DE102013020714A1 - Transport robot with expansion module - Google Patents

Abstract

Rail-bound transport robot (1) for picking, distribution and absorption of loads from a shelf storage on a loading platform, wherein in the direction of travel (31) on at least one end side of the transport robot (1) an extension module (16) can be fastened, consisting of an attached loading platform with a at the rear end of the loading platform attached axle module (1, 22).

Description

The invention relates to a rail-mounted transport robot with expansion module according to the preamble of claim 1.

Rail-bound transport robots are needed to pick, distribute and pick up loads from a rack warehouse to various distribution stations.

Such a prior art is, for example, with the subject of DE 10 2007 010 191 A1 known. There are provided a number of transport units, which are referred to in the following description as a transport robot, and which are suitable to take loads from a shelf and to move along the tramlines of the rack warehouse, and then to get into a lift unit, where they are on a lower Level are lowered and approach a delivery station.

Such rail-bound transport robots have proven themselves on a large scale.

However, there is a need to extend such transport robot also modular to increase the loading capacity of such transport robots crucial.

The hitherto known transport robots have only an upper loading platform on which, for example, piece goods can be charged, or there are trays on which several small parts can be charged, or the loading platform is suitable to take boxes in which small parts are stored.

For example, a known transport robot has outer dimensions of 840 × 740 mm with a track width of, for example, 851 mm.

With a dead weight of 34 kg, for example, it can accommodate a payload of 35 kg on its loading platform.

In this case, it is possible that it has a speed of, for example, 2 m per second at an acceleration of 1 m per second square [m / s ² ].

The above values are only to be understood as examples and are intended to demonstrate that the known transport robots, due to their external dimensions, also have a loading platform limited in area.

If, on the other hand, it is a matter of transporting piece goods or, in general, loads that exceed the dimensions of the loading platform, there is still no viable solution to this problem.

It is only an expandable transport robot of the Fa. Dematic known in which the individual modules that result in combination transport crane, are interconnected by racks, wherein the racks are associated with drive motors.

Disadvantage of this known embodiment is that between the individual modules of the transport robot extendable adapter must be provided, for example, ensure that the control lines join the change in length of the racks, which is associated with considerable effort.

The invention is therefore based on the object, a transport robot of the type mentioned in such a way that the load platform can be increased reliably and economically by simple means.

To solve the problem, the invention is characterized by the technical teaching of claim 1.

An essential feature of the invention is that the extension of a conventional transport robot in a long transport robot takes place such that at the at least one end face of the transport robot, which is directed in the direction of travel, a Tiefladeebrücke is attached, which extends in the direction of travel, the length of the conventional transport robot, and that at the free rear end of the Tiefladebrücke an axle module is arranged, which supports the rear end of the Tiefladebrücke relative to the rail plane.

An essential feature of the invention is therefore that the conventional transport robot is not changed in its length dimensions, but that an extension module is attached to the transport robot, which does not change the structure, the composition, the contact and the control properties of the conventional transport robot and only to Having his free rear end for support on the roadway a running axle module.

In the terms of transport or vehicle technology, the usual transport robot according to the invention can thus be referred to as a towing vehicle, which is connected via a vertically directed rotary joint with a Tiefladebrücke, which is connected at its rear end via another rotary joint with a trailer.

Thus, in the direction of travel on at least one end face of the transport robot, an extension module can be fastened, which consists of an attached loading platform with an attached at the rear end of the loading platform axle module.

The attached loading platform is preferably designed as a low loader bridge. The invention is not limited thereto. It may be provided instead of the Tiefladebrücke any other form of loading platform.

The axle module, which can be attached to the rear end of the loading platform in a rotatable and pivotable manner, can be designed as a further transport robot. In this embodiment, then loading platform at its front end would be hingedly connected to the front transport robot and with its rear end articulated to the trailing transport robot.

As an articulated coupling a kingpin can be used or instead a conventional, known trailer hitch.

With all the claimed embodiments, all advantageous properties of the conventional transport robot are retained, because the extension of the conventional transport robot (towing vehicle) is carried out by a passive Tiefladebrücke, which is then supported at its rear - viewed in the direction - end with a follower axle module (trailer).

The control and adapter units, connectors and other electrical connections in the transport robot (towing vehicle) itself are not affected, which is a significant advantage over the prior art.

In a preferred embodiment, the Tiefladebrücke is simply formed as a multi-folded flat part, which is attached with associated legs on one side of the conventional transport robot. Such attachment may be a screw connection, a clamp connection, a snap-in connection or any other releasable connections.

In the same way, an axle module can be attached as a trailer at the free rear end of the expansion module, which is also connected via the aforementioned detachable or non-detachable connections with the Tiefladebrücke.

The terms "extension module" and "flatbed bridge" are used interchangeably.

If, in fact, the expansion module is designed as a low-loader bridge, the advantage now results that other self-propelled transport robots can be charged on this flatbed bridge, so that, in a preferred embodiment, the conventional transport robot converted to an extended long-distance transport robot is capable of a further conventional transport robot for the first time take the Tiefladeebrücke.

This is a piggy-back principle, because the conventional transport robot, which was converted as a long-distance transport robot, is now suitable and intended for transporting further transport robots.

Due to the simple design of the Tiefladebrücke thus a conventional transport robot can approach the side of the long transport robot and moves independently on the Tiefladebrücke, which is preferably formed with guide rails so as to accommodate the conventional transport robot.

After this piggy-back principle, the long transport robot with the loaded conventional transport robot travels to an arbitrary unloading point, preferably to a specific tramline in a racking warehouse, where it discharges the loaded transporting robot into the tramline.

It is therefore a satellite principle, because the charged transport robot is carried along like a satellite with the long transport robot and unloaded as needed at certain unloading points, namely in the different tramlines of a racking store, where it takes its loading and unloading tasks.

As soon as the satellite transport robot has completed its loading and unloading task, for example by picking up piece goods, bulk goods or other goods on its own loading platform, it will be moved back to the long-distance transport robot, where it will be picked up on the flatbed bridge and driven to another location ,

However, this satellite arrangement of two transport robots, wherein the one transport robot was converted by a simple Tiefladeebrücke in a Langtransportroboter, but is not limited to the application of the transport of another transport robot.

• a) Tiefladebrücke mit einer Lastplattform ausgebildet;
• b) Lastbrücke ausgebildet, sodass auf die Tiefladeplattform verzichtet ist.
• c) Die Lastbrücke oder die Tiefladebrücke ist mit einer Rollenbahn oder einer Kugelbahn bestückt.
• d) Die Tiefladebrücke oder Lastbrücke weist einen Längsförderer auf, der zum Beispiel mit Flachriemen oder Schnurriemen arbeitet.
• e) Die Tiefladebrücke oder die Lastbrücke ist mit einem Ladekran bestückt.
• f) Auf der Tiefladebrücke oder der Lastbrücke ist eine Einzugs- und/oder Abschiebevorrichtung angeordnet.
• g) Auf der Tiefladebrücke oder der Lastbrücke ist ein Trichter für Schüttgut angeordnet, sodass Schüttgut transportiert werden kann.
• h) Auf der Tiefladebrücke oder der Lastbrücke ist eine Kippvorrichtung für Schüttgut angeordnet.
• i) Die Tiefladebrücke oder die Lastbrücke ist als Wanne ausgebildet, in die Schüttgüter oder Flüssigkeiten zum Absaugen angeordnet sind.
• j) Auf der Tiefladebrücke oder der Lastbrücke sind Facheinteilungen für die geordnete Lagerung von Stückgütern angeordnet.
• k) Auf der Tiefladebrücke oder der Lastbrücke ist eine Drehvorrichtung mit Drehteller angeordnet.
• l) Die Tiefladebrücke oder Lastbrücke ist als Kühl- oder Heizcontainer ausgebildet.
• m) Auf der Tiefladebrücke oder der Lastbrücke ist eine Anhängervorrichtung für einen Sattelauflieger angeordnet, wobei auf der Lastplattform des einen Transportroboters ein Kupplungszapfen angeordnet ist, der über ein Verbindungsteil einen nachlaufenden weiteren Transportroboter kuppelt.

Instead of the training of the expansion module as a flatbed bridge the following further applications are claimed as essential to the invention:
The expansion module is as

• a) Tieflade bridge formed with a load platform;
• b) load bridge formed so that is dispensed with the low-loading platform.
• c) The load bridge or the flatbed bridge is equipped with a roller conveyor or a ball track.
• d) The Tiefladeebrücke or load bridge has a longitudinal conveyor, which works for example with flat belts or Schnurriemen.
• e) The low bed bridge or the load bridge is equipped with a loading crane.
• f) On the Tiefladebrücke or the load bridge a collection and / or Abschiebevorrichtung is arranged.
• g) A hopper for bulk material is placed on the platform or load bridge so that bulk goods can be transported.
• h) On the Tiefladebrücke or the load bridge a tilting device for bulk material is arranged.
• i) The Tiefladeebrücke or the load bridge is designed as a trough, are arranged in the bulk goods or liquids for suction.
• j) Specialized arrangements for the orderly storage of general cargo are arranged on the low bed bridge or the load bridge.
• k) On the Tiefladebrücke or the load bridge a rotating device with turntable is arranged.
• l) The Tiefladeebrücke or load bridge is designed as a cooling or heating container.
• m) On the Tiefladebrücke or the load bridge a trailer device for a semi-trailer is arranged, wherein on the load platform of a transport robot, a coupling pin is arranged, which couples via a connecting part a trailing further transport robot.

The subject of the present invention results not only from the subject matter of the individual claims, but also from the combination of the individual claims with each other.

All information and features disclosed in the documents, including the abstract, in particular the spatial design shown in the drawings, are claimed to be essential to the invention insofar as they are novel individually or in combination with respect to the prior art.

In the following, the invention will be explained in more detail with reference to drawings illustrating several execution paths. Here are from the drawings and their description further features essential to the invention and advantages of the invention.

Show it:

1 : Perspective view of a conventional transport robot according to the prior art

2 : the top view of the transport robot behind 1 According to the state of the art

3 : A side view of a long transport robot, which from the conventional transport robot after 1 and 2 was created

4 : the front view of the long transport robot in the direction of arrow IV in 3

5 : the top view of the long transport robot

6 : the side view of the extension module

7 : the perspective view of the long transport robot after the 3 and 5

8th : The side view of a modified embodiment in which the Tiefladeebrücke is arranged between two transport robots

In 1 and 2 is a conventional transport robot 1 represented according to the prior art.

It consists essentially of a front drive module 2 and a rear drive module spaced therefrom 3 ,

Each drive module 2 . 3 is in each case preferably on each side of a drive wheel 6 assigned. Lateral guide wheels 7 provide for the lateral guidance of the transport robot 1 in the profile rails, not shown, a railroad track.

In the space between the drive modules 2 . 3 is a basic module 4 arranged, which is a loading module 5 wearing.

In the illustrated embodiment, the loading module with a workpiece carrier 11 provided on the lattice-like surface workpieces are transported.

In the basic module 4 are the sensor unit 8th and the control unit 9 arranged.

In the illustrated embodiment, the loading module 5 in the base module 4 additionally with a longitudinal conveyor 10 provided over its belt, the charged workpiece carrier 11 can be unloaded laterally.

The direction of travel of the transport robot 1 in the railroad is with 31 specified.

The representation in 1 shows that the modules mentioned 2 . 3 . 4 along dividing lines 12 . 13 Also separable from each other and can be assembled in a modular manner.

In the area of the dividing lines 12 . 13 Therefore, appropriate adapter pieces, contact parts or the like can be provided.

Every drive module 2 . 3 has a cover 29 on, and the respective front and rear end of each drive module 2 . 3 is from a cover strip 14 covered.

This also results 2 ,

It is essential in the invention that a conventional transport robot according to the 1 and 2 is not changed in its construction and its dimensions - as is the case in the prior art - but it is fully retained in its integral functionality and is only by an extension module 16 in the direction of travel 31 extended.

In the exemplary embodiments described below, it is merely shown that an extension module 16 on the one drive module 2 is attached.

The invention is not limited thereto. In a modified embodiment, it may be provided that the extension module 16 on the rear drive module 3 is arranged, and in a further embodiment, it is provided that the extension module 16 both on the rear drive module 3 as well as on the front drive module 2 is attached.

The attachment of the extension module 16 on the front drive module 2 is in 3 shown.

For this purpose, at the transport robot 1 according to 1 the front cover strip 14 removed, creating a wall surface 15 becomes free.

In the embodiment shown, the extension module 16 according to 6 from a multiply angled surface part, which preferably consists of carbon fiber reinforced plastic. However, it may also be formed as a sheet metal part, wherein the width of the extension module 16 the track width of the transport robot 1 equivalent.

In the embodiment shown forms the extension module 16 an upper, folded and horizontal leg 17 out with it according to 3 on top of the drive module 2 is screwed, with a screw connection 25 is used. This is the cover 29 of the drive module 2 away.

The horizontal thigh 17 goes into a 90 degrees angled vertical leg 18 about, about the wall surface 15 of the drive module 2 rests, and this leg 18 then goes back to a horizontal base leg 19 over, the the lowbed bridge 28 of the extension module 16 formed.

This flatbed bridge 28 is thus the load platform for transporting further, piggybacked transport robots 32 , which are also generally considered as cargo 26 be designated.

On the base leg 19 closes in turn a vertical, folded leg 20 on, with a screw connection 24 on an axle module 22 is attached. This is in 3 and 5 shown.

The axle module 22 has only a non-driven support wheel 23 and optionally still lateral guide rollers 7 on. It carries a cover strip 14 as protection against an impact.

Likewise, it can with a cover 29 be covered.

It is important that the axle module 22 as simple as possible and only a passive follower jockey wheel 23 has, so that the entire drive unit by the transport robot 1 according to 3 is formed in the front part.

In 3 is shown that the transport robot 1 actually remains unchanged and he only by an extension module 16 extended to at least one side.

The 3 also shows that now on the Tiefladebrücke 28 another transport robot 1 - as in 1 and 2 shown - charged.

This shows the 6 that is the loading height 33 the Tiefladebrücke 28 above the rolling level 34 the drive wheels 6 so it's easy to have a transport robot 1 self-driving on the loading bridge 28 Simply by his own, intelligent control on the Tiefladeebrücke 28 auffährt and locked there.

The approach and departure of the unloaded transport robot 32 according to 5 takes place in the direction of the arrows 30 ,

It can therefore be unloaded to both sides.

Overall, thus forming the Tiefladebrücke 28 a spacious reception room 27 ,

In a preferred embodiment, the Tiefladebrücke extended 28 or generally the extension module 16 the previous length of the transport robot 1 from 740 mm to about three times the length, taking the length of the receiving space 27 the track width of the loaded transport robot 32 equivalent.

Importantly, the invention is not limited to the training of the extension module 16 as a flatbed bridge 28 is limited, but instead of the Tiefladeebrücke 28 can a variety of other extension modules in the manner described with the transport robot 1 get connected. The possible trainings of the extension module 16 in various forms have been described in the general description part detail.

In 8th is as a further embodiment of the invention, a Tiefladebrücke 28 represented, which is formed between two driving units.

The first driving unit can be used here as a long transport robot 21 be educated. However, the invention is not limited thereto. It can also be provided that the front drive unit, which takes over the active drive, as a conventional transport robot 1 is formed according to the prior art.

It is important, however, that on the charging module 5 or the loading platform of this transport robot 1 according to 1 and 2 a coupling pin 36 is arranged, which engages with an associated receptacle 38 in the range of a coupling profile 35 stands.

The coupling profile 35 is in turn a multiply angled surface element, which in its central region, the aforementioned Tiefladeebrücke 28 formed.

The rear area of the extension module 16 ' in turn is formed by an angled piece, adding another shot 38 is available.

The tracking unit can according to 8th now again as a transport robot 1 be formed according to the prior art, and on the loading module another coupling pin 37 exhibit.

In another embodiment, however, instead of an actively occurred transport robot 1 as a tracking unit, only a simple axis module 22 be coupled, which runs passively and only to support the rear end of the Tiefladebrücke 28 serves.

Advantage of this embodiment is that the Tiefladebrücke 28 easily coupled with a front transport unit in the form of a transport robot 1 or as a long-distance transport robot 21 may be formed while the rear end of the Tiefladebrücke 28 is carried by a tracking unit, either as an actively driven transport robot 1 or as a long-distance transport robot 21 or as a passive trailing axle module 22 is trained.

In this embodiment, the coupling between an active driving unit and a trailing unit is particularly simple, and the entire unit is curved.

Also in this embodiment is that the Tiefladebrücke 28 can undergo a variety of modifications and variations, as has been described in detail in the general description part.

All embodiments in the general description part therefore also apply to the embodiment according to 8th ,

LIST OF REFERENCE NUMBERS

1

Transport robot (prior art)

2

Drive module (front)

3

Drive module (rear)

4

base module

5

loading module

6

drive wheel

7

leadership

8th

sensor unit

9

control unit

10

longitudinal conveyor

11

Workpiece carrier

12

Dividing line

13

Dividing line

14

cover strip

15

wall surface

16

extension module 16 '

17

Thighs (from 16 )

18

Thighs (from 16 )

19

base leg

20

Thighs (from 16 )

21

Long transport robot

22

Axis module

23

stabilizer

24

screw

25

screw

26

load

27

Recording room (for 26 )

28

Deep leveler

29

cover

30

arrow directions

31

direction of travel

32

transport robot

33

loading height

34

rolling plane

35

coupling profile

36

kingpin

37

kingpin

38

admission

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102007010191 A1 [0003]

Claims (10)

Rail-bound transport robot ( 1 ) for picking, distribution and picking up loads from a rack storage on a loading platform, characterized in that in the direction of travel ( 31 ) on at least one end face of the transport robot ( 1 ) an extension module ( 16 ) which can be fastened from an attached loading platform with an axle module attached to the rear end of the loading platform ( 1 . 22 ) consists. Rail-bound transport robot ( 1 ) according to claim 1, characterized in that the loading platform of the extension module ( 16 ) as a low loader bridge ( 28 ) is trained. Rail-bound transport robot ( 1 ) according to claim 1 or 2, characterized in that the extension module ( 16 ) by a detachable connection on the transport robot ( 1 ) is attachable. Rail-bound transport robot ( 1 ) according to one of claims 1 to 3, characterized in that the axle module ( 22 ) as another transport robot ( 1 ) is trained. Rail-bound transport robot ( 1 ) according to one of claims 1 to 4, characterized in that on the transport robot ( 1 ) coupled extension module ( 16 ) another self-propelled transport robot ( 32 ) is rechargeable Rail-bound transport robot ( 1 ) according to one of claims 1 to 5, characterized in that the further transport robot ( 32 ) automatically moves up and down on the extension module. Rail-bound transport robot ( 1 ) according to one of claims 1 to 6, characterized in that the expansion module for receiving the rechargeable transport robot ( 32 ) is provided with guide rails. Rail-bound transport robot ( 1 ) according to one of claims 1 to 7, characterized in that the loading height ( 33 ) of the extension module ( 16 ) above the rolling level ( 34 ) of the drive wheels ( 6 ) of the traction vehicle designed as the first transport robot ( 1 ), so that a second transport robot ( 32 ) on the extension module ( 16 ) can ascend. Rail-bound transport robot ( 1 ) according to one of claims 1 to 8, characterized in that the extension module ( 16 ) via coupling pin ( 36 . 37 ) with the transport robot ( 1 ) and with the axis module ( 22 ) via assigned recordings ( 38 ) is coupled. Method for operating a rail-bound transport robot ( 1 ) in a tramline having shelf storage, characterized in that the transport robot ( 1 ) with one on the extension module ( 16 ), further transport robots ( 32 ) drives to an unloading point in a rack warehouse and unloads there the charged second transport robot, which performs transport tasks in the area of the tramline and after completion of the transport tasks back to the extension module ( 16 ) ascends.

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