EP3932569B1 - Chariot de manutention autonome pourvu d'une pluralité de porte-charges - Google Patents

Chariot de manutention autonome pourvu d'une pluralité de porte-charges Download PDF

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Publication number
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
Authority
EP
European Patent Office
Prior art keywords
floor conveyor
conveyor vehicle
hand
receiving locations
discharge position
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.)
Active
Application number
EP20183984.2A
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German (de)
English (en)
Other versions
EP3932569A1 (fr
Inventor
Peter Enenkel
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.)
Koerber Supply Chain Logistics GmbH
Original Assignee
Koerber Supply Chain Logistics 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 Koerber Supply Chain Logistics GmbH filed Critical Koerber Supply Chain Logistics GmbH
Priority to EP20183984.2A priority Critical patent/EP3932569B1/fr
Priority to PCT/EP2021/066036 priority patent/WO2022002576A1/fr
Publication of EP3932569A1 publication Critical patent/EP3932569A1/fr
Application granted granted Critical
Publication of EP3932569B1 publication Critical patent/EP3932569B1/fr
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Classifications

    • 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.

Landscapes

  • Warehouses Or Storage Devices (AREA)
  • Discharge Of Articles From Conveyors (AREA)

Claims (15)

  1. Chariot de manutention autonome (1) comprenant
    un support de charge multiple (4) et un dispositif de positionnement (6) ;
    le support de charge multiple (4) comprenant plusieurs emplacements de réception (3), dont chacun est prévu pour recevoir un article (5) ;
    caractérisé en ce que
    le dispositif de positionnement (6) est conçu pour déplacer chacun des emplacements de réception (3) vers une position de déversement côté gauche (ls), depuis laquelle un article (5) peut être déversé sur le côté gauche du chariot de manutention (1), et vers une position de déversement côté droit (rs), depuis laquelle un article (5) peut être déversé sur le côté droit du chariot de manutention (1).
  2. Chariot de manutention (1) selon la revendication 1,
    dans lequel le support de charge multiple (4) présente une surface (41) disposée horizontalement, qui peut être mise en rotation autour d'un axe vertical (A) par le dispositif de positionnement (6), et les emplacements de réception sont disposés sur le bord de ladite surface (41).
  3. Chariot de manutention (1) selon la revendication 2,
    dans lequel la surface (41) est carrée.
  4. Chariot de manutention (1) selon la revendication 2,
    dans lequel la surface (41) est un disque circulaire.
  5. Chariot de manutention (1) selon la revendication 2,
    dans lequel la surface (41) est rectangulaire.
  6. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel la position de déversement côté gauche (ls) et la position de déversement côté droit (rs) sont juxtaposées à gauche et à droite dans la direction de circulation (v) du chariot de manutention (1).
  7. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel le support de charge multiple (4) et le dispositif de positionnement (6) sont conçus pour déplacer un emplacement de réception (3) vers la position de déversement côté gauche (ls) ou vers la position de déversement côté droit (rs), indépendamment d'une occupation des autres emplacements de réception (3).
  8. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel le dispositif de positionnement (6) est conçu pour déplacer les emplacements de réception (3) en déplaçant le support de charge multiple (4) dans son ensemble.
  9. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel chacun des emplacements de réception (3) comprend un dispositif de déversement au moyen duquel un article (5) peut être déversé de l'emplacement de réception (3) depuis le chariot de manutention (1).
  10. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel l'un des emplacements de réception (3) comprend un dispositif de déversement, ou plusieurs ou tous les emplacements de réception (3) comprennent chacun un dispositif de déversement qui est conçu sous forme de puits de déversement.
  11. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel l'un des emplacements de réception (3) comprend un dispositif de déversement, ou plusieurs ou tous les emplacements de réception comprennent chacun un dispositif de déversement (3) qui est conçu sous forme de convoyeur à bande.
  12. Chariot de manutention (1) selon l'une des revendications précédentes,
    dans lequel le support de charge multiple et le dispositif de positionnement sont réalisés sous la forme d'un système du type paternoster conçu pour déplacer chacun des emplacements de réception (3) vers la position de déversement côté gauche (ls) et vers la position de déversement côté droit (rs).
  13. Chariot de manutention (1) selon l'une des revendications précédentes, comprenant un dispositif de commande programmable (80) conçu pour commander le dispositif de positionnement (6) pour l'exécution d'un schéma de tri.
  14. Utilisation d'un chariot de manutention (1) selon l'une des revendications précédentes pour trier des articles.
  15. Système de tri (100) pour trier des articles, comprenant un ou plusieurs chariots de manutention (1) selon l'une des revendications 1 à 13 et des destinations de tri (72) disposées de part et d'autre le long de voies (73) pouvant être empruntées par le ou les chariots de manutention (1).
EP20183984.2A 2020-07-03 2020-07-03 Chariot de manutention autonome pourvu d'une pluralité de porte-charges Active EP3932569B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20183984.2A EP3932569B1 (fr) 2020-07-03 2020-07-03 Chariot de manutention autonome pourvu d'une pluralité de porte-charges
PCT/EP2021/066036 WO2022002576A1 (fr) 2020-07-03 2021-06-15 Chariot de manutention autonome doté d'un support pour charges multiples

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20183984.2A EP3932569B1 (fr) 2020-07-03 2020-07-03 Chariot de manutention autonome pourvu d'une pluralité de porte-charges

Publications (2)

Publication Number Publication Date
EP3932569A1 EP3932569A1 (fr) 2022-01-05
EP3932569B1 true EP3932569B1 (fr) 2023-12-06

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Application Number Title Priority Date Filing Date
EP20183984.2A Active EP3932569B1 (fr) 2020-07-03 2020-07-03 Chariot de manutention autonome pourvu d'une pluralité de porte-charges

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EP (1) EP3932569B1 (fr)
WO (1) WO2022002576A1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101793932B1 (ko) * 2016-06-13 2017-11-07 주식회사 가치소프트 화물 정렬 시스템
US10910249B2 (en) * 2017-11-13 2021-02-02 Taiwan Semiconductor Manufacturing Co., Ltd. Systems and methods for automated wafer handling
CN110654788A (zh) * 2018-06-28 2020-01-07 北京京东尚科信息技术有限公司 货物承载装置及分拣agv
CN110171658A (zh) * 2019-07-04 2019-08-27 安吉八塔机器人有限公司 一种堆垛系统

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EP3932569A1 (fr) 2022-01-05

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