FIG. 9 shows a sequence of an exchange of a plurality of separated transport goods between an FTF and a transfer station; FIG. 10 shows a sequence of an exchange of one transport goods each on two transfer stations with two transport goods conveyed separately on an FTF; and FIG. 11 shows a sequence of an exchange of spaced-apart transport goods on a transfer station with an FTF, which conveys a plurality of separated transport goods.The invention is used, for example, in an intralogistic system 10 of FIG. 1. The system 10 may be a storage and picking system (not shown, such as a distribution facility), a production system or the like, where transported goods 12 are transported between a storage facility (not shown) and a work station 14 (not shown, such as a picking station, machine work station, packing station, etc.) or between the work station 14 and the storage facility or a shipment (material flow). The system 10 can also be used in production, where one or more workstations 14 are to be supplied with material and where empty transport containers 16, waste and / or finished (intermediate) products are to be collected and then optionally also stored again. As is customary in (intra)methylation, a longitudinal direction is referred to below as "X", a transverse direction as "Z" and a height direction as "Y". The directions X, Y and Z preferably define a Cartesian coordinate system.A (transport) "good" is understood below to mean, for example, a transport unit which is to be transported within the intralogistic system 10 from a starting point (source) to a destination point (sink). The article, which is also referred to as transport goods 12, can comprise a (storage) loading aid, such as a transport container 16, and optionally products (not shown) stored therein. The article 12 may also be a carton 18 (with or without products therein).As (storage) loading tools, e.g. pallets, grid boxes, containers, containers, cartons, shelves, (suspended conveyor) pockets and the like can be used. A "product" can be a single piece good or a coherent group of prefabricated (sometimes also different) piece goods, which is then also referred to as a packaging unit (VPE) or package. Products are (smallest) units of a product location that can be distinguished by a product type. Piece goods are individualized, distinguishable products which can be handled individually.The transport goods 12 can be standardized or unified with regard to their dimensions, in particular with regard to their base area. The containers 16 can be euronorm containers, for example, whose dimensions are standardized according to EN specifications (e.g. VDA standard 4500), which define, for example, how they must be designed to be suitable for specific functions (e.g. stacking, nesting, etc.). Dimensions (e.g., footprint of: 300 x 200 mm, 400 x 300 mm, 600 x 400 mm, 800 x 600 mm, etc., and height of: 70, 120, 170, 180, 220, 270, 320, 420 mm, etc.) and a construction of the containers 16 may be uniquely (and uniformly) fixed. The dimensions of the base area are in particular dependent on the base area of a Europallet (1200 x 800 mm), so that a plurality of transport goods form a layer of the Europallet. However, the containers 16 could be made of different materials. In particular, plastic containers are used which are suitable for storage in automated stores (e.g. AKL).One or more Sensorless Transport Vehicles (FTF) 20 are part of a Sensorless Transport System (FTS) 22.The FTF 20 is an automated, preferably force-guided, vehicle that performs transportation tasks in the system 10 quickly, inexpensively, and scalable. The FTF 20 may operate fully autonomously by determining its path through the system 10 independently and finding it without forced guidance (and guidance control). In particular, the FTF 20 can be a "WEASEL" (registered trademark of SSI Schäfer). The FTF 20 includes a intermeshing load bearing means, LAM, which is discussed in more detail below.The FTF 20 is an intermittent conveyor and preferably moves along a predefined transport network (not shown), which may be formed, for example, by lines that may be glued or painted on a floor of a building and connect the waypoints of the network together. Alternatively, discrete (grid) points can also be used as path points for navigation, which can be connected to one another via virtual lines. Along this transport network, e.g. RFID markers can be provided as an implementation of path points. A line between two adjacent waypoints is referred to below as a (conveying or transport) route. It will be appreciated that the routes may be implemented in the form of virtual connection lines, for example, when an internal GPS or laser navigation system is employed. The same applies analogously to the waypoints.The system 10 includes one or more transfer stations 24 in addition to the at least one FTF 20.Each of the transfer stations 24 preferably has exclusively a (single) multi-track transfer conveyor 26 defining a storage surface 28. Each of the transfer stations 24 has a frame 27, which can also be part of the transfer conveyor 26. The transfer conveyor 26 has at least two (outer) tracks. The transfer conveyor 26 is preferably not driven. The transfer conveyor 26 may be oriented parallel to a floor 52 (see FIG. 4 ) on which the system 10 is erected, wherein the transfer conveyor 26 is preferably oriented horizontally.Each of the transfer stations 24 is preferably operated passively, i.e. the stations do not have their own drive for moving the transported goods 12, and is configured for the static provision of at least one of the transported goods 16 on the (in particular planar) storage area 26. This means in particular that a plurality of the transported goods 12, when the FTF 20 passes through the transfer station 24, can be provided statically one behind the other on a corresponding number of storage locations 30 along a direction of travel 31 (cf. FIG. 3 ). The term "statically provided" means that the transport goods 12 remain stationary at a location defined in a fixed manner in advance for a certain time without being moved.Each of the transfer stations 24 is configured to buffer at least two of the transport goods 12 one behind the other on a corresponding plurality of storage locations 30, which are a component of the storage area 28. The goods to be transported 12 can be buffered at a distance from one another in the direction of travel 32, in order to enable finger members of the FTF LAM to engage, as will be explained below.It is understood that the system 10 may include other components, not shown, which are discussed in greater detail below.FIG. 2 illustrates a block diagram of the FTF 20. The following explanations apply to each of the FTFs 20 in the system 10 of FIG. 1.The FTF 20 may include a housing 32. The FTF 20 has a load-receiving means, LAM, 34. The LAM 34 is provided on an upper side of the FTF 20 to support and transport the goods 12 resting thereon.The LAM 34 may be formed from a plurality of webs or slats 36, for example, as described at the beginning. The webs 36 are oriented parallel to the longitudinal direction of the FTF 16, and thus parallel to the direction of travel of the FTF 20, and are spaced apart from one another in the transverse direction Z. The webs 36 project upwards, along the Y direction, and define free spaces between them, into which the transfer conveyor 26 (not shown) of the transfer stations 24 can enter in a combing manner, while the FTF 20 enters or exits the transfer station 24 parallel to the X direction or passes through the (entire) transfer station 24. The upper sides of the webs 36 together define a planar transport surface 38 on which the transport goods 12 rest during a journey with the FTF 20.The LAM 34 further includes (switchable) finger members 40, each of which is switchable between a raised position and a lowered position. Two of the finger members 40 are preferably provided in end portions of the ridges 32 (located in the longitudinal direction 31 of the FTF 20). For example, a first (upstream, rearward) finger member 42 in the direction of travel of the FTF 20 and a second (downstream, forward) finger member 44 in the direction of travel of the FTF 20 are shown in FIG. 2. Further finger members 46 may be provided, which may be provided at predetermined intervals between the first and second finger members 42 and 44 (outer in the longitudinal direction). The finger members 40 may be spaced apart from each other in the longitudinal direction of the FTF 20 such that one (or more standardized) goods 12 can be arranged with a clearance therebetween. The play, i.e. the difference in length between each clear distance of the fingers, which can define a transport(length) region, and the intended transport goods length, can be at least so large that, taking into account the travel positioning accuracy of the FTF and the length tolerance of the transport goods, the replacement process described below can take place reliably without the finger members 40, which are switched from a lowered position to an elevated position, unintentionally colliding with the transport goods 12.FIG. 3 schematically illustrates the system 10 of FIG. 1 during an exchange of, by way of example, a transport item 12 between the FTF 20 and the transfer station 24. Other types of goods 12 could also be used. It is understood that more than one container 16 could also be (simultaneously) exchanged.An exchange is generally understood to mean a delivery of at least one of the transported goods 12 from the FTF 20 to the transfer station 24 or a reception of at least one of the transported goods 12 by the FTF 20 from the transfer station 24. In particular, an exchange comprises both the delivery and the receptacle-i.e. the delivery and the receptacle-of at least one transport goods 12, in particular during a passage of the FTF 20 through the (entire) transfer station 24.FIG. 3 shows a time sequence of an exchange (dispensing and receiving) of, by way of example, a container 16 between the FTF 20 and the transfer station 24 in the form of, by way of example, five snapshot (FIGS. 3A-3E ). In FIG. 3, the replacement comprises the dispensing of a first container 16- 1 and the receiving of a second container 16- 2, while the FTF 20 travels (linearly) in the direction of travel 31 (here parallel to the longitudinal direction X of the system 10) through the entire transfer station 24. It is understood that the container 16 could also be dispensed only or could only be received.The first container 16- 1 may be empty and the second container 16- 2 may be filled when the (stationary) transfer station 24 is positioned in close proximity to, e.g., a production machine (not shown) that dispenses (generated or processed) products into the statically provided container 16- 2. Once this container 16-2 is filled with a predetermined number of products or full, it must be replaced as quickly as possible and replaced by the empty container 16-1 in order to avoid stoppage of the machine.Alternatively, the transfer station 24 could be positioned, for example, in the region of a picking station (not shown), where a human or a robot delivers predetermined products (from storage containers not shown here) according to picking orders into the (order) container 16- 2, which is then exchanged for the new (order) container 16- 1 as soon as the container 16- 2 is full or the order has been processed.It is understood that alternatively the first container 16- 1 could also be full and the second container 16- 2 could then be empty, wherein the products are removed from the containers 16 instead of being dispensed at the location of the transfer station 24, which applies incidentally independently of the application (production, picking, etc.).During the exchange, the FTF 20 in particular does not move forward and back or into and out of the station 24, so that the FTF 20 moves through the station 24 without any directional changes.FIG. 3A shows an initial situation of a (simple) container exchange. The first (empty) container 16-1 rests on the LAM 34 of the FTF 20 and is to be discharged from the FTF 20 to the transfer station 24. The second (full) container 16- 2 stands on a first storage place 30- 1, where the products are placed in the second container 16- 2. The FTF 20 travels in the direction of travel 21 (linearly) along the longitudinal direction X to the transfer station 24, of which only the transfer conveyor 26 is illustrated in FIG. 3. In FIG. 3A, the finger members 40, here the first and second finger members 42 and 44, are both in their respectively elevated position, in which the finger members 40 project (vertically) beyond the transport surface 38 and the storage surface 28. In the lowered position (not shown in FIG. 3A ), finger members 40 are positioned below the transport surface 38.It will be appreciated that it would be sufficient if only the rear first finger member 42 were in its raised position to prevent the container 16-1 from slipping off during travel.It is also understood that generally a plurality of first and / or second finger members could be arranged distributed over the width of the LAM 34 in the transverse direction Z, i.e. perpendicular to the drawing plane of FIG. 3. Preferably, the same number of finger members 40 are distributed over a LAM width as webs 36 are provided. Fewer finger members 40 may also be provided across the LAM width.It is particularly preferred to provide two finger members 40 in or on the outermost webs 36 of the LAM 34, which can prevent the item of transport 12 from twisting during the replacement.In FIG. 3B, the FTF 20 has been moved (overlapping) into the transfer station 24. The forward second finger member 44 is in its raised position and therefore slides the second container 16-2 from the first storage location 30-1. Simultaneously, the rear first finger member 42 pushes the first container 16- 1 onto the first storage location 30- 1. These movements are continued until the first container 16- 1 is completely pushed onto the first storage place 30- 1, as is shown in FIG. 3C.In FIG. 3C, the first container 16- 1 stands on the first storage location 30- 1 and the second container 16- 2 stands on the second storage location 30- 2. The parking spaces 30- 1 and 30- 2 are spaced apart by at least a thickness (in the X direction) of the second finger member 44 along the travel direction 31. The FTF 20 is in the position of a passage depth DT 1 in FIG. 3C. The passage depth DT 1 is defined in that the FTF 20 is moved into the transfer station 24 to such an extent that the first container 16- 1 is located on the first storage location 30- 1. When the FTF 20 has reached the depth of passage DT 1, the FTF 20 preferably stops momentarily to move the first finger member 42 and the second finger member 44 to their respective lowered positions, as also shown in FIG. 3C.Subsequently, the FTF 20 is moved further in the direction of travel 31 with the finger members 42 and 44 lowered until it has reached the passage depth DT 2, as shown in FIG. 3D. The depth of passage DT 2 is defined by the first finger member 42 being movable into a space between the containers 16 without repositioning the first container 16- 1. This means that the first container 16- 1 remains on the first storage place 30- 1 when the first finger member 42 is moved back into its raised position. For this purpose, the FTF 20 can preferably stop briefly. At this time, the first and second finger members 42 and 44 may be moved back to their respective elevated positions. It is not absolutely necessary for the second finger member 44 to also be moved into its elevated position.The FTF 20 then continues to travel in the direction of travel 31 through the transfer station 24 until the transfer station 24 has been fully traversed. In this case, the first finger member 42 pulls the second container 16- 2 from the second storage location 30- 2 onto the (lower-lying) LAM 34. The FTF 20 receives the second container 16- 2. This situation is shown in FIG. 3E. The FTF 20 has reached the maximum passage depth OT gesamt as soon as the second container 16- 2 is completely standing on the FTF 20. In FIG. 3E, the FTF 20 has even already traveled slightly beyond the maximum passage depth DT gesamt. In this state, the second container 16-2 has been completely received by the FTF 20. This means that the second container 16- 2 stands exclusively on the FTF 20. The second parking space 30- 2 is empty or unoccupied in this case. The second container 16- 2 can thus be exchanged for the first container 16- 1 by the FTF 20 (combing) traversing the entire transfer station 24 (traversing) without any changes of direction, i.e. without traversing to and fro.The passage depth DT specifies how far the FTF 20 has already passed through the transfer station 24. The passage depth DT can be measured, for example, with respect to the location of the foremost (here second) finger member 40. During passage, the LAM 34 and the transfer conveyor 26 at least partially overlap.It can be seen from FIG. 3D that the second container 16- 2 protrudes slightly beyond the transfer conveyor 26 when it is located on the second storage location 30- 2. It is understood that the transfer conveyor 26 could also be configured to be longer, so that the second container 16- 2 is supported, e.g. completely, i.e. over its entire length (in the X direction) by the transfer conveyor 26 from below. This depends, inter alia, on the (expected) mass distribution within the second container 16- 2.Although it is shown in FIG. 3 that the second container 16- 2 is exchanged for the first container 16- 1, it is also possible either to discharge only the first container 16- 1 to the transfer station 24 (in this case completely empty) or to receive only the second container 16- 2 from the transfer station 24, wherein the FTF 20 in the latter case enters the transfer station 24 empty.In principle, it is also possible to exchange several containers 16 (simultaneously) during the passage of the FTF 20 through the transfer station 24. In order to exchange two containers 16 simultaneously, for example, the FTF 20 and the transfer station 24 (in the X direction) would have to be designed to be correspondingly long. In this case, the FTF 20 would have to be configured to transport at least three containers 16 simultaneously, whereas the transfer station 24 would have to be configured to buffer at least four containers 16 simultaneously. The LAM 34 of the FTF 20 would have to have at least one additional (middle) finger member 46 (see FIG. 2 ) in addition to the first and second finger members 42 and 44. In this particular case, an additional finger member 46 would be sufficient to be disposed between the first finger member 42 and the second finger member 44 such that three containers 16 can be transported (spaced apart) on the LMA 34.In general, for the exchange of N containers 16, the transfer station 24 has at least 2N storage spaces 30. In this case, the LAM 34 can be configured to transport at least 2N-1 containers 16 simultaneously, wherein a total of 2N finger members 40 would also have to be provided. These finger members 40 would in turn be to be switched between their raised and lowered positions (back and forth) depending on the depth of passage DT.The switching over of the finger members 40 thus takes place as a function of the passage depth DT, as explained above. The switching is generally effected by a controller 48. The controller 48 is a component of the system 10, see FIG. 1.When the controller 48 is mechanically implemented, slotted guides (e.g. guide rails) may be used, which are mounted on the floor 52 and / or on the frame 27 along the transfer station 24 and which cooperate with, e.g. cams (not shown) with which the FTF 20 is provided. These cams may be coupled to the finger members 40 and may be moved by the cam followers depending on the depth of passage DT, wherein movement of the cams results in corresponding movement of the finger members 40.When the controller 48 is electronically implemented, the (current) position of the FTF 20 may be detected with a suitable sensor (not illustrated), in particular to determine the depth of passage DT of the FTF 20. From the transit depth DT thus determined, the controller 48 may generate signals that cause the finger members 40 to be moved to the raised position or the lowered position. The finger members 40 may be provided with drives (not shown, e.g., electric motors) to reciprocate between the positions.The (electronic) controller 48 may be provided (as a stand-alone unit) within the FTF 20. Alternatively or additionally, the (electronic) controller 48 can be a component of a higher-order controller (for example a material flow computer) of the system 10, wherein in this case the FTF 20 and the higher-order controller can communicate (wired and / or wireless) with one another.FIGS. 4 to 6 serve to explain the intermeshing exchange of transport goods 12 between the FTF 20 and the transfer station 24. Figure 4 shows a schematic side view of a combative replacement. FIG. 5 shows a schematic rear view. FIG. 6 shows a detailed view of the height ratios.For the sake of simplifying the explanation, a transfer station 24 is shown in the side view of FIG. 4, the transfer conveyor 26 of which is formed by way of example from three rollers 50- 1 to 50- 3, which are mounted in a free-wheeling manner (i.e. without drive) in a frame 27 which is fastened to the floor 52. The first roller 50- 1 in the direction of travel 31 may protrude beyond the frame 27 in the negative X direction. The last roller 50- 3 in the direction of travel 31 can project beyond the frame 27 in the positive X direction. All three rollers 50 are arranged at a height H relative to the floor 52 such that their highest points HP (see FIG. 6 ) define the planar storage surface 28 on the transfer station 24.FIG. 5 shows a rear view of the third FTF 20- 3 of FIG. 4 after the FTF 20- 3 has picked up the transport goods 12 from the transfer station 24. The upper side of the webs 36 is lower than the highest points HP of the rollers 50. The roller 50 shown on the left in FIG. 5 represents a first track of the transfer conveyor 26; the roller 50 shown on the right in FIG. 5 represents a second track of the transfer conveyor 26; the transfer conveyor 26 of FIG. 5 is therefore embodied in two tracks. These two tracks are located outside the (in the Z direction) outermost lands 36 forming the LAM 34 in the transverse direction Z.FIG. 5 also illustrates that the goods to be transported 12 must have a certain width in the Z direction in order to be deposited on the tracks of the transfer conveyor 26.The number of transported goods 12 to be exchanged simultaneously influences the length of the LAM 34 and of the storage place or places 30 in the longitudinal direction X. It is thus recommended to use transported goods 12 which have certain minimum dimensions with respect to a base area or a floor, which can in turn be ensured, for example, by standardized containers 16. The height of the transport goods 12 is of minor importance.FIG. 6 illustrates the height relationships between the webs 36, the transfer conveyor 26 and the finger members 40. the upper side of the webs 36 of the LAM 34 defines the transport surface 38. The highest points HP in the cross-sectional view of the (exemplary) rollers 50 define the depositing surface 28.Axes of rotation D of the rollers 50 can lie at an (identical) height H 1, wherein H 2>H 1 applies. This in turn means that a lower front edge of the transport goods 12 abuts an upper half of the foremost roller 50- 1 during delivery, which is illustrated by a contact point KPin FIG. 6, while the FTF 20 enters the transfer station 24. The slope (tangent) at the contact point KP is greater than 0°. The height H2 (and thus the relative height of the webs 36) should also be selected such that H1<H2<H3. The height H 3 corresponds to the height of the placement surface 28.The height H 4 of the finger members 40 should project beyond the placement surface 28 (vertically), so that H 4>H 3 applies.It is understood that the transfer conveyor 26 does not have to be formed from rollers 50. For example, instead of the freely rotatably mounted rollers 50, sliding surface elements 54 can also be used, which are likewise indicated in FIG. 6. Instead of the first roller 50- 1, a first (wedge-shaped) sliding surface element 54- 1 can be used, the pitch of which can be selected analogously to the roller 50- 1. Instead of the further rollers 50- 2 to 50- 3, one or more further (spaced apart) sliding surface elements 54- 2 can be used, which can have, for example, a rectangular cross section in the side view of FIG. 6 (and also in a plan view not illustrated) and which thus jointly define the planar placement surface 28. The slide surface members 54 may have a surface finish that has a suitable coefficient of friction to slidably move the goods 12 thereon and also stop them at desired positions (without undue tracking).The sliding surface elements 54 can also be produced in one piece, preferably from sheet metal, wherein the wedge-shaped sliding surface element 54- 1 can be produced by a sheet metal bevel. Further preferably, the sliding surface element or elements 54- 2 can be configured as an L-profile in the x-direction. One leg can be aligned horizontally (in the XZ plane) as a sliding surface for the transport goods 12 and a second leg can be aligned vertically in the XY plane in order to fasten the sliding surface element 54 to the frame 27. The second leg can also bring about a horizontal guidance of the transported goods 12 along the transfer station 24.FIG. 7 shows a flow diagram of a method 100 for statically providing at least one of the transported goods 12.The FTF 20 and the transfer station 24 are designed according to FIGS. 1 and 2.In a step S 10, the FTF 20 loaded with the first one of the transport goods 12- 1 enters the transfer station 24, wherein the first and second finger members 42 and 44 are in their respective elevated positions.In the next step S 12, the first item to be transported 12- 1 is pushed with the (raised) first finger member 42 onto the first storage place 30- 1, where the second item to be transported 12- 2 is located. The second transport goods 12- 2 are pushed off while the FTF is completely retracted and the first transport goods 12- 1 have reached the first storage location 30- 1.With reference to Figures 8-11, various modifications of the system 10 will be described below.FIG. 8 shows the FTF 20 of FIGS. 3 and 4. the FTF 20 includes two finger members 40, namely, the first finger member 42 and the second finger member 44, provided in the end portions of the LAM 34 lying in the longitudinal direction X. In FIGS. 3 and 4, the horizontal distance (in the X direction) between the finger members 42 and 44 is exemplarily selected such that (exactly) a transport container 16 fits therebetween. In FIG. 8, instead of the one transport container 16- 1 of FIG. 3, for example, two smaller transport containers 16- 1 and 16- 2 are used, which together can be as long as the transport container 16- 1 of FIG. 3. These (smaller) transport containers 16- 1 and 16- 2 can be exchanged for two (correspondingly dimensioned) transport containers 16- 3 and 16- 4 which are placed on the first storage location 30- 1. The exchange takes place according to the diagram already illustrated in FIG. 3. Thus, instead of one container 16, two containers 16 are exchanged simultaneously, but these are handled without any space (in the X direction) therebetween. FIG. 9 likewise illustrates an exchange of, for example, two containers 16 with a LAM 34, which exemplarily has four finger members 40 arranged distributed over the longitudinal direction X. The LAM 34 may be configured to transport three containers 16 simultaneously. The transport can be effected with a distance between the containers 16, which can be ensured by the further finger members 46 between the first and second finger members 42 and 44.FIG. 10 illustrates an exchange of, for example, one container 16, although the LAM 34 may be configured to transport two or more containers 16 (spaced apart). The container 16-1 is dispensed, the container 16-2 remains on the FTF 20, and the container 16-3 is received by the FTF 20.This enables the replacement of one container 16 at each of two different stations 24. for example, starting from the situation according to FIG. 10D, to replace the container 16- 2 at another station 24- 2, the FTF 20 of FIG. 10D can enter it, FIG. 10E, and replace a container 16- 4 on the first storage location 30- 1 with the container 16- 2, FIGS. 10F-H.For example, starting from the situation of FIG. 10D, to replace the container 16- 3 at the other station 24- 2, the FTF 20 may also retract backwards into the station 24- 2 such that the first finger member 42 is positioned forward and the second finger member 44 is positioned rearward (not illustrated in FIG. 10 ).Figure 11 illustrates an exchange of two containers 16 at the (same) station 24', using in particular the LAM 34 of Figure 10. The station 24' of FIG. 11 differs from the station 24 of FIG. 10 in that the first and second storage spaces 30-1 and 30-2 are further spaced apart from one another in the longitudinal direction X. For the distance d between the first storage location 30- 1 and the second storage location 30- 2, d>2L BEHÄLTER, where L BEHÄLTER indicates a (unit) length of the container 16 in the longitudinal direction X. The length of the station 24' is correspondingly longer. In the example of FIG. 11, the transfer conveyor 26 of the station 24' can be configured for simultaneously receiving, for example, six containers 16.FIGS. 8-11 thus illustrate a large number of possible ways of modifying the system 10.LIST OF REFERENCE CHARACTERS10 (Intra-logic) system 12 transport goods 14 work station 16 container 18 cardboard 20 FTF (automated guided vehicle) 22 FTS (automated guided system) 24 transfer station 26 transfer conveyor 27 frame 28 storage area 30 storage space 31 direction of travel of 20 32 housings of 20 34 LAM (load-receiving means) of 20 36 webs / slats of 34 38 transport area 40 finger members 42 1st finger member, rear 44 2nd finger member, front 46 additional finger member(s) 48 controller 50 rollers 52 floor 54 sliding surface element

Claims

An intralogistics system (10) for the static provision of transported goods (12), comprising: a Rodless Transport Vehicle, FTF, (20); a transfer station (24) for the static provision of at least one of the transported goods (12) on a storage surface (28) of the transfer station (24); and a controller (48); wherein the FTF (20) has a load-receiving means, LAM, (34) which defines a transport surface (38) on which the at least one of the transported goods (12) rests during a transport trip, on an upper side of the FTF (20), wherein the LAM (34) has a first finger member (42) and a second finger member (44) along a direction of travel (31) of the FTF (20), each of which can be switched between an elevated position and a lowered position; wherein the transfer station (24) is configured to buffer at least two of the transported goods (12) one behind the other on a corresponding plurality of storage locations (30) on the storage surface (28); wherein the transfer station (24) has a multi-track transfer conveyor (26) defining the storage surface (28); wherein the transfer conveyor (26) and the LAM (34) are configured to exchange each of the transported goods (12) to be provided in a combing manner with one another by the FTF (20) passing through the transfer station (24); wherein the controller (48) is configured to switch each of the finger members (42, 44) between the positions as a function of a depth of passage (DT) during a passage of the FTF (20) through the transfer station (24); and wherein each of the finger members (42, 44) projects beyond the storage surface (28) and the transport surface (38) in the respective elevated position and is positioned below the storage surface (38) in the respective lowered position.The intralogistics system (10) of claim 1, wherein the transfer conveyor (26) defining the storage area (28) is not driven.The intralogistics system (10) according to claim 1 or 2, wherein the parking spaces (30) are spaced apart from each other in the direction of travel of the FTF (20).The intralogistics system (10) according to any one of claims 1 to 3, wherein the FTF (20) moves freely through the entire transfer station (20) without any changes of direction in order to deliver a first of the transported goods (12) to the transfer station (20) and to pick up a second of the transported goods (12) from the transfer station (24) during the same movement.The intralogistics system (10) according to any one of claims 1 to 4, wherein each of the goods to be transported (12) is standardized with respect to its width.The intralogistics system (10) according to any one of claims 1 to 5, wherein at least the first finger member (42) is in the raised position when entering the transfer station (20), while during the passage is switched to the lowered position depending on a first passage depth (DT1) and then to the raised position again depending on a second passage depth (DT2), wherein the first passage depth (DT1) is smaller than the second passage depth (DT2).The intralogistics system (10) according to any one of claims 1 to 6, wherein the storage surface (28) is defined by highest points of the multi-track transfer conveyor (26), and the storage surface (28) is arranged higher than the transport surface (38).The intralogistics system (10) of any of claims 1 to 7, comprising a sensor for determining a current position of the FTF (20), wherein the controller (48) is electronic; the controller (48) communicates with the sensor; the controller is configured to determine a depth of passage (DT) of the FTF (20); and the controller (48) is configured to generate signals based on the depth of passage that cause the finger members (42, 44) to be moved to their raised position and to their lowered position.A method for statically providing goods to be transported (12) in an intralogistics system (10) comprising: a Keyless Transport Vehicle, FTF, (20) having a load-receiving means, LAM, (34), comprising first and second finger members (42, 44) each switchable between a raised position and a lowered position, and defining a transport surface (38) on a top surface of the FTF (20); a transfer station (24) having a transfer conveyor (26) for the static provision of at least one of the transported goods (12) on a storage surface (28) of the transfer station (24), which transfer conveyor comprises first and second storage spaces (30-1, 30-2), wherein the transfer conveyor (26) and the LAM (34) are configured to exchange each of the transported goods (12) to be provided in a intermeshing manner with one another by the FTF (20) passing through the transfer station (24), and wherein each of the finger members (42, 44) projects beyond the storage surface (28) and the transport surface (38) in the respective elevated position and is positioned below the storage surface (38) in the respective lowered position; and a controller (48); wherein the method comprises the steps of: entering (S10) the transfer station (24) with the FTF (20) loaded with a first one of the goods to be transported (12), the first and second finger members (42, 44) being in their elevated positions; while the FTF (20) enters (S12), pushing the first goods to be transported (12) with the first finger member (42) onto the first storage location (30-1), and pushing a second one of the goods to be transported (12) already located on the first storage location (30-1) defined by the transfer conveyor (26) with the second finder member (44) onto the second storage location (30-2); once the first transport item (12) is pushed onto the first storage place (30-1), moving the first and second finger members (42, 44) into their lowered positions, advancing with the FTF (20) with the first and second finger members (42, 44) lowered until the first finger member (42) is movable into its raised position without repositioning (S14) the first transport item (12) on the first storage place (30-1), and then moving the first finger member (42) into its raised position (S14); and withdrawing the second transport item (12) from the second storage place (30-2) with the first finger member (42) while the FTF (20), whose first finger member (42) is again in the raised position, exits the transfer station (24).

Images