EP3224111A1 - Unité de transport et système de transport servant à transporter des supports de charge - Google Patents

Unité de transport et système de transport servant à transporter des supports de charge

Info

Publication number
EP3224111A1
EP3224111A1 EP15797850.3A EP15797850A EP3224111A1 EP 3224111 A1 EP3224111 A1 EP 3224111A1 EP 15797850 A EP15797850 A EP 15797850A EP 3224111 A1 EP3224111 A1 EP 3224111A1
Authority
EP
European Patent Office
Prior art keywords
conveyor
unit
lifting
units
conveyor unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15797850.3A
Other languages
German (de)
English (en)
Inventor
Herbert Schulze
Andreas Melkus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eisenmann SE
Original Assignee
Eisenmann SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eisenmann SE filed Critical Eisenmann SE
Publication of EP3224111A1 publication Critical patent/EP3224111A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0026—Propulsion aids
    • B62B5/0033—Electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B62B3/06—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground
    • B62B3/0612—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground power operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0083—Wheeled supports connected to the transported object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B5/00—Accessories or details specially adapted for hand carts
    • B62B5/0083—Wheeled supports connected to the transported object
    • B62B5/0093—Flat dollys without hand moving equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B2203/00—Grasping, holding, supporting the objects
    • B62B2203/10—Grasping, holding, supporting the objects comprising lifting means

Definitions

  • the invention relates to a conveyor unit for conveying loaded or unloaded load carriers with a) a chassis, which is movable on floor rollers; b) a bearing element carried by the chassis, which can be raised or lowered with respect to the chassis such that the conveyor unit travels below a load carrier in an empty configuration and can receive and convey a load carrier with the carrier element in a conveyor configuration; c) a drive system, by means of which at least one of the bottom rollers and the support element can be driven, in addition, the invention relates to a conveyor system for conveying loaded or unloaded load carriers with a plurality of conveyors.
  • charge carriers these can be both loaded charge carriers and empty load carriers.
  • Such conveyor units and such a conveyor system are known for example from DE 10 2007 046 868 AI.
  • two conveyor units each form a conveyor skid a conveyor, wherein two skids are designed for the carriage of load carriers in the form of pallets and in particular of so-called Euro-pallets.
  • the two conveyor runners can travel under a pallet as a pair of conveyor runners, then lift them up and attach them to another machine. promote their location.
  • the drives for a method of the conveyor unit and for raising or lowering of the support element are coupled such that the support element and thus the carrier to be conveyed can be raised or lowered only when the conveyor unit is stationary.
  • the drive system comprises a travel drive for the running gear and a lifting / lowering device for the support element (28).
  • the travel drive by means of which at least one bottom roller is driven and the landing gear is set in motion, and the drive for lifting and lowering the support element are thus decoupled from one another and can be operated independently of one another.
  • the flexibility of the conveyor unit is increased.
  • the two decoupled drives ie the traction drive and the lifting / lowering device
  • the two decoupled drives open up the possibility that the drive system is set up in such a way that the carrier element can perform a movement which is caused by a superposition of a horizontal movement component of the running gear and a vertical movement component. nente of the support element is effected.
  • the support member can be raised or lowered while driving the conveyor unit, regardless of whether the conveyor unit goes straight or a curve
  • the lifting / lowering device comprises at least two lifting / lowering units, wherein a) the two lifting / lowering units are coupled to different areas of the supporting element; or b) the support member is a first support member and a two tes support member is present and each support member is coupled to a respective lifting / lowering unit.
  • the support element can be inclined relative to the chassis by the two lifting / lowering units are controlled differently. This inclination is then followed by a charge carrier which rests on the carrier element. lies .
  • the conveyor unit comprises an at least two-part support of two support elements, which can be raised or lowered independently of each other. Also in this way, the carrier can be inclined relative to the chassis of the conveyor unit.
  • first lifting / lowering unit is drivable independently of the second lifting / lowering unit.
  • a lifting / lowering unit of the lifting / lowering device comprises at least one working cylinder with a movable cylinder element which engages on the side of the support element facing the running gear. Particularly large loads can be raised and lowered well with such a system, whereby the cylinder can be operated hydraulically or pneumatically.
  • the lifting / lowering device is a hydraulic lifting / lowering device.
  • the above object is achieved in a conveyor system of the type mentioned above in that the conveyors each comprise at least a first free-floating conveyor unit with some or all of the above-mentioned features and a separate second free-floating conveyor unit with some or all of the above-mentioned features.
  • the movements of the two conveyor units of a conveyor must be coordinated and synchronized during operation of the conveyor system, so that these together objects and in particular can transport a charge carrier.
  • first and the second conveyor unit each carry cooperating sensor systems and at least the second conveyor unit comprises a sensor with which a change in a relative position of the first and the second conveyor unit to each other can be detected, and that driving parameters of the second Feed unit, which are used for their control, depending on the detected by the sensor change in the relative position are modifiable.
  • the two conveyor units can also be safely shunted and adjusted with respect to differently dimensioned load carriers, so that collisions with the load carriers can be reliably prevented.
  • the distance to be maintained between two conveyor units of a conveyor is freely definable and adjustable. This can be done for example via a central control or via input means on the conveyor units or via mobile input devices.
  • the conventional individual control of the conveyor units can lead to difficulties.
  • the higher-level conveyor units can communicate with the central controller, which then forwards the corresponding data to the subordinate conveyor units which cooperate with the higher-level conveyor unit. If the distance between the conveyor units of a group is low, for example, there is the risk that conveyor units collide if the conveyor units slightly deviate from their desired track. Difficulties also arise when an object is to be conveyed together by two mechanically separate conveyor units. In this case, it is often necessary that the movements of the conveyor units are very closely matched to one another, e.g. to avoid slippage of the object. The conventional individual control quickly reaches its limits in such cases, because the deviations from the desired routes are often too large.
  • the assignment of a higher position to a first conveyor unit and a subordinate position to one (or more) second conveyor unit makes it possible to coordinate the travel paths of the conveyor units very precisely, because the second conveyor unit in the subordinate position directly on the track of the conveyor unit in the parent Position oriented.
  • the second conveyor unit determines, with the aid of a sensor, a change in the relative position of the first and the second conveyor unit relative to one another and, depending on this, adjusts their position Driving parameters such as speed and steering angle.
  • unwanted deviations between the routes can be significantly reduced. Collisions between transporting groups moving in groups and slipping of jointly conveyed objects can thus be avoided.
  • the effort for the control of the conveyor units can be reduced, because only the first conveyor unit in the parent position itself must find their way. In the case of the second conveyor unit in the subordinate position, however, it may be possible to dispense with own positioning and navigation.
  • the guideway is specified, for example, by optical markings on the ground. Due to the definition of the higher-level conveyor unit, only the latter must recognize the route and drive it through the controller. The subordinate conveyor unit then follows, as it were, the control signals predetermined by the superordinate conveyor unit. In addition, for safety through redundancy, the subordinate conveyor unit can determine the route and compare this with the higher-level conveyor unit.
  • Each conveyor unit can, for example, comprise a control device, to which a central controller assigns a route and therefrom determines driving parameters which are used to control the drive system.
  • the first conveyor unit can be assigned the higher position and the second conveyor unit the lower position.
  • the central control of the conveyor system can, if required, assemble conveyor units to conveyors, the necessary conveyor units being located at convenient locations. th of the conveyor system can be obtained. Thus, a failure of a conveyor unit with less total downtime of the conveyor system is connected, which increases the availability of the För ⁇ dersystems.
  • the conveyor units a ⁇ individually and independently, to be transported to approach a carrier, as long as they have not formed any conveying means. This makes it possible for each conveyor unit to drive a time-optimized path up to the load carrier. Nevertheless, an assignment of a parent and a subordinate position can take place at this time.
  • the second conveyor unit detects the change in the relative position of the first and the second conveyor unit of a conveyor to one another by means of a sensor arranged along one longitudinal side, and that the second conveyor unit is aligned such that the sensor of the second conveyor unit in Direction of the first conveyor unit shows.
  • the sensor detects the relative position of the first conveyor unit from the side.
  • the conveyor units collectively convey a pallet or other load carrier because they often have a transverse breakthrough through which the sensor can detect the first conveyor unit.
  • the sensor can be embodied as an optical sensor which detects light signals which are generated by a (laser) light source arranged on the same or on the opposite conveying unit.
  • the sensor can be designed, in particular, as a laser-optical triangulation sensor, as it is offered, for example, by the company Micro-Epsilon.
  • a laser light source and a position sensitive measuring element e.g. a CCD cell, integrated in a module.
  • each conveyor unit of the conveyor when driving in Direction diagonally to the longitudinal axis of the conveyor, the bottom rollers of each conveyor unit of the conveyor are each parallel to each other. For this purpose, all floor rollers are driven synchronously and the same.
  • each conveyor unit of the conveyor When traveling in a direction perpendicular to the longitudinal axis of the conveyor, the bottom rollers of each conveyor unit of the conveyor can each be coaxial with each other.
  • the charge carrier as a connecting member, a particularly flexible operation of the conveyor is made possible, which is not executable by the individual components. In this way, a directional change of the conveyor by 90 ° without cornering feasible. In particular, can be achieved in a narrower space with this driving style quickly accurate positioning of the conveyor unit, for example when loading a truck.
  • each chassis end region of the first conveyor unit of the conveyor device may be substantially coaxial with the bottom rollers in the corresponding chassis end region of the second conveyor unit of the conveyor device during a straight-ahead travel.
  • the axes of the floor rolls of two conveyor units in pairs may each have an offset in the direction of travel. However, this must be taken into account mathematically when cornering.
  • the conveyor can be dissolved and formed again with a newly added conveyor unit.
  • the newly added conveyor unit is assigned the higher or lower position of the failed conveyor unit.
  • a change of the subordinate and the higher-ranking position of the conveyor units is possible at any time. For example, if the sensor fails Delivery unit in the lower position, so that a change in the relative position of the first and the second conveyor unit to each other is no longer possible, this conveyor unit can continue the ride in the parent position. If the sensor is only on one
  • conveyor units Longitudinal side is arranged, the conveyor units reoriented, whereby the necessary orientation is restored.
  • conveyor units can be used which have no asymmetry in the structural design. This significantly increases the flexibility of the conveyor system.
  • each conveyor unit may comprise safety devices which detect objects or persons located in the track and communicate this to the central control or to the control unit of the conveyor unit so that a change of the driving parameters is made.
  • the sensors can be arranged on one or both end faces of the conveyor unit.
  • Figure 1 is a perspective view of a conveyor system for conveying charge carriers, in which two independently movable, tine-like conveyor units form a conveyor;
  • Figure 2 is a perspective view corresponding to Figure 1 of the conveyor system, wherein also a carrier in the form of a pallet is shown;
  • Figure 3 is a side view of a conveyor unit in one Empty configuration in partial view, so that a chassis, a drive system and a lifting / lowering device can be seen for a support element;
  • Figure 4 is a top plan view, partially looking through the conveyor unit
  • Figure 4A is a top view in partial view of a modified conveyor unit
  • Figure 5 is a top view of a loading area with the conveyor system comprising different spatially distributed supplies of conveyor units at a transfer order input;
  • Figure 6 is a view corresponding to Figure 5 from above of the loading area, wherein a conveyor unit is in a maintenance condition;
  • FIG. 7 is a top view of the loading area corresponding to FIG. 6, wherein a first conveyor unit has traveled under the load carrier and a second conveyor unit has been added;
  • Figure 8 is a view corresponding to Figure 7 from above of the loading area, wherein the second conveyor unit has made a turning trip;
  • Figure 9 is a view corresponding to Figure 8 from above of the loading area, wherein the two conveyor units form the conveyor;
  • Figure 10 is a view corresponding to Figure 9 from above of the loading area, wherein the conveyor the Carrier transported.
  • 10 denotes a conveyor system as a whole, with the objects, here loaded or unloaded charge carriers 12, can be promoted.
  • charge carriers 12 a pallet is shown in FIG. 2, as it is known per se.
  • a load carrier 12 has a support surface 14a, on which not specifically shown conveyed can be parked and secured.
  • the support surface 14a rests on a base 16 via support elements 14b. Between two adjacent support elements 14b there remains a respective light passage 14c, which is open towards the bottom 16 and at both ends.
  • a charge carrier 12 may be designed as a so-called Euro pallet.
  • the conveyor system 10 includes a plurality of conveyors 18 that can be moved on the floor 16.
  • a conveyor 18 is in turn formed from two conveyor units 20.
  • the conveyor units 20 have in the present embodiment, an outer contour that corresponds approximately to that of a fork prong of a forklift.
  • conveyor units 20 communicate in a manner known per se with one another or with a central control (not specifically shown) which coordinates the conveyor process.
  • the conveyor units 20 are dimensioned in their longitudinal extent so that they can completely retract into the clear passage 14c of a load carrier 12 and do not have to protrude from the clear passage 14c at one or both ends.
  • the conveyor unit 20 includes a chassis 24 that can be moved on B.code rollers 26 and defines two end regions 24a, 24b.
  • the chassis 24 also carries a support member 28 with it, which can be raised or lowered with respect to the chassis 24; This is illustrated only in Figure 1 by double arrows.
  • the conveyor unit 20 When the support member 28 assumes a lowered position, the conveyor unit 20 is in an empty configuration, in which it can move under the charge carrier 12. In this empty configuration, the conveyor unit 20 can also pass through the clear passage 14c of the load carrier 12, i. that the conveyor unit 20 on one side under the load carrier 12 retract, under this and on the other side can drive out of the carrier 12 again.
  • the delivery unit 20 is matched in its outer contour on to be conveyed charge carrier 12. In the case of a pallet, this means that the delivery unit 20 in its empty configuration has dimensions such that it can enter one of its clear passages 14c, so that the delivery unit 20 is located in this passage 14c under the support surface 14a of the pallet.
  • the load carriers 12 must also be adapted to the conveyor units 20 and provide at least space for two conveyor units 20, for example in the form of two such clear passages 14c.
  • each conveyor unit 20 comprises a drive system 30 by means of which the bottom rollers 26 and the carrier element 28 can be driven.
  • the drive system 30 includes a travel drive 32, which drives the bottom rollers 26.
  • the bottom rollers 26 are each mounted as a pair of rollers 34 about a steering axis of rotation 36 rotatable.
  • the steering axes of rotation 36 are only shown in FIG. 3 and run vertically when the conveying unit 20 rests with the ground rollers 26 on a horizontally level base 16.
  • the drive 32 includes drive units 38 and steering units 40 at the opposite end portions 24a, 24b of the chassis 24.
  • the drive units 38 include
  • the steering units 40 each comprise a steering electric motor 44 which, via transmission means 46, by way of example in FIGS. 3 and 4, illustrates a belt train 48 which can adjust the position of the ground rollers 26 with respect to their steering axis of rotation 36.
  • Drive electric motors 42 and the steering electric motors 44 are energized coordinated with each other.
  • the conveyor unit 20 assumes a linear drive configuration for a straight-ahead driving; This exemplarily illustrates the delivery unit 20 shown in FIG.
  • the bottom rollers 26 can each be rotated as a pair of rollers by the steering electric motors 44 about the axis of rotation 36.
  • the conveyor unit 20 can take a cornering configuration and drive a circular curve when the pairs of rollers 34 are aligned so that the axes of the bottom rollers 26 are perpendicular to the traveling circular curve.
  • a pallet 14 can then also be rotated on the spot, for example, if all four pairs of rollers 34 of the two conveying units 20 are aligned in one and the same circle in this way.
  • the control can also take into account the different travel paths of the bottom rollers 26, which lie radially on the outside relative to the curve, relative to the bottom rollers 26 located radially on the inside.
  • the different paths can also be compensated by transmission means of the drive units 38.
  • the drive system 20 comprises a lifting / lowering device 50.
  • This lifting / lowering device 50 operates independently of the travel drive 32.
  • the drive system 30 is set up such that the support element can perform a movement that as a superposition of a horizontallysungskomponente the chassis 24 and a vertical component of motion of the support member 28 can be described.
  • the conveyor units 20 of the conveyor 18 need not stand still for this, but this can be done if necessary.
  • the lifting / lowering device 50 comprises two lifting / lowering units 52, one of which is arranged in the present embodiment at the two end portions 24a, 24b of the chassis 24 each.
  • the two lifting / lowering units 52 are each coupled to different areas 28a, 28b of the support element 28. At the coupling points, the lifting / lowering units 52 each cause a raising or lowering of the support member 28.
  • FIGS 3 to 5 illustrate an embodiment in which each lifting / lowering unit 52 each comprises at least one working cylinder 54 which engages with a movable cylinder member 56 on the chassis 24 facing sides of the support member 28.
  • the lifting / lowering device 50 is in the present embodiment, a hydraulic lifting / lowering device.
  • the lifting / lowering device 50 includes a servo motor 76 which drives a fluid pump 78, which in turn can convey a working fluid from a tank 80 to the working cylinders 54 of the individual lifting / lowering units 52 in a lifting mode and in a lowering mode, the working fluid again from the working cylinders 54 in the tank 80 can promote back.
  • the fluid pump 78 is a bidirectional pump.
  • the components 76 to 80 are shown only in FIG. 4A.
  • working fluid is a hydraulic oil.
  • the speed of the servo motor 76 can be controlled by means of an on-board controller 58, whereby the lifting or lowering speed of the support member 28 can be adjusted.
  • the support element 28 is also shown only in FIG. 4A. showed tension springs 82 coupled to the chassis 24, through which the support member 28 is biased against the chassis 24 is used. As a result, the delivery unit 20 is always kept under pretension in its empty configuration without pressure being applied to the working cylinders 54.
  • Tension springs 82 also support the configuration change of the conveyor unit 20 from the conveyor configuration to the empty configuration. As can be seen in Figure 4A, four such tension springs 82 are arranged in the four corner regions of the conveyor unit 20 in the present embodiment.
  • the hydraulic lifting / lowering device 50 also includes an emergency valve 84 which, in an emergency, allows rapid discharge of the working fluid from the system and thereby a sudden pressure drop.
  • an emergency valve 84 which, in an emergency, allows rapid discharge of the working fluid from the system and thereby a sudden pressure drop.
  • the emergency valve 84 may also be a regulated valve, which allows a targeted lowering of the support element 28.
  • the controller then controls the lowering either via the servo motor 76 or via the emergency valve 84.
  • This may be, for example, a proportional valve.
  • the emergency valve 84 must be able to cope with the pressures occurring in the system without prematurely open, since each opening of the emergency valve 84 has a lowering of the support member 28 and thus a ground contact of the promoted charge carrier 12 result.
  • control system must recognize that the emergency valve 84 has been actuated to allow the drive system 30 and thus the Electric motors 42 can be stopped. Otherwise, the conveyor units 20 would move out below the load carrier 12 as soon as it comes to a stop on the floor 16. However, this is to be avoided upon actuation of the emergency valve 84.
  • the emergency valve 84 is triggered, e.g. by an emergency stop / emergency stop function of the conveyor unit.
  • the central controller should detect when the drive system 30 is deactivated due to an emergency situation.
  • the emergency valve 84 should additionally open, in order to ensure that the load carrier 12 and the goods conveyed thereon are safely parked on the floor 16.
  • a lifting / lowering unit 52 can also comprise in each case two working cylinders 54, which are attached to the running gear 24 next to one another transversely to the longitudinal direction of the conveying unit 20.
  • the two lifting / lowering units 52 of a driving unit 20 can be operated independently of one another, for which purpose the fluid pump 78 is coupled to a valve device which is not specifically shown, which can likewise be actuated by the on-board control 58.
  • the conveyor unit 20 is shown in its empty configuration.
  • the support elements 28 can be raised in relation to the empty configuration uniformly with respect to the chassis 24 and assume a corresponding conveying configuration.
  • the carrier element 28 can also be brought into an inclined pitch configuration in the longitudinal direction of the conveyor unit 20, the carrier element 28 being opposite this at one end region 24a of the chassis 24 is further raised than at the opposite end portion 24b.
  • Figure 5 illustrates a loading area 60 having a plurality of conveyor unit stocks 62 containing conveyor units 20 in different states.
  • a delivery unit 20 is ready for operation and can reach the charge carrier 12.
  • a charge state 64b storage components of the delivery units 20 are electrically charged.
  • a maintenance state 64c maintenance or repair work is performed on the conveyor units 20.
  • the conveyor units 20 fulfill a transfer order issued by the central controller.
  • a blocking state 64e a conveyor unit 20 can not be used in a transport order due to insurmountable obstacles, such as walls 68 and / or doors 70, which obstruct the route.
  • FIG. 5 illustrates a loading area 60 with a conveyor system 10, in which a signal is sent to the central controller that a certain load carrier 12 is to be transported to another location.
  • the central controller detects two conveyor units 20 which are in a free state 64a and which would reach the carrier 12 in a shortest time.
  • the corresponding conveyor units 20 receive a transport order, so that their state goes into the transport state 64d.
  • the two conveyor units 20 can communicate with one another and exchange status messages, for example, but drive the load carrier 12 to be transported individually and independently of one another.
  • the two travel paths 66 of the two conveyor units 20 run essentially parallel to one another.
  • the conveyor units 20 are guided on their respective track 66 via reference objects in the environment, for example, radio or optical means are used.
  • reference objects in the environment for example, radio or optical means are used.
  • several GPS coordinates to be approached can also be predefined along the travel path 66.
  • the determination of the travel path 66 of the second conveyor unit can be made such that the conveyor unit 20 with the parent position their position of the central control or a control device in the form of the on-board control 58 reports and this in turn communicates with the second conveyor unit to set their travel 66.
  • the on-board controller 58 may be either the first or the second conveyor unit and perform the calculation of the subordinate travel path 66.
  • FIG. 6 illustrates the case where a failure occurs during travel when the conveyor unit 20 is moving to the right in the direction of travel, so that its status now changes to the maintenance status 64c.
  • the central controller determines the next conveyor unit 20 in a free state 64a and sends to this a transfer order.
  • a new pairing takes place, this time with the newly added conveyor unit 20, which must approach the not yet occupied clear passage 14c of the charge carrier 12.
  • the newly added delivery unit 20 enters the position of the failed delivery unit 20.
  • the first conveyor unit 20 has already moved below the load carrier 12 and is positioned centrally in the corresponding clear passage 14c, a finished message being sent to the central controller.
  • a steering angle offset is required in order to be able to transport the load carrier 12 precisely.
  • the orientation of each conveyor unit 20 on the charge carrier 12 takes place with the aid of sensor units not shown specifically, for example via camera systems or ultrasound, which are positioned in a frontal region of both end regions 24a, 24b.
  • the conveyor units 20 are aligned independently of one another on the respective clear passage 14c of the charge carrier 12 to be transported and then form the conveyor 18.
  • each conveyor unit 20 comprises safety devices not specifically shown, which are arranged, for example, on the end faces of both end regions 24a, 24b.
  • the safety devices may detect objects or persons located in the track 66 and notify the central controller.
  • the central controller makes a change in the driving parameters, so that the conveyor unit 20 is stopped or assigned a new route.
  • conveyor units 20 each have a sensor system 71 with the respective sensor systems 71 of two Conveyor units 20 of a conveyor 18 cooperate.
  • This can increase system availability.
  • two sensors 72 are provided along a longitudinal side of the conveyor unit 20.
  • Each sensor 72 evaluates a light beam that is generated by a light source 74 of the sensor system 71 arranged thereon at the opposite conveying unit 20.
  • the sensors 72 are designed, for example, as cameras with a photosensitive sensor surface which is illuminated by the light source 74. From the absolute position of the illuminated areas, the sensors 72 detect an offset in the longitudinal direction.
  • the sensor systems 71 of the two conveyor units 20 are arranged such that an angular offset and / or a distance d between the two conveyor units 20 can be detected, which is designated only in FIG. This can be done from the geometric size of the individual illuminated areas as well as from the difference of the sizes to each other.
  • light sources 74 may For example, be provided LEDs.
  • the distance d to be maintained between two conveyor units 20 of a conveyor 18 can be freely set and set.
  • the distance d to be maintained can be predetermined, for example, by the central controller and also entered there.
  • a conveyor unit 20 can also carry an input unit with it, by means of which the distance to be maintained within a conveyor 18 can be set.
  • the distance d to be maintained between two conveyor units 20, which form a conveyor 18, may vary depending on the material to be transported or the available load carriers 12. For example, instead of Euro pallets whose passages 14c require a distance di of the conveyor units 20, deviating smaller pallets serve as load carriers 12, in which the conveyor units 20 must stay closer together at a smaller distance d2 in order to reach the passages 14c of such smaller ones To fit pallets.
  • each conveyor unit 20 is equipped both with the sensors 72 and with the light sources 74 for position detection, so that all conveyor units 20 are identical and each conveyor unit 20 can be operated both in the subordinate and in the parent position.
  • two sensors 72 and two light sources 74 are mounted along only one longitudinal side of each conveyor unit 20. When a conveyor 18 is formed, this arrangement must be taken into account.
  • Diameter of the circular path exactly equal to the distance between the axes of rotation 36 of the conveyor unit, so the conveyor unit 20 rotates on the spot. Since all four bottom rollers 26 of the conveyor unit are coaxial with each other, in this case additional not specifically shown elements, such as ball rollers, are provided for support. To prevent tilting of the conveyor unit, they are arranged outside the plane containing the two axes of rotation 36. In the event that the assignment of the parent and subordinate position has not yet taken place, the central control decides about it. One criterion may be the shortest time that is necessary to form the conveyor. In this case, the time necessary for carrying out the turning trip can also be decisive.
  • both two sensors 72 and two light sources 74 can be arranged along each of the longitudinal sides of the conveyor unit 20, with a sensor 72 and a light source 74 always facing each other. This ensures that, regardless of the orientation of the two conveyor units 20, one of the conveyor units can always follow the other.
  • a sensor 72 can evaluate two light signals from the two light sources 74 at the same time, wherein the
  • Light sources 74 are arranged correspondingly close to each other. As a result, only one sensor 72 per side is necessary for position detection, which can reduce manufacturing costs. Orientation independence is ensured in such sensors 72 when along each longitudinal side of a sensor 72 and two light sources 74 are arranged. In this case, a sensor 72 and two light sources 74 in a conveyor 18 formed are always opposite.
  • a light source 74 and a sensor 72 are combined to form a module.
  • light generated by the light source 74 is reflected at the opposite conveyor unit and detected by the sensor 74, wherein the position of the opposite conveyor unit can be determined by means of triangulation.
  • To detect an angular offset of the conveyor units to each other two such modules are used per longitudinal side of a conveyor unit, which also increases the system availability in case of failure. If the modules are attached to the conveyor units 20 on both sides, orientation independence of the conveyor units 20 can be achieved when forming a conveyor 18.
  • the central controller or alternatively the on-board controller 58 of the conveyor unit 20, which has already reached the carrier 12, sends no information about the exact position of the free clear passage 14 c to the second conveyor unit 20, it may be necessary that the Feed unit 20 initially determined by means of a not specifically shown free space detection device, where a lights Passage 14c is located and whether it is occupied or not. If it is occupied, then the conveyor unit 20 controls the adjacent clear passage 14c. After the second conveyor unit 20 has been aligned on the charge carrier 12, as shown in Figure 9, a ready message is sent to the central control. Then the support elements 28 of the two conveyor units 20 are raised synchronized, so that the charge carrier 12 is lifted as a whole and optionally with the conveyed material placed thereon. Then the carrier 12 can be conveyed by means of the conveyor 18 to another location. Thus, the illustrated in the figure 10 common travel of the conveyor units 20 in a conveyor 18 is possible.
  • a kind of parallel displacement of a load carrier 12 can take place when the roller pairs 34 are rotated by two conveyor units 20 of a conveyor 18 after a straight-ahead ride first by the same angular amount in the same direction of rotation about the axis of rotation 36, so that the axes of all floor rollers 26 parallel to each other are. Then, the bottom rollers 26 are all driven synchronously and the same, so the conveyor takes a linear travel configuration for a diagonal ride.
  • additional elements such as ball rollers, are provided for support analogous to the previously described rotation of the conveyor unit 20 on the spot. In this case, they are arranged outside the plane containing the two axes of rotation 36.
  • the conveyor units 20 are reoriented so that the sensors 72 of the conveyor unit 20 are directed in the subordinate position to the conveyor unit 20 in the parent position.
  • the conveying units 20 already described can be used with a two-sided arrangement of sensors 72 and light sources 74, which have no orientation dependence in a conveying device 18.
  • the flexibility of the conveyor system 10 is significantly increased.
  • it is favorable if, in the event of failure of a delivery unit 20, the delivery device 18 is released and is newly formed with a newly added delivery unit 20.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Control Of Conveyors (AREA)

Abstract

L'invention concerne une unité de transport servant à transporter des supports de charge (12) chargés ou non chargés et comprenant un train de roulement (24) pouvant se déplacer sur des roulettes (26). Un élément porteur (28) entraîné par le train de roulement (24) peut être soulevé et abaissé par rapport au train de roulement (24) de telle manière que l'unité de transport peut, dans une configuration vide, se déplacer sous un support de charge (12) et, dans une configuration de transport, recevoir et transporter un support de charge (12) avec l'élément porteur (28). Un système d'entraînement (30) permet d'entraîner au moins une des roulettes (26). Le système d'entraînement (30) comprend un mécanisme de roulement (32) pour le train de roulement (24) et un dispositif de levage/d'abaissement (52) de l'élément porteur (28). L'invention concerne par ailleurs un système de transport permettant de transporter des supports de charge (12) chargés ou non chargés (12), au moyen de plusieurs dispositifs de transport (18).
EP15797850.3A 2014-11-24 2015-11-14 Unité de transport et système de transport servant à transporter des supports de charge Withdrawn EP3224111A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014017255.4A DE102014017255A1 (de) 2014-11-24 2014-11-24 Fördereinheit und Fördersystem zum Fördern von Ladungsträgern
PCT/EP2015/002280 WO2016082917A1 (fr) 2014-11-24 2015-11-14 Unité de transport et système de transport servant à transporter des supports de charge

Publications (1)

Publication Number Publication Date
EP3224111A1 true EP3224111A1 (fr) 2017-10-04

Family

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Application Number Title Priority Date Filing Date
EP15797850.3A Withdrawn EP3224111A1 (fr) 2014-11-24 2015-11-14 Unité de transport et système de transport servant à transporter des supports de charge

Country Status (3)

Country Link
EP (1) EP3224111A1 (fr)
DE (1) DE102014017255A1 (fr)
WO (1) WO2016082917A1 (fr)

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US11634165B2 (en) * 2017-07-07 2023-04-25 Eurotec B.V. Robotic vehicle, system therewith and use thereof

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DE102017000676A1 (de) 2017-01-26 2018-07-26 Uwe Spiekermann Automatische Hub- und Transporteinrichtung für palettenähnliche Gebinde
DE102018218191A1 (de) * 2018-10-24 2020-04-30 Robert Bosch Gmbh Flurförderfahrzeug mit einer Lastgabel, Verfahren zum Betreiben, Steuergerät, Computer-Programm und Computer-Programm-Produkt
DE102020109536A1 (de) * 2020-04-06 2021-10-07 Hubtex Maschinenbau Gmbh & Co. Kg Flurförderzeug
EP4049915A1 (fr) * 2021-02-25 2022-08-31 Service Gesellschaft Sozialstiftung Bamberg mbH Dispositif transporteur permettant de pousser un article à transporter

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DE102007046868B9 (de) * 2007-09-28 2023-08-31 Universität Stuttgart Transportvorrichtung für Ladungsträger und Verfahren zu deren Steuerung
DE102008014877A1 (de) * 2008-03-12 2009-11-05 Alfred Arnold Eingetragener Kaufmann Verladesysteme Transportwagen für Paletten und Transportsystem
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11634165B2 (en) * 2017-07-07 2023-04-25 Eurotec B.V. Robotic vehicle, system therewith and use thereof

Also Published As

Publication number Publication date
DE102014017255A1 (de) 2016-05-25
WO2016082917A1 (fr) 2016-06-02

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