Transport system for in-house material transport, comprising a tugger train and at least one trolley carriage

Abstract

The invention relates to a transport system (1) for in-house material transport, comprising a tugger train (2), which comprises a towing vehicle (3) and at least one tugger train trailer (4a; 4b), and at least one trolley carriage (5a; 5b; 5c), wherein the tugger train trailer (4a; 4b) is designed to carry along the at least one trolley carriage (5a; 5b; 5c). The transport system (1) comprises a humanoid robot (10) which is designed to unload the trolley carriage (5a; 5b; 5c) from the tugger train trailer (4a; 4b) and / or to load the tugger train trailer (4a; 4b) with the trolley carriage (5a; 5b; 5c).

Description

[0001] 24431 / P24035-DEb / LRI= EM-LRI021

[0002] 30.07.2025 - Geirhos

[0003] 1

[0004] Description

[0005] Transport system for internal material transport comprising a tugger train and at least one trolley trolley

[0006] The invention relates to a transport system for internal material transport comprising a tugger train, which includes a towing vehicle and at least one tugger train trailer, and at least one trolley wagon, wherein the tugger train trailer is designed to carry the at least one trolley wagon.

[0007] For the internal transport of loads and thus the internal flow of materials, tugger trains are increasingly being used. These consist of a towing vehicle and at least one tugger train trailer pulled by the towing vehicle. The tugger train trailer is designed to accommodate and tow at least one trolley wagon loaded with the cargo to be transported.

[0008] A trolley trolley, also known as a floor trolley, is typically equipped with at least two swivel casters and has a total of four wheels, allowing it to be pushed along the floor. Trolley trolleys are known in various designs that can transport a pallet on which the cargo being transported can be placed. Furthermore, the trolley trolley can be designed as a wire mesh container that can be loaded with the cargo. Additionally, the trolley trolley can be equipped with a shelving unit into which small parts containers, known as KLT containers, filled with the cargo being transported, can be placed.

[0009] In known tugger trains whose tugger train trailers are designed to carry at least one trolley wagon, the loading of the tugger train trailer with the trolley wagon and the unloading of the trolley wagons from the tugger train trailer are carried out by an operator who can still control and drive the towing vehicle. The loading of the tugger train trailers with the trolley wagons and the unloading of the 24431 / P24035-DEb / LRI= EM-LRI021

[0010] 30.07.2025 - Geirhos

[0011] 2

[0012] However, using trolley trolleys from the tugger train trailers represents an ergonomically unfavorable and strenuous activity.

[0013] The present invention is based on the objective of providing a transport system of the type mentioned at the outset, which is improved with regard to loading the tugger train trailers with the trolley trolleys and unloading the trolley trolleys from the tugger train trailers.

[0014] This task is solved by a transport system for internal material transport comprising a tugger train, which includes a towing vehicle and at least one tugger train trailer, and at least one trolley wagon, wherein the tugger train trailer is designed to carry the at least one trolley wagon, wherein the transport system includes a humanoid robot that is designed to unload the trolley wagon from the tugger train trailer and / or to load the tugger train trailer with the trolley wagon.

[0015] The transport system according to the invention thus includes a humanoid robot that performs the ergonomically awkward and strenuous tasks of loading the trolley carts onto the tugger train trailers and unloading the trolley carts from the tugger train trailers, thereby handling the loading and unloading of the trolley carts in the tugger train. Preferably, the humanoid robot is configured to push or pull the trolley cart into the tugger train trailer to load it. Preferably, the humanoid robot is configured to pull or push the trolley cart out of the tugger train trailer to unload it.

[0016] A humanoid robot, as defined by its inventors, is a mobile, human-like robot with two arms that can move independently using suitable means of locomotion. For locomotion, the humanoid robot can have two legs or, alternatively, wheels or tracks.

[0017] According to an advantageous embodiment of the invention, the tugger train is provided with a standing surface and / or a seating surface for the humanoid robot, on 24431 / P24035-DEb / LRI= EM-LRI021

[0018] 30.07.2025 - Geirhos

[0019] 3. The humanoid robot can ride along on the tugger train. This makes it easy for the humanoid robot to travel as a functional component of the tugger train to corresponding staging positions where the humanoid robot is to unload or load a trolley on the tugger train.

[0020] According to an advantageous embodiment of the invention, the tugger train, in particular the towing vehicle, is equipped with a battery, and a charging device is provided which is designed to charge the humanoid robot traveling on the tugger train with electrical energy from the battery. If the tugger train is equipped with an electric battery that, for example, supplies an electric drive system of the tugger train, in particular the towing vehicle, with electrical energy, the charging device can be used to easily charge the humanoid robot traveling on the tugger train with electrical energy from the battery of the tugger train; for example, an electrical energy storage device of the humanoid robot traveling on the tugger train can be charged electrically while the tugger train is in motion.

[0021] According to one embodiment, the charging device can include charging contacts on the tugger train and charging contacts on the humanoid robot, which are automatically connected when the humanoid robot is in a predetermined standing position on the base of the tugger train or when the humanoid robot is in a predetermined sitting position on the seat of the tugger train.

[0022] According to an alternative design, the charging device can be configured as an inductive charging device that enables the humanoid robot to be charged with electrical energy from the battery of the tugger train when the humanoid robot is on the standing or sitting surface of the tugger train.

[0023] According to an alternative embodiment, the charging device can include a charging cable that can be connected to a charging plug, wherein the humanoid robot is configured to connect the charging cable to the charging plug for charging operation. The charging cable can be attached to the tugger train and the charging plug to the humanoid robot. 24431 / P24035-DEb / LRI= EM-LRI021

[0024] 30.07.2025 - Geirhos

[0025] 4

[0026] The charging cable can be positioned on the robot. Alternatively, the charging cable can be located on the humanoid robot and the charging plug on the tugger train.

[0027] According to an alternative and equally advantageous embodiment of the invention, the humanoid robot can stand ready at the staging position and, upon arrival of the tugger train at the staging position, unload or load the desired trolley from the tugger train trailer.

[0028] The humanoid robot standing ready at the staging position can also take over tasks and activities arising at the staging position, for example, tasks and activities serving assembly or production when the staging position is being trained as an assembly or production cell.

[0029] According to an advantageous embodiment of the invention, the tugger train is manually operated by a person. In the transport system according to the invention, the person only guides and thus drives the towing vehicle. The loading and unloading of the tugger train trailers with the trolleys is carried out by the humanoid robot.

[0030] According to an alternative and equally advantageous embodiment of the invention, the tugger train operates autonomously and thus without a driver. An autonomous tugger train is equipped with a towing vehicle that also drives autonomously and therefore without a driver. With the humanoid robot, in conjunction with an autonomously driving tugger train, simple loading and unloading of the tugger train trailers using trolleys can be achieved, since for an autonomous tugger train comprising multiple trailers, only a single humanoid robot is required to load and unload all trailers. In contrast, in known autonomous tugger trains of the prior art, each trailer of the tugger train must be equipped with a corresponding device that enables automated loading and unloading of the respective trailer using a trolley.

[0031] According to an advantageous embodiment of the invention, the humanoid robot is in communication connection with a higher-level control unit, wherein the higher-level control unit is configured to receive control commands from the 24431 / P24035-DEb / LRI= EM-LRI021

[0032] 30.07.2025 - Geirhos

[0033] 5. humanoid robots. The control commands can, in particular, consist of loading or unloading one or more of the tugger train trailers with specific trolleys at a particular deployment position. This allows, for example, the simple control of the humanoid robot in a tugger train operated manually by an operator. The higher-level control unit can, for example, be operated by the tugger train operator, who enters a work order for the humanoid robot at the control unit, such as unloading a specific trolley in the tugger train or loading a tugger train trailer with a specific trolley, with the corresponding control commands for the humanoid robot already being issued by the control unit to execute the work order.

[0034] According to an advantageous embodiment of the invention, the tugger train and the humanoid robot are in communication with a higher-level control unit, wherein the higher-level control unit is configured to provide control commands to the tugger train and the humanoid robot. This allows, for example, the simple control of both the tugger train and the humanoid robot in the case of an autonomous tugger train. The higher-level control unit can, for example, be a goods management system that provides corresponding control commands for the tugger train to move to a corresponding staging position and provides corresponding control commands for the humanoid robot to unload a specific trolley in the tugger train at the staging position or to load a tugger train trailer with a specific trolley.

[0035] According to an advantageous embodiment of the invention, the tugger train is in communication with a higher-level control unit, and the humanoid robot is in communication with a tugger train controller of the tugger train, wherein the higher-level control unit is configured to provide control commands to the tugger train, and the tugger train controller of the tugger train is configured to provide control commands to the humanoid robot. This allows, for example, the simple control of both the tugger train and the humanoid robot in an autonomous tugger train. The higher-level control unit can, for example, be a merchandise management system. 24431 / P24035-DEb / LRI= EM-LRI021

[0036] 30.07.2025 - Geirhos

[0037] 6. This provides the corresponding control commands for the tugger train's control system to move to a corresponding staging position and, at that staging position, either unload a specific trolley in the tugger train or load a tugger train trailer with a specific trolley. At the staging position, the tugger train's control system can then provide suitable control commands for the humanoid robot so that, at the staging position, the humanoid robot unloads the specific trolley in the tugger train or loads the tugger train trailer with the specific trolley.

[0038] According to an advantageous embodiment of the invention, the humanoid robot is configured to detach a tugger train trailer from or couple it to the tugger train. If, at a staging position, not only individual trolleys are to be unloaded or loaded from the tugger train, but an entire tugger train trailer is to be placed or picked up at a staging position, this task can also be easily performed by the humanoid robot by detaching an individual tugger train trailer from the tugger train and distributing it at the staging position, or by coupling a tugger train trailer already at the staging position to the tugger train.For this purpose, the tugger train trailers are preferably each equipped with a drawbar that can be coupled or uncoupled to a trailer coupling on the towing vehicle and / or to a trailer coupling of a tugger train trailer located in the tugger train.

[0039] The invention further relates to a method for operating the aforementioned transport system. The aforementioned problem is solved methodically by driving the tugger train to a staging position to load the tugger train trailer with a trolley cart, and loading the tugger train trailer at the staging position with the trolley cart, wherein the trolley cart is pushed by the humanoid robot from a source position to the tugger train trailer and loaded onto the tugger train trailer, in particular pushed or pulled into it, and / or by driving the tugger train to a staging position to unload a trolley cart from the tugger train trailer, and the trolley cart is loaded by the robot at the staging position. 24431 / P24035-DEb / LRI= EM-LRI021

[0040] 30.07.2025 - Geirhos

[0041] 7

[0042] The trolley is unloaded from the tugger train trailer at its staging position, with the trolley being unloaded from the tugger train trailer by the humanoid robot, in particular by pulling or pushing it out and pushing it to a target position. This allows the humanoid robot to easily take over the physically demanding task of unloading the trolley from the tugger train trailer, pulling or pushing the trolley from the trailer and pushing it to a desired target position, where it is then placed. This also allows the humanoid robot to easily take over the physically demanding task of loading the tugger train trailer with a trolley, pushing the trolley to be loaded from a source position to the tugger train trailer and pushing or pulling it into the trailer.

[0043] According to an advantageous embodiment of the method, a humanoid robot detaches a tugger train trailer from the tugger train at the staging position and pushes it to a destination position, and / or a tugger train trailer is pushed from a source position to the tugger train at the staging position by the humanoid robot and coupled to it. This allows the humanoid robot to easily detach an entire tugger train trailer from the tugger train at the staging position and place it at the destination position, or to couple a tugger train trailer located at the source position to the tugger train.

[0044] Further advantages and details of the invention are explained in more detail by way of example using the embodiment shown in the schematic figure.

[0045] Figure 1 shows a transport system 1 according to the invention for internal material transport.

[0046] Transport system 1 comprises a tugger train 2, which includes a tractor unit 3 and at least one tugger train trailer 4a, 4b pulled by the tractor unit 3. Transport system 1 further comprises at least one trolley wagon 5a, 5b, 5c. 24431 / P24035-DEb / LRI= EM-LRI021

[0047] 30.07.2025 - Geirhos

[0048] 8

[0049] The route train trailer 4a, 4b is each designed to carry at least one trolley wagon 5a, 5b, 5c.

[0050] Trolley trolleys 5a, 5b, and 5c each have 6 wheels, allowing them to be moved on the floor. Trolley trolleys 5a, 5b, and 5c can be loaded with a load L1, L2, or L3.

[0051] In the illustrated embodiment, the tugger train trailers 4a, 4b are provided with loading platforms 7a, 7b onto which the trolley trolleys 5a, 5b, 5c with their rollers 6 can be pushed.

[0052] The tugger train trailers 4a, 4b are equipped with a lifting drive (not shown) that lowers and raises the loading platforms 7a, 7b. During ferry operation of the tugger train 2, the loading platforms 7a, 7b are raised off the ground, so that the trolley trolleys 5a, 5b standing on the loading platforms 7a, 7b do not move with their wheels 6 on the ground. For loading and unloading the trolley trolleys 5a, 5b, 5c, the loading platforms 7a, 7b are lowered to the ground, so that the trolley trolleys 5a, 5b, 5c can be pushed or pulled onto the loading platforms 7a, 7b with their wheels 6, or pushed off or pulled into the loading platforms 7a, 7b.

[0053] In the illustrated embodiment, the tugger train trailer 4a is loaded with several trolley wagons 5a, each carrying a load L1, L2, or L3, respectively. The tugger train trailer 4b is loaded with several empty trolley wagons 5b. Trolley wagon 5c is unloaded and is at a staging position.

[0054] The transport system 1 further includes a humanoid robot 10, which is trained to unload the trolley trolley 5a or 5b from the tugger train trailer 4a or 4b and / or to load the tugger train trailer 4a or 4b with the trolley trolley 5c.

[0055] The route train 2 is preferably provided with a standing surface 11 and / or a seating surface for the humanoid robot 10, on which the humanoid robot 10 can stand on the 24431 / P24035-DEb / LRI= EM-LRI021

[0056] 30.07.2025 - Geirhos

[0057] 9

[0058] The passenger can ride along on route train 2. The standing area 11 and / or a seat is preferably provided on the towing vehicle 3 of route train 2.

[0059] The tugger train 2, for example the towing vehicle 3, is equipped with a battery (not shown) that supplies electrical energy to an electric drive system of the tugger train, for example an electric drive of the towing vehicle 3 and / or an electric lifting drive of the tugger train trailers 4a, 4b. According to a further embodiment, the transport system 1 has a charging device (not shown) configured to charge the humanoid robot 10 traveling on the tugger train 2 with electrical energy from the battery of the tugger train 2.

[0060] To unload a trolley 5a, for example, a trolley 5a loaded with cargo L1, from the tugger train trailer 4a, the tugger train 2 is moved to a staging position and stopped there. The humanoid robot 10 can be located on the platform 11 or seat of the tugger train 2 and travel with it to the corresponding staging position, or alternatively, be present at the staging position and ready to proceed. The figure shows the tugger train 2 stopped at the staging position. The desired trolley 5a is then unloaded from the tugger train trailer 4a, which is positioned at the staging position.For this purpose, the trolley 5a is unloaded from the tugger train trailer 4a by the humanoid robot 10, for example by being pulled or pushed out of the loading platform 7a lowered to the ground, and pushed to a desired target position 15, where the trolley 5a with the load L1 is to be made available.

[0061] To load the tugger train trailer 4a, 4b with the empty trolley trolley 5c, the trolley trolley 5c is pushed by the humanoid robot 10 from a source position 16, where the empty trolley trolley 5c is parked, to the tugger train trailer 4a and loaded onto the tugger train trailer 4a, for example by being pushed or pulled onto the loading platform 7a lowered to the ground.

[0062] If the humanoid robot 10 is riding on the tugger train 2, the humanoid robot 10 then returns to the standing platform 11 or seat of the tugger train 2, so that the tugger train 2 together with the humanoid robot 24431 / P24035-DEb / LRI= EM-LRI021

[0063] 30.07.2025 - Geirhos

[0064] 10

[0065] 10 can drive to another staging position where, for example, the trolley wagon 5a loaded with load L2 is to be unloaded from the tugger train trailer 4a and another empty trolley wagon is to be loaded.

[0066] The humanoid robot 10 receives the control commands to unload a corresponding trolley 5a from the tugger train trailer 4a and push it to the target position 15, or to push a corresponding trolley 5c from the source position 16 to the tugger train trailer 4a and load it onto the tugger train trailer 4a, from a higher-level control unit 20, with which the humanoid robot 10 is in communication link 21, in particular a wireless communication link.

[0067] If the tugger train 2 is designed as an autonomously operated tugger train 2, the tugger train 2 preferably also has a communication connection 22 with the higher-level control unit 20, in particular a wireless communication connection, wherein the higher-level control unit 20 provides corresponding control commands for the tugger train 2 to approach the desired staging positions, at which the humanoid robot 10 is to load and / or unload the tugger train trailer 4a or 4b with trolley trolleys 5a, 5b, 5c.

[0068] Alternatively or additionally, the humanoid robot 10 can be trained to detach a tugger train trailer 4a or 4b from the tugger train 2 or to couple it to the tugger train 2.

[0069] At the tugger train 2, which is located at the staging position, a tugger train trailer 4a or 4b, preferably the tugger train trailer 4a loaded with cargo L1, L2, L3, can be detached by the humanoid robot 10 and pushed to the target position 15 and placed there; and / or a tugger train trailer (not shown) located at the source position 16 can be pushed by the humanoid robot 10 from the source position 16 to the tugger train 2, which is located at the staging position, and coupled to the tugger train 2. 24431 / P24035-DEb / LRI= EM-LRI021

[0070] 30.07.2025 - Geirhos

[0071] 11

[0072] The humanoid robot 10 depicted in the figure has a human-like form and a torso with two arms and two legs for locomotion. Alternatively, the humanoid robot 10 can be equipped with wheels or tracks instead of legs.

Claims

24431 / P24035-DEb / LRI= EM-LRI021 30.07.2025 - Geirhos 12 Patent claims 1. Transport system (1) for internal material transport comprising a tugger train (2) comprising a towing vehicle (3) and at least one tugger train trailer (4a; 4b), and at least one trolley wagon (5a; 5b; 5c), wherein the tugger train trailer (4a; 4b) is designed to carry the at least one trolley wagon (5a; 5b; 5c), characterized in that the transport system (1) comprises a humanoid robot (10) designed to unload the trolley wagon (5a; 5b; 5c) from the tugger train trailer (4a; 4b) and / or to load the tugger train trailer (4a; 4b) with the trolley wagon (5a; 5b; 5c).

2. Transport system according to claim 1, characterized in that the tugger train (2) is provided with a standing surface (11) and / or a seating surface for the humanoid robot (10) on which the humanoid robot (10) can ride on the tugger train (2).

3. Transport system according to claim 2, characterized in that the tugger train (2), in particular the towing vehicle (3), is equipped with a battery and a charging device is provided which is designed to charge the humanoid robot (10) traveling on the tugger train (3) with electrical energy from the battery.

4. Transport system according to one of claims 1 to 3, characterized in that the tugger train (2) is operated manually by an operator.

5. Transport system according to one of claims 1 to 3, characterized in that the tugger train (2) is operated autonomously.

6. Transport system according to one of claims 1 to 5, characterized in that the humanoid robot (10) is in communication connection (21) with a superior control unit (20), wherein the superior control unit (20) is configured to provide control commands to the humanoid robot (10). 24431 / P24035-DEb / LRI= EM-LRI021 30.07.2025 - Geirhos 13 7. Transport system according to one of claims 1 to 5, characterized in that the tugger train (2) and the humanoid robot (10) are in communication connection (21; 22) with a higher-level control unit (20), wherein the higher-level control unit (20) is configured to provide control commands to the tugger train (2) and the humanoid robot (10).

8. Transport system according to one of claims 1 to 5, characterized in that the tugger train (2) is in communication connection (22) with a higher-level control unit (20) and the humanoid robot (10) is in communication connection with a tugger train control unit of the tugger train, wherein the higher-level control unit (20) is configured to provide control commands of the tugger train (2) and the tugger train control unit of the tugger train (2) is configured to provide control commands of the humanoid robot (10).

9. Transport system according to one of claims 1 to 8, characterized in that the humanoid robot (10) is designed to detach a tugger train trailer (4a; 4b) from the tugger train (2) or to couple it to the tugger train (2).

10. Method for operating the transport system (1) according to one of the preceding claims, characterized in that, for loading the tugger train trailer (4a; 4b) with a trolley trolley (5a; 5b, 5c), the tugger train (2) is driven to a staging position and the tugger train trailer (4a; 4b) standing at the staging position is loaded with the trolley trolley (5a; 5b; 5c), wherein the trolley trolley (5a; 5b; 5c) is pushed by the humanoid robot (10) from a source position (16) to the tugger train trailer (4a; 4b) and loaded onto the tugger train trailer (4a; 4b), in particular pushed or pulled into it, and / or that, for unloading a trolley trolley (5a; 5b; 5c) from the tugger train trailer (4a; 4b), the tugger train (2) is driven to a staging position and the trolley trolley (5a; 5b; 5c) is unloaded from the tugger train trailer (4a; 4b) standing at the staging position, with the trolley wagon (5a; 5b;5c) is unloaded from the tugger train trailer (4a; 4b) by the humanoid robot (10), in particular pulled out or pushed out, and pushed to a target position (15). 24431 / P24035-DEb / LRI= EM-LRI021 30.07.2025 - Geirhos 14 11. Method according to claim 10, characterized in that a tugger train trailer (4a; 4b) is detached from the tugger train (2) at the staging position by the humanoid robot (10) and pushed to a target position (15) and / or that a tugger train trailer (4a; 4b) is pushed from a source position (16) to the tugger train (2) at the staging position by the humanoid robot (10) and coupled to the tugger train (2).

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