EP3932569B1 - Autonomous guided vehicle with multiple load carriers - Google Patents
Autonomous guided vehicle with multiple load carriers Download PDFInfo
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- EP3932569B1 EP3932569B1 EP20183984.2A EP20183984A EP3932569B1 EP 3932569 B1 EP3932569 B1 EP 3932569B1 EP 20183984 A EP20183984 A EP 20183984A EP 3932569 B1 EP3932569 B1 EP 3932569B1
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- floor conveyor
- conveyor vehicle
- hand
- receiving locations
- discharge position
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- 244000144619 Abrus precatorius Species 0.000 claims description 2
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- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
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- 239000010959 steel Substances 0.000 description 2
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- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
Definitions
- the invention relates to the technical field of autonomous industrial trucks.
- Sorting systems with continuous conveyors are known, from which piece goods to be sorted are dropped into end points. These sorting systems allow a high throughput on a given area, but restrict the operator to a fixed geometry of the system, often for many years, as frequent modification of the system and adaptation to new conditions is often not worthwhile.
- the use of multiple load carriers is known for chained continuous conveyors.
- US2019/0148198 A1 discloses the use of robots and autonomous vehicles, where the vehicles can hold multiple wafers.
- AGVs industrial transport systems
- AGVs autonomous industrial trucks
- AGVs autonomous industrial trucks
- AGVs automated guided vehicles
- a free arrangement of end points (e.g. trolleys) on a small rented area without massive steel construction would be desirable. Due to the crossing problems that arise with industrial transport systems, high throughputs are difficult to achieve in a limited area with a large number of vehicles.
- Industrial conveyor transport systems are known with which only one piece of goods is transported per vehicle.
- Sorting systems that optimize the following different, sometimes conflicting, requirements are desirable: a small space requirement, a layout with little Effort can be varied, as well as high throughput.
- the present invention is based on the object of enabling optimized sorting of piece goods. This task is solved by the features of an autonomous industrial truck described in claim 1, as well as by its use according to claim 14, and by a sorting system according to claim 15.
- the autonomous industrial truck includes a multiple load carrier and an adjusting device.
- the multiple load carrier includes several receiving positions, each of which is intended to hold one piece of goods.
- the adjusting device is designed to move each of the receiving positions to a left-hand discharge position and a right-hand discharge position. From the left-hand drop position, piece goods can be dropped onto the left side of the industrial truck. From the right-hand drop position, piece goods can be dropped onto the right side of the industrial truck.
- the method concerns the use of an industrial truck for sorting piece goods.
- a sorting system which includes sorting targets arranged on both sides along tracks and one or more industrial trucks.
- Advantages and refinements of the invention, which can be used individually or in combination with one another, are the subject of the subclaims.
- the multiple load carrier comprises a horizontally arranged surface which can be rotated about a vertical axis by the adjusting device.
- the recording stations are arranged at the edge of the area. This allows a simple construction of the industrial truck, in particular the adjusting device and the multiple load carrier, with which a large number of pick-up positions can be moved to a desired discharge position.
- the area is square. This allows the industrial truck to be used particularly efficiently in a sorting system which includes end points or intermediate sorting destinations that are arranged on the left and right sides of a roadway for the industrial truck.
- the surface is a circular disk.
- the right-hand discharge position is different from the left-hand discharge position.
- the left-hand drop position and the right-hand drop position are arranged next to each other on the left and right in the direction of travel of the industrial truck.
- the multiple load carrier and the adjusting device are designed to move a receiving position to the left-hand discharge position or right-hand discharge position independently of the occupancy of the other recording positions. This allows a piece of cargo to be dropped easily at a desired location, since there is no need to take into account the occupancy of other pick-up locations.
- the adjusting device is designed to move the receiving locations by moving the multiple load carrier as a whole.
- each of the receiving places includes its own discharge device, by means of which a piece of goods can be thrown from the receiving place by the industrial truck. This allows for an efficient dropping process.
- a discharge device is designed as a discharge chute. This means that piece goods can be easily thrown off the industrial truck and space-saving sorting systems can be implemented.
- a discharge device is designed as a belt conveyor. These also allow piece goods to be dropped easily.
- Figure 1 shows a perspective view of an autonomous industrial truck 1 according to an exemplary embodiment of the invention.
- the Figures 2-4 show the industrial truck 1 in different views, namely Figure 2 in a side view perpendicular to the direction of travel, Figure 3 in a side view along the direction of travel and Figure 4 in a top view.
- the industrial truck 1 includes a multiple load carrier 4, an adjusting device 6 and a driving system 2.
- the driving system 2 is a self-balancing single-axle drive system executed, which is designed to keep the industrial truck 1 in balance by means of a control of drives 23 installed in drive wheels 21.
- the driving system 2 therefore includes the drive wheels 21 and a passive support wheel 25, which can be raised and lowered, for example to prevent the industrial truck 1 from tipping over when the vehicle drive control is switched off.
- the industrial truck is not designed as a self-balancing system, but is permanently supported on more than two wheels, for example on four wheels arranged on two axles, which means that no control circuit is necessary to keep the industrial truck in balance.
- the multiple load carrier 4 comprises a horizontally arranged square surface 41, on the edge area of which receiving spaces 3 are arranged.
- Each of the receiving places 3 is intended to receive a piece of goods 5 to be sorted and includes its own discharge device designed as a discharge chute, by means of which a piece of goods 5 can be thrown from the receiving place 3 by the industrial truck 1.
- the adjusting device 6 is designed to rotate the multiple load carrier as a whole about a vertical axis A, so that each of the receiving positions 3 can be moved to a left-hand discharge position ls and a right-hand discharge position rs.
- the industrial truck 1 is designed so that from the left-hand dropping position ls a piece of goods 5 can be dropped on the left side of the industrial truck 1 as seen in the direction of travel, while from the right-hand dropping position rs a piece of goods 5 can be dropped on the right side of the industrial truck 1 as seen in the direction of travel can be thrown off.
- the right-hand release position rs is different from the left-hand release position ls.
- the left-hand discharge position ls and the right-hand discharge position rs are arranged next to each other on the left and right in the direction of travel v of the industrial truck 1.
- each of the receiving positions 3 can be moved to the left-hand discharge position ls or to the right-hand discharge position rs, regardless of whether the other recording positions 3 are occupied.
- the industrial truck comprises, instead of the multiple load carrier 4 rotatable about the vertical axis, a paternoster system which is designed to rotate receiving locations in a plane arranged perpendicular to the direction of travel v.
- the surface 41 is not square, but has other suitable shapes, for example it is rectangular or a circular disk.
- one, several or all of the receiving locations each comprise a discharge device 3, which is designed as a belt conveyor.
- one, several or all of the receiving locations each comprise a discharge device 3, which is designed as a tilting tray.
- FIGS 5-9 show perspective views of a sorting system 100 according to an exemplary embodiment of the invention at different times.
- the sorting system 100 includes end points 72 arranged in parallel rows on a level 8 and loading stations 71 arranged above the level 8. Paths extend between the rows of end points 72, which are designed so that autonomous industrial trucks 1 can move along them. Loading stations 71 are arranged above level 8.
- Figure 5 shows a first autonomous industrial truck 1a, which moves under loading stations 71 in the direction of travel v1 towards the track 73 and whose receiving locations 3 are loaded with piece goods 5 through the loading stations 71.
- a second autonomous industrial truck 1b which was previously his General cargo that had been sorted into end points is on the way back in the opposite direction v2.
- Figure 6 shows how the first industrial truck 1a travels along the path 73.
- a piece of goods 5 is unloaded from a receiving place 3 of the first industrial truck 1a when the receiving place 3 is located above an end point 72 which corresponds to the destination of the piece of goods 5.
- this is only possible without further measures if the piece goods 5 are already in a receiving location 3 which is arranged on the correct side of the multiple load carrier 4.
- FIG. 7 Such a measure is in Figure 7 shown.
- the adjusting device 6 of the first industrial truck 1a rotates the multiple load carrier 4, so that one or more of the receiving locations 3, which are not located at a left-hand discharge position ls, move to a left-hand discharge position.
- recording locations 3 that are not located at a right-hand discharge position rs are also moved to a right-side discharge position rs.
- Figure 8 shows the first industrial truck 1a after it has sorted all of the cargo 5 loaded in it into the appropriate end points 72 of the track 73 and leaves the track 73. Like the second industrial truck 1b before, the industrial truck 1a now makes its way back to the loading stations 71 in order to be reloaded with piece goods 5.
- Figure 9 shows the first industrial truck 1a driving back to the loading stations 71, while the second industrial truck 1b drives under the loading stations 71 in order to be loaded with general cargo from them.
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Description
Die Erfindung bezieht sich auf das technische Gebiet der autonomen Flurförderfahrzeuge.The invention relates to the technical field of autonomous industrial trucks.
Bekannt sind Sortiersysteme mit Stetigförderern von denen zu Sortierende Stückgüter in Endstellen abgeworfen werden. Diese Sortiersysteme erlauben auf einer gegebenen Fläche einen hohen Durchsatz, legen den Betreiber jedoch auf einer fixen Geometrie der Anlagen fest, oft für viele Jahre, da sich ein häufiger Umbau der Anlage und Anpassung an neue Gegebenheiten oft nicht lohnt. Für verkettete Stetigförderer ist die Verwendung von Mehrfachladungsträgern bekannt.Sorting systems with continuous conveyors are known, from which piece goods to be sorted are dropped into end points. These sorting systems allow a high throughput on a given area, but restrict the operator to a fixed geometry of the system, often for many years, as frequent modification of the system and adaptation to new conditions is often not worthwhile. The use of multiple load carriers is known for chained continuous conveyors.
Die Sortierung von Stückgütern mittels Flurfördertransportsystemen (FTS), welche zum Sortieren autonome Flurförderfahrzeuge (die synonym auch als FTF, AGV oder "automated guided vehicle" bezeichnet werden) verwenden, bieten unter bestimmten Randbedungen Vorteile hinsichtlich Footprint, Installationskosten und Flexibilität. Eine freie Anordnung von Endstellen (z.B. Rollwagen) auf einer kleinen angemieteten Fläche ohne massiven Stahlbau wäre wünschenswert. Aufgrund der bei Flurfördertransportsystemen auftretenden Kreuzungsproblematik sind hohe Durchsätze auf einer eingeschränkten Fläche mit einer hohen Anzahl an Fahrzeugen schwer realisierbar. Bekannt sind Flurfördertransportsysteme mit denen pro Fahrzeug immer nur ein Stückgut transportiert wird.The sorting of piece goods using industrial transport systems (AGVs), which use autonomous industrial trucks (also referred to synonymously as AGVs, AGVs or “automated guided vehicles”) for sorting, offer advantages in terms of footprint, installation costs and flexibility under certain conditions. A free arrangement of end points (e.g. trolleys) on a small rented area without massive steel construction would be desirable. Due to the crossing problems that arise with industrial transport systems, high throughputs are difficult to achieve in a limited area with a large number of vehicles. Industrial conveyor transport systems are known with which only one piece of goods is transported per vehicle.
Bisher wurde das Durchsatzproblem von FTS basierten Sortiersystemen durch eine Erhöhung der Fahrgeschwindigkeit, ein optimiertes Fahrweg- und Endstellen-Layout und eine komplexe dynamische Fahrwegoptimierung zu lösen versucht.So far, attempts have been made to solve the throughput problem of AGV-based sorting systems by increasing the driving speed, an optimized route and end point layout and complex dynamic route optimization.
Wünschenswert sind Sortiersysteme welche die folgenden unterschiedlichen sich teils widerstrebenden Anforderungen optimieren: einen geringen Flächenbedarf, ein Layout das mit geringem Aufwand variiert werden kann, sowie einen hohen Durchsatz. Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine optimierte Sortierung von Stückgütern zu ermöglichen. Diese Aufgabe wird durch die Merkmale eines in Anspruch 1 beschriebenen autonomen Flurförderfahrzeugs, sowie durch seine Verwendung gemäss Anspruch 14, sowie durch ein Sortiersystem gemäss Anspruch 15 gelöst.Sorting systems that optimize the following different, sometimes conflicting, requirements are desirable: a small space requirement, a layout with little Effort can be varied, as well as high throughput. The present invention is based on the object of enabling optimized sorting of piece goods. This task is solved by the features of an autonomous industrial truck described in
Das autonome Flurförderfahrzeug umfasst einen Mehrfachladungsträger und eine Stellvorrichtung. Der Mehrfachladungsträger umfasst mehrere Aufnahmeplätze, von denen jeder zur Aufnahme eines Stückgutes vorgesehen ist.The autonomous industrial truck includes a multiple load carrier and an adjusting device. The multiple load carrier includes several receiving positions, each of which is intended to hold one piece of goods.
Die Stellvorrichtung ist ausgestaltet, jeden der Aufnahmeplätze an eine linksseitige Abwurfposition und eine rechtsseitige Abwurfposition zu bewegen. Von der linksseitigen Abwurfposition aus lässt sich ein Stückgut auf der linken Seite des Flurförderfahrzeugs abwerfen. Von der rechtsseitigen Abwurfposition aus lässt sich ein Stückgut auf der rechten Seite des Flurförderfahrzeugs abwerfen.The adjusting device is designed to move each of the receiving positions to a left-hand discharge position and a right-hand discharge position. From the left-hand drop position, piece goods can be dropped onto the left side of the industrial truck. From the right-hand drop position, piece goods can be dropped onto the right side of the industrial truck.
Das Verfahren betrifft die Verwendung eines Flurförderfahrzeugs zum Sortieren von Stückgütern.The method concerns the use of an industrial truck for sorting piece goods.
Zur Lösung der Aufgabe wird zudem ein Sortiersystem vorgestellt, das beidseitig entlang von Bahnen angeordnete Sortierziele und eines oder mehrere Flurförderfahrzeuge umfasst. Vorteile und Ausgestaltungen der Erfindung, die einzeln oder in Kombination miteinander einsetzbar sind, sind Gegenstand der Unteransprüche.To solve the problem, a sorting system is also presented, which includes sorting targets arranged on both sides along tracks and one or more industrial trucks. Advantages and refinements of the invention, which can be used individually or in combination with one another, are the subject of the subclaims.
Gemäss einem Ausführungsbeispiel umfasst der Mehrfachladungsträger eine horizontal angeordnete Fläche, die durch die Stellvorrichtung um eine vertikale Achse rotierbar ist. Die Aufnahmeplätze sind am Rand der Fläche angeordnet. Dies erlaubt einen einfachen Aufbau des Flurförderfahrzeugs, insbesondere der Stellvorrichtung und des Mehrfachladungsträgers, mit dem sich eine Vielzahl von Aufnahmeplätzen an eine gewünschte Abwurfposition bewegen lässt.According to one exemplary embodiment, the multiple load carrier comprises a horizontally arranged surface which can be rotated about a vertical axis by the adjusting device. The recording stations are arranged at the edge of the area. This allows a simple construction of the industrial truck, in particular the adjusting device and the multiple load carrier, with which a large number of pick-up positions can be moved to a desired discharge position.
Gemäss einem Ausführungsbeispiel ist die Fläche quadratisch. Dadurch lässt sich das Flurförderfahrzeug besonders effizient in einem Sortiersystem einsetzten, welches Endstellen oder Sortierzwischenziele umfasst, die auf der linken und rechten Seite einer Fahrbahn für das Flurförderfahrzeug angeordnet sind.According to one exemplary embodiment, the area is square. This allows the industrial truck to be used particularly efficiently in a sorting system which includes end points or intermediate sorting destinations that are arranged on the left and right sides of a roadway for the industrial truck.
Gemäss einem Ausführungsbeispiel ist die Fläche eine Kreisscheibe.According to one exemplary embodiment, the surface is a circular disk.
Gemäss einem Ausführungsbeispiel ist die rechtsseitige Abwurfposition unterschiedlich von der linksseitigen Abwurfposition. Beispielsweise sind die linksseitige Abwurfposition und die rechtsseitige Abwurfposition in Fahrtrichtung des Flurförderfahrzeugs links und rechts nebeneinander angeordnet.According to one exemplary embodiment, the right-hand discharge position is different from the left-hand discharge position. For example, the left-hand drop position and the right-hand drop position are arranged next to each other on the left and right in the direction of travel of the industrial truck.
Gemäss einem Ausführungsbeispiel sind der Mehrfachladungsträger und die Stellvorrichtung ausgestaltet, einen Aufnahmeplatz unabhängig von einer Belegung der andern Aufnahmeplätze an die linksseitige Abwurfposition oder rechtsseitige Abwurfposition zu bewegen. Dies erlaubt eine einfache Durchführung des Abwurfs eines Stückguts an einer gewünschten Stelle, da keine Rücksicht auf die Belegung von andern Aufnahmeplätzen genommen werden muss.According to one exemplary embodiment, the multiple load carrier and the adjusting device are designed to move a receiving position to the left-hand discharge position or right-hand discharge position independently of the occupancy of the other recording positions. This allows a piece of cargo to be dropped easily at a desired location, since there is no need to take into account the occupancy of other pick-up locations.
Gemäss einem Ausführungsbeispiel ist die Stellvorrichtung ausgestaltet, die Aufnahmeplätze zu bewegen indem der Mehrfachladungsträger als Ganzes bewegt wird.According to one exemplary embodiment, the adjusting device is designed to move the receiving locations by moving the multiple load carrier as a whole.
Gemäss einem Ausführungsbeispiel umfasst jeder der Aufnahmeplätze eine eigene Abwurfvorrichtung, mittels welcher ein Stückgut aus dem Aufnahmeplatz von dem Flurförderfahrzeug abwerfbar ist. Dies ermöglicht einen effizienten Abwurfvorgang.According to one exemplary embodiment, each of the receiving places includes its own discharge device, by means of which a piece of goods can be thrown from the receiving place by the industrial truck. This allows for an efficient dropping process.
Gemäss einem Ausführungsbeispiel ist eine Abwurfvorrichtung als Abwurfschacht ausgestaltet. Dadurch lassen sich Stückgüter auf einfache Weise von dem Flurförderfahrzeug abwerfen und platzsparende Sortiersysteme verwirklichen.According to one exemplary embodiment, a discharge device is designed as a discharge chute. This means that piece goods can be easily thrown off the industrial truck and space-saving sorting systems can be implemented.
Gemäss weiteren Ausführungsbeispielen ist eine Abwurfvorrichtung als Bandförderer ausgestaltet. Auch diese erlauben einen einfachen Abwurf der Stückgüter.According to further exemplary embodiments, a discharge device is designed as a belt conveyor. These also allow piece goods to be dropped easily.
Die Erfindung wird nachfolgend anhand der Figuren Beispielsweise näher erläutert. Dabei zeigen:
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eine perspektivische Darstellung eines Flurförderfahrzeugs gemäss einem Ausführungsbeispiel der Erfindung;Figur 1 -
eine Seitenansicht des Flurförderfahrzeugs vonFigur 2 senkrecht zur Fahrtrichtung;Figur 1 -
eine Seitenansicht des Flurförderfahrzeugs vonFigur 3 entlang der Fahrtrichtung;Figur 1 -
eine Draufsicht des Flurförderfahrzeugs vonFigur 4 ;Figur 1 -
Figuren 5-9 perspektivische Darstellungen eines Sortiersystems gemäss einem Ausführungsbeispiel der Erfindung.
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Figure 1 a perspective view of an industrial truck according to an embodiment of the invention; -
Figure 2 a side view of the industrial truck fromFigure 1 perpendicular to the direction of travel; -
Figure 3 a side view of the industrial truck fromFigure 1 along the direction of travel; -
Figure 4 a top view of the industrial truck fromFigure 1 ; -
Figures 5-9 Perspective views of a sorting system according to an exemplary embodiment of the invention.
Das Flurförderfahrzeug 1 umfasst einen Mehrfachladungsträger 4, eine Stellvorrichtung 6 und ein Fahrsystem 2. Das Fahrsystem 2 ist als selbstbalancierendes einachsiges Antriebssystem ausgeführt, das ausgestaltet ist mittels einer Regelung von in Antriebsrädern 21 eingebauten Antrieben 23 das Flurförderfahrzeug 1 in Balance zu halten. Das Fahrsystem 2 umfasst daher die Antriebsräder 21 sowie ein passives Stützrad 25, das sich anheben und absenken lässt, beispielsweise um bei ausgeschalteter Regelung des Fahrzeugantriebs zu verhindern, dass das Flurförderfahrzeug 1 umkippt. In weiteren Ausführungsformen ist das Flurförderfahrzeug nicht als selbstbalancierendes System ausgestaltet, sondern stützt sich permanent auf mehr als zwei Rädern, beispielsweise auf vier zweiachsig angeordneten Rädern ab, wodurch keine Regelungskreis notwendig ist, um das Flurförderfahrzeug in Balance zu halten.The
Der Mehrfachladungsträger 4 umfasst eine horizontal angeordnete quadratische Fläche 41 an deren Randbereich Aufnahmeplätze 3 angeordnet sind. Jeder der Aufnahmeplätze 3 ist zur Aufnahme eines zu sortierenden Stückgutes 5 vorgesehen und umfasst eine eigene als Abwurfschacht ausgestaltete Abwurfvorrichtung, mittels welcher ein Stückgut 5 sich aus dem Aufnahmeplatz 3 von dem Flurförderfahrzeug 1 abwerfen lässt.The
Die Stellvorrichtung 6 ist ausgestaltet, den Mehrfachladungsträger als Ganzes um eine vertikale Achse A zu rotieren, sodass sich jeder der Aufnahmeplätze 3 an eine linksseitige Abwurfposition ls und eine rechtsseitige Abwurfposition rs bewegen lässt. Das Flurförderfahrzeug 1 ist ausgestaltet, dass von der linksseitigen Abwurfposition ls aus sich ein Stückgut 5 auf der in Fahrtrichtung gesehen linken Seite des Flurförderfahrzeugs 1 abwerfen lässt, während von der rechtsseitigen Abwurfposition rs sich ein Stückgut 5 auf der in Fahrtrichtung gesehen rechten Seite des Flurförderfahrzeugs 1 abwerfen lässt. Die rechtsseitige Abwurfposition rs ist unterschiedlich von der linksseitigen Abwurfposition ls.The adjusting
In diesem Ausführungsbeispiel sind die linksseitige Abwurfposition ls und die rechtsseitige Abwurfposition rs in Fahrtrichtung v des Flurförderfahrzeugs 1 links und rechts nebeneinander angeordnet.In this exemplary embodiment, the left-hand discharge position ls and the right-hand discharge position rs are arranged next to each other on the left and right in the direction of travel v of the
In diesem Ausführungsbeispiel lässt sich jeder der Aufnahmeplätze 3 unabhängig von einer Belegung der andern Aufnahmeplätze 3 an die linksseitige Abwurfposition ls oder an die rechtsseitige Abwurfposition rs bewegen.In this exemplary embodiment, each of the
In andern Ausführungsbeispielen umfasst das Flurförderfahrzeug anstelle des um die vertikale Achse drehbaren Mehrfachladungsträgers 4 ein Paternoster-System, das ausgestaltet ist Aufnahmeplätze in einer senkrecht zur Fahrtrichtung v angeordneten Ebene zu rotieren.In other exemplary embodiments, the industrial truck comprises, instead of the
In andern Ausführungsbeispielen ist die Fläche 41 nicht quadratisch, sondern hat andere geeignete Formen, beispielsweise ist sie rechteckig oder eine Kreisscheibe.In other exemplary embodiments, the
In andern Ausführungsbeispielen umfasst einer, mehrere oder alle der Aufnahmeplätze jeweils eine Abwurfvorrichtung 3, die als Bandförderer ausgestaltet ist. In weiteren Varianten umfasst einer, mehrere oder alle der Aufnahmeplätze jeweils eine Abwurfvorrichtung 3, die als Kippschale ausgestaltet ist.In other exemplary embodiments, one, several or all of the receiving locations each comprise a
Eine solche Massnahme ist in
Mit einer geeigneten in jedes Flurförderfahrzeug eingebauten Steuerungseinrichtung 80 (siehe
Gemäss einem weiteren Ausführungsbeispiel werden mehrere Güter auf einem FTF so transportiert, dass jedes geförderte Gut jede Endstelle oder Zwischenziel ohne Einschränkungen erreichen kann.According to a further exemplary embodiment, several goods are transported on an AGV in such a way that each transported good can reach every end point or intermediate destination without restrictions.
Weitere Ausführungsbeispiel umfassen die Anbringung mehrerer drehbarer Ladungsträger an das FTF in der Art (linear, zirkular), dass:
- Die transportierten "n" Stückgüter auf dem FTF individuell und unabhängig voneinander und ohne Einschränkung während der Fahrt an jeder Zielendstelle abgegeben werden können;
und/oder - eine Endstelle in voller Fahrt und mit vollem Durchsatz befüllt werden kann, d.h. alle Güter auf dem FTF in eine Endstelle bei voller Fahrt sequentiell oder parallel entladen werden können;
und/oder - jedes Gut jede Endstelle während einer Fahrt oder Umlauf des FTF erreichen kann;
und/oder - Anordnung mehrerer Ladungsträger auf einem FTF, sodass mehr als eine Sendung gleichzeitig transportiert werden kann;
und/oder - eine erhebliche Einsparung an Footprint, Stahlbau und Anlagenkomplexität, die ein adaptives, flexibles und den aktuellen Anforderungen angepasstes Anlagenlayout ermöglicht wird;
und/oder - eine maximale Flexibilität der Anordnung und Lage der Endstellen ermöglicht wird.
- The "n" piece goods transported on the AGV can be delivered individually and independently of each other and without restrictions to each destination end point during the journey;
and or - a terminal point can be filled at full speed and with full throughput, ie all goods on the AGV can be unloaded sequentially or in parallel into a terminal point at full speed;
and or - every good can reach every final point during a journey or cycle of the AGV;
and or - Arranging multiple load carriers on an AGV so that more than one shipment can be transported at the same time;
and or - a significant saving in footprint, steel construction and plant complexity, which enables an adaptive, flexible plant layout adapted to current requirements;
and or - maximum flexibility in the arrangement and position of the end points is enabled.
Claims (15)
- Autonomous floor conveyor vehicle (1) comprisinga multi-load carrier (4) and an actuating device (6);wherein the multi-load carrier (4) comprises a plurality of receiving locations (3), each of which is provided for receiving a piece good (5);characterized in that the actuating device (6) is designed to move each of the receiving locations (3) to a left-hand discharge position (ls) from which a piece good (5) can be discharged on the left-hand side of the floor conveyor vehicle (1) and a right-hand discharge position (rs) from which a piece good (5) can be discharged on the right-hand side of the floor conveyor vehicle (1).
- Floor conveyor vehicle (1) according to claim 1, wherein the multi-load carrier (4) comprises a horizontally arranged surface (41) which is rotatable about a vertical axis (A) by the actuating device (6), and the receiving locations are arranged at the edge of the surface (41).
- Floor conveyor vehicle (1) according to claim 2, wherein the surface (41) is square.
- Floor conveyor vehicle (1) according to claim 2, wherein the surface (41) is a circular disc.
- floor conveyor vehicle (1) according to claim 2, wherein the surface (41) is rectangular.
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein the left-hand discharge position (ls) and the right-hand discharge position (rs) are arranged next to one another on the left and right in the direction of travel (v) of the floor conveyor vehicle (1).
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein the multi-load carrier (4) and the actuating device (6) are designed to move a receiving location (3) to the left-hand discharge position (ls) or right-hand discharge position (rs) independently of occupancy of the other receiving locations (3).
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein the actuating device (6) is designed to move the receiving locations (3) by moving the multi-load carrier (4) as a whole.
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein each of the receiving locations (3) comprises a discharge device by means of which a piece good (5) can be discharged from the receiving location (3) from the floor conveyor vehicle (1).
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein one of the receiving locations (3) comprises a discharge device or several or all of the receiving locations (3) each comprise a discharge device which is designed as a discharge chute.
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein one of the receiving locations (3) comprises a discharge device or several or all of the receiving locations each comprise a discharge device (3) which is designed as a belt conveyor.
- Floor conveyor vehicle (1) according to one of the preceding claims, wherein the multi-load carrier and the actuating device are designed as a paternoster system, which is configured to move each of the receiving locations (3) to the left-hand discharge position (ls) and the right-hand discharge position (rs).
- Floor conveyor vehicle (1) according to any of the preceding claims, comprising a programmable control device (80) configured to control the actuating device (6) to execute a sorting plan.
- Use of a floor conveyor vehicle (1) according to any of the preceding claims for sorting piece goods.
- Sorting system (100) for sorting piece goods, comprising one or more floor conveyor vehicles (1) according to one of the claims 1-13 and sorting targets (72) arranged on both sides along tracks (73) which can be driven over by the floor conveyor vehicle or vehicles (1).
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20183984.2A EP3932569B1 (en) | 2020-07-03 | 2020-07-03 | Autonomous guided vehicle with multiple load carriers |
PCT/EP2021/066036 WO2022002576A1 (en) | 2020-07-03 | 2021-06-15 | Autonomous industrial truck with multi-load carrier |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20183984.2A EP3932569B1 (en) | 2020-07-03 | 2020-07-03 | Autonomous guided vehicle with multiple load carriers |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3932569A1 EP3932569A1 (en) | 2022-01-05 |
EP3932569B1 true EP3932569B1 (en) | 2023-12-06 |
Family
ID=71514937
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20183984.2A Active EP3932569B1 (en) | 2020-07-03 | 2020-07-03 | Autonomous guided vehicle with multiple load carriers |
Country Status (2)
Country | Link |
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EP (1) | EP3932569B1 (en) |
WO (1) | WO2022002576A1 (en) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101793932B1 (en) * | 2016-06-13 | 2017-11-07 | 주식회사 가치소프트 | System for arranging product |
US10910249B2 (en) * | 2017-11-13 | 2021-02-02 | Taiwan Semiconductor Manufacturing Co., Ltd. | Systems and methods for automated wafer handling |
CN110654788A (en) * | 2018-06-28 | 2020-01-07 | 北京京东尚科信息技术有限公司 | Cargo bearing device and sorting AGV |
CN110171658A (en) * | 2019-07-04 | 2019-08-27 | 安吉八塔机器人有限公司 | A kind of stacking system |
-
2020
- 2020-07-03 EP EP20183984.2A patent/EP3932569B1/en active Active
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2021
- 2021-06-15 WO PCT/EP2021/066036 patent/WO2022002576A1/en active Application Filing
Also Published As
Publication number | Publication date |
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WO2022002576A1 (en) | 2022-01-06 |
EP3932569A1 (en) | 2022-01-05 |
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