SYSTEM COMPLIMENTING WITH A ROUTE TRAIN AND AT LEAST ONE STATIONARY TRANSFER STATION

Description

[0001] The invention relates to a system comprising a tugger train having a towing vehicle and at least one tugger train trailer, and at least one stationary transfer station for transferring loads between the tugger train trailer and the stationary transfer station, wherein the tugger train trailer is located in a transfer position relative to the stationary transfer station for transferring the load, wherein an electrical power supply to the stationary transfer station is provided by the tugger train trailer and the tugger train trailer is provided with electrical contacts for supplying power to the stationary transfer station, which can be contacted with mating contacts of the stationary transfer station in the transfer position, wherein the tugger train trailer has two electrical contacts arranged at a distance from one another in the longitudinal direction of the vehicle.

[0002] For the internal transport of loads, such as pallets or wire mesh boxes for loading, tugger trains are increasingly being used, with their tugger train trailers being transported by a towing vehicle to the desired receiving stations.

[0003] At the desired transfer station, the tugger train trailer must be in a defined transfer position relative to the stationary transfer station, both longitudinally and transversely, in order to precisely transfer a load between the tugger train trailer and the stationary transfer station, i.e., to transfer the load from the tugger train trailer to the stationary transfer station or from the stationary transfer station to the tugger train trailer. Systems are already known for this purpose, in which electrical energy is supplied, and thus the stationary transfer station is powered, from the tugger train. For example, to supply an electrically operated conveyor system at the transfer station with electrical energy from the tugger train, thereby avoiding the need for the transfer station to be connected to a building's power grid.The tugger train trailer is equipped with electrical contacts to supply power to the stationary receiving station. These contacts can be contacted with the mating contacts of the stationary receiving station when in the transfer position. The correct positioning of the tugger train trailer in the longitudinal and transverse directions of the vehicle in the defined transfer position at the receiving station is also important for ensuring reliable contact between the contacts of the tugger train trailer and the mating contacts of the stationary receiving station.

[0004] In order to correctly position the tugger train with the corresponding tugger train trailer at a stationary receiving station in the transverse direction of the vehicle, it is known to use appropriate position detection and positioning systems. For this purpose, it is known to provide distance measuring sensors on the tugger train trailer. These sensors measure the lateral distance of the tugger train trailer to the stationary receiving station in the transfer position and can accordingly position the tugger train trailer in the transverse direction of the vehicle at the stationary transfer station. The distance measuring sensors represent additional components on the tugger train trailer that only fulfill the function of measuring the lateral distance of the tugger train trailer to the receiving station for the correct positioning of the tugger train trailer in the transverse direction of the vehicle at the receiving station.If it is still necessary to check whether the tugger train trailer is parallel to the receiving station, two distance measuring sensors must be installed on the tugger train trailer. Such additional distance measuring sensors therefore result in additional construction costs for the tugger train trailer and increase the probability of failure.

[0005] WO 2019 / 063201 A1 discloses a generic system having the features of the preamble of patent claim 1.

[0006] US Pat. No. 5,664,929 A discloses an article transport system comprising a transport vehicle powered by electrical energy from a battery mounted on the vehicle, and a station with a transfer device for transferring an article to and from the vehicle. The station includes a power receiving unit for receiving electrical energy to drive the transfer device. The transport vehicle includes power supply devices for supplying the electrical energy from the battery to the power receiving unit.

[0007] The present invention is based on the object of providing a system of the type mentioned at the outset which enables correct positioning of the tugger train trailer in the transverse direction of the vehicle at a stationary receiving station with low construction effort and low probability of failure.

[0008] This object is achieved according to the invention in that the electrical contacts are arranged on the tugger train trailer so as to be movable in the transverse direction of the vehicle, wherein an electronic control unit is provided which is designed such that the contacting of the two contacts with the counter contacts is monitored and, in the event of non-contacting of at least one contact, an incorrect positioning of the tugger train trailer at the transfer station is detected.

[0009] The idea of ​​the invention therefore consists in using the existing electrical contacts of the tugger train trailer as a position detection system or positioning system with which the tugger train trailer is correctly positioned in the transverse direction of the vehicle at the stationary receiving station. By monitoring in the electronic control unit whether the two contacts of the tugger train trailer are in contact with the mating contacts of the stationary receiving station or not, it can be easily detected without the need for additional sensors whether the tugger train trailer is correctly positioned in the transverse direction of the vehicle at the receiving station. According to the invention, the two electrical contacts are arranged on the tugger train trailer at a distance from one another in the longitudinal direction of the vehicle. This makes it possible to use the two electrical contacts to further check whether the tugger train trailer is standing and positioned parallel to the stationary receiving station.By monitoring the contact between the two electrical contacts of the tugger train trailer and the mating contacts of the stationary receiving station, the correct lateral spacing and parallel positioning of the tugger train trailer at the stationary receiving station can be easily determined and verified. If monitoring the contact between the two electrical contacts of the tugger train trailer and the mating contacts of the stationary receiving station shows that both contacts are contacted, the tugger train trailer is correctly positioned at the receiving station in the transverse direction of the vehicle and is positioned at the correct lateral spacing and parallel to the receiving station.If monitoring the contact between the two electrical contacts of the tugger train trailer and the mating contacts of the stationary transfer station shows that one of the two contacts is not making contact, the tugger train trailer is incorrectly positioned at the transfer station in the transverse direction of the vehicle and the tugger train trailer is not parallel to the transfer station. If monitoring the contact between the two electrical contacts of the tugger train trailer and the mating contacts of the stationary transfer station shows that both contacts are not making contact, the tugger train trailer is incorrectly positioned at the transfer station in the transverse direction of the vehicle and the tugger train trailer is positioned at too great a distance from the side of the transfer station.The positioning system according to the invention and the position detection system according to the invention using the already existing electrical contacts of the tugger train trailer thus enables an exact positioning of the tugger train trailer at the receiving station in the transverse direction of the vehicle and in a parallel position to the receiving station for a load transfer at low cost and with a low probability of failure.

[0010] According to a preferred embodiment of the invention, the electronic control unit is connected to a drive of the tugger train and is designed such that in the event of incorrect positioning of the tugger train trailer at the transfer station, a control command is generated to the drive for repositioning the transshipment position.If one or both contacts are not connected to the corresponding counter contact, resulting in incorrect positioning of the tugger train trailer at the receiving station, the electronic control unit generates a control command to the drive to reposition the tugger train trailer at the transfer position. If the lateral distance is too great and / or the tugger train trailer is not positioned parallel to the receiving station, the tugger train trailer is repositioned at the receiving station to stop the tugger train trailer at the correct lateral distance and parallel to the receiving station. This allows the tugger train to independently reposition the tugger train trailer at the receiving station to align and position the tugger train trailer at the correct lateral distance and parallel to the receiving station.

[0011] According to an advantageous embodiment of the invention, a first electrical contact is arranged in a front half of the tugger train trailer and a second contact is arranged in a rear half of the tugger train trailer. This allows a large distance between the two electrical contacts in the longitudinal direction of the tugger train trailer to be achieved, which makes it easy to detect the parallel position of the tugger train trailer at the receiving station by monitoring the contact between the two contacts.

[0012] According to an advantageous embodiment of the invention, the two contacts can be adjusted in the transverse direction of the vehicle between a retracted position and an extended position by means of an actuator, wherein the electronic control unit is designed such that in the transfer position, a control command is generated to the actuator to extend the contacts into the extended position. In the transfer position, the contacts are thus adjusted from the retracted position to the extended position by means of the control unit, and subsequently, in the extended position of the contacts, the control unit monitors whether the two contacts of the tugger train trailer are contacting the mating contacts of the transfer station in order to detect the lateral position and parallelism of the tugger train trailer at the transfer station.

[0013] Particular advantages arise when, according to a further development of the invention, the contacts are designed as spring-loaded contact pins. If the contacts are extended by a predetermined distance between the retracted and extended positions, spring-loaded contact pins can easily compensate for the extension distance if the contacts make contact with the mating contacts at the transfer station within the extension distance.

[0014] According to an advantageous embodiment of the invention, the actuator is designed as a rack and pinion drive. With a rack and pinion drive, the two contacts can be easily extended and retracted horizontally in the transverse direction of the vehicle.

[0015] According to an advantageous development of the invention, the transfer station is provided with a data communication device that can be supplied with electrical energy from the tugger train when the two contacts make contact with the mating contacts and generates a confirmation signal when electrical energy is supplied. The electronic control unit monitors the contact between the two contacts and the mating contacts based on the confirmation signal from the data communication device. If, in the case of correct positioning of the tugger train trailer at the transfer station, both contacts of the tugger train trailer make contact with the mating contacts of the transfer station, the data communication device of the transfer station is supplied with electrical energy from the tugger train and can generate and output a corresponding confirmation signal, which is received by the electronic control unit.If, in the event of incorrect positioning of the tugger train trailer at the takeover station, one or both contacts of the tugger train trailer do not make contact with the mating contacts, the data communication device of the takeover station is not supplied with electrical energy from the tugger train and therefore cannot generate and output a corresponding confirmation signal. Based on the confirmation signal present when the two contacts have successfully made contact with the mating contacts or the confirmation signal missing when the two contacts have not successfully made contact with the mating contacts, the control unit can easily monitor the contact between the two contacts and the mating contacts. If at least one contact does not make contact and there is no confirmation signal from the data communication device, incorrect positioning of the tugger train trailer at the takeover station can be determined.According to the invention, the electrical connection via the two electrical contacts and the data communication device is used to determine the correct lateral distance and parallel position of the tugger train trailer at the receiving station.

[0016] The data communication device is preferably designed as a data light barrier. The confirmation signal can thus be transmitted wirelessly from the receiving station to the control unit of the tugger train.

[0017] Advantageously, according to a further development of the invention, two electrical contacts are arranged on the left and right sides of the tugger train trailer in the direction of travel. This makes the tugger train universally applicable and can be used for load transfer to the left and right sides.

[0018] The tugger train can be operated manually by a driver. Particular advantages arise when the tugger train is operated autonomously and thus without a driver. For the autonomous tugger train, the invention only requires a specific lane to be specified, along which the tugger train travels past the receiving stations at a defined lateral distance. The respective tugger train trailers are positioned at the respective receiving stations at the correct lateral distance and parallel to the receiving station using the position detection and positioning system according to the invention, which utilizes the two electrical contacts. In an autonomous tugger train, the towing vehicle can be designed as a driverless and automated tractor or, alternatively, be formed by a driverless transport system, a so-called AGV.

[0019] According to a preferred development of the invention, the transfer station has an electrically operated conveyor device for transferring a load, wherein the conveyor device can be supplied with electrical energy from the tugger train when the two contacts make contact with the mating contacts. As a result, the transfer station can automatically transfer a load to the tugger train trailer or pick it up from the tugger train trailer using the conveyor device, thereby achieving fully automatic operation in an autonomous tugger train. The conveyor device can be designed as a motor-driven roller conveyor, a belt conveyor, or a chain conveyor. Advantageously, the tugger train trailer is also provided with a corresponding conveyor device for transferring the load.

[0020] The object is also achieved by a method for operating a system according to the invention, in which the tugger train, in a first step, approaches the transfer position of the tugger train trailer at the stationary receiving station, in a subsequent second step the two contacts are adjusted to the extended position, in a subsequent third step the electronic control unit monitors whether a confirmation signal from the data communication device is present and, if the confirmation signal from the electronic control unit is absent, incorrect positioning of the tugger train trailer at the receiving station is determined.The method according to the invention makes it possible to carry out a positioning detection of the tugger train trailer at the receiving station in the transverse direction of the vehicle at low cost using the already existing electrical contacts of the tugger train trailer, with which the lateral distance of the tugger train trailer at the receiving station and the parallel position of the tugger train trailer at the receiving station can be determined.

[0021] According to an advantageous development of the method, if the confirmation signal is absent, the electronic control unit generates a control command to the drive of the tugger train to reposition the transfer position. This allows the tugger train to automatically reposition the tugger train trailer at the transfer station if the tugger train trailer is detected to be incorrectly positioned in the transverse direction of the vehicle at the transfer station, in order to align and position the tugger train trailer with the correct lateral distance and parallel to the transfer station.

[0022] The invention has a number of advantages.

[0023] The position detection system according to the invention, which utilizes the existing electrical contacts of the tugger train trailer, makes it possible to detect the lateral distance of the tugger train trailer at the receiving station in the transverse direction of the vehicle and a parallel position of the tugger train trailer at the receiving station without the need for additional distance measuring sensors. Since no additional distance measuring sensors are required for these functions, the tugger train trailer is designed cost-effectively and is highly reliable.

[0024] Further advantages and details of the invention are explained in more detail with reference to the embodiment shown in the schematic figures. Figure 1 shows a system according to the invention in a perspective view, Figure 2 shows a front view of a tugger train trailer according to the invention at a stationary receiving station, Figure 3 shows a front view according to the Figure 2in a first position, Figure 4 a plan view of the Figure 3 , Figure 5 a front view according to the Figure 2 in a second position, Figure 6 a plan view of the Figure 5 and Figure 7 shows a plan view of a tugger train trailer at a stationary receiving station in a third position.

[0025] In the Figure 1 a system 1 according to the invention is shown, which is used for transferring loads L1-L4 between a tugger train trailer 4a-4d of a tugger train 2 and at least one stationary, fixed transfer station 5a-5d.

[0026] The system 1 comprises a tugger train 2, which has a towing vehicle 3 and at least one tugger train trailer 4a, 4b, 4c, 4d, and at least one stationary receiving station 5a, 5b, 5c, 5d. For the transfer of loads L1, L2, L3, L4 between one of the tugger train trailers 4a-4d and one of the stationary receiving stations 5a-5d, the corresponding tugger train trailer 4a-4d is located in a defined transfer position relative to the corresponding stationary receiving station 5a-5d. The corresponding tugger train trailer 4a-4d is located in the defined transfer position - as in the Figure 1 is shown - at a predetermined lateral distance to the side of the corresponding transfer station 5a-5d, so that the corresponding load L1-L4 can be moved in the lateral direction Q from the tugger train trailer 4a-4d to the transfer station 5a-5d or from the transfer station 5a-5d to the tugger train trailer 4a-4d.

[0027] The tugger train 2 is preferably operated autonomously. The towing vehicle 3 is formed by a driverless tractor or a driverless transport system to which the tugger train trailers 4a-4d are attached. The autonomous tugger train 2 travels along the receiving stations 5a-5d on a lane FS in a direction of travel F using a suitable sensor device (not shown in detail).

[0028] In the system 1 according to the invention, the train vehicle 3 - as shown in the Figure 1 is shown - a battery-electric drive system with an electric drive, wherein the towing vehicle 3 has a battery 6, which is preferably designed as a traction battery, which supplies the drive of the towing vehicle 3.

[0029] The tugger train trailers 4a-4d each have - as in connection with the Figure 2 can be seen - a chassis 11 with which the tugger train trailers 4a-4d support themselves on the roadway.

[0030] Each tugger train trailer 4a-4d can - as in the Figure 1 shown - be provided with an electric motor-driven conveyor device 15 for load transfer. The conveyor device 15 can, for example, be designed as an electric motor-driven roller conveyor.

[0031] Furthermore, each transfer station 5a-5d can be provided with an electric motor-driven conveyor 16 for load transfer. The conveyor 16 can, for example, be designed as an electric motor-driven roller conveyor.

[0032] The conveyor device 15 of the tugger train trailers 4a-4d and the conveyor device 16 of the receiving station 5a-5d are preferably driven by a common energy source in the defined transfer position. In the illustrated embodiment, the battery 6 of the tugger train 2 is used for this purpose. In order to be able to supply the conveyor device 16 of the receiving station 5a-5d with electrical energy from the battery 6 of the tugger train 2 in the defined transfer position, each receiving station 5a-5d is - as shown in the Figure 2 shown - is provided with counter contacts 30, 31 (not shown in detail), which can be connected to current-carrying electrical contacts 20, 21 of the tugger train trailers 4a-4d. The electrical contacts 20, 21 of the tugger train trailers 4a-4d are connected to the battery 6 of the tugger train 2 for power supply.

[0033] In the Figure 1The defined transfer position between the tugger train trailer 4a-4d and the receiving station 5a-5d is shown. The tugger train trailer 4a-4d is located in the defined transfer position centrally next to the receiving stations 5a-5d.

[0034] In order to align the tugger train trailers 4a-4d in the transshipment position at the corresponding receiving station 5a-5d at a correct lateral distance in the vehicle transverse direction Q to the receiving station 5a-5d and parallel to the receiving station 5a-5d, a position detection system according to the invention is used which utilizes the electrical contacts 20, 21 of the tugger train trailers 4a-4b.

[0035] The structure of the position detection system according to the invention is described below using the Figures 2 to 7The position detection system according to the invention is described below using the tugger train trailer 4a and the receiving station 5a. It is understood that the remaining tugger train trailers 4b, 4c, 4d and the remaining receiving stations 5b, 5c, 5d are equipped with an analog position detection system.

[0036] The tugger train trailer 4a has two electrical contacts 20, 21 arranged spaced apart from one another in the vehicle's longitudinal direction L, which are arranged on the tugger train trailer 4a so as to be movable in the vehicle's transverse direction Q. In the illustrated embodiment, the tugger train trailer 4a has a chassis 11 that is arranged essentially centrally—as viewed in the vehicle's longitudinal direction L—and comprises a central axle 12 with two wheels 13a, 13b. The first electrical contact 20 is arranged in front of the central axle 12 in a front half of the tugger train trailer 4a, and the second electrical contact 21 is arranged behind the central axle 12 in the rear half of the tugger train trailer 4a.

[0037] The two contacts 20, 21 are connected by means of an actuator 25 in the vehicle transverse direction Q between a Figure 2 shown retracted position and one in the Figures 3 to 7The contacts 20, 21 are adjustable in the extended position shown. For this purpose, in the illustrated embodiment, the contacts 20, 21 are arranged on slides 26a, 26b which are displaceably arranged in the vehicle's transverse direction Q and which can be actuated by means of a drive motor 27. In the illustrated embodiment, the actuator 25 is designed as a rack and pinion drive, wherein the slides 26a, 26b are provided with corresponding rack profiles 28, into which a pinion 29 driven by the drive shaft of the drive motor 27 engages.

[0038] In the illustrated embodiment, two electrical contacts 20, 21 are arranged on the left and right sides of the tugger train trailer 4a in the direction of travel F. For this purpose, the contacts 20 are arranged at the two opposite outer ends of the carriage 26a, and the contacts 21 are arranged at the two opposite outer ends of the carriage 26b. With the actuator 25, either the contacts 20, 21 arranged on the left side can be extended outwards or the contacts 20, 21 arranged on the right side can be extended outwards.

[0039] In the illustrated embodiment, the contacts 20, 21 are each designed as spring-loaded contact pins 40. The contact pins 40 are mounted on the outer ends of the slides 26a, 26b so as to be displaceable in the vehicle transverse direction Q and are biased outward by a spring device 41.

[0040] The counter contacts 30, 31 of the receiving station 5a are formed by contact plates which are arranged on the front side of the receiving station 5a facing the tugger train trailer 4a.

[0041] The transfer station 5a is provided with a data communication device 50, which is supplied with electrical energy from the tugger train 2 when the two contacts 20, 21 make contact with the mating contacts 30, 31 and generates a confirmation signal when electrical energy is supplied. The data communication device 50 is designed, for example, as a data light barrier. The tugger train 2, for example the tugger train trailer 4a, is provided with an electronic control unit 55, which can receive the confirmation signal from the data communication device 50 of the stationary transfer station 5a. The electronic control unit 55 is also connected to the actuator 25 of the contacts 20, 21 in order to actuate the contacts 20, 21 from the retracted position to the extended position. Furthermore, the electronic control unit 55 is connected to a travel drive 60 of the tugger train 1.

[0042] The function of the position detection system according to the invention is explained below using the Figures 2 to 7 described in more detail.

[0043] During normal operation of the tugger train 2, the contacts 20, 21 are in the position shown in the Figure 2shown retracted position. As soon as the tugger train trailer 4a has approached a receiving station 5a and is positioned at a corresponding receiving station 5a in the direction of travel F and stops in the transfer position, the actuator 25 is controlled by the control unit 55 such that the current-carrying contacts 20, 21 extend into the extended position by a predetermined stroke H on the side of the vehicle facing the receiving station 5a. For this purpose, the drive motor 27 is actuated so that the slides 26a, 26b with the spring-loaded contact pins 40 arranged thereon extend sideways by the predetermined stroke H in the vehicle transverse direction Q. Due to the stroke H, the contacts 20, 21 on the lateral vehicle contour of the tugger train trailer 4a extend outwards by a predetermined lateral extension dimension X in the vehicle transverse direction Q.

[0044] If the transfer station 5a or the counter contacts 30, 31 - as in the Figures 3 and 4shown - is in the transfer position within the lateral extension dimension X of the contacts 20, 21 generated by the predetermined stroke H, i.e. the lateral distance A between the transfer station 5a or the counter contacts 30, 31 and the tugger train trailer 4a is smaller than the lateral extension dimension X of the contacts 20, 21, and thus the tugger train trailer 4a is positioned at the correct lateral distance and parallel to the transfer station 5a, the two contacts 20, 21 contact the counter contacts 30, 31 on the transfer station 5a and thus both electrical contacts 20, 21 are closed. The spring devices 41 on the contact pins 40 compensate for the stroke H. This enables the power supply of the transfer station 5a by the tugger train 2, so that the data communication device 50 of the transfer station 5a generates and sends a corresponding confirmation signal.The confirmation signal is received by the control unit 55 of the tugger train 2 so that the conveyor device 15, 16 can be operated in order to be able to transfer the load L1 from the tugger train trailer 4a to the receiving station 5a or from the receiving station 5a to the tugger train trailer 4a.

[0045] The control unit 55 monitors the contacting of the two contacts 20, 21 based on the confirmation signal of the data communication device 50 and, if the confirmation signal is present, detects correct positioning of the tugger train trailer 4a at the receiving station 5a with the correct lateral distance and parallel to the receiving station.

[0046] If the transfer station 5a or the counter contacts 30, 31 - as in the Figures 5 and 6shown - is in the transfer position outside the lateral extension dimension X of the contacts 20, 21 generated by the predetermined stroke H, i.e. the lateral distance A between the transfer station 5a or the counter contacts 30, 31 and the tugger train trailer 4a is greater than the lateral extension dimension X of the contacts 20, 21, the two contacts 20, 21 do not reach the counter contacts 30, 31 at the transfer station 5a and thus both contacts 20, 21 are not contacted. Both contacts 20, 21 therefore remain open. This means that the tugger train 2 cannot supply power to the transfer station 5a, so that the data communication device 50 of the transfer station 5a cannot generate and send a corresponding confirmation signal.

[0047] After the contacts 20, 21 have been actuated into the extended position, the control unit 55 monitors the contact between the two contacts 20, 21 based on the confirmation signal from the data communication device 50. If the confirmation signal is absent and both contacts 20, 21 are therefore not contacted, the control unit 55 detects and determines whether the tugger train trailer 4a is incorrectly positioned at the receiving station 5a with too great a lateral distance. If the tugger train trailer 4a is incorrectly positioned at the receiving station 5a and the confirmation signal is therefore absent, the control unit 55 issues a control command to the drive controller 60 to reposition the tugger train trailer 4a at the receiving station 5a.

[0048] For the repositioning of the tugger train trailer 4a at the receiving station 5a, a corresponding corrected lane FS can be specified or the tugger train trailer 4a can be repositioned at the receiving station 5a by means of the "trial and error" principle.

[0049] If the tugger train trailer 4a - as in the Figure 7is shown - is positioned obliquely in the transfer position and thus not parallel to the transfer station 5a, one of the two contacts 20 or 21, which both extend by the lateral extension dimension X in the vehicle transverse direction Q, contacts the corresponding counter contact 30 or 31 at the transfer station 5a and the other of the two contacts 21 or 20 does not reach the corresponding counter contact 31 or 30 at the transfer station 5a, so that only one of the two contacts 20 or 21 makes contact. The other contact 21 or 20 therefore remains open. This means that the transfer station 5a cannot be supplied with power by the tugger train 2, so that the data communication device 50 of the transfer station cannot generate and send a corresponding confirmation signal.

[0050] After the contacts 20, 21 have been actuated into the extended position, the control unit 55 monitors the contact between the two contacts 20, 21 based on the confirmation signal from the data communication device 50. If the confirmation signal is absent and thus contact is not established between one of the two contacts 20 or 21, the control unit detects and determines that the tugger train trailer 4a is incorrectly positioned at the receiving station 5a, resulting in a non-parallel alignment of the tugger train trailer 4 at the receiving station 5a. If the tugger train trailer 4a is incorrectly positioned at the receiving station 5a, and thus the confirmation signal is absent, the control unit 55 issues a control command to the drive controller 60 to reposition the tugger train trailer 4a at the receiving station 5a.

[0051] For the repositioning of the tugger train trailer 4a at the receiving station 5a, a corresponding corrected lane FS can be specified or the tugger train trailer 4a can be repositioned at the receiving station 5a by means of the "trial and error" principle.

Claims

1. System (1) comprising a tugger train (2), which has a towing vehicle (3) and at least one tugger train trailer (4a; 4b; 4c; 4d), and at least one stationary transfer station (5a; 5b; 5c; 5d) for transferring loads (L1; L2; L3; L4) between the tugger train trailer (4a; 4b; 4c; 4d) and the stationary transfer station (5a; 5b; 5c; 5d), wherein the tugger train trailer (4a; 4b; 4c; 4d) for load transfer is in a handling position relative to the stationary transfer station (5a; 5b; 5c; 5d), wherein electrical energy is supplied to the stationary transfer station (5a; 5b; 5c; 5d) by the tugger train trailer (4a; 4b; 4c; 4d) and the tugger train trailer (4a; 4b; 4c; 4d), for supplying energy to the stationary transfer station (5a; 5b; 5c; 5d), is provided with electrical contacts (20, 21) which can be contact-connected in the handling position to mating contacts (30, 31) of the stationary transfer station (5a; 5b; 5c; 5d), wherein the tugger train trailer (4a; 4b; 4c; 4d) has two electrical contacts (20, 21) arranged at a distance from each other in the vehicle longitudinal direction (L), characterized in that the electrical contacts (20, 21) are arranged on the tugger train trailer (4a; 4b; 4c; 4d) so as to be movable in the vehicle transverse direction (Q), wherein an electronic control unit (55) is provided and is configured in such a way that the contact-connection of the two contacts (20, 21) to the mating contacts (30, 31) is monitored and, if at least one contact (20; 21) is not contact-connected, incorrect positioning of the tugger train trailer (4a; 4b; 4c; 4d) at the transfer station (5a; 5b; 5c; 5d) is detected.

2. System according to Claim 1, characterized in that the electronic control unit (55) is connected to a traction drive (60) of the tugger train (2) and is configured in such a way that, in the case of incorrect positioning of the tugger train trailer (4a; 4b; 4c; 4d) at the transfer station (5a; 5b; 5c; 5d), a control command for the traction drive (60) to reposition the handling position is generated.

3. System according to Claim 1 or 2, characterized in that a first electrical contact (20) is arranged in a front half of the tugger train trailer (4a; 4b; 4c; 4d) and a second contact (21) is arranged in a rear half of the tugger train trailer (4a; 4b; 4c; 4d).

4. System according to one of Claims 1 to 3, characterized in that the two contacts (20, 21) are adjustable in the vehicle transverse direction (Q) between a retracted position and an extended position by means of an actuating drive (25), wherein the electronic control unit (55) is configured in such a way that, in the handling position, a control command for the actuating drive (25) to extend the contacts (20, 21) into the extended position is generated.

5. System according to one of Claims 1 to 4, characterized in that the contacts (20, 21) are in the form of spring-loaded contact pins (40).

6. System according to Claim 4 or 5, characterized in that the actuating drive (25) is in the form of a rack and pinion drive.

7. System according to one of Claims 1 to 6, characterized in that the transfer station (5a; 5b; 5c; 5d) is provided with a data communication device (50) which, when the two contacts (20, 21) are contact-connected to the mating contacts (30, 31), can be supplied with electrical energy by the tugger train (2) and generates a confirmation signal when supplied with electrical energy, wherein the electronic control unit (55) monitors the contact-connection of the two contacts (20, 21) to the mating contacts (30, 31) on the basis of the confirmation signal from the data communication device (50).

8. System according to one of Claims 1 to 7, characterized in that two electrical contacts (20, 21) are respectively arranged on the left-hand and right-hand sides of the tugger train trailer (4a; 4b; 4c; 4d) in the direction of travel (F) of the tugger train trailer (4a; 4b; 4c; 4d).

9. System according to one of Claims 1 to 8, characterized in that the tugger train (2) is operated autonomously.

10. System according to one of Claims 1 to 9, characterized in that the transfer station (5a; 5b; 5c; 5d) has an electrically operated conveyor (16) for transferring a load (L1; L2; L3; L4), wherein the conveyor (16) can be supplied with electrical energy by the tugger train (2) when the two contacts (20, 21) are contact-connected to the mating contacts (30, 31).

11. Method for operating a system (1) according to one of the preceding claims, characterized in that, in a first step, the tugger train (2) approaches the handling position of the tugger train trailer (4a; 4b; 4c; 4d) at the stationary transfer station (5a; 5b; 5c; 5d), in a subsequent, second step, the two contacts (20, 21) are adjusted into the extended position, in a subsequent, third step, the electronic control unit (55) monitors whether there is a confirmation signal from the data communication device (50), and, if the confirmation signal is absent, the electronic control unit (55) detects incorrect positioning of the tugger train trailer (4a; 4b; 4c; 4d) at the transfer station (5a; 5b; 5c; 5d).

12. Method according to Claim 11, characterized in that, if the confirmation signal is absent, the electronic control unit (55) generates a control command for the traction drive (60) of the tugger train (2) to reposition the handling position.