DE102013020714B4 - Transport robot with expansion module - Google Patents

Abstract

Rail-bound transport robot (1) for order picking, distribution and picking up of loads from a shelf storage on a loading platform, characterized in that the transport robot (1) is modular and has a front drive module (2), a rear drive module (3) and one between the Drive modules (2, 3) arranged base module (4) with a loading module (5), wherein an extension module (16, 16 ') can be attached to the front and / or rear drive module (2, 3) of the transport robot (1) an attached loading platform with an axle module (22) attached to the free end of the loading platform, and that the transport robot (1) forms the towing vehicle for the extension module (16), and that the loading platform is designed as a multi-angled surface element with a horizontal leg (17) is coupled to the transport robot (1).

Description

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

Rail-bound transport robots are required for order picking, distribution and picking up of loads from a rack warehouse to various distribution stations.

Such prior art is, for example, with the subject matter of DE 10 2007 010 191 A1 known. A number of transport units are provided, which are referred to as transport robots in the following description, and which are suitable for picking up loads from a shelf compartment and moving them along the tramlines of the shelf storage facility in order to then reach a lift unit, where they are transferred to a lower one Level and drive to a delivery station.

Such rail-bound transport robots have proven themselves to a large extent.

However, there is a need to also expand such transport robots in a modular manner in order to decisively increase the loading capacity of such transport robots.

The previously known transport robots only have an upper loading platform onto which, for example, piece goods can be loaded, or there are trays onto which several small parts can be loaded, or the loading platform is suitable for receiving cardboard boxes in which small parts are stored.

A well-known transport robot, for example, has the external dimensions of 840 x 740 mm with a track width of, for example, 851 mm.

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

It is possible here for it to have a speed of, for example, 2 m per second with 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 also have a loading platform that is limited in area due to their external dimensions.

On the other hand, when it comes to transporting piece goods or loads in general that exceed the dimensions of the loading platform, there is still no viable solution for solving this problem.

Only one expandable transport robot from Dematic is known, in which the individual modules that make up the transport robot in combination are connected to one another by toothed racks, with drive motors being assigned to the toothed racks.

The disadvantage of this known embodiment is that extendable adapters have to be provided between the individual modules of the transport robot, which adapters ensure, for example, that the control lines accommodate the change in length of the racks, which is associated with considerable effort.

It is also known from US 2007/0129 849 A1 to use a uniaxial transport robot, the top of which can be coupled to a likewise uniaxial roll container, whereby the roll container can be pulled through a warehouse by means of the transport robot. However, this transport robot does not have its own load platform for fully loading piece goods or loads in general

The invention is therefore based on the object of developing a transport robot of the type mentioned at the outset in such a way that its load platform can be enlarged reliably and economically with 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 expansion of a conventional transport robot in a long transport robot takes place in such a way that a low loading bridge is attached to the at least one end face of the transport robot that is directed in the direction of travel, which extends the length of the conventional transport robot in the direction of travel, and that an axle module is arranged at the free rear end of the low loading bridge, which axle module supports the rear end of the low loading bridge with respect to the rail plane.

An essential feature of the invention is therefore that the conventional transport robot is not changed in terms of its length, 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 changes its free rear end for support on the roadway has a traveling axis module.

In terms of transport or vehicle technology, the usual transport robot according to the invention can be referred to as a towing vehicle, which is connected via a vertically directed swivel joint to a low loading bridge, which is connected to a trailer at its rear end via a further swivel joint.

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

The attached loading platform is preferably designed as a low loading bridge. The invention is not restricted to this. Instead of the loading bridge, any other form of loading platform can be provided.

The axle module 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, the loading platform would then be articulated at its front end to the front transport robot and at its rear end articulated to the trailing transport robot.

A king pin can be used as the articulated coupling or, instead, a conventional, known trailer coupling.

With all the claimed designs, all the advantageous properties of the conventional transport robot are retained because the conventional transport robot (towing vehicle) is extended by a passive low-loader bridge, which is then supported at its rear end - viewed in the direction of travel - with a traveling axis module (trailer).

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

In a preferred embodiment, the low-loading bridge is simply designed as a flat part with multiple bevels, which is attached to one side of the conventional transport robot with associated legs. Such a fastening can be a screw connection, a clamp connection, a snap connection or any other detachable connection.

In the same way, an axle module can be attached to the free rear end of the extension module as a trailer, which is also connected to the low-loading bridge via the above-mentioned detachable or non-detachable connections.

The terms "extension module" and "low loading bridge" are used synonymously.

If the expansion module is designed as a low-loading bridge, there is now the advantage that other self-propelled transport robots can be charged on this low-loading bridge, so that, in a preferred embodiment, the conventional transport robot converted into an extended long-haulage robot is for the first time able to set up a further conventional transport robot the loading bridge.

This is a piggyback principle because the conventional transport robot converted into a long transport robot is now suitable and intended for the transport of other transport robots.

Due to the simple design of the low-loading bridge, a conventional transport robot can approach the long transport robot from the side and automatically drives onto the low-loading bridge, which is preferably designed with guide rails in order to accommodate the conventional transport robot.

According to this piggyback principle, the long transport robot drives the loaded conventional transport robot to any unloading point, preferably to a certain tramline in a rack store, where it releases the loaded transport robot into the tramline.

It is therefore a satellite principle, because the charged transport robot is carried along with the long transport robot like a satellite and, if necessary, is unloaded at certain unloading points, namely in the different tramlines of a rack warehouse, and takes off its loading and unloading tasks there.

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 move back to the long transport robot, be picked up there on the loading bridge and be driven to another location .

However, this satellite arrangement of two transport robots, one of which has been converted into a long transport robot by a simple low loading bridge, is not limited to the application of the transport of a further transport robot.

• Das Erweiterungsmodul ist als
  1. a) Tiefladebrücke mit einer Lastplattform ausgebildet;
  2. b) Lastbrücke ausgebildet, sodass auf die Tiefladeplattform verzichtet ist.
  3. c) Die Lastbrücke oder die Tiefladebrücke ist mit einer Rollenbahn oder einer Kugelbahn bestückt.
  4. d) Die Tiefladebrücke oder Lastbrücke weist einen Längsförderer auf, der zum Beispiel mit Flachriemen oder Schnurriemen arbeitet.
  5. e) Die Tiefladebrücke oder die Lastbrücke ist mit einem Ladekran bestückt.
  6. f) Auf der Tiefladebrücke oder der Lastbrücke ist eine Einzugs- und/oder Abschiebevorrichtung angeordnet.
  7. g) Auf der Tiefladebrücke oder der Lastbrücke ist ein Trichter für Schüttgut angeordnet, sodass Schüttgut transportiert werden kann.
  8. h) Auf der Tiefladebrücke oder der Lastbrücke ist eine Kippvorrichtung für Schüttgut angeordnet.
  9. i) Die Tiefladebrücke oder die Lastbrücke ist als Wanne ausgebildet, in die Schüttgüter oder Flüssigkeiten zum Absaugen angeordnet sind.
  10. j) Auf der Tiefladebrücke oder der Lastbrücke sind Facheinteilungen für die geordnete Lagerung von Stückgütern angeordnet.
  11. k) Auf der Tiefladebrücke oder der Lastbrücke ist eine Drehvorrichtung mit Drehteller angeordnet.
  12. l) Die Tiefladebrücke oder Lastbrücke ist als Kühl- oder Heizcontainer ausgebildet.
  13. 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 expansion module being designed as a low-loading bridge, the following additional applications are claimed as essential to the invention:

• The expansion module is available as a
  1. a) low-loading bridge designed with a load platform;
  2. b) Load bridge designed so that the low loading platform is dispensed with.
  3. c) The load bridge or the low loading bridge is equipped with a roller track or a ball track.
  4. d) The low-loading bridge or load bridge has a longitudinal conveyor that works, for example, with flat belts or cord belts.
  5. e) The low-loading bridge or the load bridge is equipped with a loading crane.
  6. f) A pull-in and / or push-off device is arranged on the low-loading bridge or the load bridge.
  7. g) A hopper for bulk goods is arranged on the low-loading bridge or the load bridge so that bulk goods can be transported.
  8. h) A tipping device for bulk goods is arranged on the low-loading bridge or the load bridge.
  9. i) The low-loading bridge or the load bridge is designed as a trough in which bulk goods or liquids are arranged for suction.
  10. j) Compartments for the orderly storage of piece goods are arranged on the low-loading bridge or the load bridge.
  11. k) A rotating device with a turntable is arranged on the low-loading bridge or the load bridge.
  12. l) The low loading bridge or load bridge is designed as a cooling or heating container.
  13. m) A trailer device for a semi-trailer is arranged on the low-loading bridge or the load bridge, a coupling pin being arranged on the load platform of one of the transport robots, which couples another trailing transport robot via a connecting part.

The subject matter of the present invention results not only from the subject matter of the individual patent claims, but also from the combination of the individual patent claims with one another.

All information and features disclosed in the documents, including the summary, in particular the spatial configuration shown in the drawings, are claimed to be essential to the invention insofar as they are new, individually or in combination, compared to the state of the art.

In the following, the invention is explained in more detail with reference to drawings showing several possible embodiments. Further features and advantages of the invention that are essential to the invention emerge from the drawings and their description.

• 1: perspektivische Ansicht eines herkömmlichen Transportroboters nach dem Stand der Technik
• 2: die Draufsicht auf den Transportroboter nach 1 nach dem Stand der Technik
• 3: eine Seitenansicht eines Langtransportroboters, der aus dem herkömmlichen Transportroboter nach 1 und 2 geschaffen wurde
• 4: die Stirnansicht des Langtransportroboters in Pfeilrichtung IV in 3
• 5: die Draufsicht auf den Langtransportroboter
• 6: die Seitenansicht des Verlängerungsmoduls
• 7: die perspektivische Ansicht des Langtransportroboters nach den 3 und 5
• 8: die Seitenansicht einer abgewandelten Ausführungsform, bei der die Tiefladebrücke zwischen zwei Transportrobotern angeordnet ist

Show it:

• 1 : A perspective view of a conventional transport robot according to the prior art
• 2 : the top view of the transport robot after 1 According to the state of the art
• 3 : a side view of a long transport robot that is different from the conventional transport robot according to 1 and 2 was created
• 4th : 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
• 6th : the side view of the extension module
• 7th : the perspective view of the long transport robot according to the 3 and 5
• 8th : the side view of a modified embodiment in which the low loading bridge is arranged between two transport robots

In 1 and 2 is a conventional transport robot 1 shown according to the state of the art.

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

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

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

In the exemplary embodiment shown, the charging module is 5 with a workpiece carrier 11 provided, on whose grid-like surface workpieces are transported.

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

In the exemplary embodiment shown, the charging module is 5 in the basic module 4th additionally with a longitudinal conveyor 10 provided, the loaded workpiece carrier via its belt 11 can be unloaded from the side.

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

The representation in 1 shows that the modules mentioned 2 , 3 , 4th along dividing lines 12th , 13th are also separable from each other and can be put together in modules.

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

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

This also follows from 2 .

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

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

The invention is not restricted to this. In a modified embodiment it can 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, the transport robot 1 according to 1 the front cover strip 14th removed, creating a wall surface 15th becomes free.

In the exemplary embodiment shown, there is the extension module 16 according to 6th from a multiple angled surface part, which is preferably made of carbon fiber reinforced plastic. However, it can also be designed as a sheet metal part, the width of the extension module 16 the track width of the transport robot 1 is equivalent to.

In the exemplary embodiment shown, the extension module forms 16 an upper, beveled and horizontal leg 17th from with which it according to 3 on the top of the drive module 2 is screwed, being a screw connection 25th is used. This is where the cover 29 of the drive module 2 removed.

The horizontal leg 17th goes into a vertical leg angled by 90 degrees 18th about that roughly on the wall surface 15th of the drive module 2 and this leg 18th then goes again into a horizontal base leg 19th over, of the low loading bridge 28 of the extension module 16 trains.

This low loading bridge 28 is thus the load platform for the transport of other piggyback robots 32 , which are also commonly used as cargo 26th are designated.

On the base leg 19th closes again a vertical, beveled leg 20th on, the one with a screw connection 24 on an axis module 22nd is attached. This is in 3 and 5 shown.

The axis module 22nd only has a non-driven support wheel 23 and, if necessary, lateral guide rollers 7th on. It has a cover strip 14th as protection against an impact.

It can also be done with a cover 29 be covered.

It is important that the axis module 22nd is as simple as possible and only has a passively running support 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 it is shown that the transport robot 1 actually remains unchanged and it only through an extension module 16 is extended towards at least one side.

the 3 also shows that now on the low loading bridge 28 another transport robot 32 as in 1 and 2 shown - is charged.

The 6th that the loading height 33 the low loading bridge 28 above the rolling plane 34 the drive wheels 6th so it is easy to use a transport robot 32 self-propelled onto the loading bridge 28 record that just by its own intelligent control on the low-loading bridge 28 opens and remains locked there.

The driving up and down of the unloaded transport robot 32 according to 5 takes place in the directions of the arrows 30th .

It can therefore be unloaded on both sides.

Overall, therefore, forms the low-loading bridge 28 a spacious recording room 27 .

In a preferred embodiment, the low loading bridge is 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, the length of the receiving space 27 the track width of the charged transport robot 32 is equivalent to.

It is important that the invention does not affect the design of the extension module 16 as a low loading bridge 28 is limited, but instead of the low loading bridge 28 can use a variety of other extension modules in the manner described with the transport robot 1 get connected. The possible designs of the extension module 16 in various forms have been described in detail in the general description section.

In 8th is as a further embodiment of the invention, a low loading bridge 28 shown, which is formed between two drive units.

The first driving unit can be used as a long transport robot 21 be trained. However, the invention is not restricted to this. It can also be provided that the front drive unit, which takes over the active drive, acts as a conventional transport robot 1 is designed according to the state of the 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 is in engagement with an associated receptacle 38 in the area of a coupling profile 35 stands.

The coupling profile 35 is in turn a multiple angled surface element, which in its middle area the aforementioned low loading bridge 28 trains.

The rear area of the extension module 16 'is in turn formed by an angled piece in which a further receptacle 38 is available.

The trailing unit can according to 8th now again as a transport robot 1 be designed according to the state of the art, and on the charging module 5 another coupling pin 37 exhibit.

In another embodiment, however, instead of an actively entered transport robot 1 also just a simple axis module as a follower unit 22nd be coupled, which runs passively and only to support the rear end of the low loading bridge 28 serves.

The advantage of this embodiment is that the low loading bridge 28 Easily coupled with a front transport unit in the form of a transport robot 1 or as a long transport robot 21 can be formed while the rear end of the loading bridge 28 is carried by a trailing unit, either as an actively driven transport robot 1 or as a long transport robot 21 or also as a passively trailing axis module 22nd is trained.

In this embodiment, the coupling between an active drive unit and a trailing unit is particularly simple, and the entire unit can turn.

In this exemplary embodiment, too, the low loading bridge 28 A large number of modifications and variations can be made, as has been explained in detail in the general part of the description.

All the exemplary embodiments in the general part of the description therefore also apply to the exemplary embodiment according to 8th .

List of reference symbols

1

Transport robot (state of the art)

2

Drive module (front)

3

Drive module (rear)

4th

Basic module

5

Loading module

6th

drive wheel

7th

Leadership role

8th

Sensor unit

9

Control unit

10

Longitudinal conveyor

11

Workpiece carrier

12th

Dividing line

13th

Dividing line

14th

Cover strip

15th

Wall surface

16

Extension module 16 '

17th

Thigh (of 16)

18th

Thigh (of 16)

19th

Base leg

20th

Thigh (of 16)

21

Long transport robots

22nd

Axis module

23

Support wheel

24

Screw connection

25th

Screw connection

26th

Cargo

27

Recording room (for 26)

28

Low loading bridge

29

Cover hood

30th

Arrow directions

31

Direction of travel

32

Transport robot

33

Loading height

34

Rolling plane

35

Coupling profile

36

Coupling pin

37

Coupling pin

38

recording

Claims (10)

Rail-bound transport robot (1) for order picking, distribution and picking up of loads from a shelf storage on a loading platform, characterized in that the transport robot (1) is modular and has a front drive module (2), a rear drive module (3) and one between the Drive modules (2, 3) arranged base module (4) with a loading module (5), wherein an extension module (16, 16 ') can be attached to the front and / or rear drive module (2, 3) of the transport robot (1) an attached loading platform with an axle module (22) attached to the free end of the loading platform, and that the transport robot (1) forms the towing vehicle for the extension module (16), and that the loading platform is designed as a multi-angled surface element with a horizontal leg (17) is coupled to the transport robot (1). Rail-bound transport robot (1) according to Claim 1 , characterized in that the loading platform of the extension module (16, 16 ') is designed as a low loading bridge (28). Rail-bound transport robot (1) according to Claim 1 or 2 , characterized in that the extension module (16, 16 ') can be attached to the transport robot (1) by a detachable connection. Rail-bound transport robot (1) according to one of the Claims 1 until 3 , characterized in that the axle module (22) is designed as a further transport robot (1). Rail-bound transport robot (1) according to one of the Claims 1 until 4th , characterized in that a further self-propelled transport robot (32) can be charged on the extension module (16, 16 ') coupled to the transport robot (1). Rail-bound transport robot (1) according to Claim 5 , characterized in that the further transport robot (32) independently moves up and down on the extension module (16, 16 '). Rail-bound transport robot (1) according to Claim 5 or 6th , characterized in that the extension module (16, 16 ') is provided with guide rails for receiving the chargeable transport robot (32). Rail-bound transport robot (1) according to one of the Claims 1 until 7th , characterized in that the loading height (33) of the extension module (16, 16 ') is above the rolling plane (34) of the drive wheels (6) of the first transport robot (1) designed as a towing vehicle, so that a second transport robot (32) is on the Extension module (16, 16 ') can open. Rail-bound transport robot (1) according to one of the Claims 1 until 8th , characterized in that the extension module (16 ') is coupled via coupling pins (36, 37) to the transport robot (1) and to the axle module (22) via associated receptacles (38). Method for operating a rail-mounted transport robot (1) according to Claim 1 in a rack store with tramlines, characterized in that a further transport robot (32) is attached to the at least one extension module (16, 16 ') which is coupled to a front and / or rear drive module (2, 3) of the transport robot (1) is charged, and the transport robot (1) with the additional transport robot (32) loaded on the extension module (16, 16 ') drives to an unloading point in a shelf storage and unloads the charged second transport robot (32) there, which performs transport tasks in the area of Tramline executes and after Completion of the transport tasks again drives onto the extension module (16, 16 ').

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