Transfer device for transferring containers and method for operating a transfer device

Abstract

The invention relates to a transshipment device (1) for transshipping containers (50), with a tugger train (10) consisting of several wagons (11) which contains several containers (50) and with a storage device (30) for storing the containers (50). The invention proposes that several robots (21) are provided for transferring the containers (50) from the tugger train (10) to the storage device (30), wherein each robot (21) is movable on a linear axis (20) which is aligned parallel to a longitudinal extension of the storage device (30) and parallel to a longitudinal extension of the tugger train (10).

Description

[0001] The invention relates to a transshipment device for transferring containers, comprising a tugger train consisting of several wagons containing multiple containers and a storage device for storing the containers. The invention also relates to a method for operating such a transshipment device.

[0002] Such a transfer device is known from DE 10 2014 010 729 A1. Specifically, a transfer device for a production plant is described therein, comprising a robot by means of which a container arranged on a storage platform of a tugger train can be removed and moved to a storage platform of a storage system. The transfer device has a storage platform for receiving the container, located in a working area of ​​the robot. The storage platform is height-adjustable between the height of the storage platform of the tugger train and the height of the storage platform of the storage system by means of a lifting unit.

[0003] German patent DE 10 2015 002 469 A1 describes a robot module for handling containers, which can be positioned on the retrieval tables of a parts storage system where several containers can be arranged for retrieval. A lifting mechanism is provided, which is height-adjustable between the respective heights of the retrieval tables and the respective heights of the picking surfaces of a tugger train. Furthermore, a robot equipped with a gripper is provided, by means of which the containers can be positioned from the retrieval tables onto the lifting mechanism and from the lifting mechanism onto the picking surfaces.

[0004] Finally, DE 10 2012 016 522 A1 describes a system for transporting and storing containers within a production plant. This system includes an automated guided vehicle (AGV) that can transport multiple containers from a receiving area to an intermediate storage area. Furthermore, a robot that can move within the intermediate storage area is present, enabling both the sorting of containers into the storage area and the loading of a transport device located there. Another AGV system then moves the container-loaded transport device from the intermediate storage area to an assembly station.

[0005] Against this background, the present invention aims to propose a transfer device for transferring containers that exhibits high productivity. A further objective of the invention is to propose a method for operating the transfer device that ensures its efficient utilization.

[0006] The present problems are solved by a transfer device having the features of claim 1 and by a method having the features of claim 10.

[0007] Advantageous embodiments or further developments of the invention can be found in the dependent claims.

[0008] The invention relates to a transshipment device for transferring containers, with a tugger train consisting of several wagons, which contains several containers. Furthermore, a storage device for storing the containers is provided.

[0009] According to the invention, it is proposed that several robots are available for transferring the containers from the tugger train to the storage device. Each robot is movable along a linear axis that is aligned parallel to a longitudinal dimension of the storage device and parallel to a longitudinal dimension of the tugger train. It is therefore conceivable that several robots are movable along a common linear axis or that each robot is movable along its own linear axis. Hybrid configurations, for example, two robots moving along a common linear axis and one robot moving along its own linear axis, are also possible.

[0010] This allows for higher throughput and greater reliability during transfers. Furthermore, the ability of each robot to move along a linear axis provides a large working range.

[0011] In a further development of the invention, the tugger train can drive autonomously. In this way, the transshipment device can be operated very cost-effectively.

[0012] In one embodiment of the invention, it is further proposed that the tugger train be movable to a fixed, predetermined unloading position, in which it is located within the robots' operating range and parallel to the linear axis. Such a design helps to ensure that all containers on the tugger train can be reliably removed by the robots.

[0013] Following further training, the robots are positioned between the storage unit and the tugger train. This arrangement allows for good accessibility to both the tugger train and the storage unit with minimal installation effort. However, it is also conceivable, for example, that the robots could be positioned above the storage unit, contrary to this training.

[0014] In one embodiment of the invention, the robots can be controlled independently of each other and moved independently of each other on the linear axis. This contributes to a high degree of flexibility in the operation of the transfer device.

[0015] The reliability of the transfer system can be further increased by equipping each robot with an image recognition system. This eliminates the need to place the containers on the tugger train in precisely defined areas.

[0016] Following further training, it is proposed that the containers be empty containers and that an empty container sorting system be installed downstream of the storage facility. This allows for excellent use of the transfer device for the purpose of empty container management.

[0017] It is very advantageous if the storage device has rollers and a slope leading towards the empty container sorting system. This allows the storage device to simultaneously serve as a transport system for the containers. However, it is also conceivable that the storage device has driven rollers, which would eliminate the need for a slope. Furthermore, the use of a belt conveyor is also a possibility.

[0018] To increase the loading capacity of the tugger train's carriages, it is also proposed that each carriage be designed like a shelf with several storage surfaces arranged one above the other, on which the containers can be arranged.

[0019] As already mentioned, the present application also proposes a method for operating a transshipment device.

[0020] In this process, the tugger train, consisting of several vehicles, moves to a predetermined unloading position. Then, at least one of the several robots on the tugger train picks up a container and places it on the unloading device. Alternatively, it is conceivable that a robot could place a picked-up container directly onto the empty container sorting system downstream of the unloading device.

[0021] A preferred embodiment of the invention is illustrated in the figure and is explained in more detail in the following description with reference to the figure. This will also clarify further features and advantages of the invention.

[0022] It shows schematically Fig. 1. A transshipment device for transferring containers.

[0023] This figure shows a transshipment device 1 from a bird's-eye view. A tugger train 10 consisting of several cars 11 is visible. In the figure, the tugger train 10 has assumed a predetermined, i.e., defined, unloading position 14. The unloading position 14 can be implemented mechanically, for example, by a gate that can be moved in front of the tugger train 10, or electronically by a light barrier. The tugger train 10 is preferably driven by an automated guided vehicle (AGV) 12, which is preferably guided on a defined, inductively operated track 13. In contrast to the exemplary embodiment, it is also conceivable that the AGV 12 is equipped with SLAM (Simultaneous Localization and Mapping) navigation and can therefore navigate freely in space.

[0024] Furthermore, it can be seen that the carriages 11 of the tugger train 10 are loaded with containers 50. The containers 50 are empty containers that previously held small parts required in the production process. They are therefore empty containers. Each carriage 11 is constructed like a shelf, i.e., it has several storage areas arranged one above the other for the containers 50 (not shown in the figure).

[0025] The containers 50 are to be transferred onto an elongated storage device 30. The storage device 30 has a multitude of rollers 31 and is slightly inclined downwards towards an empty container sorting system 40, thus exhibiting a gradient in this direction (not visible in the figure). Due to the incline, an automatic conveying direction 32 of the containers 50 transferred onto the storage device 30 occurs in the direction of the empty container sorting system 40.

[0026] A linear axis 20 with several robots 21 is arranged between the tugger train 10 and the storage device 30. Each of the robots 21 can be individually controlled by control devices (not shown in detail). In particular, each robot 21 can move freely along the linear axis 20 and can swivel its working arms as desired, as indicated by the double arrows. Furthermore, each robot 21 is equipped with a gripper (not specified in detail) and a camera-based image recognition system (not specified in detail).

[0027] The linear axis 20 is aligned parallel to the longitudinal extension of the storage device 30 and the longitudinal extension of the tugger train 10. Both the tugger train 10 and the storage device 30 are located within the working area of ​​each robot 21. An input area of ​​the empty container sorting system 40 is also located within the working area of ​​at least one robot 21.

[0028] The following procedure is used to operate the transfer device: The tugger train 10 first travels to the predetermined unloading position 14, with at least one of the carriages 11 loaded with containers 50. For the purpose of transferring the containers 50, at least one of the robots 21 (possibly after moving along the linear axis 20) pivots its arm towards the tugger train 10 and, after detecting a container 50 using its image recognition system, grasps the container 50. It then pivots its arm towards the storage device 30 and unloads the container 50 onto it. Due to the rollers 31, combined with the aforementioned incline, each deposited container 50 is conveyed towards the empty container sorting system 40 and subjected there to a sorting process (not shown in detail).

[0029] Alternatively, it is conceivable that a container 50 picked up by a robot 21 could also be placed directly onto an entrance area of ​​the empty container sorting system 40. Reference symbol list 1 Transfer device 10 Route train 11 cars 12 driverless transport systems 13 lanes 14 Holding position 20 linear axis 21 robots 30 storage unit 31 rolls 32 Direction of conveyance 40 Empty Container Sorting System 50 containers QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2014 010 729 A1

[0002] DE 10 2015 002 469 A1

[0003] DE 10 2012 016 522 A1

[0004]

Claims

[1] Transfer device (1) for transferring containers (50), with a tugger train (10) consisting of several wagons (11) which contains several containers (50) and with a storage device (30) for storing the containers (50), characterized by , that several robots (21) are available for transferring the containers (50) from the tugger train (10) to the storage device (30), each robot (21) being movable on a linear axis (20) which is aligned parallel to a longitudinal extension of the storage device (30) and parallel to a longitudinal extension of the tugger train (10). [2] Transfer device (1) according to claim 1, characterized by , that the route train (10) is capable of autonomous driving. [3] Transfer device (1) according to claim 1 or 2, characterized by , that the tugger train (10) can be moved into a fixed unloading position (14) in which it is in the action area of ​​the robots (21) and parallel to the linear axis (20). [4] Transfer device (1) according to any one of the preceding claims, characterized by that the robots (21) are arranged between the storage device (30) and the tugger train (10). [5] Transfer device (1) according to any one of the preceding claims, characterized by that the robots (21) can be controlled independently of each other and can be moved independently of each other on the linear axis (20). [6] Transfer device (1) according to claim 5, characterized by , that each robot (21) is equipped with an image recognition system. [7] Transfer device (1) according to any one of the preceding claims, characterized by that the containers (50) are empty containers and that an empty container sorting system (40) is connected downstream of the storage facility (30). [8] Transfer device (1) according to any one of the preceding claims, characterized by , that the storage device (30) has rollers (31) and a slope pointing towards the empty container sorting system (40). [9] Transfer device (1) according to any one of the preceding claims, characterized by , that each carriage (11) of the tugger train (10) is designed like a shelf with several storage surfaces arranged one above the other, on which the containers (50) can be arranged. [10] Method for operating a transfer device (1) according to one of the preceding claims 7 to 9, wherein the tugger train (10) consisting of several cars (11) moves into a fixed unloading position (14), then at least one of the several robots (21) on the tugger train (10) grasps containers (50) located on the storage device (30) or the empty container sorting system (40) downstream of the storage device (30).

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