Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
  • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
  • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
  • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
  • B23P19/001—Article feeders for assembling machines
• • 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
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
  • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
  • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
  • B66F9/063—Automatically guided
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
  • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
  • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
  • B66F9/075—Constructional features or details
  • B66F9/12—Platforms; Forks; Other load supporting or gripping members
  • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
  • G06Q10/00—Administration; Management
  • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
  • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
  • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed

Definitions

• the invention relates to a material logistics system for coordinating the transfer of production material for on-demand availability of production material at production stations of a production, in particular a series production.
• Material logistics systems of the type in question are known from the prior art and serve to ensure the material flow for the uninterrupted production of products.
• Such systems are, for example, and in particular part of a higher-level system, which may be, for example, a product planning and control system.
• Production material can consist of individual product components or components which are necessary for the production of products.
• the abovementioned product constituents may be, for example, in particular precursors, assemblies, individual components and the like. Furthermore, the aforementioned components, standard parts, items may be.
• the term material is used interchangeably below synonymous term material.
• Products are to be understood in particular as precursors, which are used as a component as well as accessories for other products, as well as products of any kind, which can be manufactured, for example and in particular in individual production as well as after Bauschnz, according to the modular principle.
• A, B and C parts are material logistics systems, inter alia, in the automotive sector, since in this area large quantities of production material are used, which are required for the production of corresponding vehicles as well as their components.
• the production material used in the mass production of automobiles is often classified into A, B and C parts, with the C parts being bulk goods of no particular value.
• C-parts which may be, for example, screws, nuts, washers, plates or the like, for economic reasons or due to the limited space usually not individually, but in containers, which may also be referred to below as a container , provided.
• the containers usually contain in each case a large number of similar production materials or parts.
• the material logistics systems relating to the invention have transport means for transporting containers from the container storage area, in which containers for the production material are stored, to the storage shelves.
• the transport takes place, for example, and in particular so that a transport vehicle at a picking station, which is also referred to as "station” or “supermarket” is loaded with filled containers.
• a driver drives the transport vehicle to the point at which there is a need for material and at which a container carried along on the transport vehicle is to be inserted into the storage rack.
• the insertion of the container in the storage rack often leads a logistics specialist such u.a. also the aforementioned driver or worker, which at the same time takes along the provided empty containers on the storage shelves.
• the logistician drives the transport vehicle back to the picking station, so that the transport vehicle can be loaded again with filled containers and the process is repeated.
• the transport takes place from a warehouse in which the relevant production material is stored, often to a production station by means of so-called driverless transport vehicles, which are controlled by a material logistics system, for example, and in particular to secure the transfer of production material between a warehouse and a production station.
• driverless transport vehicles which are controlled by a material logistics system, for example, and in particular to secure the transfer of production material between a warehouse and a production station.
• the basic structure of a driverless transport vehicle is known and will therefore not be explained in more detail below.
• the basic object of the invention is first to provide a material logistics system with which the processes for the provision of production material at the individual production stations are simplified and safer.
• the invention first of all pursues the inventive approach of further automating the logistical chain in the provision of containers (also referred to below as container feed) to the individual production stations or storage shelves.
• the means of transport have at least one driverless transport vehicle (hereinafter also abbreviated as AGV) and that the AGV is set up and designed such that containers can be automatically fed to the respective storage shelves.
• AGV driverless transport vehicle
• the driverless transport vehicle can be loaded at a picking station with containers that contain the material required at various production stations in the material logistics system.
• the AGV automatically goes to the respective production stations, where the required containers are automatically fed to the relevant storage rack.
• errors are avoided that arise in a manual dispensing of containers to the storage shelves by a mistake of the respective logistics.
• a further advantage of the invention is that production interruptions can be avoided or at least reduced, which are based on the fact that material is no longer available at certain points of the production process due to errors in the logistics chain of material requirements planning. This advantage is particularly significant in mass production, for example assembly line production of motor vehicles, in the weight.
• Automated guided vehicles or driverless transport systems (abbreviated in the following by the acronym FTF) provide a robust and efficient transport infrastructure, which is readily suitable for use in mass production, for example in the automotive industry. Due to the fact that the transport of material to the storage shelves within the scope of the invention takes place without a driver, personnel costs can be saved to a considerable extent, so that the investment costs for a corresponding system payback relatively quickly.
• the invention thus contributes significantly to increasing the automation in material logistics systems for mass production, especially of motor vehicles.
• the inventively provided AGV also offers opportunities to further increase the degree of automation in a series production of motor vehicles.
• the picking station or picking zone container storage area
• the logistics chain can be further automated in material requirements planning and subsequent delivery, so that process reliability and savings in personnel costs can be further increased in this way.
• the invention accordingly also relates to an inventive AGV as well as the use of an AGV in a material logistics system for series production, in particular of motor vehicles, wherein the material logistics system has at least one production station to which at least one storage rack is assigned.
• a production station means a part of a production or a production line on which a workpiece, such as can be a product or precursor or component, experiences added value, for example by adding production materials thereto or this is processed.
• Production stations of the type in question are u. a. Also referred to as an assembly station.
• a plurality of sensors are provided for sensing a stock of production material at the respective production stations, by means of which a stock of production material can be sensed or derived from the corresponding sensor data. Furthermore, the sensors support an automated or semi-automated production material or container transfer between a transport shelf, which is arranged on the AGV, and a storage shelf for production material. In this respect, the plurality of sensors is used to generate signals, with the help of which the production material supply or the demand for production material for production stations can be closed.
• sensors are also provided which serve to support the container transfer between the transport shelf and the storage shelf.
• Their output signals do not necessarily have to be transmitted to the central unit, but can also serve to be evaluated at the respective location in order to be able to initiate actions on the basis of these output signals.
• sensors are provided which generate at least one output signal that can be transmitted wirelessly, in particular by radio, or wired to at least one central device.
• the respective output signal of a respective sensor is automatically transmitted to the central unit of a material logistics system according to the invention, can be done at the central production processes for each requirement planning for the provision of production material. If, for example, and in particular determined by the central unit, that production material is needed at one point of the production process, then a container containing this required production material can be brought to the relevant point.
• the transport of the containers can also be triggered by an operator, who is the respective needs displayed by the central unit. However, it is also possible according to the invention to carry out the transport of containers controlled by the central unit automatically.
• a material logistics system has at least one central unit which is in signal transmission connection with the plurality of sensors and determines logistics data for the production material for the respective production station on the basis of the output signals transmitted by the sensors in order to obtain a demand for production material for the respective production station to be able to.
• control signals for the transfer of production material are created by means of the logistics data for the production material provision, which, for example and in particular for further data processing, can be used by further data processing units and provided accordingly.
• the central unit controls by means of the logistics data at least one driverless transport vehicle with a transport shelf having at least one transport layer for the transport of recorded in containers production material for at least semi-automatic container transfer between transport shelf and stocking shelf of at least one of the production stations.
• the container transfer uni- as well as bidirectional is possible and can therefore be done by the transport shelf to the storage rack or from the storage rack to the transport rack.
• a correction can only be made by employing personnel, whereby personnel capacities for the corrective measures are bound. Furthermore, possibly at the respective production station existing supply of production material may be used up during the corrective measures, whereby the production processes are disturbed.
• the invention therefore has the additional object to provide a material logistics system that a transfer of production material or a container transfer from driverless transport vehicle to the production station allows trouble-free and thus significantly reduces the risk of problems with the container transfer or limited to a minimum.
• the invention achieves the aforementioned object or problem by providing at least one driverless transport vehicle which has at least one lifting / lowering device for at least partial height adjustment of the transport layer for compensation of a height difference between the transport layer and a conveyor belt. Having container transfer associated storage layer of the storage rack.
• the invention makes it possible partly-automatically or automatically due to differences in height between a provided for the container transfer storage layer of a storage rack of a production station to a container transfer transfer layer corresponding to the transport rack of a driverless transport vehicle from the production material of the storage layer to be supplied can be compensated.
• this also takes into account that at least two transport layers can be arranged side by side in the vertical direction on the AGV or that at least two transport layers are arranged one above the other in the horizontal direction on the AGV.
• the invention provides for its development that at least one transport layer is designed as a roller conveyor.
• a storage rack can take place, so that such a u.a. can have a plurality of storage layers, which can be arranged on the storage rack analogous to the arrangement of the transport layers on the transport shelf.
• at least one storage layer of a storage rack is designed as a roller conveyor. In this way, the advantages according to the invention also transfer to a storage rack.
• the invention initially leads to the advantage that the cost-effectiveness of a material logistics system is thereby increased by the internal processes for ensuring a sufficient supply of material at the individual production stations the manufacturing can be ensured, wherein advantageously in the production, the container transfer between a driverless transport vehicle and a storage shelf provided at the respective production station for the production material can be significantly reduced.
• a storage rack can be assigned to a production station as well as to several production stations. Predominantly, however, a storage rack is assigned to a production station.
• a production station can also have a plurality of storage shelves.
• a material logistics system formed according to the invention u.a. a container storage area for storage of containers considered.
• the aforementioned storage racks, from which containers can be removed by workers, are arranged away to an aforementioned container storage area.
• the storage shelves have for better removal, for example, and in particular at least one inclined to a horizontal plane or tiltable storage layer, wherein basically on a storage layer (inclined or not inclined) a plurality of containers are arranged one behind the other and usually containers that on the same storage layer are arranged and contain the same parts or the same production material.
• the production material is removed from a container in the direction of inclination of the storage layer.
• this container When this container is completely emptied, it can be removed from the storage layer so that trays located behind it slide down.
• a worker removes a still filled container from the storage layer, so that again arranged behind container can slip.
• the production material requirement planning takes place here at a central unit or possibly several central unit.
• a method for reporting material stocks at the individual storage shelves, for example, is that each storage rack is assigned a card for material requirements planning.
• a worker or logistics expert checks whether there is still enough material available. If this is not the case, the worker or logistics company removes the card, which then becomes a central facility the material requirements planning takes place. Material requirements planning can then be followed by demand-based replenishment of the relevant material to the respective location.
• a difference in height is a deviation between a desired height value that the transport layer of the transport shelf for the container transfer from the relevant transport layer to the respective storage layer of the storage rack should have, and an actual value, which is determined by the height of the transport layer of the respective transport shelf is that results in transfer position of the corresponding driverless transport vehicle.
• the height difference is determined in a transfer position of the driverless transport vehicle.
• the feature descriptions for the aforementioned height adjustment basically refer to a transfer position of a driverless transport vehicle, which is explained in more detail below.
• a height difference according to the invention for example, and compensate in particular if the amount of the aforementioned height difference has an impermissible amount that jeopardizes or prevents a container transfer between storage rack and transport shelf.
• the heights or the aforementioned height difference results according to the invention in the vertical direction.
• a container can be filled with production material as well as partially filled or even empty.
• the individual transport layers of a respective transport rack can be adjusted in height separately, as well as in different ways or flexibly. Furthermore, it is possible to set up and arrange at least one transport layer as well as several or all transport layers of the transport rack in a height-adjustable manner. In addition, it is possible to couple two or more transport layers together for height adjustment. This advantageously results in a variety of applications in the use of an inventive driverless transport vehicle or carried by this transport shelves.
• the necessary height adjustment to compensate for a respective height difference can be realized in a variety of ways.
• the adjustment in the vertical direction for example, and in particular be carried out using the weight, so that in principle requires no active drive for an adjustment in this direction.
• the height adjustment can be done for example between a wheel and a wheel arranged thereon of a driverless transport vehicle to the further structure of the driverless transport vehicle as well as the guided with him transport shelf can be raised or lowered.
• a lifting / lowering device can be designed in different ways.
• a so-called scissor lift gear which can be driven, for example, by using at least one toothed rack or a threaded spindle.
• a rack and pinion gear or the like instead of a rack and pinion gear or the like.
• a linear drive which is realized, for example, and in particular using at least one hydraulic cylinder to use.
• the hydraulic cylinder can in turn be manually operated as well as by means of a hydraulic unit to effect a height adjustment.
• a lifting or lowering of the transport rack or the relevant transport layer can also be achieved by a hydraulic cylinder is arranged linearly movable and arranged on the driverless transport vehicle that lifting the driverless transport vehicle in the direction of the ground as well as a lowering in the direction to the ground is possible.
• the driverless transport vehicle On the ground, the driverless transport vehicle, in particular in transfer position, supports or moves on this.
• the transport layers of the transport rack of a driverless transport vehicle accordingly experience a height adjustment together with a height difference. This can i.a. be done by reference points on the storage rack or on the transport shelves are used to determine a height difference.
• a height adjustment is also possible in a combination of different height adjustment types, for example, and in particular both the transport shelf relative to the body of the driverless transport vehicle and the body of the driverless transport vehicle is adjusted in height with transport shelf relative to the ground. Moreover, it is also possible to perform a height adjustment in combination with the various possibilities of height adjustment of transport layers, as they have already been mentioned in excerpts.
• the height adjustment acts on portions of the driverless transport vehicle, insofar it is possible to adjust the driverless transport vehicle, for example on one side, while a remaining side of the driverless transport vehicle remains undisturbed.
• the lifting / lowering device for container transfer between transport shelf and storage rack to compensate for a height difference between the transport layer and a storage layer associated therewith storage layer at least one transport layer or the transport shelf with a storage position in the transfer position facing or on the opposite side height-adjusted.
• the invention is provided in a further advantageous embodiment that a control device for controlling the lifting / lowering device is provided for a fully or partially automatic height adjustment.
• the height difference for the container transfer can be detected by sensor means to automatically cause a height adjustment of the driverless transport vehicle or at least one relevant transport layer or the transport shelf itself.
• control device for controlling the lifting and lowering device For a reduction of the data transfer between the central unit of the logistics system according to the invention and the driverless transport vehicle, it is advantageous to carry the control device for controlling the lifting and lowering device with the driverless transport vehicle and accordingly to arrange it thereon.
• control device is arranged on the driverless transport vehicle, whereby this controls or regulates corresponding operations for a fully or partially automatic height adjustment.
• control is likewise to be understood as a regulation in order to be able to control or regulate the processes for height adjustment of the transport layer (s) of a transport rack of an automated guided vehicle.
• the control device in order to further improve a height adjustment, has sensor means for sensing a height difference between the transport layer of the transport rack and the storage layer of the storage rack assigned to the transport layer.
• the aforementioned sensor means are first sensor means, which are also described below. abbreviated to be referred to as a sensor means.
• further sensor means eg second sensor means
• the abovementioned (first) sensor means cause, due to sensor output signals, which are ready for further processing by the control means in signal processing with the sensor means, to detect features, on the basis of which a height difference can be determined.
• the height not necessarily measuring sensors For example, it is also possible to use momentary-sensing sensors which feel the deviations or the reaching of a desired height level of the transport layer by groping. This is also included below under the term electromechanically operating sensor.
• the sensor means comprise at least one electromechanically operating sensor having at least one sensor which, for the determination of the height difference, touches the storage layer of the storage rack or the storage rack associated with the container feed of the transport layer of the transport rack.
• such an electromechanically operating sensor can be designed according to the example of an electromechanically operating sensor known from DE 20 2007 01 2926 U1.
• the relevant transport layer is in the desired height for the container transfer and therefore a height difference is not given or in a tolerable for the container transfer frame staying.
• height adjustment can be made dependent on whether a sensor of an electromechanically operating sensor senses a resistance.
• the electromechanically operating sensor can be arranged for a touch, for example, and in particular on one or the respectively relevant transport layer as well as on all transport layers.
• an electromechanically operating sensor on the transport shelf or on the driverless transport vehicle in order to be able to close, for example and in particular based on reference points, on a height difference.
• electromechanically operating sensors according to stocking shelves, so that in each case an electromechanically operating sensor is arranged on one or all stocking layer (s) or on the stocking shelf.
• the invention also takes into account in the aforementioned development that the sensor means comprise at least one optically operating sensor which optically detects optically detectable features for determining the height difference.
• an optically operating sensor is to be understood as meaning a sensor which enables non-contact scanning by means of optical detection.
• Such optical sensors are u.a. Also referred to as optical sensors, the u. a. from DE 10 2013 103 273 A1 are known.
• optical features can result, for example, and in particular by the arrangement or design of the components of a transport shelf or a storage rack.
• optical characters can be provided on the stocking signal or the transport rack, which are detected by an optically operating sensor for the purpose of a height adjustment, in order then to use the relevant output signals of the sensor to be able to conclude a height difference.
• an optically operating sensor may be designed in the manner of a light scanner or an optical proximity switch.
• the sensor means comprise at least one capacitively operating sensor which senses a capacitive change in order to determine a height difference.
• capacitive sensors also referred to as capacitive sensors
• the operation of capacitive sensors is based on detecting a change in the capacitance of a single capacitor or a whole capacitor system.
• the capacity change can take place in various ways.
• Capacitive pressure sensor in which the sensor principle, for example, and in particular on a capacitance change due to a bending of a membrane and an associated change in distance of the spaced apart plates of the plate capacitor is detected.
• Capacitive distance sensors whose operating principle is based on the fact that a change in capacitance due to a relative movement between two surfaces is detected.
• Capacitive working proximity switches whose operating principle is based on detecting a change in an electric field surrounding a sensor electrode.
• Capacitive sensors are also u. a. known from DE 20 2014 102 022 U1.
• any suitable sensor principles can also be combined with one another in order to sense a height difference between a transport layer and a storage layer.
• the relevant driverless transport vehicle for the determination of the height difference is in a transfer position, which has already been described above.
• height adjustment may begin by adjusting the height between a lower altitude value and an upper altitude altitude value.
• the height adjustment for one, several or all transport layer (s) of the transport shelf of a driverless transport vehicle between an upper height position and a lower height position to make until the height difference has a value of zero or within a tolerance range, for the intended Tank transfer is not critical.
• the weight of the respective production material for the container transfer can be used to reduce expenses.
• the invention takes into account a corresponding orientation or arrangement of transport or storage layer.
• the lifting / lowering device it is possible according to the invention to height-adjust a transport layer or several transport layers independently of one another as well as jointly, as already described above.
• the lifting and lowering device for compensating for the height difference has a first side of the transport layer of the transport rack, which is assigned to the storage layer of the storage rack assigned to it for the container feed. is, compared to a second side of the transport layer of the transport shelf, which is facing away from the her for the container supply associated storage layer of the storage rack, adjusted in height.
• scissor lift gear can be used to its realization to effect a lifting or lowering a transport layer.
• spindle or linear drives or gear can be used for the realization, the u.a. can be created by using pneumatic or hydraulic actuated and telescopically movable cylinders.
• lifting devices that allow lifting or lowering and can be realized using different principles of action.
• various principles of action can also be used in combination with one another for realizing a lifting / lowering device in the context of the invention.
• optical interconnects or lines can be found on the ground or ground near the route planning or management are used to specify a route for the driverless transport vehicle.
• interconnects which is arranged below the ground surface.
• various types of route guidance of a driverless transport vehicle can be used in the invention.
• the route guidance can be carried out using a physical guideline, for example, and in particular inductively, by determining the distance for driverless transport vehicles by means of (alternating) current-carrying wire loop (s) in / on the ground, which are used for route guidance by antennas mounted on the driverless transport vehicle Sensors are detected.
• the path control passive-inductively by means of at least one arranged on the floor metal band.
• the invention provides in a further advantageous development that the driverless transport vehicle has at least one receiving unit for receiving or routing it for receiving signals or data (hereinafter referred to as Signals) of at least one GPS-based location system.
• Signals signals or data
• means for visualizing at least one AGV may also be provided within the scope of the invention.
• the transmission of locating signals for locating an unmanned transport vehicle takes place by means of radio signal transmission, so that the signals are at least unidirectionally available to the driverless transport vehicle by the GPS-based locating system. can be asked made.
• the driverless transport vehicle has for the utilization of the signals of the GPS-based positioning system via a receiving unit which receives the data of the GPS-based positioning system and provided to determine the position of the driverless transport vehicle accordingly converted to a position determination unit, which determines the position of the driverless transport vehicle based on this data ,
• the route planning or guidance of the driverless transport vehicle can again be undertaken by comparing the position of the driverless transport vehicle with its destination coordinates.
• route points can be established which the driverless transport vehicle accordingly moves to on the way to its predetermined destination.
• the predetermined destination is determined by the central unit for the relevant driverless transport vehicle due to the respective requirements of production material and provided to the driverless transport vehicle by radio.
• This receives the aforementioned route guidance data by means of the receiving unit in order to be able to determine and execute driving and steering movements on the basis of this route guidance data via a drive control device for the drive and steering device of the driverless transport vehicle.
• the GPS based positioning can also be done by means of radio or WLAN signals. Both GPS and WLAN location are already well-known technologies, and their components and functionalities therefore need not be described in detail below.
• a so-called polling button to simplify the reporting of production material inventories at the individual production stations.
• a worker operates as needed, so for example, when the penultimate container is removed from a storage layer, the polling button, so that at the central device a material request is triggered, as a result, then the declining material are delivered to the respective storage rack can.
• the polling button thus automates the reporting of a material requirement to the central processing unit of a material logistics system according to the invention.
• second sensor means can sense the position of at least one container on a storage layer of a storage rack.
• the respective sensor means for example, by
• Radio can be connected to the central unit and thus a corresponding material automatically report to the central unit of a material logistics system according to the invention.
• a corresponding material automatically report to the central unit of a material logistics system according to the invention.
• the invention further development that on at least one storage rack sensor means are provided which sense whether there is a container at a predetermined location of a storage rack.
• These second sensor means can be designed according to the invention as described with reference to the first sensor means. Therefore, they may be formed, for example, and in particular as described in DE 20 2007 01 12 926 U1, the disclosure content of which is hereby incorporated by reference into the present application in its entirety.
• the second sensor means can sense whether there is a container at a predetermined location in the storage layer of a storage rack.
• a worker it is possible in this case for a worker to place an empty container on a predetermined storage layer or storage surface on a storage shelf and to sense the presence of a container at this storage layer or storage area by the second sensor means.
• the second sensor means have at least one optical sensor.
• the optical sensor may be designed in the manner of a light scanner.
• the sensor means comprise at least one electromechanically operating sensor, as has already been described above with reference to the sensor means, so that reference is made to this point for the sake of simplicity.
• any suitable sensor principles can also be combined with one another in order to sense whether there is a container at a predetermined location of the storage rack. According to the invention, it is in this context It is also possible for the sensor means to sense the presence of a container on a storage surface remote from the storage shelf.
• At least one storage rack has a storage layer for containers and that a sensor of the electromechanically operating sensor of the second sensor means projects into the storage layer.
• the second sensor means can also generate a demand message signal when a container is located at the predetermined location.
• the latter variant is particularly advantageous if the presence of a container is sensed, for example, in the storage layer of a storage rack.
• the variant of generating a demand signal when there is no container at the predetermined location is particularly advantageous when the second sensor means, for example, do not monitor a storage layer of a storage rack but a predetermined unloading area or transport layer at which a worker empties Container turns off to indicate that there is a need for material.
• a storage layer of a removal shelf is formed as a plane inclined to a horizontal plane.
• a plurality of containers may be arranged in succession on the storage layer, wherein whenever the container foremost in the tilting direction is removed from the storage layer, due to the acting force of gravity, a container arranged behind it in the direction of inclination slips.
• the sensor means used according to the invention can carry out a signal transmission or a signal reception by line as well as radio-based.
• radio-based signal transmission radio networks based on the wireless IEEE 802.1 1 wireless networks are widely used in practice to output signals from sensor modules or in a material logistics system for controlling and / or monitoring the inventory of a plurality of components in a manufacturing. Transmit sensors to a receiving unit.
• the WLAN technology appears to be advantageous in this technical context, because a WLAN infrastructure already exists in many companies anyway.
• the invention detaches itself from this idea; rather, it is based on the insight that the use of WLAN technology is disadvantageous in the considered technical context.
• Another advantage of the sensor module according to the invention is that due to the less frequently required battery replacement, the environment is relieved because the replaced batteries must be disposed of as environmentally hazardous hazardous waste.
• EIRP equivalent isotropically radiated power
• the invention further provides that the radio module is designed for unencrypted data communication with the receiving unit.
• the radio module can be designed for a transmission / reception operation in any suitable frequency band.
• An advantageous development of the invention provides that the radio module is designed for a transmit / receive operation in an open frequency band.
• the invention further takes into account that the radio module is designed for bidirectional data communication with the receiving unit.
• the radio module is designed for bidirectional data communication with the receiving unit.
• the radio module is designed for bidirectional data communication with the receiving unit.
• a signal transmitted by the sensor module which contains, for example, sensor status information
• a response signal of the receiving unit possibly necessary re-transmissions of a data packet omitted. This also has a decreasing effect on the transmission duration and thus the power consumption.
• the operating principle of the sensor of the sensor module according to the invention can be selected according to the respective requirements.
• further developments of the invention provide that the sensor can be as previously described. In this respect, the previously described type of signal transmission with the aforementioned sensors can be used to realize a radio-based signal transmission, in particular the output signals of the respective sensors.
• the sensor module is operated by means of a power supply.
• An advantageous development provides insofar as the sensor module is battery-operated.
• the sensor module may be placed independently of a power grid at any suitable location in the manufacturing process.
• the invention further provides that the sensor means generate a demand signal when there is a container at the predetermined location, the demand signal wirelessly, in particular by radio, to a central facility for material requirements planning is transferable or transferred.
• the second sensor means comprise, according to the invention, at least one force sensor for sensing the presence and / or the weight of a charge carrier, with the particular weight of the charge carrier is determined.
• the empty weight of the carrier which is / is referred to within this description and hereinafter also referred to as container, is known, can not only be determined in this way, whether a container is at a predetermined location, but it can also be determined to what extent the container is still filled with production materials. In this way, the supply of production materials can be controlled particularly precisely, so that an adequate supply of production materials can always be ensured.
• a particular advantage of a sensor module according to the invention is that it is relatively simple and is inexpensive in construction. Suitable force sensors are available as relatively simple and inexpensive standard components. Depending on the weight of a container or the difference between the weight of a completely filled container and the weight of the same container in the empty state, the sensitivity of the force sensor can be selected within wide limits.
• force sensors can be used which are suitable for sensing a weight difference between empty containers filled with production materials of a few grams in order to determine, for example, the filling level of a small material container filled with foam parts.
• the invention provides that the sensor module including the radio transmitter is battery-operated.
• the sensor module according to the invention is completely independent of network-connected voltage sources, so that it can be used any number of suitable place in a mass production, without that there must be provided a network connection.
• This is an important advantage in practice, because the provision of a network connection is associated with relatively high costs, which would accordingly multiply with a large number of sensor modules used.
• a force transducer results in a special combinatorial effect that force sensors for reliable operation only very low control currents so that the power consumption is kept low and compared to conventional sensor modules, for example, use a laser or a camera, the life of the battery is significantly increased. This reduces the maintenance and maintenance costs, especially when a large number of sensor modules is used.
• the invention further takes into account that the radio transmitter is designed and set up such that signal transmission to the central control device takes place at predetermined time intervals.
• the radio transmitter regularly sends a signal to the central control device, which signal in the simplest case can represent whether a container is present at a predetermined location.
• the signal may also include the weight of the container representing data, so that on the basis of transmitted weight force can be determined at the central control device, in which filling state is the container.
• the transmitted signal can also serve, for example, for the sensor module to report its functionality at predetermined time intervals. It is also possible to transmit with the signal data representing the state of charge of the battery, if the sensor module is battery operated.
• the invention takes into account that the radio sensor is designed and arranged such that a signal representing the weight of the container is transmitted to the central device when the weight of the container reaches or falls below a predetermined value. In this way it can be determined at the central control device, in which filling state a particular container is or when a subsequent delivery of production materials is required. In this way, a fully automatic requirement of production materials can thus be realized. Since based on the transmitted instantaneous weight of the container (compared to the prior art weight of an unfilled container) can be precisely determined in which filling state the container is, how many components he still contains, is a particularly precise monitoring or control of the stock on production materials.
• the force transducer of the sensor module according to the invention can operate according to any suitable sensor principle.
• the invention provides for an extraordinarily advantageous development that at least one force sensor is designed as a load cell.
• load cells are available as relatively simple and inexpensive standard components and he-possible a precise force or weight measurement.
• a load cell may include a spring body that elastically deforms under the effect of the weight of a container. This elastic deformation can be detected for example via strain gauges and converted into an electrical signal.
• the load cell is assigned an overload protection.
• the overload protection is preferably designed as a passive overload protection.
• a passive overload protection is understood in the context of the invention that the overload protection without power supply is effective or will. If, for example, a force transducer is used which operates on the principle of a measuring element which is elastically deformable under the weight force of a container, then the elastic deformation of the measuring body can be limited, for example, by a mechanical stop, which thus forms a passive overload fuse.
• the spatial arrangement of the force transducer of the sensor module according to the invention relative to a charge carrier can be selected within wide limits. If, for example, the filling state of a pallet is to be determined, then the load cell can be arranged below a component on which the pallet stands, so that the force of gravity of the pallet can be determined via the load cell.
• a particularly advantageous when using small material containers development of the invention provides that the sensor module is associated with an inclined plane which defines a process path for containers, in particular small load carrier, wherein the force transducer or a standing with the force transducer in power transmission connection component protrudes into the process path.
• This embodiment takes into account the practicalities of shelves for the supply of material to production materials in small material containers, as described above and below.
• the runway - as described above - be formed for example by a roller conveyor.
• the weight of a arranged in the drain path container can be determined. At the same time it can be determined on the basis of the determined weight, whether and in what number are behind the container, which is in contact with the force transducer, even more containers.
• the problem is also pursued to realize a quick and easy integration of a sensor module in the spatial conditions of a manufacturing process of a series production.
• Such can be achieved according to the invention if a sensor module which has at least one of the aforementioned sensors can be fastened to a carrier quickly and easily, that is to say without complicated assembly work.
• the invention provides the switching element associated with pinch protection means, such that a clamping of the switching element is prevented at a base body of the sensor module. In this way, the reliability of the sensor module is also guaranteed if during an assembly of the sensor module to a support of the base body of the sensor module has been braced, which can occur in particular when using a clamping device.
• the anti-pinch means can be carried out so that they are not or only slightly more expensive than sensor modules without corresponding anti-pinch agents in the production.
• a switch which is part of a sensor module according to the invention and interacts with the mechanically operable switching element can operate according to any suitable operating principle, for example as an optical switch, as already described above with reference to the further sensor means.
• the switch is an electrical switch, in particular a limit switch.
• limit switches are available as relatively simple and cost-effective as well as robust and reliable standard components.
• the movement of the mechanical switching element between its rest position and its switching position can follow any suitable kinematics.
• the switching element may be formed linearly displaceable.
• another development of the invention provides that the switching element is designed in the manner of a pivot lever, which is mounted pivotably about a pivot axis about the main body. Shape, size, material and design of the body are selected according to the requirements within wide limits.
• the base body has two legs spaced apart from one another in the axial direction of the pivot axis, between which the pivot lever is mounted. In this case, the legs can be connected to each other, for example, and in particular by a central web, so that the base body is designed as a profile element open on one side.
• the embodiment according to the invention with the legs provides that the anti-pinch means between the legs have effective spacer means.
• the clamping protection for the switching element is thus realized in that the legs are held by the spacer means to each other at a distance and a reduction in the distance of the legs, which could lead to a jamming of the switching element, is thus reliably avoided.
• the spacer means comprise webs with which the legs are supported on the switch housing.
• the webs serve on the one hand as a spacer due to their support on the switch housing of the switch.
• the switch housing of the switch can be fixed by the webs.
• the switch housing may be received by clamping between the webs, so that possibly unnecessary additional fastening means for fastening the switch housing to the base body.
• the webs are basically designed as additional components. To simplify the production of the body and thus to make cheaper, provides an advantageous development that the webs are integrally formed on the legs.
• the base body may be formed, for example and in particular as an injection molded part made of plastic.
• An attachment of the sensor module to a carrier can be done in any suitable manner.
• the invention further provides a clamping device for clamping the sensor module to a carrier.
• This embodiment makes use of the advantages of a clamping device, namely a quick, easy and releasable attachment to a carrier, advantage, wherein the clamping device provided according to the invention clamping of the mechanical switching element is also prevented when the main body of the sensor module in the attachment to the Carrier is clamped by means of the clamping device.
• a relevant material logistics system therefore has at least one aforementioned sensor module according to the invention.
• the use of a sensor module according to the invention for sensing the presence and / or weight of a container in a material logistics system for partially or fully automatic control of the supply of production material in a series production is also encompassed by the invention.
• the central unit of a material logistics system according to the invention can be formed according to the invention for material requirements planning, for example, by a (as well as several, preferably mutually networked) central computer.
• a separate central unit for material requirements planning for example a computer provided for this purpose, within the scope of the material logistics system according to the invention.
• the invention further takes into account that a transport journey of an AGV in dependence on at least one demand message signal of the second sensor means and / or at least one inventory control signal of the central unit is executable or executed.
• a transport journey of an AGV in dependence on at least one demand message signal of the second sensor means and / or at least one inventory control signal of the central unit is executable or executed.
• a transport journey of an AGV takes place whenever at least one storage shelf material requirements.
• the control of the AGV can be linked directly to a software for material requirements planning and, for example, based on an empirically determined material consumption in the production process of the respective Inventory of production materials can be estimated during the ongoing production process, whereby a transport journey of an AGV is then carried out, if it is based on the estimate that a material requirement exists or is imminent.
• the invention provides that scanner means are provided for scanning containers in a loading area such that containers are scanned prior to loading of the AGV. In this way it can be determined on the one hand, which containers have been loaded on a specific FTF. On the other hand, after detecting a container by scanning, a logistical person who loads the container onto the AGV can be given aids with regard to the arrangement of the container on the AGV or the positionally correct loading of the AGV.
• the scanner means have at least one scanner for an opto-electronically readable font, in particular a barcode.
• each container may be provided with a bar code so that the containers may be scanned by means of a bar code scanner.
• An advantage of this embodiment is that corresponding bar code scanners are available as relatively inexpensive and fail-safe standard components and corresponding bar code labels are also inexpensive and can be easily attached to the containers.
• the invention provides that the scanner means comprise at least one camera.
• the container contents of a container can be photographed with a camera and recognized on the basis of a still or moving image with methods of image processing and pattern recognition, which contents of the container Has.
• the invention further provides, in the loading area, display means for visualizing a position for the respective container on the AGV.
• display means for visualizing a position for the respective container on the AGV.
• the FTF are displayed, for example, in the form of a symbolic representation, and it can be displayed after scanning a container, at which position the respective container is to be charged. In this way, errors are avoided or at least reduced, resulting from a faulty loading of the AGV, so that the process reliability is further improved.
• the invention provides that the display means have at least one touch screen. For example, after loading a container onto an AGV, the logistics operator can confirm charging on the touchscreen so that the correct position on the AGV is subsequently displayed with respect to a next container. This makes manual loading of a AGV more efficient.
• the display means have at least one device designed in the manner of a light pointer.
• the logistical be displayed at which position on the AGV a scanned container is to be charged.
• Another extraordinarily advantageous embodiment of the invention provides for locating means for automatically identifying and / or locating containers on the AGV with respect to the loading of an AGV.
• the individual containers may be located after loading the AGV so that it can be checked that the correct containers are on the AGV and / or the containers are in place on the AGV.
• the invention advantageously provides that the location means comprise at least one camera and / or at least one scanner.
• the Loading condition of a FTF can be checked by means of a camera on the basis of a still or moving picture using methods of image processing and pattern recognition.
• the invention provides that they have a reading device for a transponder arranged on the respective container, in particular RFI D transponders. In this way, the detection and localization of the container is further simplified.
• the loading of an AGV in the picking zone can continue to be done manually.
• the invention further provides in the loading area loading means for partially or fully automatic loading of AGVs with filled containers.
• the loading of an AGV in the loading area is partially or fully automatic, so that the degree of automation in the material logistics system according to the invention is further increased. In this way, the process reliability and the relief of the staff are further increased.
• the travel path of an AGV or the travel paths of several AGVs is automatically controlled and, to that extent, the invention provides that the central unit of a material logistics system according to the invention activates an AGV after loading such that it travels from the loading position to a transfer position predetermined by the central unit for container transfer between transport shelf and a storage rack.
• driving of an AGV may begin immediately when the loading (manual or automatic loading) is completed.
• the invention further provides that the FTF has delivery means for automatic delivery of containers to storage shelves in the transfer position of the FTF.
• the dispensing means can be controlled by a controller provided locally on the AGV and, for example, a dispensing operation can be triggered by the local control of the AGV if it is determined that the AGV is located in a designated transfer position in front of a stocking shelf.
• the invention takes into account its advantageous development
• the dispensing means are controlled by the central unit or are driven.
• the central unit thus also takes over the control of the dispensing operation for dispensing a container from an AGV to a storage rack.
• the delivery means can be designed as active delivery means, for example as a handling device arranged on the AGV.
• the dispensing means are designed as passive dispensing means.
• a passive delivery means a delivery means understood that does not have its own drive and thus can not deliver a container independently.
• a passive dispensing means may be formed by placing a container on a transport layer inclined to a horizontal plane and dispensing it after appropriate release and the action of gravity, as previously explained.
• an active delivery means in the context of the invention has its own drive and thus can independently pick up and deliver a container.
• Such an active dispensing means may be designed, for example, in the manner of a handling device or as a fork.
• the arrangement of containers to be transported to an AGV can be done in any suitable manner or arrangement.
• the delivery means on the AGV have at least one transport layer on which containers are or can be arranged in succession at at least two positions.
• the number of containers arranged behind one another in a transport layer is limited exclusively by the dimensions of the FTF.
• each transport layer is associated with at least one blocking element, which is movable from a blocking position in which a relevant layer (transport layer, storage layer) against discharge of the container, and a dispensing position in which the one
• This embodiment presents, for example, in combination with the embodiment of the present disclosure (transport layer, storage layer for dispensing the containers).
• guide form in which the transport layer is formed as a plane inclined to a horizontal plane, a passive delivery means ready that for its operation has only a very low energy consumption.
• the blocking element can be formed, for example, by an electromechanically actuated latch which, in the blocking position, blocks a transfer path for the containers arranged on the transport layer, storage layer and is electromechanically withdrawn to transfer the containers between transport shelf and storage shelf, for example by means of an electromagnet.
• the drive for the blocking element can be selected within wide limits. If the blocking element is designed as a mechanical latch, so a drive can be used, which has only a very low energy consumption.
• a transport layer of an AGV according to the invention is loaded exclusively “sorted”, ie with containers that contain the same production material or the same parts, it is according to the invention in the aforementioned embodiment, in principle sufficient that a transport layer is assigned only a single blocking element, so that all containers received in the transport layer are dispensed together when the blocking element is moved to the transfer position. If all transport layers or at least one transport layer is not "sorted", that is loaded with containers that contain different components and thus generally should not deliver together, so the invention provides for your extremely advantageous development that the transport layer separating means to the individual Dispensing of containers are assigned from the transport layer. In this way it is possible according to the invention to deliver individual containers from the transport layer.
• the invention further provides third sensor means which sense whether a delivery of a container to a storage shelf has been successful. For example, and in particular can be sensed with an optical or electromechanical sensor, whether a container to be transferred actually between transport shelf and storage rack has been or is located between FTF and storage rack, for example has wedged.
• third sensor means which sense whether a delivery of a container to a storage shelf has been successful. For example, and in particular can be sensed with an optical or electromechanical sensor, whether a container to be transferred actually between transport shelf and storage rack has been or is located between FTF and storage rack, for example has wedged.
• the invention further takes into account that at least one storage layer for transferring filled containers to at least one AGV is arranged in the container storage area.
• a storage layer can be designed and developed as described above for a transport layer arranged on an FTF.
• the invention it is possible to equip the AGV with an on-board control device, which in particular drives components of the AGV for receiving and delivering containers.
• the invention further provides that the components of the material logistics system integrated into the provision, container transfer and transport of containers can be controlled or activated by the central unit ,
• the control logic is shifted into the central unit, for example a central computer, so that the control logic of decentralized components or components of the material logistics system can be reduced as much as possible.
• At least one AGV is designed to receive empty containers on the storage shelves.
• the FTF transports not only filled containers to the storage shelves, but also empty containers from the storage shelves back into the container storage area, so that also with regard to the collection and provision of empty containers, the logistical chain is completely closed.
• the invention provides for the development of the aforementioned embodiment provides at least one storage shelf at least one transport layer for the automatic delivery of empty containers to an AGV.
• a transport layer can be designed and developed as described above for a transport layer arranged on the FTF. In this way, the would make from empty containers to a FTF required device infrastructure particularly simple and inexpensive.
• corresponding substantially identical transport layers both on a AGV (for dispensing filled containers to a storage rack) and in a container storage area (for dispensing filled containers to a AGV) and on a storage rack (for dispensing empty containers to an AGV) can be used, so that insofar as the components used are identical or very similar.
• the resulting modular structure has a cost-reducing effect on a material logistics system according to the invention.
• the empty containers transported back by an AGV can in principle be unloaded manually from the AGV according to the invention.
• the invention provides for its advantageous development that recording means for fully or partially automatic recording of empty containers provided by an AGV are provided in an empty container transfer area.
• the invention also provides a method for operating a material logistics system for series production, in particular of motor vehicles, in which at least one AGV is used, as described above, to transport containers between a container storage area and storage shelves, wherein the FTF is set up and is formed, that containers are automatically deliverable to storage shelves or dispensed and to have a lifting / lowering device, as described above.
• the invention further provides for the use of an AGV formed according to the invention for the automatic transport of containers between a container storage area of a material logistics system and storage shelves and for the automatic dispensing of containers on storage shelves.
• FIG. 1 The figures of the drawing show an embodiment of a material logistics system according to the invention in each case a schematic representation.
• the representations are therefore, in particular to each other, not to scale and for a better overview on the understanding supporting elements / components / components reduced.
• FIG. 1 An embodiment of a material logistics system according to the invention for coordinating the transfer of production material for an on-demand availability of production material at production stations of a production, in particular a series production in a schematic topology view,
• FIG. 2 shows a first driverless transport vehicle of the first exemplary embodiment from FIG. 1 in a diagrammatic representation in a side view, wherein the driverless transport vehicle is in a movement state for approaching a stocking shelf of a production station, FIG.
• FIG. 3 shows the first driverless transport vehicle from FIG. 1 in a transfer position in the same representation and view as in FIG. 2, FIG.
• FIG. 4 shows the first driverless transport vehicle of FIG.
• FIG. 6 shows a second driverless transport vehicle of the first exemplary embodiment of a material logistics system according to the invention, which is shown in the preceding figures, in a transfer position, in the same representation and view as the first driverless transport vehicle in FIG. 2, FIG.
• FIG. 7 shows the second driverless transport vehicle in a transfer position in which a transfer of production material from the storage rack to the transport rack takes place, in the same representation and view as in FIG. 6,
• FIG. 8 shows the second driverless transport vehicle in a movement state in which production material is transported away from the storage shelf, in the same representation and view as in FIG. 6, FIG.
• FIG. 9 shows the first as well as the second driverless transport vehicle, which is guided by means of GPS-based location system, in the same representation and view as in FIG. 2 or FIG. 6, FIG.
• FIG. 10 shows the first driverless transport vehicle from FIG. 1 for illustrating a first possibility of height adjustment of a transport layer of the transport rack, in the same representation and view as in FIG. 2, FIG.
• FIG. 1 the first driverless transport vehicle from FIG. 1 for illustrating a second possibility of height adjustment of a transport layer of the transport rack, in the same representation and view as in FIG. 2, FIG.
• FIG. 14 shows the first driverless transport vehicle from FIG. 13 for illustrating a fourth possibility of height adjustment of a transport layer of the transport Regales, in which this is in a tilted position, in the same representation and view as in Fig. 2, but with a lower level of detail.
• Fig. 1 6 representative of the attachment of a sensor or sensor module to a support a sensor module in a side view in a schematic representation.
• FIG. 1 shows an exemplary embodiment of a material logistics system 2 according to the invention for coordinating the transfer of production material 4 for on-demand availability of production material 4 at production stations 6, 6 'of a production 8, in particular a series production, which is also referred to below as material logistics system 2, in a schematic topology view.
• the material logistics system 2 has for determining logistics data for the coordination of production material 4 via a plurality of sensors 10, a portion of which serves to sense a supply of production material 12 at production stations 6, 6 '.
• the sensors 10 are not shown in greater detail in FIG. 1.
• the plurality of sensors 10 for discharging a supply of production material 12 at a production station 6, 6 ' are arranged, for example, and in particular at a storage shelf 14, of production stations 6, 6'.
• the production material 4 is basically provided by means of containers 16 of a respective production station 6, 6 'and stored therein in the aforementioned storage rack 14.
• the containers are shown in the same representation, so that for better overview per shelf only container is designated by the reference numeral 1 6.
• sensors for sensing the number or weight of the containers 1 6 present at the respective production station 6, 6' can be provided, which are connected to a central unit 18 for data transmission and processing in signal transmission connection 20.
• a signal transmission connection 20 can be unidirectional as well as bidirectional and serve the transmission of data as well as signals, in particular control signals.
• the central unit 18 of the material logistics system 2 is in signal transmission connection with the plurality of sensors, the central unit 18 using the output signals transmitted from the plurality of sensors 10 logistics data for production material 4 for the respective production station 6,6 'determined and by means of logistics data control signals for the transfer generated by production material 4.
• the central unit 18 also provides logistics data to other data processing units 22, for example merchandise management as well as a product planning and control systems 22 ', 22 ", which can be called up or exchanged with them unidirectionally as well as bidirectionally Term synonymous with data processing units to the term data processing system used and includes this.
• the material logistics system 2 can also be part of one or the aforementioned systems 22, 22 ', 22 ".
• the logistics data can also be used to control transport vehicles 24, in particular driverless transport vehicles 26.
• the logistics data can serve, inter alia, to control the loading or loading of transport vehicles 24, in particular driverless transport vehicles 26, with production material 4 or containers 16.
• a route guidance of transport vehicles 24, in particular driverless transport vehicles 26, can take place in order to supply the production stations 6, 6 'as needed with production material 4.
• the logistics data of a navigation unit 28 are made available, which makes a route planning of the driverless transport vehicles 26 on the basis of the logistics data in order to enable route- or time-optimized route guidance of the driverless transport vehicles to supply the production stations 6, 6 'with production material 4.
• the navigation unit 28 is in signal transmission connection 20 with the respective driverless transport vehicles 26 in order to provide route data for the ascertained route of the individual driverless transport vehicles 26 as waypoint coordinates or target coordinates to their route guidance.
• the navigation unit 28 also allows control of the driverless transport vehicles 26 with regard to their position and movement along a predetermined for the respective driverless transport vehicle 26 route.
• the central unit 18 of the material logistics system 2 therefore serves, by means of the logistics data, at least one driverless transport vehicle 26 with a transport shelf 32 having at least one transport layer 30, 30 ', 30 ", 30'" for the transport of production material received in containers for automatic container transfer between Transport shelf 32 and storage rack 14 a production station 6,6 'to control.
• an inventively designed and equipped driverless transport vehicle 26 has a lifting / lowering device 36 for at least partial height adjustment of the at least one transport layer for a compensation of a height difference between transport layer 30, 30 ', 30 ", 30'” and a her for the container transfer associated storage layer 38, 38 ', 38 ", 38'” of the storage rack 14th
• Fig. 1 shows a representative of a variety of possible signal transmission connections 20 to another data processing unit, a bearing 39 for container 1 6, which filled therein with production material 4, partially filled as well as can be stored empty.
• FIG. 2 shows a first driverless transport vehicle 26 'of the exemplary embodiment of a material logistics system 2 from FIG. 1 in a diagrammatic representation in a side view, the driverless transport vehicle 26' being in a moving position. condition for approaching a storage rack 14 a production station 6 is located.
• the transport shelf 32 of the first driverless transport vehicle 6 has four transport layers spaced from one another in the vertical direction 40, which correspond in their number and arrangement to the storage layers 38, 38 ', 38 ", 38'” of a stocking rack 14 of a production station 6. Therefore, there is a fixed association between the transport layers 30, 30 ', 30 ", 30'” of the transport shelf 32 to the stocking layers 38, 38 ', 38 ", 38"' of the stocking shelf 14.
• FIG. 2 it can be seen that there is a height difference between a respective transport layer 30, 30 ', 30 ", 30"' and the storage layer 38, 38 ', 38 ", 38” assigned to it for the container transfer, which provides problem-free container transfer prevented.
• FIG. 4 is the first driverless transport vehicle 26 of FIG. 1 in a transfer position, in which a height adjustment of the transport layers 30, 30 ', 30 ", 30"' of the transport shelf 32 by means of a HebeVSenk sensible 36 (not shown in Fig. 4) he follows.
• FIG. 5 shows the first driverless transport vehicle 26 from FIG. 1 in a transfer position, in which the process for height adjustment of the transport layers 30, 30 ', 30 ", 30"' of the transport rack 32 ends and the height difference with the stocking layer 38, 38 ', 38 ", 38'” of the storage rack 14 is balanced for easy container transfer.
• FIG. 6 shows a second driverless transport vehicle 26 'of the material logistics system 2 in a transfer position, in which the second driverless transport vehicle 26' for a container transfer is positioned at a production station 6.
• the second driverless transport vehicle 26 'shown in the transfer position serves, in particular, to transport empty containers away from a production station 6.
• the container transfer from the relevant storage rack 14, which has a storage layer 38 for empty containers 1 6, to the driverless transport vehicle takes place in almost the same process steps as a container transfer from the transport shelf to the storage rack.
• no height adjustment on the second driverless transport vehicle 26 ' is necessary, that the transport layers 30, 30', 30 ", 30 '" of the transport shelf 32 of the first driverless transport vehicle 26 have been replaced by a box-shaped container 42, in which the empty container 16 are received by the storage rack 14 for their removal.
• the box-shaped container 42 in an analogous manner to the (the transport layer (s) 30, 30 ', 30 ", 30'” also adjustable in height.
• the containers 1 6 are supplied to the box-shaped container without drive using the weight of the respective container 16.
• FIG. 7 shows the second driverless transport vehicle 26 'in a transfer position, in which the containers 1 6 are supplied from the storage rack 14 to the box-shaped container 42 of the second driverless transport vehicle 26' using the weight force to the box-shaped container 42.
• Fig. 8 the second driverless transport vehicle 26 'is shown in a state of movement, is received in the empty container 1 6 in the box-shaped container 42 of the transport shelf and transported away from the storage rack. This takes place in the same representation and view as in FIG. 6.
• FIG. porthus 26,26 ' shows that by means of a GPS-based positioning system 46 is located or out with regard to its route or movement.
• a GPS transmission unit 48 transmits radio-based GPS signals to the driverless transport vehicle 26, 26 'in order to enable location as well as route guidance.
• the GPS signals are used in particular for determining the position (location) of the respective driverless transport vehicle 26, 26 ', on the basis of which the route guidance can take place via the central unit 18.
• the data exchange between the respective driverless transport vehicle 26,26 'and the central unit 18 in this embodiment of a material logistics system 2 according to the invention bidirectional, so that the central unit 18, the position data of the respective driverless transport vehicle 26,26' for further coordination can receive and evaluate and about
• the respective driverless transport vehicle 26,26 ' receives the destination coordinates necessary for route guidance.
• the central unit 18 controls and corrects the route guidance, in particular collision-prone, driverless transport vehicles 26, 26'.
• the central unit 18 also possible to quickly detect a failure of a driverless transport vehicle 26,26 and corresponding data / signals for the elimination of the failure or initiate further related actions accordingly forward or provide.
• FIG. 10 shows the first driverless transport vehicle 26 from FIG. 1 for illustrating a first possibility of height adjustment of at least one of the transport layers 30, 30 ', 30 ", 30"' of a transport shelf 32.
• a scissor lift 48 which is adjusted by a hydraulic unit 50 via a hydraulic cylinder 52 between a vertical lower height level and a vertical upper height level, whereby also the transport shelf 32nd and thus its transport layers 30, 30 ', 30 ", 30"' are height-adjusted with each other due to the movement coupling.
• the lifting / lowering device 36 provides a hydraulic-mechanical drive 54 for height adjustment.
• a control device 56 for controlling the lifting / lowering device 36 which is arranged on the driverless transport vehicle 26, allows fully automatic height adjustment.
• the control device 56 in turn comprises sensor means 58 for sensing a height difference between a transport layer 30, 30 ', 30 ", 30'" of the transport shelf 32 and the storage layer 38, 38 ', 38 "' of the storage rack 14 associated therewith for a container transfer who are in signal communication connection 20 with her.
• the sensor means 58 comprise an optically operating sensor 60 which has features for determining a height difference between a transport layer 30, 30 ', 30", 30' "and one for the container feed associated storage layer 38, 38 ', 38 ", 38" of the storage rack 14 optically detected.
• an optical character (not shown) is arranged on the storage signal 14, which is detected by the optically operating sensor 60 when the corresponding height difference is compensated.
• a height adjustment of the transport shelf 32 via the lifting / lowering device 36 is provided.
• Fig. 1 1 illustrates a second way of adjusting the height of a transport layer 30, 30 ', 30 ", 30'" of a transport shelf 32 based on the first driverless transport vehicle 26 of FIG. 1, wherein the lifting / lowering device 36 for container transfer between transport shelf 32nd and storage shelf 14 to compensate for a height difference, a body 62 of the driverless transport vehicle 26 height- adjusted by vertically moving in a transfer position of the driverless transport vehicle 26 body part 64 is moved relative to a ground-level body part 65, whereby a height adjustment of the transport shelf 32 and thus its individual transport layers 30, 30 ', 30 ", 30'” is effected.
• the operating principle for height adjustment corresponds to the exemplary embodiment of a driverless transport vehicle 26 shown in FIG. 10.
• the optically operating sensor 60 are arranged on each of the transport layers 30, 30 ', 30 ", 30'".
• the corresponding optical features (not shown in Fig. 1 1) are arranged in a corresponding number and corresponding arrangement on the corresponding storage layers 38, 38 ', 38 ", 38'" of the storage rack 14 (not in Fig. 1 1).
• the sensor means 58 are arranged to determine the height difference at each of the transport layer 30, 30 ', 30 ", 30"' of the transport rack 32, optically operating sensor 60 (indicated in each case by the reference numeral 60).
• FIG. 12 shows a third possibility for adjusting the height of at least one transport layer 30, 30 ', 30 ", 30'” of the transport rack 32 on the basis of the first driverless transport vehicle 26 of FIG. 11, in which height adjustment takes place by means of a spindle drive 68, that is operated via an electric drive motor 69, which in turn is controlled by the height adjustment control device 56.
• the spindle drive can adjust the height of the transport rack 32, as a result of which the transport layer 30, 30 ', 30 ", 30'” of the transport rack 32 are height-adjusted together.
• the sensor means 58 are arranged to determine the height difference at each of the transport layer 30, 30 ', 30 ", 30"' of the transport shelf 32 by means of a momentarily operating sensor or electromechanically operating sensor 60 '(each identified by the reference numeral 60') with which the corresponding storage layers 38, 38 ', 38 ", 38" of the storage rack 14 (shown in FIG. 12) are touched as soon as the height difference has reached a desired value.
• FIG. 13 shows the first driverless transport vehicle 26 from FIG. 1 for illustrating a fourth possibility of height adjustment of at least one transport layer 30, 30 ', 30 ", 30"' of the transport rack 32. In this case, height adjustment takes place in almost the same way, as illustrated with reference to FIGS. 11 and 12.
• the storage rack 14 faces, with respect to a second side 72, which is the height of the storage rack 14 assigned to it for the container supply storage layer 38,38 ', 38 ", 38'" of the storage rack.
• the storage rack 14 with the storage layers 38, 38 ', 38 ", 38"' is not shown in FIG.
• FIG. 14 shows the first driverless transport vehicle from FIG. 13, in which a height adjustment has taken place so that the transport layers 30, 30 ', 30 ", 30"' have an inclination relative to a horizontal plane 80.
• FIG. 15 shows the storage rack 14 already shown and described with storage layers 38, 38 ', 38 ", 38"' for receiving containers 16 in a side view in a diagrammatic representation, the illustration being restricted to the upper part of the storage rack 14 ,
• the storage layers 38, 38 ', 38 ", 38”' are inclined to the horizontal plane 80, whereby the containers can slip in the direction of inclination 82 by means of the force of gravity.
• the storage rack 14 has an arrangement of sensor means 10 or sensor modules 10 ', which are uniformly designated in FIG. 15 as sensor modules with the reference numeral 10' and may be formed, as have been described above. On the basis of the output signals of the respective sensor modules 10 'different parameters for the material logistics can be determined.
• the sensor modules 10 'shown in FIG. 15 are uniformly designated in FIG. 15 as sensor modules with the reference numeral 10' and may be formed, as have been described above.
• a bow-shaped pivot lever 84 of a respective sensor module 10 ' is pivoted about a pivot axis 86 as soon as a container 16 comes into contact with the pivot lever 84.
• the rocker arm 84 pivots from a rest position in which it is unloaded, in a switching position for the generation of a corresponding output signal as soon as a container 1 6 comes into contact with the respective pivot lever 84. This can not only on the presence or absence of a Container 14 are closed at the relevant point.
• the sensor in question of the sensor module 10 'generates a corresponding output signal, which - conducted or radio-based - is transmitted to the central unit 18 for further processing.
• locking elements 88 are arranged on the storage rack 14, which are designated by the reference symbol 88 in FIG.
• the respective blocking element 88 is from a blocking position, in which the storage layer 38, 38 ', 38 ", 38'" of the storage rack 14 is locked against dispensing of containers 1 6, and a dispensing position, in the container 1 6 under the effect of their weight in the direction of inclination 82 along the respective storage layer 38, 38 ', 38 ", 38'” slip.
• FIG. 16 shows a sensor module 10 'in a side view in a schematic representation, which has already been shown in FIG. 2, as a representative of the attachment of a sensor or sensor module 10' to a carrier.
• the sensor module 10 ' has a base body 90, on which a switch 92 is arranged, which is formed in this embodiment as an electrical switch and in the manner of a limit switch.
• the switch 92 has a mechanical sensor 94 biased by spring means into the rest position.
• the sensor module 10 ' also has a mechanical switching element 96, which is in operative connection with the switch 92 via the sensor 94 and is formed in the illustrated embodiment as a bow-shaped pivot lever 84 which is pivotally mounted about a pivot axis 86 on the base body 90.
• the switching element 96 is shown in a rest position. In this position can be wired as well as via a wireless module corresponding signal ("no container in the feed: material request required”) are sent to the central unit 18.
• the base body 90 consists of an injection molded part made of plastic and has two in the axial direction of the pivot axis 86 spaced leg 98, 100, which are interconnected by a central web 102, so that the base body 90 thereby the shape of a hollow profile open on one side Has.
• the leg 100 is, however, covered by the leg 98 due to the selected representation in Fig. 1.
• This type of sensor module 10 'can also be used to determine the weight of a container 1 6, due to its ability to conclude its filling state.

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• 2014
  • 2014-11-27 EP EP14806588.1A patent/EP3224160A1/de not_active Ceased
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  • 2014-11-27 DE DE112014007213.3T patent/DE112014007213A5/de not_active Withdrawn
  • 2014-11-27 WO PCT/EP2014/075878 patent/WO2016082883A1/de active Application Filing
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