EP3802375A2 - Procédé et dispositif de transport et de tri de marchandises autonome ou partiellement autonome - Google Patents

Procédé et dispositif de transport et de tri de marchandises autonome ou partiellement autonome

Info

Publication number
EP3802375A2
EP3802375A2 EP19730125.2A EP19730125A EP3802375A2 EP 3802375 A2 EP3802375 A2 EP 3802375A2 EP 19730125 A EP19730125 A EP 19730125A EP 3802375 A2 EP3802375 A2 EP 3802375A2
Authority
EP
European Patent Office
Prior art keywords
adapter
roll adapter
roll
switch
rail
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.)
Pending
Application number
EP19730125.2A
Other languages
German (de)
English (en)
Inventor
Viktor Herzog-Lang
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.)
Emhs GmbH
Original Assignee
Emhs GmbH
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 Emhs GmbH filed Critical Emhs GmbH
Publication of EP3802375A2 publication Critical patent/EP3802375A2/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G9/00—Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
    • B65G9/008—Rails or switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G9/00—Apparatus for assisting manual handling having suspended load-carriers movable by hand or gravity
    • B65G9/002—Load-carriers, rollers therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/30—Details; Auxiliary devices
    • B65G17/48—Controlling attitudes of load-carriers during movement
    • B65G17/485—Controlling attitudes of load-carriers during movement the load carriers being suspended
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B25/00—Tracks for special kinds of railways
    • E01B25/22—Tracks for railways with the vehicle suspended from rigid supporting rails
    • E01B25/26—Switches; Crossings

Definitions

  • the invention relates to a method for transporting and sorting a sorting bag suspended from a roll adapter rolling on a rail network of a sorting system, a sorter bag according to the method, a sorter adapter, a sorting system and a separator of the sorting system.
  • Sorting plants and devices for sorting piece goods are known.
  • the general cargo may in particular be goods commonly used in the mail-order business such as, for example, clothing, shoes, smaller technical devices and / or the like.
  • a sorting system with a rail network.
  • the rail network can have a drive medium, for example in the form of a circulating transmission means, for example a chain, by means of which suitable roll adapters can be carried along. It is possible to mount the bag-shaped transport container and / or the goods themselves to the roller adapters and to transport in this the piece goods through the sorting system.
  • a transport device in the form of a suspension conveyor with a filling device for filling bags, a second device for filling the opened pockets and a third device for closing the filled bag is known. It is envisaged that the three devices in a transport direction for the pockets behind each other and unimportant arranged separately, wherein the leading of the pockets via a first rail takes place and wherein the removal of the filled and closed pockets takes place via a second track, which is arranged offset relative to the first track rail.
  • DE 10 2014 203 239 A1 relates to a transport system for transporting hanging articles comprising a transport means predetermining a transport direction, a plurality along the transport direction on the transportable transportable holding elements for receiving hanging articles, and at least one singulating device for singling the holding elements.
  • the separating device has at least one separating means, wherein the holding elements can be transferred by means of the separating device along the transport direction from an indefinite arrangement into an isolated arrangement in which there is a predetermined distance between the two adjacent holding elements. The second distance is greater than the first distance.
  • a reducing agent cooperates with at least one holding element for transferring from an indefinite arrangement into the singulated arrangement.
  • the object of the invention is to improve a transporting and sorting of individually suspended piece goods, in particular to increase a throughput and / or to shorten a play time in a sorting and / or transporting process.
  • the object is in a method for transporting and sorting a sorter bag suspended on a roll adapter rolling on a rail network of a sorting system for transporting a piece goods by providing the sorter rail network, providing the sorter roll roll adapter rolling on the rail network, providing an electrical drive energy for the rolling adapter and converted the provided electrical drive energy by means of the rolling adapter itself in a kinetic energy for transporting the sorter bag solved.
  • the roll adapter itself converts the electrical energy into kinetic energy.
  • the electrical drive energy can be provided, for example, by means of a traveling energy storage device of the rolling adapter.
  • a traveling energy storage device of the rolling adapter it is possible to continuously provide the electrical drive energy by means of a transmission system, for example inductively or by means of current collectors, while passing by for the roll adapter. Possibly can be recharged in this way, the energy storage.
  • the conversion of the electrical drive energy takes place by means of a drive, for example an axle drive acting on at least one wheel of the rolling adapter and / or gear drive.
  • the electric drive can be designed as a final drive or as a hub motor.
  • the roll adapter has two wheels rotating coaxially on the rail network, these wheels either rotating on a common axle and being driven by means of the final drive or each having a wheel hub motor.
  • the roller adapter can be transported through the sorting system independently of any possible transmission means.
  • Preferably autonomous control of a chassis of the sorter bag is provided by the rail network by means of a traveling control device of the sorter bag.
  • the roll adapter of the sorter bag preferably has the control device.
  • the term control device is preferably to be interpreted broadly and may extend to all means which are provided for the autonomous or at least partially autonomous control and / or driving of the roll adapter or the sorter bag transported by means of the roll adapter.
  • these may include sensors, signal processing devices, computing devices for determining a travel path and / or making decisions, means for providing artificial intelligence, steering means and / or the electric drive.
  • the sorters bag can therefore autonomously drive off the track without any intervention from the outside, that is, by a guided control and / or intelligence.
  • a route between start and destination point does not have to be predetermined, ie it is determined autonomously by the sorter bag and also driven on.
  • communication processes between points and the sorting bag and between the sorter bag and other road users, that is to say further sorters, can take place or be carried out.
  • the departure of the travel path can take place at least partially autonomously.
  • a higher-level control device which is provided, for example, at the sorting system, monitoring of the sorter bag and also of the further sorter pockets moved therein takes place, with certain parts of the travel path being traveled partially automatically by means of a sub-control device of the sorter bag.
  • a speed can be regulated partially autonomously and / or a collision avoidance strategy and a driving stability can be provided or achieved.
  • the electrical drive energy is preferably transmitted to the electrical energy store of the roller adapter and provided therefrom.
  • the rail network of the Sor- Verstrom be particularly simple in design, namely, only corresponding rails are required, which can be driven by the sorter's own drive energy of the roll adapter and the autonomous or semi-autonomous control without any further required devices or means.
  • the rail network of the sorting plant can have branches or switches, wherein the sorter bag can for example optionally branch off from a first rail track to a second or third track.
  • a corresponding control process or control intervention can take place.
  • This can preferably produce a cooperating with at least one of the rail tracks and / or the switch of the rail network and the roll adapter or the sorter bag steering torque.
  • the steering torque is preferably generated by means of the rolling adapter and causes a deduction on the selected track. It is conceivable to effect the steering torque by driving two wheels differently, that is to say the wheel and a further wheel of the roller adapter.
  • an active displacement of a steering element of the roll adapter can take place.
  • the steering element can be adjusted from a neutral position or rest position to a steering position, if a branching is desired. After branching, a reset from the steering position to the neutral position can take place.
  • In the steering position takes place when driving past an engaging the steering element with a guide element of the sorting system.
  • a switch of the sorting system has the guide element.
  • the steering element of the rolling adapter instead of the steering element of the rolling adapter to relocate the guide element of the switch, in particular tion from a rest position in a Stellposi. In this case also takes place the previously described engaging and transmitting the force or the steering torque.
  • displacement can be understood as pivoting and / or translatory displacement of the elements.
  • a steering torque can also be effected on the roll adapter.
  • the disengagement of one of the wheels may optionally take place in addition to the storage of the steering element and / or the guide element.
  • a steering element can nevertheless be provided on the roller adapter, the latter preferably being fixedly connected to the roller adapter and serving to transmit the steering torque.
  • oscillating movements which can occur during acceleration and / or braking of the sorter pocket, can be reduced or compensated.
  • a pendulum angle of the sorter can be regulated relative to the rail network during transporting to stabilize the pendulum movement of the sorter bag.
  • unrolling of at least one wheel of the roll adapter on the rail network, passing through a crossing point of the rail network and lifting or at least relieving the roll adapter during passing of the crossing point are carried out.
  • two possible routes of the railway network of the sorting system intersect. These can have a guide slot, which must be rolled over across.
  • lifting or at least relieving as gentle as possible a crossing of the crossing track is possible.
  • the lifting or at least relieving takes place on at least one wheel, preferably on both wheels of the roll adapter.
  • a rolling of the at least one wheel of the roll adapter on the rail network and at the same time additionally storing the roll adapter on an additional bearing element for lifting or at least relieving the roll adapter suc.
  • one or more bearing elements, on which the roll adapter, in particular during a branching or crossing of driveways can be additionally stored. As a result, intersections and / or branches can be traveled particularly gently and smoothly.
  • the roll adapter can therefore from one of the sorter bag opposite end to be relieved. This creates an additional stabilizing moment and the relief or lifting during the crossing / branching.
  • the roll adapter is suspended as close to the top as possible, ie at the sorter bag facing away from the end.
  • a further possible embodiment provides for an additional sliding bearing of the roller adapter on the rail network for lifting or at least relieving the roll adapter.
  • the rolling adapter can have at least one sliding element, by means of which the sliding bearing can take place. This slides on an additional storage element of the sorting system, more precisely a switch or the crossing point.
  • the sliding bearing is easy to implement, low maintenance and easy to adjust.
  • the object is also achieved by a switch of a sorting system, which cooperates for transporting and sorting with a at least partially autonomously moving in the sorting sorter bag.
  • the switch has at least three colliding rail tracks which can be driven by the sorter pocket, at least one partial rail which connects two of the rail strands with one another and at least one guide element which is arranged at a distance from the at least one rail. Between the at least one sub-rail and the guide element runs a possible path of the sorter bag through the switch or sorting system.
  • the guideway is thus preferably bounded on both sides and / or slit-shaped or has a guide slot.
  • the guide element and the sub-rail is located on two spaced-apart gedach- th horizontal planes of the switch.
  • a lower of the planes is preferably a rolling plane in which the sub-rail runs and on which the wheels roll.
  • a vertical distance between the sub-rail and the at least one guide element is greater than or equal to a wheel diameter of the wheels of the roller adapter.
  • the guide element has a curved contact surface, by means of which by engaging in a passing by with a steering element of the sorter bag on this a steering torque steering is transferable.
  • the transmitted steering torque can be transmitted more uniformly while driving through the turnout or a corresponding curve.
  • a radius of curvature can be specified in a branching operation, that is, a correspondingly curved track, which is optionally taken.
  • the guide element can be actively displaceable for selecting one of the possible routes. Active relocation allows you to choose between the possible routes.
  • a soft communication device may be provided. This can in particular exchange data with the roll adapter. These may include a loading state of the roll adapter, a speed of the roll adapter, a loading situation of the roller adapter, a starting point or a destination point of the roll adapter. If appropriate, the data can be collected and communicated to an overall controller, which determines thereon, for example, setting processes and / or selection processes of routes and adjusts accordingly to the points.
  • the switch is especially designed, constructed and / or programmed to carry out a previously described method.
  • the switch has a lower plane with a rolling surface, on which the rolling adapter can be unrolled, and an upper plane with a sliding surface, on which sliding means can be additionally slidably guided, raised and / or at least relieved of load is.
  • the roll adapter can be lifted or relieved when passing the switch, allowing a particularly smooth passing of the switch.
  • a point of intersection of the switch in particular only the crossing point at which intersect two of the possible routes, having the sliding surface. So it can be done as smooth as possible crossing the intersection point.
  • the sliding surface can be saved on continuous or crossing-free roadways.
  • the sliding surface in the direction of the possible routes each have a climb and a descent.
  • the lifting and, by means of the descent, a lowering to the original level, which is predetermined by the wheels, can take place when passing over.
  • Between the ascent and descent is preferably a flat sliding surface arranged on which the additional sliding bearings of the roller adapter can be done, so the roll adapter is in addition to the storage by the wheels in the direction of travel translationally sliding stored.
  • a roll adapter for a sorter bag which cooperates to be transported and sorted with a sorting system.
  • the roller shutter is provided with a chassis having two coaxial rotating wheels, a suspension disposed between and supported by the wheels and suspended therefrom with the sorter bag in an assembled state, an electric drive for driving the wheels and a control device or sub-control device Controlling the roll adapter equipped.
  • the roll adapter can move autonomously or at least partially autonomously through a rail network of the sorting system. As a result, it is independent of a transmission medium and can be moved through the sorting system more easily and more quickly on a freely selectable route. As a result, transport processes such as storage and retrieval processes can be made more flexible and faster.
  • the roll adapter is preferably set up, designed and / or programmed for carrying out a previously described method. In this respect, the advantages described above also arise.
  • the electric drive per wheel has a wheel hub motor, wherein the wheel hub motors can be driven by means of a controller for generating a steering torque with different drive torques and / or rotational speeds.
  • a steering torque for selecting a travel of the roll adapter can be provided in a simple manner.
  • the wheels are mounted on a common axis and driven by the electric drive.
  • the axis may be a rigid axle, with speeds of rotation of the wheels are the same, ie have identical speeds. So it is only needed an electric drive for both wheels.
  • the rolling adapter has a differential gear and / or a coupling device for temporary disengagement of one of the wheels of the final drive.
  • the steering torque can also be generated and / or at least supported, if this is generated by another device, for example the guide element of the switch and / or the steering element of the rolling adapter.
  • the optionally provided steering element of the rolling adapter can have a contact surface for generating the steering torque.
  • the contact surface is preferably designed to strike against a corresponding mating surface, for example, the guide element of the switch of the sorting system when driving past, and thereby to generate or transmit the steering torque.
  • the steering element may be arranged below the wheels. This makes it possible that when cornering a transverse to the direction of travel of the roll adapter extending Kippmo- ment for increasing traction on a curve-inward wheel of the wheels of the roll adapter can be generated. It can be a gentle Kurverfahrt be enabled.
  • the steering element is actively adjustable between at least two positions or a left-turn position, a straight-ahead position and a right-turn position when driving on the rail network for selecting and / or guiding a possible route of the sorting system and thereby optionally with a rectilinear or a curved guide slot of the sorting system can be brought into engagement.
  • the guide slots can be provided at the switch of the sorting system and either intersect or branch or merge into one another.
  • the optional intervention can take place and thereby a guideway can be selected at the weig.
  • the guide element is guided in the guide slot, preferably in a sliding contact contact, and thereby transmits the steering torque and / or tilting moment controlling the rolling adapter from the switch to the rolling adapter.
  • the rolling adapter can have a sliding element cooperating with the sorting system, by means of which the rolling adapter can be mounted on the sorting installation in a sliding manner in addition to the storage by the wheels. At branches or crossing points, additional support may be provided by the sliding element. conditions. Preferably in a horizontal sliding contact. Alternatively or additionally, the sliding element can have rolling bodies for reducing friction.
  • the sliding element is arranged above the wheels.
  • the roll adapter and thus the sorter pocket which can be attached thereto can therefore be additionally supported or suspended above the wheels.
  • an additional stabilizing moment can be built up, in particular when driving over the cresting point.
  • the wheels are unrolled on a lower level of the sorting system and the sliding member with an upper level of the sorting system in a sliding border bearing contact can be brought. It can be stored on two levels.
  • the wheels can be raised or at least relieved when passing through a crossing point of the sorting system by means of the sliding element.
  • any unevenness unavoidable when branching off and crossing driveways is transferred to the rolling adapter via the wheels. This transfer can be avoided or at least reduced to a minimum by lifting or at least relieving.
  • the object is further achieved by a sorter bag for transporting a piece goods with a pre-described roll adapter. This results in the advantages described above.
  • the object is finally achieved by a sorting system which cooperates with a previously described sorter pocket and / or is constructed, designed and / or programmed to carry out a previously described method and / or has a switch described above.
  • FIG. 1 shows a roll adapter for hanging and transporting a not shown
  • Sorter bag in a three-dimensional representation from obliquely laterally on top front;
  • Figure 2 is a front view of the rolling adapter shown in Figure 1 together with a hinged sorter bag and a cross-section shown rail of a sorting system only partially shown;
  • Figure 3 shows another embodiment of a roll adapter in a three-dimensional
  • FIG. 4 shows a detailed view of the steering element of the rolling adapter illustrated in FIG. 3;
  • Figure 5 is a schematic representation of a switch with either different passable by the rolling adapter driveways
  • Figure 6 is a further plan view of the switch shown in Figure 5, wherein a guide element of the switch for adjusting a travel path is shifted from a rest position to a parking position.
  • FIG. 7 shows a further plan view of the switch shown in FIGS. 5 and 6 together with the roller adapter, the steering element of the roller adapter and the guide element of the switch being shifted from a neutral position or rest position into a steering position or the setting position for selecting the travel path .
  • FIGS. 5 to 7 shows a further plan view of the switch illustrated in FIGS. 5 to 7 together with a further exemplary embodiment of a rolling adapter, the steering element of the rolling adapter being pivoted from a neutral position into a steering position for selecting the travel path,
  • FIG. 9 shows a three-dimensional view obliquely from the top front of a further exemplary embodiment of a roll adapter, FIG.
  • FIG. 10 shows a top view of the rolling adapter shown in FIG. 9 with a steering element shown in three steering positions
  • FIG. 1 1 shows a three-dimensional view obliquely laterally from above of a further switch, which has an additional bearing element with a sliding surface
  • FIG. 12 shows a sectional view along a rectilinear travel path of the type shown in FIG.
  • FIG. 13 shows a detailed view of a crossing point of the one shown in FIG
  • FIG. 14 shows a three-dimensional detail view of FIG. 11 with a guideway of the switch traversed by two roller shutters in sliding operation.
  • FIG. 1 shows a roll adapter 17 for transporting and suspending a single Lich indicated in Figure 1 by means of the reference numeral 11 sorter bag.
  • the roll adapter 17 has a control 29 which can be supplied with an electrical drive energy 19 by means of an electrical energy store 37 indicated in an exploded view.
  • the electrical energy store 37 can be commercially available batteries and / or accumulators, in particular cells.
  • the roll adapter 17 has a suspension 73, which has a first recess 87 and a second recess 89.
  • the first recess 87 is not visible in FIG. 1 and serves to receive and / or fix the control 29 and / or the electrical energy store 37.
  • the second recess 89 serves to receive and / or suspend the sorter pocket 1 Suspension 73 extends between a wheel 21 and another wheel 47.
  • the wheels 21 and 47 are thus arranged on both sides of the suspension 73 and rotatably mounted on this.
  • each of the wheels 21 and 47 each have a wheel hub motor 25, wherein the wheel hub motors 25 are each controlled by the controller 29.
  • the wheels 21 and 47 can be driven independently of one another, that is to say have different torques and / or rotational speeds, or can be limited to a merely indicative te rail network 15 of a likewise not fully shown sorting system 13 transmitted.
  • controller 29 may have an autonomous control device 31, which is set up and designed to control the roll adapter 17 autonomously via the rail network 15, in particular select a driving path on a daily and autonomous basis, avoid other sorters and the like.
  • the controller 29 has only a partial control device 33, by means of which a partially autonomous driving of the roll adapter 17 is possible, wherein a superordinate overall control device 35, which is indicated in FIG. 1 only by means of a rectangle, perceives superordinate control and coordination tasks, in particular Deciding and selecting routes of a large number of sorter bags.
  • Figure 2 shows the rolling adapter 17 shown in Figure 1, wherein in the second recess 89 an indicated and only partially shown sorter bag 1 1 is mounted and the roll adapter 17 rolls with the wheels 21 and 47 on an indicated rail network 15 of an indicated sorting system 13.
  • the rail network 15 has, for example, a slotted rectangular profile, wherein the suspension 73 projects through a slot 91 and is guided and the wheels 21 and 47 roll inside the rectangular profile on both sides of the slot 91 inside. It can be seen that above the wheels 21 and 47 or the suspension 73 no further functional elements are provided within the rectangular profile. In this respect, an open-topped profile could be provided instead of the rectangular profile. In particular, in comparison to the prior art, no drive technology is required within the rectangular profile, since the rolling adapter 17 can automatically move in its own drive in the form of the wheel hub motors 25.
  • the sorter pocket 1 1 has an interior space 93 in which a piece goods 95 indicated only by dashed lines can be received for transport purposes. Sorting bags as such are known and therefore will not be described in detail here.
  • FIG 3 shows another embodiment of a roll adapter 17, wherein in the following compared to Figures 1 and 2, only the differences will be discussed.
  • the roller adapter 17 has a third recess 97, which is embodied here as a circular-cylindrical bore.
  • a Axle drive 23 was added, which drives an axle 99.
  • the final drive 23 is likewise configured as an electric drive and is supplied with the electrical drive energy 19 by means of the electrical energy store 37 (not shown in FIG. 3).
  • the wheel 21 and the other wheel 47 are mounted coaxially rotating, so that only one drive, so the final drive 23 for driving the two wheels 21 and 47 is required.
  • a steering element 51 is arranged or mounted on one of the first recess 87 for suspending the sorter pocket 11 opposite the end of the suspension 73.
  • the steering element 51 is used to transmit or generate a steering torque 49 for selectively driving on a driving path not shown in detail in FIG.
  • the steering element 51 has a cambered or convexly configured stop surface 101 on both sides.
  • the steering element 51 is fixedly connected to the rest of the roll adapter 17, so the suspension 73 as shown in FIG.
  • FIG. 4 shows a detailed view of a further steering element 51 analogous to the steering element 51 of the roll adapter 17 illustrated in FIG.
  • the steering element 51 is pivotably mounted relative to the suspension 73 by means of a rotary joint 103.
  • the steering element 51 is shown in a neutral position.
  • pivoting which is indicated in FIG. 4 by means of a curved arrow 105, the steering element 51 can be pivoted between the neutral position and a steering position.
  • the rolling adapter 17 has a positioning drive 107, by means of which a pivoting movement about the pivot 103 can be provided.
  • FIG. 5 shows a plan view of a switch 39 of the rail network 15 of the sorting installation 13, which is shown only partially.
  • a first rail track 41 of the rail network 15 is driven by the roll adapter 17.
  • a second rail track 43 optionally a third rail track 45 or a fourth rail track 46, can be traveled from the first rail track 41.
  • a travel path 27 is shown by means of a dashed arrow, wherein the roll adapter 17 branches off from the first rail track 41 onto the second rail track 43.
  • a control of the wheel hub motors 25 is carried out by means of the controller 29 of the roll adapter 17. More specifically, the wheels 21 and 47 are driven differently with a first drive torque 11 and a second drive torque 113. In this case, the first drive torque 11 1 is smaller than the second drive torque 113.
  • the wheels 21 and 47 can be driven at different speeds, and this basically also leads to the different drive torques 11 1 and 1 13, that is to say the induction of the steering torque 49.
  • the travel path 27 leads via a sub-rail 61 and a guide element 53 of the switch 39.
  • the switch 39 has four of the guide elements 54, which are arranged rotationally symmetrical to one another.
  • the guide element 53 has a further stop surface 15.
  • the further stop surface 115 is concavely curved, in particular adapted to the convex curvature of the stop surface 101 of the steering element 51 of the roll adapter 17.
  • the guide element 53 of the switch 39 is in each case on a lower level 117 of the switch 39.
  • the lower level 117 is indicated by way of example in FIG. This means that both the sub-rail 61 and the guide element 53 have a rolling surface 119 lying in the lower plane 117, on which the wheels 21 and 47 roll. If appropriate, it is conceivable that the suspension 73 strikes against the further stop surface 115 of the guide element 53 when the curve, that is to say the travel path 27 for supporting the steering torque 49, passes through the curve.
  • the guide element 53 is located on an upper level 120, which is also indicated in FIG.
  • the planes 1 17 and 120 have a distance 121 shown in FIG. 3 which is greater than a wheel diameter of the wheels 21 and 47.
  • the abutment surface 101 of the steering element 51 strikes against the further abutment surface 115 of the vehicle Guide element 53 at.
  • a lower level 1 17 corresponding driving plane on which the wheels 21 and 47 mentally unroll separated from the upper level 120, which serves to control and generate the steering torque 49 are separated.
  • the rolling surface 1 19 of the sub-rail 61 of the switch 39 is therefore in the lower level 1 17.
  • One of the Fahr- The predetermined distance between the partial rail 61 and the guide element 53 of the switch 39 is greater than an outer diameter the wheels 21 and 47.
  • FIG. 6 shows a further exemplary embodiment of a switch 39, with only the differences being discussed below.
  • the guide element 53 is displaced from a rest position into a setting position.
  • the steering element 51 shown in FIG. 3 and FIG. 4 can be brought into engagement with the guide element 53 of the switch 39, so that the stop surfaces 101 and 15 abut each other during the passage of the travel path 47 for causing the steering torque 47 , wherein the steering torque 49 is effected.
  • FIG. 7 shows a further exemplary embodiment of a switch 39, wherein in the following only the differences from the representation of FIGS. 5 and 6 will be discussed.
  • the steering element 51 of the rolling adapter 17 is additionally displaced from a rest position into a steering position shown in FIG.
  • the steering element is not translationally displaced by a rotational movement, but by a translational movement in the direction of the axis 99.
  • the guide member 53 can be engaged with the guide member 51 for effecting the travel path 27. If necessary, no displacement of the guide element 53 is required.
  • both elements 51 and 53 can be displaced, in particular in each case translationally.
  • a translatory or rotational displacement occurs.
  • a combination of a translational and rotational displacement of at least one of the elements, that is to say of the steering element 51 and / or the guiding element 53, can also take place.
  • the roll adapter 17 has a coupling device 79, by means of which the wheel 21 can be disengaged when driving on the travel path 27.
  • the outer wheel 21 is disengaged when driving through the travel path 27, in particular the disengagement is kinematically coupled with the translational displacement of the steering element in the direction of the axis 99. This allows speed differences to be compensated.
  • the track 21 in the switch 39 can optionally be traversed on only one rail, ie the sub-rail 61.
  • the sub-rail 61 in the lower level 1 17, on which the other inner wheel 47 rolls on the inside of the curve and the guide element 53 of the switch 39 are arranged on the upper level 120.
  • the roll adapter 17 moves along a direction of travel 55, which can be changed due to the steering torque 49 caused, for example for selectively driving through the travel path 27, as shown in FIG.
  • the roll adapter 17 has an electric drive 71, which is optionally configured as the final drive 23 or the two wheel hub motors 25.
  • the steering torque 49 is effected, which causes a rotation of the rolling adapter 17 about a vertical axis 57 drawn in FIG.
  • the vertical axis 57 of the roller adapter 17 is in a state of rest perpendicular to the lower level 117 and upper level 120.
  • a pendulum movement of the roller adapter occurs, with the vertical axis 57 at a pendulum angle 59 a direction of a gravitational field of gravitational gravity is inclined.
  • a control can be realized by means of the controller 29, that is to say the control device 31 and / or the partial control device 33 of the roll adapter 17, which counteracts the pendulum movements of the roll adapter 17.
  • the pendulum angle 59 can be adjusted to zero as quickly as possible.
  • the switch 39 it is possible for the switch 39 to have a switch communication device 65.
  • data 67 can be exchanged, in particular data accumulating in the roll adapter 17, such as speed, loading state of the sorter bag 11 and / or the like.
  • the data 67 may be control commands, for example for driving on the travel path 27, that is to say for setting the steering element 51 and / or the guide element 53 and / or for different driving of the wheel hub motors 25 and / or actuation of the coupling device 79
  • Data 67 can also be exchanged with the higher-level overall control device 35 for controlling the entire sorting system 13.
  • FIG. 8 shows a further exemplary embodiment of a switch 39, with only the differences from the representation of FIGS.
  • the steering element 51 of the roll adapter 17 is pivotable.
  • three states can be set which, in the first state shown in FIG. 8, cause the first rail track 41 to bend onto the second rail track 43. If the steering element 51 is not pivoted, ie remains in the neutral position, the roller adapter moves on to the third rail track 45, ie straight on. In the case of an opposite pivoting movement, a turn on the fourth rail track 46 takes place.
  • FIG. 9 shows a three-dimensional view obliquely from the top front of a further exemplary embodiment of a rolling adapter 17 analogous to the rolling adapter 17 shown in FIGS. 1 to 4.
  • the roll adapter 17 additionally has a sliding element 123, which is arranged by way of example as a quadrangular plate on an end of the roll adapter 17 facing away from the sorter pocket 11.
  • the plate is parallel to the direction of travel 55 and the upper level 120 aligned or horizontal in the suspended state of the roll adapter 17.
  • the plate can have different shapes, for example oval or circular.
  • the plate has an abutment surface which is slidable over the upper plane 120 in sliding analgesic contact.
  • the roller adapter 17 can be slidably mounted, in particular stabilized, raised and / or at least relieved.
  • the steering element 51 is arranged below the wheels 21, 47 and therefore interacts with the lower level 117 of the rail network 15 of the sorting system 13.
  • the steering element 51 is disposed below the adjusting actuator 107 or between the wheels 21, 47 and the actuator 107.
  • FIG. 10 shows the roll adapter 17 shown in FIG. 9 in a plan view of the additional sliding element.
  • the steering member 51 is drawn in three positions, by a solid line in a straight-ahead position and a dotted thin line in a left turn position and a right turn position.
  • the actuator 107 By means of the actuator 107, the steering element 51 can be adjusted between these positions to effect a turn or straight ahead.
  • the steering element 51 is selectively brought by adjusting the left turn position and right turn position with a left or right curved guide slot 64 of a further switch 39 shown in Figure 11 into engagement.
  • the steering element 51 In the central straight-ahead driving position, the steering element 51 is brought into engagement with a rectilinear guide slot 63.
  • the steering element 51 projects beyond the sliding element 123. This makes it possible that not only forces and moments are transmitted from the sorting system 13 via the steering element 51, but also to further roll adapters which travel ahead of the roll adapter 17 and can thereby be pushed.
  • the other rolling shutter adapter is preferably switched off without drive or in overrun mode, ie not actively driven. As a result, energy and control effort can be saved. Columns of a large number of rolling adapters are conceivable, for example up to five or more.
  • the steering element 51 can abut against the suspension 73 of the preceding rolling shutter, wherein the latter preferably has a recess suitable for this purpose, for example a blind hole.
  • the recess may alternatively be contoured and adapted to a shape of the steering element 51.
  • the design of the steering elements 51 and suspensions 73 takes place such that a distance remains between the wheels 21, 47 of neighboring or moving roller adapter 17, for example from 1 to 10 mm, preferably approximately 4 mm. Thereby, a mutual braking of the wheels 21, 47 can be avoided.
  • FIG. 14 A situation in which two of the roll adapters 17 retract one after the other into the switch 39 is shown by way of example in FIG. It can be seen that, although a thrust force is transmitted via the steering element 51, the wheels 21, 47 can still rotate freely.
  • Figure 1 1 shows a three-dimensional view obliquely laterally above the further switch 39, which has an additional bearing element 129 with a sliding surface 127.
  • the upper level 120 of the switch 39 has the sliding surface 127.
  • these three levels a lower level at an inlet or outlet of the switch 39.
  • the sliding surface 127 goes from the lower level to a middle level.
  • the lower and middle levels are so dimensioned that a clearance between the sliding elements 123 of the roll adapter 17 and the sliding surface 127 remains.
  • the sliding contact contact is only made if due to a driving dynamics of the sorter thing 11 of the roll adapter 17 has comparatively large movements / vibrations, which can be reduced thereby. In the case of a normal journey, will save to Drive energy exclusively the rolling of the wheels 21, 47 on the rolling surface 119 of the lower level 1 17 instead.
  • the switch 39 has a crossing point 125. At this, two possible rectilinear travel paths 27 which pass through the switch 39 intersect.
  • the straight travel lanes 27 each remain between the guide elements 53 arranged adjacent to one another, wherein one of the linear guide slots 63 remains between the guide elements 53 which can be traversed by the steering element 51 in a sliding contact.
  • the sliding surface 127 of the upper level has a further planar sliding surface 137, which lies on a third upper level.
  • the turnout 39 has a rise 133 in the direction of travel, the flat sliding surface 137 lying on the upper level and, on the opposite, a descent 135 from the upper level to the middle level.
  • FIGS. 12 and 13 each show a sectional view of the switch 39 shown in FIG. 11 along one of the rectilinear tracks 27.
  • FIG. 13 shows only one detail of the switch 39 together
  • the switch 39 has, in the direction of travel 55 of the respective roller adapter 17, a right-hand and a left-hand curved track 27 next to the straight-line track 27. These remain between the respective guide element 53 and the respective curved extending sub-rail 61.
  • the switch 39 has seen in the direction of travel a right curved and a left-curved guide slot 64, which for transmitting the steering torque 49 of the steering member 51 in a sliding Investment contact can be passed.
  • the steering element 51 can be adjusted by means of the actuator 107 in the left driving position or right driving position. As a result, this Ren in the switch 39 in the corresponding guide slot 63, 64 for effecting the steering torque 49 a.
  • a tilting moment 131 is also shown in FIG. 11, which acts on the roll adapter 17 on the right-curved guide slot 64 on the basis of a driving dynamics and a support of the steering element 51. It can be seen that this increases traction on the inside of the bend wheel designated by the reference numeral 21 and at the same time raises or at least relieves the opposite outside wheel, which is not visible in FIG. 11. As a result, the continuous sub-rail 61 can be traveled on the lower level 117 with increased traction.
  • the outside wheel which must cross over transitions between the other possible routes 27 of the switch 39, is advantageously raised or at least relieved.
  • the clearance between the sliding element 123 and the middle level is dimensioned so that a slight tilting transversely to the direction of travel 55 is possible.
  • this game is dimensioned so that caused by the tilting moment 131 or centrifugal force inclination of the roll adapter 17 is limited to a desired level.
  • control device 61 sub-rail

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chain Conveyers (AREA)
  • Discharge Of Articles From Conveyors (AREA)

Abstract

L'invention concerne un procédé de transport et de tri d'une poche de tri (11) suspendue à un adaptateur à rouleau (17) roulant sur un réseau de rails (15) d'une installation de tri (13) et destinée à transporter un article (95). Pour permettre un transport et un tri améliorés, les étapes sont réalisées : - fournir le réseau de rails (15) de l'installation de tri (13), - fournir l'adaptateur à rouleau (17), roulant sur le réseau de rails (15), de la poche de tri (11), - fournir de l'énergie d'entraînement électrique (19) pour l'adaptateur à rouleau (17) et - convertir l'énergie d'entraînement électrique fournie (19) en énergie cinétique à l'aide de l'adaptateur à rouleau (17) lui-même pour transporter la poche de tri (11).
EP19730125.2A 2018-06-07 2019-06-04 Procédé et dispositif de transport et de tri de marchandises autonome ou partiellement autonome Pending EP3802375A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018208979 2018-06-07
PCT/EP2019/064531 WO2019234046A2 (fr) 2018-06-07 2019-06-04 Procédé et dispositif de transport et de tri de marchandises autonome ou partiellement autonome

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EP3802375A2 true EP3802375A2 (fr) 2021-04-14

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EP (1) EP3802375A2 (fr)
DE (1) DE102018128417A1 (fr)
WO (1) WO2019234046A2 (fr)

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CN113308950B (zh) * 2021-05-26 2022-03-01 燕山大学 变线轨道长度补偿器和安装工艺及其工作过程
WO2023147620A1 (fr) * 2022-02-04 2023-08-10 Tgw Mechanics Gmbh Procédé de commande de supports de transport et support de transport pour le transport de marchandises suspendues sur un dispositif de transport suspendu
AT525853A1 (de) * 2022-02-04 2023-08-15 Tgw Mechanics Gmbh Verbesserte Hängefördervorrichtung für ein Kommissioniersystem und Transportträger zum Transport von Hängeware
DE102022002689A1 (de) 2022-07-22 2024-01-25 Emhs Gmbh Lagern von autonom fahrenden Hängetaschen in einem Hängetaschenlager mit Rangierstraßen und parallel dazu angeordneten Schnellstraßen
WO2024018054A1 (fr) 2022-07-22 2024-01-25 Emhs Gmbh Système de stockage à poches suspendues destiné au stockage, à la préparation de commandes, au tri et au déstockage de marchandises stockées
DE102022002687A1 (de) 2022-07-22 2024-01-25 Emhs Gmbh Anordnung und Verfahren zum Auslagern von Lagergütern aus einem Hängetaschenlager mittels Vorsortieren in einem First-In-First-Out-Puffer
WO2024018057A1 (fr) 2022-07-22 2024-01-25 Emhs Gmbh Communication basée sur une balise dans un entrepôt de sacs suspendus pourvu de sacs suspendus se déplaçant au moins partiellement de manière autonome
DE102022002688A1 (de) 2022-07-22 2024-01-25 Emhs Gmbh Lagern von autonom fahrenden Hängetaschen in einem Hängetaschenlager mit Lagerstraßen und Rangierstraßen
DE102022002690A1 (de) 2022-07-22 2024-01-25 Emhs Gmbh Auslagern von Lagergütern aus einem Hängetaschenlager mittels einer Expressstrecke
DE102022002686A1 (de) 2022-07-22 2024-01-25 Emhs Gmbh Verfahren zum Auslagern von Lagergütern aus einem Hängetaschen aufweisenden Hängetaschenlager mittels mehrdimensionalem Einfügen
DE102023000660A1 (de) 2022-07-22 2024-01-25 Emhs Gmbh Bakengestützte Kommunikation bei einem mit zumindest teilautonom fahrenden Hängetaschen ausgestatteten Hängetaschenlager
WO2024108242A1 (fr) * 2022-11-08 2024-05-30 Tgw Mechanics Gmbh Module de manutention et dispositif de transport suspendu pouvant être monté de manière modulaire
WO2024098087A1 (fr) 2022-11-08 2024-05-16 Tgw Mechanics Gmbh Système de préparation de commandes et procédé de préparation de commandes

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DE102018128417A1 (de) 2019-12-12
WO2019234046A2 (fr) 2019-12-12

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