DE102018103434A1 - Feeding device and feeding method - Google Patents

Abstract

The invention relates to a feed device (5) and a feed method for feeding an operating medium, in particular energy, from a resource source (6) to an operating medium store (7) of a moving, automatic, self-propelled and self-steering transport means (4) movable relative to the operating medium source (6). , The operating means is supplied by means of relatively movable and mutually connectable and disconnectable feed contacts (9, 10), one of which is assigned to the operating medium source (6) and another to the transporting means (4). During a travel movement of the transport means (4), the supply connection for the operating medium is maintained, the coupled supply contacts (9, 10) being moved together and the supply source (6) associated with the feed contact (9) by means of an associated guide means (13) independently becomes.

Description

The invention relates to a feeding device and a feeding method for the supply of a resource, in particular energy, from a resource source to a resource memory of a relative to the resource source movable, automatic, self-propelled and self-steering transport.

Such a feeder and method is practical in household robots, e.g. Sweeping robots, robotic mowers or the like. Known. For supplying electrical energy to its electric accumulator, the household robot drives to a fixed charging station with a power source and is charged there while stationary. He brings his electrical charging contacts in touching contact with the stationary electrical charging contacts of the charging station. The charging station has only one charging function. When loading the household robot performs no other function.

From practice, separate electrical charging stations for AGVs are known.

It is an object of the present invention to provide an improved feeding technique for resources.

The invention solves this problem with the features in the independent claims.

The claimed delivery technique, i. the feeding device and the feeding method as well as the means of transport and the transport system equipped with the feeding technology as well as the process plant have different advantages.

The correspondingly designed feed device makes it possible to maintain the preferably conductive feed connection for the operating means during a travel movement of the transport means through the coupled and co-moving feed contacts. During this driving movement, the automatic means of transport can be steered and navigated independently. The supply contact associated with the resource source can be moved by means of its own associated guide device and a movement device. This can be done by a mechanical entrainment of said Zuführkontakts by the transport or by a separate drive of the source-side Zuführkontakts and a synchronized Mitfahrbewegung.

The transport means may carry a process device, e.g. has a multi-axis industrial robot and possibly other components. The process device may in particular be a stacker crane. The claimed delivery technique allows maintenance of resource delivery during process operation. To do this, the means of transport need not stop at the process area or at a separate feed station. The possible uses for the means of transport and the eventual existing process equipment and their utilization are substantially improved.

This is advantageous when using the feeding technology in a transport system and in a process plant with multiple process areas. Thanks to the resource storage on the means of transport, this can be separate from the feeding technique for a longer time and can be e.g. approach other process areas for the local supply of processes. Thanks to the claimed feeding technology and the co-movement longer delivery times for the equipment are possible. This allows a better filling of the resource storage and correspondingly longer feed-free operating times of the means of transport.

The operating means may be designed in any desired manner and may be present singly or multiply. A resource may e.g. Energy, especially electrical energy, be. Another resource may be of a fluid nature, e.g. Compressed air, coolant or the like. The resource memory on the transport can be designed accordingly. The operating means may be provided for the means of transport and / or for the processing device. The feed device and the Zuführkontakte are formed according to the equipment. The feeder contacts may in particular be electrical contacts, preferably for current transmission by means of electrically conductive contact surfaces. The resource transfer can be conductive. Alternatively, non-contact power transmission, in particular power transmission, is possible, e.g. inductive.

A supply contact associated with the resource source is hereinafter referred to as a source-side supply contact. A feed contact assigned to the transport means is referred to below as a vehicle-side feed contact.

The source-side supply contact may have a contact carrier connected to the guide device. For the feed contact and / or the contact carrier there may be an evasive and restabilizing actuating device, e.g. in a mechanical shock, the contact carrier and the feed contact resiliently dodge and then return to the intended position.

The feed device can have a positioning device for the feed contacts during coupling. The coupling can eg by a Starting movement of the transport means are effected. The source-side supply contact can be located in a predetermined position. Alternatively or additionally, the transport means can detect the current position of the source-side supply contact by means of a suitable sensor. The common further travel movement of the transport means and the coupled Zuführkontakte preferably takes place in a direction deviating from the approach direction of movement, for example transversely thereto.

The feed device can have a positioning device for the feed contacts during coupling. The positioning device may e.g. be a mechanical device and consist of a fork-like guide and a form-fitting engaging pin here. Of these positioning elements, one source-side supply contact and the other the other vehicle-side supply contact can be assigned. The positioning device may alternatively be provided in other ways, e.g. be designed as a sensor.

During positioning, the means of transport can be guided. Alternatively or additionally, the feed contacts to be coupled may be limitedly movable relative to each other for positioning purposes. A mechanical positioning device can also be designed as a form-locking entrainment device or assume its function.

The guide device can be designed and arranged in any suitable manner. Preferably, it is arranged on a process area, although it may alternatively be located elsewhere. The guide device may have a movable guide element with a preferably stationary bearing. It can e.g. be designed as a stationary slide guide. This may have straight and / or curved guide sections. The feeder may extend along a process area, e.g. on the front side. The guide device is preferably arranged sunk near the ground or in the ground. Alternatively, the guide means may be otherwise provided, e.g. as a pivoting arm, be formed.

The feeding device has a safety device for the reliable and preferably also accident-proof supply of equipment. This can be ensured that the resource supply takes place only with correctly coupled Zuführkontakten. The safety device can for this purpose have a detection device for the said coupling position and an associated switching device for the resource supply.

The Zuführkontakte can be shielded in the coupling position to the outside. In particular, they can be located in coupling position on the underside of the means of transport and be covered by this.

The process device on the means of transport can carry out any desired processes. This can e.g. Machining processes on workpieces, e.g. Joining, forming or assembly processes. A process may also be a handling process, e.g. for loading and unloading, for picking purposes or the like is performed. The process area where the process is performed may be designed accordingly. Particular advantages exist for a process area designed as a shelf area and a handling process carried out there, which may be e.g. is effected by a stacker crane.

The claimed feeding technique has the advantage of a simple, space-saving and cost-effective training. The feeding technique can be implemented in a transport system and in a process plant. This can be done by original equipment or retrofitting or conversion. In particular, existing means of transport of a transport system can be retrofitted with feed contacts according to the invention.

During the supply of equipment with mutually coupled supply contacts, the means of transport can independently navigate and steer during a travel movement. A mechanical positive guidance of the means of transport is not required. This also simplifies the construction and space requirements. For coupling and for the driving movement existing techniques and capabilities of the means of transport can be used. If the transport means moves to several different positions while maintaining the feed connection to one process area, it can navigate there autonomously and also position itself there with the accuracy required for carrying out the process.

The resource source, e.g. a power supply, may be part of the feeder or not. The connection between the preferred stationary resource source and the source-side feed contact, which is mobile by means of the guide means, may be arranged in any suitable manner, e.g. be produced by a flexible cable drag, in particular an energy chain.

An advantageous embodiment provides that the Zuführkontakte are designed as electrical contacts and each having one or more electrically conductive contact element, in particular contact surfaces.

In one embodiment, the feed contact associated with the resource source has one connected to the guide device contact carrier.

In one embodiment, the feeding device can have a securing device for the operational and accident-proof supply of the operating medium. The security device may e.g. have a detection device for the correct coupling position of the source and vehicle side feed contacts and an associated switching device for the resource supply.

In one embodiment of the feed device, the source and vehicle-side Zuführkontakte can be shielded in the coupling position to the outside. You can, for example, located at the bottom of the means of transport. In particular, the feed contact may be shielded on the means of transport, e.g. at the bottom.

An advantageous embodiment provides that the feed device has a flexible cable drag between the resource source and the associated mobile feed contact.

The independent transport system may comprise one or more transport means and a feed device, which may each be designed in the manner described and in particular claimed.

In an advantageous embodiment, the invention provides that the transport means with coupled feed contacts are articulated on a process area, e.g. a shelf, along, wherein the resources is supplied.

In the subclaims further advantageous embodiments of the invention are given.

• 1: eine Prozessanlage mit einem Transportsystem, einem Transportmittel und einer Zuführeinrichtung an einem Prozessbereich in perspektivischer Ansicht;
• 2: eine abgebrochene und vergrößerte perspektivische Darstellung des Transportmittels und der Zuführeinrichtung von 1;
• 3: eine vergrößerte perspektivische Detaildarstellung eines quellenseitigen Zuführkontakts nebst Kontaktdreher und Positioniereinrichtung;
• 4: die Anordnung von 3 in Koppelstellung mit einem fahrzeugseitigen Zuführkontakt und einem transparent dargestellten Fahrzeug;
• 5: eine Variante von 2 mit einer im Anlagenboden versenkt angeordneten Führungseinrichtung für den quellenseitigen Zuführkontakt und
• 6: eine vergrößerte Detaildarstellung der angekoppelten Quellen- und fahrzeugseitigen Zuführkontakte gemäß 5.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

• 1 a process plant with a transport system, a means of transport and a feeder on a process area in perspective view;
• 2 : A broken and enlarged perspective view of the transport and the feeder of 1 ;
• 3 an enlarged perspective detail view of a source-side supply contact together with contact and positioning device;
• 4 : the arrangement of 3 in coupling position with a vehicle-side Zuführkontakt and a vehicle shown transparently;
• 5 : a variant of 2 with a recessed arranged in the plant floor guide means for the source-side feed contact and
• 6 an enlarged detailed representation of the coupled source and vehicle-side Zuführkontakte according to 5 ,

The invention relates to a feeding device ( 5 ) and a resource delivery method. The invention further relates to a transport system equipped with a feeder ( 3 ) with one or more means of transport ( 4 ). Furthermore, the invention relates to a process plant ( 1 ) with a transport system ( 3 ) and a feeder ( 5 ) as well as a means of transport adapted for the feeding technique ( 4 ).

1 shows a process plant ( 1 ) with a transport system ( 3 ) and a feeder ( 5 ) for a resource. The transport system ( 3 ) has one or more means of transport ( 4 ) to the feeder ( 5 ) are adapted. The process plant ( 1 ) has several process areas ( 2 ), which are arranged distributed on a plant floor. The means of transport ( 4 ) are moving in the process plant ( 1 ) between the different process areas ( 2 ). At one or more process areas ( 2 ) is a feeder ( 5 ) arranged.

The means of transport ( 4 ) preferably ride on the ground, eg by means of a drive, an air cushion or the like. Alternatively, the means of transport (or 4 ) be arranged hanging.

The means of transport ( 4 ) are designed as driverless, automatic, self-propelled and self-steering transport vehicles. The means of transport ( 4 ) can autonomously navigate in any suitable way, for example by a positioning system, in particular GPS, ladder or guide loops in the ground or the like. The means of transport ( 4 ) can move in any direction. It can, for example, drive curves and, if necessary, turn on the spot or even execute forward and sideways movements from a standing position.

The means of transport ( 4 ) have any suitable traction drive, which is designed for example as an electric motor drive. The means of transport ( 4 ) also have a resource memory ( 7 ) on. This is for example as an energy storage, in particular as a rechargeable electric accumulator formed. Alternatively, other configurations, eg as a gas tank for a gas drive or the like are possible.

The means of transport ( 4 ) has a housing in which the traction drive, the resource memory ( 7 ) and a controller and possibly a sensor and a communication device and any other components are arranged.

At the means of transport ( 4 ), a process device ( 22 ) can be arranged. This can for example be arranged on top of the housing. The process device can communicate with the resource memory ( 7 ). The process device ( 22 ) may be formed in any suitable manner. It can be one-piece or multi-piece.

The process device ( 22 ) can be assigned to a process area ( 2 ) perform one or more arbitrary processes of the type mentioned. The process areas ( 2 ) are trained accordingly. In the embodiment shown, the process plant ( 1 ) designed as a rack warehouse, wherein the process areas ( 2 ) Shelf areas are. The process device ( 22 ) is designed, for example, as a storage and retrieval unit and can perform handling and picking processes with any goods, for example for storage and retrieval at a shelf area ( 2 ).

The process device ( 22 ) has, for example, one or more multi-axis industrial robots together with a robot controller. It may also have other components, such as trays, storage containers, other devices or the like.

The operating means may be designed in any suitable manner, wherein it may be present singly or multiply. In the embodiment shown, the operating means is electrical energy in the form of electric current. The resource memory ( 7 ) is designed as a rechargeable electric accumulator. At the resource memory ( 7 ) are the process device ( 22 ) and the components of the means of transport ( 4 ), in particular the traction drive, the controller, the steering device, a navigation device and the like connected.

In the process plant ( 1 ) is a resource ( 6 ) preferably arranged stationary. This can be designed, for example, as an energy source, in particular as an electrical grid connection. The resource source ( 6 ) may be part of the feeder ( 5 ) his. Alternatively, it may be a component that is separate from this and may already be present at the plant. The resource source ( 6 ) can be located near the feeder ( 5 ) and on a process area ( 2 ) or at any other suitable location. It is not shown in detail in the drawings and symbolized by an arrow.

The feeder ( 5 ) is used to supply the resource (s) from the resource source ( 6 ) to a means of transport ( 4 ) and in particular to its resource memory ( 7 ). The feeder ( 5 ) has for this purpose relative to each other movable and mutual on and decoupled Zuführkontakte ( 9 , 10) with which, in the coupled state, a supply connection between the resource source ( 6 ) and the means of transport ( 4 ), in particular its resource memory ( 7 ) can be formed. This is, for example, an electrically conductive connection.

The one feed contact ( 9 ) is the resource source ( 6 ) and is used as a source-side feed contact ( 9 ) designated. The other feed contact ( 10 ) is the means of transport ( 4 ) and is referred to as vehicle-side feed contact.

The source side feed contact ( 9 ) is arranged movably. The feeder ( 5 ) has for the source-side feed contact ( 9 ) its own associated management device ( 13 ) on. The feeder ( 5 ) also has a moving device ( 15 ) for the source-side feed contact ( 9 ) on. The management facility ( 13 ) has a movable guide element with a preferably stationary storage.

The feeder ( 5 ) is designed such that the feed contacts ( 9 . 10 ) in the coupled state during a travel movement of the means of transport ( 4 ) are maintained with each other while maintaining the feed connection for the resource. The means of transport ( 4 ) can be used eg at the process area ( 2 ), in particular on the front side, along. The source-side and coupled feed contact ( 9 ) is thereby moved and by means of the guide device ( 13 ) independently.

The management facility ( 13 ) is formed in the embodiments shown as a slide guide. It has one or more preferably stationary, straight and / or curved guide rails and a carriage movably mounted thereon. The guide rails form the bearing and the carriage the guide element of the guide device ( 13 ). The slide shown is driven and freely movable. The source side feed contact ( 9 ) is arranged on the carriage. The management facility ( 13 ) is preferably arranged in the region of the plant floor. She is at the process area ( 2 ) and extends, for example along the front side. The guide device shown ( 13 ) is a linear guide.

In the first variant of 1 to 4 is the lead institution ( 13 ) is placed on the plant floor and is located eg in the lower area of the Process device ( 2 ), in particular of the shown shelf area. The source side feed contact ( 9 ) is outside the process area ( 2 ) arranged. In the second variant of 5 and 6 is the lead institution ( 13 ) sunk in the plant floor and located in front of the process facility ( 2 ).

In both variants, the source side feed contact ( 9 ) with the resource source ( 6 ) by a flexible cable drag ( 8th ) or otherwise connected. The flexible cable towing ( 8th ) is formed, for example, as an energy chain. It can be connected to the slide of the guide device, wherein the operating means the feed contact ( 9 ) over the carriage and possibly the contact carrier ( 11 ) is supplied. The towing ( 8th ) is also sunk in the second variant.

The source side feed contact ( 9 ) has one with the guide device ( 13 ) connected contact carrier ( 11 ) on. This is, for example, a support arm connected to the carriage. The contact carrier ( 11 ) is eg transversely to the longitudinal axis or direction of movement of the guide device ( 13 ) arranged and aligned. For example, it protrudes sideways from the sled. The contact carrier ( 11 ) holds eg the feeder contact ( 9 ) or the contact elements ( 9 ' ) floating and at a distance above the ground. The contact carrier ( 11 ) may alternatively be movably supported on the ground, for example by rolling.

At least one of the feed contacts ( 9 . 10 ), eg the source-side feed contact ( 9 ), has an evasive and restabilizing actuating device ( 12 ) on. This can in particular on the contact carrier ( 11 ) can be arranged. The adjusting device ( 12 ) is, for example, by an evasive storage of the contact carrier ( 11 ) at the management facility ( 13 ), for example, on the carriage formed. The restabilization takes place by means of springs or other restoring means, which 9 . 10 ) or contact carrier ( 11 ) to a predetermined starting position and hold here. If a person or an object is at the feed contact ( 9 . 10 ) or on the contact carrier ( 11 ), the adjusting device ( 12 ) a deflection and after the end of the shock load, a return movement of the respective Zuführkontakts ( 9 . 10 ) or contact carrier ( 11 ).

The feed contacts ( 9 . 10 ) are designed for mutual contact to the resource supply in coupling position. For this purpose they have one or more suitable feed elements. The shown feed contacts ( 9 . 10 ) are formed as electrical contacts and each have one or more electrically conductive and possibly spring-loaded contact elements ( 9 ' ), in particular contact surfaces.

The contact elements ( 9 ' ), in particular contact surfaces, are preferably at the top of the source-side supply contact ( 9 ) and at the bottom of the vehicle-side Zuführkontakts ( 10 ) arranged. You can alternatively take a different position. In a further modification, the operating medium supply can be effected without contact, for example by means of electromagnetic fields, in particular inductively, or in another way.

The feed contact ( 10 ) is arranged shielded on the means of transport. He may also have a contact carrier. As 4 and 6 clarify, the feed contact ( 10 ) eg at the bottom of the means of transport ( 4 ) and is located close to its front.

The feeder ( 5 ) has a positioning device ( 14 ) for the feed contacts ( 9 . 10 ) when docking. The coupling is eg by a starting movement of the means of transport ( 4 ) carried out. The approach movement is eg transverse to the front side of the process area ( 2 ) and the management body ( 13 ). During the starting movement, the feed contacts ( 9 . 10 ) Preferably linearly moved towards each other and pushed over each other, for example. The source side feed contact ( 9 ) is in a predetermined position for this purpose. Its location may alternatively or additionally be determined by the means of transport ( 4 ) are detected with a suitable sensor.

The positioning device ( 14 ) ensures a mutual alignment of the feed contacts ( 9 . 10 ) during coupling and compensates for positioning tolerances of the means of transport ( 4 ). It can, for example, the approaching means of transport ( 4 ) lead accordingly. This can be done mechanically or otherwise. Alternatively or additionally, one or both feed contacts ( 9 . 10 ) are limited ausweichfähig and recoverable stored and aligned for positioning relative to each other.

In the embodiment shown, the positioning device ( 14 ) a referrer ( 17 ) at the source-side supply contact ( 9 ) and one into a receiving slot or the like of the referrer ( 17 ) positively insertable pin ( 18 ) on the vehicle-side feed contact ( 10 ) on. The assignment can also be reversed. The front-side open receiving slot is in the approach direction or transversely to the longitudinal axis of the guide device ( 13 ):

For the co-moving of the coupled feed contacts (9, 10), in particular of the source-side feed contact ( 9 ), during the travel movement of the means of transport ( 4 ) is the aforementioned movement device ( 15 ) intended. This can be in be formed different ways. In the embodiment shown, it is designed as a positive entrainment device ( 16 ), which is a preferably mechanical entrainment of the source-side Zuführkontakts ( 9 ) during the travel movement of the means of transport ( 4 ) causes. The carrier device ( 16 ) can, for example, the above-described referrer ( 17 ) and the pen ( 18 ) respectively. The positioning and entrainment device ( 14 . 16 ) may be coupled to a common facility.

The feeder ( 5 ) has a safety device ( 19 ) for the operational and accident-proof equipment supply. The safety device ( 19 ) has a detection device ( 20 ) for the correct coupling position of the feed contacts ( 9 . 10 ) and one with the detection device ( 20 ) connected switching device ( 21 ) for the resource supply. The detection device ( 20 ) can, for example, of electrical and / or mechanical switching contacts to be coupled to the Zuführkontakten ( 9 . 10 ) are formed. These come in contact with each other when properly coupled and close, for example, a circuit, whereby a signal to the switching device ( 21 ) is delivered. For example, at the resource source ( 6 ) or at the management facility ( 13 ) arranged switching device ( 21 ) locks the resource supply when the detection device ( 20 ) and turns them on only in the detected correct coupling position. In an energy source, in particular power source, thereby the source-side electrical contacts in the absence of a means of transport ( 4 ) are de-energized and energized only in the correct coupling position.

As 4 and 6 clarify, the feed contacts ( 9 . 10 ) shielded in the coupling position to the outside. They are particularly characterized by their arrangement at the bottom of the means of transport ( 4 Covered by the housing. The feed contacts ( 9 . 10 ) are adapted to each other in the manner described above. The means of transport ( 4 ) can be achieved by attaching an adapted feed contact ( 10 ) or retrofitted.

Variations of the embodiments shown and described are possible in various ways. In particular, the features of the embodiments and the variants mentioned can be combined with each other and, if necessary, also exchanged.

The assignment of the contact carrier ( 11 ) to the feeder contacts ( 9 . 10 ) can be reversed. The management facility ( 13 ) may have a different design and kinematics, for example in the form of a swivel arm with a preferably stationary pivot bearing. The contact carrier can be arranged, for example, at the end of the arm and aligned transversely to the bow movement.

The positioning device ( 14 ) may be formed by a detection device and navigation aid, which the means of transport ( 4 ) to the available source-side supply contact ( 9 ) leads.

The source side feed contact ( 9 ) can be locked in the ready position and released for the driving movement. The assumption of the readiness position can take place in any desired manner, for example by a positioning means on the guide device (FIG. 13 ) or by the means of transport ( 4 ) or otherwise.

The movement device ( 15 ) can have its own, possibly controllable, drive for the source-side feed contact ( 9 ) and its independent driving movement by means of the guiding device ( 13 ) respectively. The own drive can be used for common movement of the coupled feed contacts ( 9 . 10 ) with the movements of the means of transport ( 4 ) can be coupled without contact or contact, in particular can be synchronized, eg by control contacts on the positioning device ( 14 ). The drive can be a guide element, for example a carriage, swivel arm or the like., The guide device ( 13 ). By means of its own drive, the source-side contact ( 9 ) in a defined standby position or home position and hold back against external interference in position.

LIST OF REFERENCE NUMBERS

1

Process plant, warehouse warehouse

2

Process area, shelf

3

transport system

4

Means of transport, AGV

5

Feeding device, energy supply

6

Operating resource, energy source

7

Resource memory, energy storage

8th

Cable drag, energy chain

9

Feeder contact, charging contact mobile

9 '

contact element

10

Feed contact, charging contact AGV

11

contact support

12

setting device

13

guide means

14

positioning

15

mover

16

driving device

17

referrers

18

pen

19

safety device

20

Detection device coupling position

21

Switching device operating supply

22

process means

Claims (13)

Device for the supply of a resource, in particular energy, from a resource source (6) to a resource memory (7) of a relative to the resource source (6) movable, automatic, self-propelled and self-steering transport (4) to which preferably a process device (22) , particularly preferably a multi-axis industrial robot is arranged, wherein the feed device (5) relative to each other movable and mutually connectable and uncoupled feed contacts (9,10) for a feed connection, of which one of the resource source (6) and the other the transport ( 4), characterized in that the feed device (5) is designed for a co-movement of the coupled feed contacts (9, 10) during a travel movement of the transport means (4) while maintaining the feed connection for the operating means, the feed device (5) for the Zufmittel the resource source (6) Zuf contact (9) has its own associated guide device (13) and a movement device (15). Feeding device after Claim 1 , characterized in that the Zuführkontakte (9, 10) are designed for mutual contact to the resource supply in coupling position. Feeding device after Claim 1 or 2 , characterized in that at least one feed contact (9,10), in particular a contact carrier (11) of a Zuführkontakts (9,10), an evasive and restabilizing adjusting device (12). Feeding device according to one of the preceding claims, characterized in that the guide device (13) is designed as a preferably stationary slide guide. Feeding device according to one of the preceding claims, characterized in that the feed device (5) has a positioning device (14) for the feed contacts (9, 10) during coupling. Feed device according to one of the preceding claims, characterized in that the movement device (15) is designed as a preferably form-locking entrainment device (16) for entrainment of the supply source (6) associated Zuführkontakts (9) during the travel movement of the transport means (4). Feeding device according to one of the preceding claims, characterized in that the positioning device (14) and / or the entrainment device (16) has a guide (17) and a pin (18) which can be introduced in a form-fitting manner, one of which has a feed contact (9) and the other is associated with the other feed contact (10). Automatic self-propelled and self-steering means of transport (4) having an operating means memory (7) and a feed contact (10) for a resource, characterized in that the feed contact (10) to an external and with a resource source (6) connected to and disconnectable feed contact (9) is adapted. Transport system with an automatic, self-propelled and self-steering transport means (4) and with a feed device (5) for a resource, in particular energy, from a resource source (6) to a resource memory (7) of the transport means (4), characterized in that the feed device (5) after at least one of Claims 1 to 7 is trained. Process plant with several process areas (2) and with a transport system (3), which one or more automatic, self-propelled and self-steering transport (4) and a supply means (5) for a resource, in particular energy, from a resource source (6) to a resource memory (7) of the means of transport (4), characterized in that the transport system (3) according to Claim 9 is trained. Process plant after Claim 10 , characterized in that the guide device (13) and the guided feed contact (9) on a process area (2), in particular at its front, are arranged, wherein preferably the process plant (1) as a shelf storage and the process areas (2) formed as shelf areas are, wherein the process device is designed as a storage and retrieval unit. Method for supplying an operating medium, in particular energy, from a resource source (6) to an operating medium store (7) of an automatic, self-propelled and self-steered transporting device (4), which can be moved relative to the operating medium source (6), preferably having a process device (22), Particularly preferably a multi-axis industrial robot is arranged, wherein the Operating means by means of relatively movable and mutually connectable and uncoupled Zuführkontakte (9,10) supplied with, of which one of the resource source (6) and another the transport means (4) is assigned, characterized in that during a travel movement of the transport means (4 ) the feed connection for the operating medium is maintained, the coupled feed contacts (9, 10) being moved together and the feed contact (9) associated with the operating medium source (6) being independently guided by means of an associated guide device (13). Method according to Claim 12 , characterized in that the transport means (4) the Zuführkontakte (9,10) coupled by a starting movement, wherein preferably the transport means (4) entrains the coupled Zuführkontakte (9,10) during a driving movement or the Zuführkontakte (9,10) independently are driven and moved synchronously.

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