DE102007013448A1 - Handling and conveying equipment i.e. shelf access equipment, has measuring device to measure position of masts ends, and with optical receiver and optical transmitter that are positioned in region of free mast tip or in region of chassis - Google Patents
Handling and conveying equipment i.e. shelf access equipment, has measuring device to measure position of masts ends, and with optical receiver and optical transmitter that are positioned in region of free mast tip or in region of chassis Download PDFInfo
- Publication number
- DE102007013448A1 DE102007013448A1 DE102007013448A DE102007013448A DE102007013448A1 DE 102007013448 A1 DE102007013448 A1 DE 102007013448A1 DE 102007013448 A DE102007013448 A DE 102007013448A DE 102007013448 A DE102007013448 A DE 102007013448A DE 102007013448 A1 DE102007013448 A1 DE 102007013448A1
- Authority
- DE
- Germany
- Prior art keywords
- chassis
- mast
- region
- optical
- handling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 28
- 238000013016 damping Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
- B66F9/072—Travelling gear therefor
-
- 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
- B66F9/0755—Position control; Position detectors
-
- 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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Abstract
Description
3Die Erfindung betrifft Handhabungs- und Fördergeräte, insbesondere Regalbediengeräte, gemäß dem Oberbegriff des Anspruchs 1.3The Invention relates to handling and conveying equipment, in particular storage and retrieval units, according to the Preamble of claim 1.
Regalbediengeräte
mit einem Chassis, einem Fahrwerk, mindestens einem Fahrantrieb,
mindestens einem senkrechten Mast mit mindestens einem daran auf
und ab verfahrbaren Hubwagen und einer Messeinrichtung zum Messen
der Position des Chassis sind bekannt. Man vergleiche z. B.
Eine
Möglichkeit, die Mastschwingungen zu reduzieren, ist die
Verringerung der Massenträgheit des Mastes. So zeigt beispielsweise
die
Um
die Position der Mastspitze mit der Position des Mastfußes
zu synchronisieren, ist es ferner bekannt, an der Mastspitze ein
zweites motorisch angetriebenes Fahrwerk anzuordnen, welches auf
einer entsprechend hoch positionierten Schiene läuft. Man vergleiche
z. B.
Aus
der
Die beschriebene Einrichtung erfüllt ihre Aufgabe mit großer Genauigkeit. Nachteilig ist jedoch der damit verbundene erhebliche Aufwand an Sensoren und Regeleinrichtungen. Da diese Regeleinrichtungen miteinander kooperieren, müssen sie exakt aufeinander abgestimmt sein. Dies bedingt wieder einen hohen Einstellungsaufwand. Das ist unbefriedigend.The described device fulfills its task with great Accuracy. However, the disadvantage is the associated significant Expenditure of sensors and control devices. Because these control devices cooperate with each other, they must be exactly matched be. This again requires a high adjustment effort. This is unsatisfactory.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, Auslenkungen und Schwingungen eines Mastes eines Handhabungs- und Fördergerätes mit geringem Aufwand zu erfassen.Of the present invention is based on the object, deflections and vibrations of a mast of a handling and conveying device to capture with little effort.
Diese Aufgabe wird gelöst durch ein Handhabungs- und Fördergerät mit den Merkmalen des Anspruchs 1.These Task is solved by a handling and conveying device with the features of claim 1.
Die vorliegende Erfindung misst die Position der Mastspitze relativ zum Mastfuß durch eine optische Messeinrichtung, bestehend aus einem optischen Sender und einem optischen Empfänger. Diese Konstruktion benötigt nur einen minimalen Aufwand, bietet jedoch eine optimale Genauigkeit. Die Anforderungen an die Positionierung von Sender und Empfänger sind minimal und können den jeweiligen Gegebenheiten leicht angepasst werden.The The present invention relatively measures the position of the mast top to the mast by an optical measuring device, consisting from an optical transmitter and an optical receiver. This construction requires only minimal effort, however, offers optimum accuracy. The requirements for the Positioning of transmitter and receiver are minimal and can easily be adapted to the respective circumstances.
Gemäß einer ersten Variante der Erfindung ist der optische Sender an der Mastspitze positioniert, der optische Empfänger am Chassis bzw. am Mastfuß.According to one The first variant of the invention is the optical transmitter at the top of the mast positioned, the optical receiver on the chassis or at the mast base.
Eine alternative Ausführungsform hierzu sieht vor, dass Sender und Empfänger ihre Position tauschen.A alternative embodiment for this provides that transmitter and recipients change position.
Vorteilhafterweise ist der optische Sender ein Laser. Laser senden einen gebündelten Lichtstrahl aus, der auch über längere Strecken nur wenig streut.advantageously, the optical transmitter is a laser. Lasers send a bundled Light beam out, even over longer distances only a little scatters.
Alternativ hierzu kann der optische Sender ein Projektor sein, der Hell-Dunkel-Kanten oder -Muster auf den Empfänger projiziert.alternative For this purpose, the optical transmitter can be a projector, the light-dark edges or pattern projected onto the receiver.
Als optischer Empfänger eignet sich ein lichtempfindliches Halbleiterelement, wie z. B. ein Diodenarray, insbesondere eine Diodenzeile. Diodenzeilen sind Bestandteil von Dokumentenscannern, digitalen Kopiergeräten usw. und daher in guter Qualität und in großen Stückzahlen günstig zu erwerben.When optical receiver is a photosensitive Semiconductor element, such as. B. a diode array, in particular a Diode array. Diode lines are part of document scanners, digital copying machines etc. and therefore in good quality and cheap in large quantities too purchase.
Eine alternative Ausführungsform sieht als optischen Empfänger eine Kamera vor.A alternative embodiment provides as an optical receiver a camera in front.
Um die optische Messeinrichtung gegen Fremdlicht, Verschmutzung und andere Umwelteinflüsse zu schützen, kann sie im Inneren des Mastes positioniert werden.Around the optical measuring device against ambient light, pollution and To protect other environmental influences, it can be used in the Inside the mast are positioned.
Gemäß einer weiteren Ausgestaltung der Erfindung ist das erfindungsgemäße Handhabungs- und Fördergerät ein Regalbediengerät, bei dem auch an der Mastspitze ein weiteres Chassis mit einem Fahrwerk und einem Fahrantrieb vorgesehen ist. Auch in diesem Fall kann die erfindungsgemäße optische Messeinrichtung ohne Abstriche eingesetzt werden.According to one Another embodiment of the invention is the invention Handling and conveying device, a stacker crane, at the mast top also another chassis with a chassis and a traction drive is provided. Also in this case, the Optical measuring device according to the invention without Smears are used.
Anhand der Zeichnung soll die Erfindung in Form eines Ausführungsbeispiels erläutert werden.Based the drawing is intended to illustrate the invention in the form of an embodiment be explained.
Die
Figur zeigt rein schematisch ein Regalbediengerät als Beispiel
für ein Handhabungs- und Fördergerät.
Man erkennt ein auf einer Schiene
Wird
das Regalbediengerät beschleunigt, so verbiegt sich der
Mast
Anhand
der Position der jeweils beleuchteten Empfängerdiode sind
Richtung und Stärke der jeweiligen Auslenkung der Mastspitze
exakt bestimmt. Mit dieser Information wird die Steuereinheit
Wie
die Figur weiter erkennen lässt, kann die freie Mastspitze
mit einem deckenseitigen Chassis
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 19641192 A [0002] - DE 19641192 A [0002]
- - EP 1193194 A [0002] - EP 1193194 A [0002]
- - DE 4407862 C [0002, 0003, 0004] - DE 4407862 C [0002, 0003, 0004]
- - DE 19614660 A [0002, 0004] - DE 19614660 A [0002, 0004]
- - DE 19641192 [0005] - DE 19641192 [0005]
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007013448A DE102007013448A1 (en) | 2007-03-21 | 2007-03-21 | Handling and conveying equipment i.e. shelf access equipment, has measuring device to measure position of masts ends, and with optical receiver and optical transmitter that are positioned in region of free mast tip or in region of chassis |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007013448A DE102007013448A1 (en) | 2007-03-21 | 2007-03-21 | Handling and conveying equipment i.e. shelf access equipment, has measuring device to measure position of masts ends, and with optical receiver and optical transmitter that are positioned in region of free mast tip or in region of chassis |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102007013448A1 true DE102007013448A1 (en) | 2008-09-25 |
Family
ID=39712996
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102007013448A Withdrawn DE102007013448A1 (en) | 2007-03-21 | 2007-03-21 | Handling and conveying equipment i.e. shelf access equipment, has measuring device to measure position of masts ends, and with optical receiver and optical transmitter that are positioned in region of free mast tip or in region of chassis |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102007013448A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009082774A1 (en) * | 2007-12-28 | 2009-07-09 | Tgw Mechanics Gmbh | Vehicle, in particular shelf storage device, and method for drive regulation of such a vehicle |
DE102016112965A1 (en) * | 2016-07-14 | 2018-01-18 | Jungheinrich Aktiengesellschaft | Method and arrangement for measuring the deflection of a lifting mast of a high-lift truck |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3208747C2 (en) * | 1982-03-11 | 1986-07-31 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Lifting vehicle with a lifting frame and a height-adjustable load handling device and a height measuring device that works with ultrasound or radiant energy in adjacent frequency ranges |
DE4407862C2 (en) | 1994-03-04 | 1996-05-09 | Mannesmann Ag | Carrying and guiding device, in particular mast for storage and retrieval machines |
DE19614660A1 (en) | 1996-04-13 | 1997-10-16 | Mannesmann Ag | Shelf rack servicing apparatus |
DE19641192A1 (en) | 1996-09-24 | 1998-03-26 | Mannesmann Ag | Goods handling vehicle, e.g. shelf filler |
EP1193194A1 (en) | 2000-10-02 | 2002-04-03 | Murata Kikai Kabushiki Kaisha | Stacker crane |
-
2007
- 2007-03-21 DE DE102007013448A patent/DE102007013448A1/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3208747C2 (en) * | 1982-03-11 | 1986-07-31 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Lifting vehicle with a lifting frame and a height-adjustable load handling device and a height measuring device that works with ultrasound or radiant energy in adjacent frequency ranges |
DE4407862C2 (en) | 1994-03-04 | 1996-05-09 | Mannesmann Ag | Carrying and guiding device, in particular mast for storage and retrieval machines |
DE19614660A1 (en) | 1996-04-13 | 1997-10-16 | Mannesmann Ag | Shelf rack servicing apparatus |
DE19641192A1 (en) | 1996-09-24 | 1998-03-26 | Mannesmann Ag | Goods handling vehicle, e.g. shelf filler |
EP1193194A1 (en) | 2000-10-02 | 2002-04-03 | Murata Kikai Kabushiki Kaisha | Stacker crane |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009082774A1 (en) * | 2007-12-28 | 2009-07-09 | Tgw Mechanics Gmbh | Vehicle, in particular shelf storage device, and method for drive regulation of such a vehicle |
DE102016112965A1 (en) * | 2016-07-14 | 2018-01-18 | Jungheinrich Aktiengesellschaft | Method and arrangement for measuring the deflection of a lifting mast of a high-lift truck |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OM8 | Search report available as to paragraph 43 lit. 1 sentence 1 patent law | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20131001 |