Positioning module for driverless transport systems

Abstract

Positioning module (1) for an automated guided vehicle (AGV), the AGV comprising a first and a second floor roller (BR) (2) with at least one floor roller (3), an autonomous mobile robot (AMR) (4), the AMR (4) comprising a drive and a controller, wherein the AMR (4) is configured to move a BR (2) automatically, the AGV further comprising a guide rail (5) along a direction of travel for guiding and / or receiving one or more BRs (2) positioned one behind the other, wherein the positioning module (1) is guided by the guide rail (5), and a backstop (6) with a projection for locking at least one floor roller (3) and / or for pushing a first BR (2) located in front of the positioning module (1), and a coupling mechanism (7) for coupling to the AMR (4), wherein the backstop (6) is configured to assume an unlocked state for pushing or pulling,When the AMR (4) moves the positioning module (1) against the direction of travel past the second BR (2) located behind the positioning module (1) and behind the second BR (2), and during this time, additional elements on the backstop enable cleaning or adjustment of the rolling resistance of one or more floor rollers. This overcomes the disadvantages of the prior art.

Description

The invention relates to a positioning module for a keyless transport system, wherein the positioning module can be moved and repositioned by an autonomous mobile robot. The invention also relates to an associated method for a runtime-enhanced sensorless transport system with autonomous mobile robots.Production and distribution companies require short transit times and high flexibility in the feeding and / or distribution of components or other objects. For an automated in-house material flow, which comprises a targeted dispensing of goods, continuous automated automated automated transport systems are being used more and more frequently. Rodless transport systems comprise transport systems with automatically controlled vehicles, which preferably serve for material transport. These allow a targeted automation of transport processes.Load carriers such as ground rollers of autonomous mobile robots are often moved in a targeted manner in order to transport material on the load carriers of the ground rollers. These floor rollers are mostly lined up at delivery and delivery track ovens. In order to allow an up-rolling and / or guiding at such station stations, guide rails are usually used, which guide rails guide and / or steer the floor rollers, in particular the rollers or wheels mounted on the floor roller. The forward or reverse travel speed in the guided rails is very slow and results in poor productivity of the riderless transport systems for long rails. Furthermore, only one automated transport system can always be moving on a rail at the same time.Proceeding from this, it is the object of the invention to at least partially alleviate the problems described with reference to the prior art and in particular to improve previous rodless transport systems or picking systems and / or to reduce running times and space requirements of floor rollers with transported objects, especially in the case of a rodless transport system.These objects are achieved by the subject matter of the independent claims. Preferred refinements are found in the dependent claims. The features specified in the claims can be combined with one another and / or with features of the description in any desired, technologically meaningful manner. The description, in particular in conjunction with the figures, explains the invention and specifies further embodiment variants.A positioning module for a sensorless transport system (hereinafter also "FTS") contributes to this, wherein the FTS comprises at least the following:a first ground roller (hereinafter also "BR") and a second ground roller having at least one ground roller,an autonomous mobile robot (hereinafter also "AMR"), the AMR having a drive and a controller, wherein the AMR is configured to move a floor roller in an automated manner,a guide rail along a direction of travel for guiding and / or receiving one or more floor rollers positioned one behind the other,a positioning module, which is guided by the guide rail and has a return lock with a projection for locking at least one ground roller and / or for pushing or pulling a first ground roller located in front of the positioning module, and a coupling mechanism for coupling to the AMR,wherein the reverse lock is configured to assume an unlocked state when the AMR moves the positioning module counter to the direction of travel past the second ground roller located behind the positioning module to behind the second ground roller.The positioning module with its return lock and its coupling mechanism allows significantly more efficient use of a riderless transport system, in particular by the possibility of supplementing or filling rows with successively arranged BRs with further BRs by means of the AMR. When a new BR is supplied, the return lock can first be used to push on and / or compress the already queued BR and then-in particular after the new BR has been shut off-be pulled away from the AMR under the new BR or next to the new BR and then be positioned behind the new BR until a further BR is added at the end of the queue. The design of the positioning module is in particular so flat or compact that it is possible to pass under the BR. Particularly by means of the coupling mechanism, which is in particular magnetic and / or mechanical, a quick and reversible fastening of the positioning module to the AMR can take place. As a result, shorter transit times are achieved for the mostly automated transport of BR from a starting location to a destination location. It is also conceivable to use them in non-automated picking systems. The check lock may be mounted in the opposite direction in an application-specific manner, so that the check lock enables pulling by the AMR. In this case, all BRs behind the return lock can be dragged along by the kinetic energy of the AMR until the mechanical decoupling from the AMR takes place.In particular, the invention comprises a positioning module for a Keyless Transport System (FTS), an Autonomous Mobile Robot (AMR) having a drive and a controller, wherein the AMR is configured to automatically move a BR to a target area. The guide rail of the FTS along a direction of travel for guiding and / or receiving one or more BRs positioned one behind the other in the target area allows a movement of the BRs, which is guided at least in parts, in particular in the case of planar substrates and without further guide elements, such as colored markings and / or structures or markings which can be detected mechanically in some other way. The positioning module is guided by the guide rail and is located in an initial position behind the first BR in the direction of travel, and-when a second BR is moved from the AMR to the guide rail at the target region for subsequent positioning behind the first BR-the positioning module can lock at least one floor roller of the first BR by means of a return lock and, after contact and / or coupling with the AMR, can be pressed against the first BR in the direction of travel by means of the pushing force emanating from the AMR, and the first BR can be moved by a defined distance in the direction of travel up to a reversal position of the positioning module by means of AMR.The direction of travel here denotes in particular a direction in which the BR is moved in the guide rail. The direction of travel therefore allows in particular a more detailed description of the spatial arrangement of the BR, of the positioning module and / or of the AMR with respect to one another in or along the guide rail.In this case, the positioning module is preferably further configured such that it is connected to the AMR by means of a coupling mechanism and-after leaving the second BR behind the positioning module in the direction of travel-to be moved by the AMR counter to the direction of travel past the second BR up to an end position behind the second BR, wherein the return lock unlocks itself. The unlocking of the return lock is preferably effected automatically, in particular mechanically and based on contact of the return lock with a bottom roller of a BR.A floor roller comprises transport vehicles, in particular, which are mounted on rollers, typically with a container or another storage or holding system. The floor roller 4 preferably comprises rollers, in particular mounted on or on a chassis. Typically, the ground roller does not have a (dedicated) drive, but in special embodiments can also have auxiliary drives or steering mechanisms, which can be controlled by the BR or externally.An autonomous mobile robot (AMR) refers to mobile units that can move and act independently in their environment. Overall, there are various degrees of autonomy of the robot. Frequently, these are already referred to as autonomous if the software or electronics controlling them is located on the robot. The AMR is usually autonomous as long as its power supply allows this. Typically, a robot is only completely autonomous if the robot is also independent with respect to its energy supply, for example by means of a supply with energy for charging the rechargeable batteries via solar cells.Preferably, the return lock is present in a blocking state in a normal state, in particular is rotatably mounted and held in the blocking state by means of a restoring force. This allows the positioning module to be simply set down at the end of rows of BRs and to fulfil the purpose of a reverse lock.The rear lock mechanism preferably unlocks itself automatically when the AMR moves the positioning module counter to the direction of travel past the second BR located behind the positioning module as far as behind the second BR. This can be achieved in that a projection supported resiliently in a locked state can be displaced and / or rotated from behind, i.e. from a direction opposite to the direction of travel, when an object makes contact and / or action of force. In particular, this can be a bracket which is rotatably mounted by means of springs in a locked position (locked state). In a particular embodiment, the return lock is mounted rotatably and / or latchingly and / or resiliently.Preferably, the return lock comprises a return mechanism into the locked state. In particular, this can be achieved with a tension spring and / or a rubber and / or a spring bolt. The return lock may have fixation holes onto which additional modules may be mounted depending on the application requirements.In particular, the positioning module is configured to stop movement in the direction of travel as soon as the force supplied for the movement has exceeded a predefined threshold value. When the threshold value is exceeded, the positioning module releases a stopper by a mechanical "jack-in-the-box" module. Safety requirements can thereby be fulfilled and / or damage prevented. A sensor on the AMR can measure a safety-relevant distance for this purpose, for example.Preferably, the coupling mechanism of the AMR to the positioning module is magnetic and / or mechanical. This allows simple and wear-free use. Moreover, safety aspects such as maximum forces can be implemented easily.(also) mechanical or electromechanical coupling mechanisms, in particular latching and / or force- or form-fitting components, are possible. In particular, the coupling mechanism is configured to decouple the positioning module from the AMR after reaching an end position. The end position is in particular the end of the guide rail facing away from the direction of travel, where for example a scraper or other mechanical or also magnetic resistance may be present, which may lead to automatic or (semi) automatic decoupling. Decoupling can also be carried out electronically controlled, in particular at previously defined positions.In a particular embodiment, the coupling mechanism has a latching and / or magnetic and / or force-fit and / or form-fit connection. This also makes it possible in a simple manner to achieve use which is as wear-free as possible and safety requirements such as maximum forces.In particular, the coupling mechanism can be configured to decouple when a tensile force threshold is reached and / or automatically decouple when a predefined position is reached. This can be effected, for example, by means of a deflector at the end of the guide rail or by means of a rail end cap. As a result, mechatronic, in particular more complex, controls are no longer necessary.The positioning module preferably has a force sensor which measures or can determine forces in the direction of travel. This allows more accurate control of automated operations to be achieved and safety requirements to be met. In particular, the force sensor and / or a controller of the positioning module is electrically connected to the AMR. This can be done wirelessly and / or by wire, e.g. via contacts on outer surfaces of the positioning module. As a result, signals of the positioning module can be passed on to an AMR for processing and, in particular, the controller and / or the processor of the AMR can be used as well. A positioning module which acts completely or partially passively and does not require an energy source or processors is thus conceivable.Typically, the positioning module is mounted by means of guide rails and / or the positioning module does not touch the ground. In particular, the positioning module can have at least one auxiliary ground roller which can contact the ground, in particular outside a normal operating state. For example, the auxiliary rollers enable the positioning module to be supported in the event of excessively high forces acting on the positioning module or else to be easily transported outside the guide rails. By applying force from above, for example by the appearance of a human, the auxiliary rollers can sink or sink and thus the positioning module can come to a standstill on account of the (greater or increased) friction with the guide rails. This prevents the unwanted risk of slipping.In a particular embodiment, the positioning module has a cleaning element for one or more floor rollers in the region of the return lock. This can be effected, for example, by means of a brush or a scraping edge which is preferably attached to or on the return lock. As a result, a cleaning effect can be achieved in a simple manner upon each contact with a floor roller.According to one embodiment, the positioning module has a counterroll element for one or more floor rollers in the region of the return lock. This can be effected, for example, by means of an opposing roller which is preferably attached to or on the return lock. As a result, the rolling resistance can be reduced in a simple manner at each contact with a floor roller. This embodiment is suitable for higher weights.In another embodiment, multiple positioning modules may be concatenated to allow for the pulling of multiple BRs in the direction of travel. In this case, a mechanical locking between the individual positioning modules takes place, for example by (at least) one connecting element.The rear lock is in particular configured to assume an unlocked state for pushing or pulling when the AMR moves the positioning module counter to the direction of travel past the second BR located behind the positioning module to behind the second BR, and during which the cleaning or an adjustment / setting of the rolling resistance is made possible or carried out by at least one additional element on the rear lock for one or more ground rollers.According to a further aspect, a method for positioning ground rollers (BR) with ground rollers for a rodless transport system (FTS) is proposed, having at least the following stepsblocking a movement of a first BR counter to the direction of travel by means of a positioning module behind the first BR in the direction of travel with a return lock configured to block at least one floor roller of the first BR,moving a second floor roller (BR) behind the first BR in a direction of travel by means of an autonomous mobile robot (AMR), wherein the first BR, the second BR and the positioning module are guided along the direction of travel by a guide rail,coupling the positioning module to the AMR,pushing the second BR, the positioning module and the first BR located in front in the direction of travel by means of AMR a predefined distance,moving the positioning module located between the first and second BR counter to the direction of travel past the second BR as far as behind the second BR by means of the AMR, wherein the reverse lock changes into an unlocked state.Significantly reduced running times can thereby be achieved.Accordingly, it is provided that a rearward movement of the first BR counter to the direction of travel is blocked or blocked. For this purpose, a positioning module is provided which is positioned behind the first BR and has a return lock which can cooperate or interacts with the at least one bottom roller of the first BR in such a way that it is locked. By locking the bottom roller of the first BR by the return lock of the positioning module, a rearward movement of the first BR is prevented.In this situation, a second floor scooter (BR) can be moved behind the first BR in the direction of travel by means of an autonomous mobile robot (AMR). In this case or during this, the first BR, the second BR and the positioning module are guided by the guide rail along the direction of travel, wherein this can also apply here at least to the first BR and / or positioning module in the stationary state. This ensures an aligned row arrangement of the vehicles.Now or in a specific position / arrangement of the vehicles, the positioning module and AMR are coupled to one another or to one another.Thereafter, the AMR pushes the second BR, the positioning module, and the first BR ahead by a predefined distance in the direction of travel. In the process or during this, the first BR, the second BR and the positioning module are guided by the guide rail along the direction of travel.The positioning module is now moved by means of the AMR out of the position between the first BR and second BR, past the second BR and up to behind the second BR, wherein for this purpose the reverse lock changes into an unlocked state or is moved in the unlocked state.Then, a rearward movement of the second BR opposite to the traveling direction is locked. For this purpose, the positioning module is provided, which is positioned behind the second BR and the return lock of which can interact or interacts with the at least one bottom roller of the second BR in such a way that it is locked.The method preferably further comprises blocking a movement of the second BR counter to the direction of travel by means of the return lock for blocking at least one floor roller of the second BR. In particular, automatic and / or automated unlocking takes place.The method preferably also includes subsequently decoupling the positioning module from the AMR so that the positioning module remains in a blocking position and prevents BRn from running back. In particular, automatic and / or automated decoupling takes place.The features mentioned for the operation or the configuration of the FTS can also be used for characterizing the method and vice versa. The method can be (automatically) implemented in particular with the proposed FTS or the FTS can be configured to carry out the proposed method. The FTS can in particular comprise means which are set up such that the FTS can carry out the proposed method.The invention and the technical field will now be explained in more detail with reference to figures, without these embodiments restricting the invention itself. If it is not explicitly excluded below, it is also possible for partial aspects or individual features shown in the figures to be combined with one another and / or with the features of the claims or preceding description. Insofar as components in different figures are provided with the same reference numerals, their descriptions apply analogously to all these components, unless expressly stated otherwise. The figures show schematically: FIG. 1 shows an illustration of a device according to the invention including a return lock, FIG. 2 shows a further view of the representation of the device from FIG. 1, FIG. 3 shows an illustration of a device according to the invention in a automated guided transport system (FTS) with an autonomous mobile robot and two floor rollers, FIG. 4 is a further view of the representation of a device according to the invention, FIG. 5 shows a further view of the schematic illustration of a device having a coupling mechanism, FIG. 6 shows a further view of the schematic illustration of a device having a coupling mechanism, FIG. 7 shows a flow chart relating to the proposed method with steps S 1 to S 5.FIGS. 1 and 2 show a schematic representation of the device according to the invention or of the positioning module 1 including a return lock 6, which are designed as two wings or brackets, which are held in a spring-mounted and rotatable manner in a locked state, in which the brackets are held far and preferably at an almost right angle to the direction of travel of floor rollers (BR) 2. The check valve 6 is provided at the end facing the rear of a first BR 2 so that the first BR 2 can be prevented from rolling backward. In this case, the rollers abut against the return stop 6 and a rearward movement is prevented. On the side opposite the return lock 6, a magnet, more precisely at least one pole of a magnet or a magnetic metal, is located, so that an autonomous mobile robot (AMR) 4 with a magnet or a magnetic metal, which is located on an end face of an AMR 4, which is usually approaching from the rear side of the positioning module 1, is situated in order to couple to the positioning module 1 and to achieve a connection that can be loaded with force.FIG. 2 shows a further view of the schematic illustration of the positioning module 1 from FIG. 1 with a focus on the front side-referred to the direction of travel-of the positioning module 1, wherein the return lock 6 can be seen more precisely.FIG. 3 illustrates the typical sequences in a suspension system (FTS) with a first ground roller (BR) 2 and a second ground roller 2 with at least one ground roller 3. FIG. 3 shows an autonomous mobile robot (AMR) 4, having a drive and a controller, wherein the AMR 4 is configured to move a floor roller 2 in an automated manner, and having a guide rail 5 along a direction of travel for guiding and / or receiving one or more BRs 2 positioned one behind the other. FIG. 3 also illustrates a possible realization or locating of a cleaning element 9, which is preferably located on or in the vicinity of the contact surface of the return lock 6 with the floor rollers 3. FIG. 3 is also intended to be adapted for delivery.FIG. 4 shows a three-dimensional view of a further embodiment of the schematic illustration of a positioning module 1. FIG. 5 shows a further view with a coupling mechanism 7 on the rear side, which comprises a bracket which is spring-mounted on the rear side of the positioning module 1 and can absorb forces and / or is magnetic. In FIG. 6, the aforementioned spring-mounted bracket is shown in a retracted or pressed-in state. The bracket can also be connected to a force sensor.FIG. 7 shows a flow chart with regard to a variant of the method according to the invention (delivery case with pushing) with steps S 1 to S 5.S 1: Blocking a movement of a first BR 2 counter to the direction of travel by means of a positioning module 1 behind the first BR 2 in the direction of travel with a return lock 6 for blocking at least one floor roller 3 of the first BR 2,S 2: moving a second BR (BR) 2 in a traveling direction behind the first BR 2 by an autonomous mobile robot (AMR) 4, wherein the first and second BR 2 and the positioning module 1 are guided by a guide rail along the traveling direction,S 3: Coupling the positioning module 1 to the AMR 4,S 4: Pushing the second BR 2, the positioning module 1 and the first BR 2 located behind it in the direction of travel by means of AMR 4 by a predefined distance,S 5: Moving the positioning module 1 located between the first and second BR 2 counter to the direction of travel past the second BR 2 as far as behind the second BR 2 by means of the AMR 4, wherein the rear lock 6 changes into an unlocked state.List of reference characters1 Positioning module 2 Floor roller (BR) 3 Floor roller 4 Autonomous mobile robot (AMR) 5 Guide rail 6 Return lock 7 Coupling mechanism 8 Floor auxiliary roller 9 Additional element (e.g. cleaning element / counter roller)

Claims

Positioning module (1) for a rodless transport system (FTS), the FTS having a first ground roller (BR) (2) and a second ground roller (2) having at least one ground roller (3), an autonomous mobile robot (AMR) (4) having a drive and a controller, wherein the AMR (4) is configured to move a ground roller (2) in an automated manner, and has a guide rail (5) along a direction of travel for guiding and / or receiving one or more ground rollers (2) positioned one behind the other, wherein the positioning module (1) is guided by the guide rail (5), has a return lock (6) having a protrusion for locking at least one ground roller (3) and / or for pushing or pulling a first BR (2) situated in front of the positioning module (1), and a coupling mechanism (7) for coupling to the AMR (4), wherein the reverse lock (6) is configured to assume an unlocked state when the AMR (4) moves the positioning module (1) counter to the direction of travel past the second BR (2) located behind the positioning module (1) to behind the second BR (2).Positioning module (1) according to Claim 1, wherein the return lock (6) unlocks automatically when the AMR (4) moves the positioning module (1) counter to the direction of travel past the second BR (2) located behind the positioning module (1) as far as behind the second BR (2).Positioning module (1) according to claim 1 or 2, wherein the return lock (6) is mounted rotatably and / or latchingly and / or resiliently.Positioning module (1) according to one of the preceding claims, wherein the return lock (6) has a return mechanism in a locked state. [In particular with a tension spring and / or rubber and / or spring pin].Positioning module (1) according to any one of the preceding claims, wherein the positioning module (1) is configured to stop movement in the direction of travel as soon as the force supplied for the movement has exceeded a predefined threshold value.Positioning module (1) according to one of the preceding claims, wherein the coupling mechanism (7) is magnetic and / or mechanical.Positioning module (1) according to one of the preceding claims, wherein the coupling mechanism (7) has a latching and / or magnetic and / or force-fitting and / or form-fitting connection.Positioning module (1) according to any one of the preceding claims, wherein the coupling mechanism (7) is configured to decouple and / or automatically decouple upon reaching a predefined position upon reaching a pulling force threshold.Positioning module (1) according to one of the preceding claims, having a force sensor which measures forces in the direction of travel.Positioning module (1) according to one of the preceding claims, wherein the force sensor and / or a controller of the positioning module (1) is mechanically connected to the AMR (4).Positioning module (1) according to any one of the preceding claims, wherein the positioning module (1) comprises at least one auxiliary bottom roller (8).Positioning module (1) according to one of the preceding claims, wherein the positioning module (1) has a cleaning element (9) for one or more floor rollers (3) in the region of the return lock (6).Positioning module (1) according to one of the preceding claims, wherein the positioning module (1) has a counterroll element (9) for one or more floor rollers (3) in the region of the return lock (6).Method for positioning ground rollers (BR) (2) with ground rollers (3) for a rodless transport system (FTS), comprising the steps of blocking a movement of a first BR (2) counter to the direction of travel by means of a positioning module (1) behind the first BR (2) in the direction of travel with a return lock (6) for blocking at least one ground roller (3) of the first BR (2), moving a second ground roller (BR) (2) behind the first BR (2) in the direction of travel by means of an autonomous mobile robot (AMR) (4), wherein the first and the second BR (2) and the positioning module (1) are guided by a guide rail along the direction of travel, coupling the positioning module (1) to the AMR (4), pushing the second BR (2), The method according to the invention is characterized in that the positioning module (1) and the first BR (2) located in front of it are moved in the direction of travel by means of AMR (4) by a predefined distance, the positioning module (1) located between the first and second BRs (2) being moved counter to the direction of travel past the second BR (2) as far as behind the second BR (2) by means of the AMR (4), wherein the return lock (6) changes into an unlocked state.Method according to claim 14, further comprising blocking a movement of the second BR (2) counter to the direction of travel by means of the reverse lock (6) for blocking at least one ground roller (3) of the second BR (2).The method of claim 14 or 15, further comprising decoupling the positioning module (1) from the AMR (4).

Images