DE102012109162B4 - Method for removing individual containers from a flow rack - Google Patents

Abstract

Method for removing individual containers (5) from a flow rack, in which the containers (5) are stored immediately one behind the other on a track (1) composed of rollers or rollers (2), which go to the removal end (3) and there into the conveyor cross section movable lock (10) is inclined downwards, the removal being carried out by a storage and retrieval device (15) which can be positioned opposite the removal end (3) and which has at least one operating arm which can be extended counter to the web direction (R) and retracted with the web direction (R). 16), characterized by the steps a) when the lock (10) is active, extending the operating arm (16) along the first, frontmost container (5.1) until there is contact between the operating arm (16) and a movably arranged pusher and blocking element (20); ) and thus release of the first container (5.1), the second container (5.2) being held back by the pushing and locking element (20) at the time of deactivation or immediately afterwards; d) retracting the operating arm (16) and transferring the first container (5.1) from the track (1) onto the stacker crane (15).

Description

The invention relates to a method for removing individual containers from a flow rack, in which the containers are stored immediately one behind the other on a track composed of rollers or rollers, which is inclined downwards towards the end of the removal and a barrier that can be moved there into the conveying cross section, the removal being by a stacker crane that can be positioned opposite the removal end and which is provided with at least one operating arm that can be extended counter to the web direction and retracted with the web direction.

From the US 3 750 804 A A mechanism is known for removing individual, identical loads from a flow rack. The loads are stored one after the other on a roller conveyor. The conveyor can be inclined towards the removal end so that the load can be transported by gravity. At the removal end of the conveyor there is a barrier that can be moved into the conveyor cross-section. The front load is removed using a storage and retrieval machine that can be positioned opposite the removal end. To enable the storage and retrieval machine to transfer the load from the roller conveyor to the storage and retrieval machine, the storage and retrieval machine has a movable operating arm that can be extended in the opposite direction to the conveyor and retracted in the same direction.

Another mechanism for removing individual loads from a sloping roller conveyor is revealed EP 0 096 505 A1 . Here, too, a barrier is used to hold back the front-most goods, and the front-most goods are removed using a storage and retrieval device positioned opposite the end of the removal. In order to enable this to transfer the load from the roller conveyor to the storage and retrieval unit, there is a further roller conveyor section which can be moved up and down in a parallel orientation by means of a scissor construction. The drive is provided by an operating arm that is arranged to move horizontally under the stationary roller conveyor.

Another mechanism for removing individual loads from the conveying end of a sloping roller conveyor is disclosed EP 1 321 384 A1 . Again, a barrier is used that holds back the frontmost goods, which in this case is formed on a separating device which is pivotally arranged under the roller conveyor. In order to transfer an individual load from the roller conveyor to a downstream belt conveyor, the end of the horizontally movable belt conveyor presses on the separating device, causing it and thus the barrier to lower.

Further removal devices for flow racks are available from the EP 1 842 803 A1 , the FR 2 884 237 A1 , the DE 196 05 364 A1 and the DE 202 14 241 U1 known.

The invention is based on the object of providing a device primarily for low-weight, i.e. H. unfilled containers or containers only filled with light articles to create a suitable method for removing individual containers from a flow rack, in which the flow rack does not have its own drives such as. B. servomotors are required, and which is also suitable for use in conjunction with storage and retrieval machines that work with only a horizontal removal movement for container removal with correspondingly short access times.

• In einem ersten Schritt wird bei aktiver Sperre der Bedienarm des Regalbediengeräts (RBG) an dem ersten, also vordersten Behälter entlang ausgefahren, bis es zu einem Kontakt zwischen dem Bedienarm und einem beweglich an der Bahn angeordneten Schub- und Sperrelement kommt.

To solve this problem, a method with the features specified in claim 1 is proposed. Such a container removal method comprises at least the following steps:

• In a first step, when the lock is active, the operating arm of the storage and retrieval machine (SRM) is extended along the first, i.e. frontmost container, until contact is made between the operating arm and a push and locking element movably arranged on the track.

In a second step and with further extension of the operating arm, the pushing and locking element is taken along, which in turn takes the first or second container with it and thus pushes this and all the containers arranged behind it on the conveyor path back slightly against the inclination of the path.

In a third step, the lock is deactivated, with the result that the first container is released and separated from the remaining containers. On the other hand, at the time of deactivation of the lock or immediately afterwards, the second, subsequent container is locked by the push and lock element. The result of this is that the second container and all other containers on the conveyor line are temporarily held back.

Finally, in a fourth step, the operating arm moves back, taking the freed first container with it in the direction of the web, and finally transferring it from the end of the web to the stacker crane arranged in front of it. At the same time or subsequently, the pushing and blocking element releases the blockage of the second container, so that it, and with it the containers supported on its back can be moved up to the point of contact with the reactivated barrier. This ends the removal process or can begin again.

A special feature of the method is that in the second step to separate the first container, all or alternatively all containers from the second container onwards are pushed back a short distance, i.e. against the sloping roller conveyor. This pushing movement is carried out by the pushing and locking element. Pushing back an entire row of containers without using excessive force is primarily possible with containers that are either empty or only filled with light items, which is why the removal device described here is particularly suitable for these groups of containers.

The movement and drive energy required for separating and retrieving the containers comes exclusively from the stacker crane and its drive or servo motors. However, there are no drives whatsoever for the flow rack itself and its individual roller conveyors, such as: B. Electric motors or actuators are required, which means that the flow rack does not require any electrical equipment. This leads to a simple construction of the removal device and makes the flow rack less susceptible to malfunctions.

Another advantage is that the storage and retrieval machine only needs a horizontal removal movement for the separation and subsequent removal of the frontmost container. To remove the frontmost container, the stacker crane does not have to carry out a superimposed movement of first vertical lifting and then horizontal retraction, as is often the case with such devices. Since the storage and retrieval machine only requires a horizontal removal movement, removal can be carried out with correspondingly short access times.

With a first embodiment, it is proposed that the container taken along by the pushing and locking element against the sloping path is the first container, with the lock being the driver.

According to a further embodiment, during the further extension of the operating arm, a retaining projection arranged on the pushing and locking element moves between the first and the second container into the conveying cross section. Preferably, the retaining projection maintains its position as it moves into the conveying cross section at least until the operating arm moves back.

According to a further embodiment, the retaining projection is moved into the conveying cross section by a lifting movement and out of the conveying cross section by a lowering movement.

According to a further embodiment, the distance between the barrier and the retaining projection is equal to or substantially equal to the length of the container.

According to a further embodiment, both the lock and the retaining projection are formed on the pushing and locking element. The push and locking element can be designed as a plate, at one end of which the lock is integrally formed and at the other end of which the retaining projection is formed in one piece.

Furthermore, it is proposed that the pushing and locking element executes a movement that approximates a parallelogram guide. This movement can e.g. B. achieved by a trapezoid arrangement in which the connecting lines of the trapezoid points arranged one above the other meet at a location above the web.

Furthermore, it is proposed that after the lock has been deactivated, a driver arranged movably on the operating arm moves into the distance between the first and the second container caused by the containers being pushed back, and that the driver moves the first container in the when the operating arm is moved back path direction. The driver preferably pivots from the side into the resulting distance between the first and second containers.

• 1 in einer auf die wesentlichen Elemente reduzierten Seitenansicht das Entnahmeende einer Rollenbahn zusammen mit einer beweglich an der Rollenbahn angeordneten Entnahmevorrichtung sowie Teilen eines Regalbediengeräts;
• 2 die Entnahmevorrichtung zu Beginn des Entnahmeverfahrens;
• 3 die Situation in einem späteren Verfahrensstadium;
• 4 die Situation in einem nochmals späteren Verfahrensstadium;
• 5 die Situation in einem nochmals späteren Verfahrensstadium;
• 6 die Situation in einem nochmals späteren Verfahrensstadium.

Further details and advantages of the removal device and the removal method that can be carried out with it are described below using explanatory drawings. Show in it

• 1 in a side view reduced to the essential elements, the removal end of a roller conveyor together with a removal device movably arranged on the roller conveyor and parts of a stacker crane;
• 2 the sampling device at the beginning of the sampling process;
• 3 the situation at a later stage of the proceedings;
• 4 the situation at a further later stage of the proceedings;
• 5 the situation at a further later stage of the proceedings;
• 6 the situation at a later stage of the process.

Based on 1 First, there is an explanation of the arrangement and possible design of the structural elements required to carry out the process on a flow rack and on a stacker crane (RGB) that can be positioned opposite it.

The flow rack includes at least one roller conveyor 1, i.e. a conveyor line made up of successively arranged, freely rotatable rollers or rolls 2. In the flow rack as a whole, a large number of such roller conveyors 1 are arranged parallel to one another and on several levels above one another.

Each roller conveyor 1 is inclined downwards towards its removal end 3, which is located on the left in the drawings, so that the containers 5 resting on the rollers or rollers 2 roll or run under their own weight and the influence of gravity along the conveyor path towards the removal end 3.

The individual containers 5 are similar, i.e. H. they are designed the same, each with identical dimensions. On their underside, which serves as a base, they can be provided with a step 4 on at least the two end faces. Stage 4 represents a recess on the underside of the containers and improves the mechanical handling of the containers, also within the framework of the method described here.

At the removal end 3 of the web 2 there is a barrier 10, which can be moved into the conveying cross section by a lifting movement and out of the conveying cross section by a lowering movement. If the lock 10 is activated, i.e. moved from below into the conveying cross section of the web, the first, frontmost container 5.1 is blocked against further movement in the web direction R. Here and also below, the conveying cross section refers to the outline contour described by the containers 5 during their movement along the roller conveyor, which is limited at the bottom by the conveying plane, i.e. the support plane 6 of the rollers 2.

Is lock 10 active, i.e. H. If it protrudes into the conveyor cross section, further movement of the first, frontmost container 5.1 is blocked. Since all the remaining containers 5 then back up directly or indirectly on the first container 5.1 by colliding with one another, the entire row of containers is blocked as a result.

A pushing and locking element 20 of the removal device is arranged on that longitudinal section of the web 1 on which the container 5.1 is located. Essentially, the pushing and locking element 20 is a plate which extends below and along the web 1, at one end of which the lock 10 already described above is formed, and at the other end of which a retaining projection 21 is formed. Preferably, the barrier 10 and the retaining projection 21 are integral parts of the plate.

The container is removed through a targeted interaction between the pushing and locking element 20 and the at least one operating arm 16 of the storage and retrieval unit 15. Both together therefore form the removal device.

By moving the push and blocking element 20 in relation to the stationary track 1, the retaining projection 21 can be moved into the conveying cross-section by lifting it and out of the conveying cross-section by lowering it. Likewise, by moving the push and blocking element 20 in relation to the stationary track 1, the barrier 10 can be moved into the conveying cross-section by lifting it and out of the conveying cross-section by lowering it.

The movement of the pushing and locking element 20 is derived from the movement of two operating arms 16 of the stacker crane 15 by coupling. Through a temporary coupling, the operating arm 16 takes the pushing and locking element 20 with it when it is moved horizontally against the web direction R.

The movement of the pushing and locking element 20 is only approximately horizontal. Strictly speaking, it is a superimposed movement of a horizontal and a pivoting or rotating movement.

To achieve the superimposed movement, the push and blocking element 20 is part of a parallelogram or trapezoidal arrangement, which is defined by four pivot points 31a, 31b, 31c, 31d. The pivot points 31a and 31c are located on a first pivot lever 32 arranged near the removal end 3, and the pivot points 31b and 31d on a second pivot lever 33 arranged further up the track. The number of pivot levers can also be larger and the number of pivot points accordingly, but a movement approximating a parallelogram guide is already achieved with the two pivot levers 32, 33. The pivot lever 32 near the removal end 3 connects the stationary point 31a with the first pivot point 31c arranged on the push and blocking element 20, and the pivot point 31b and 31d on a second pivot lever 33 arranged further up the track. The pivot lever 33 arranged downwards connects the fixed point 31b with the second pivot point 31d arranged on the pushing and locking element 20.

As with a trapezoid, the connecting line 32A of the two pivot points 31a and 31c of the pivot lever 32 is not parallel to the connecting line 33A of the two pivot points 31b and 31d of the pivot lever 33. 1 shows that the connecting lines 32A, 33A meet at a location above the track 1.

The different orientation of the connecting lines 32A, 33A means that when the pushing and locking element 20 moves upwards on the web, i.e. against the web direction R and against the force of a return spring 39, the push and locking element 20 formed at one end lowers from a certain section Lock 10 comes, whereas the retaining projection 21 arranged at the other end of the pushing and locking element 20 lifts. On the other hand, at the beginning of this movement path of the pushing and locking element 20, the lock 10 is activated, whereas the retaining projection 21 is not yet activated.

This property resulting from the movement geometry of the thrust and locking element 20 is exploited as part of the removal process described here.

In the exemplary embodiment, the thrust and locking element 20 is driven via a lever 35 which is coupled in a rotationally fixed manner to the rear pivot lever 33. The lever 35 is mounted with its lower end at point 31b, whereas its free upper end is designed for contact with an operating arm 16 of the storage and retrieval unit 15, which will be described in more detail below. It is advantageous if the lever 35 is provided with a freely rotatable roller 36, against which the operating arm 16 can first abut with an end face 37 formed at its free end and then push with little friction.

Of course, the operating arm 16 can also work directly against the pushing and locking element 20 instead of working against the lever 35. In this case, the role 36 is mounted directly on the locking element 20. But even in this case, a purely horizontal extension and subsequent return movement is sufficient for the operating arm 16.

To remove the first container 5.1, the stacker crane (RBG) 15 is arranged to be movable in several coordinates in an alley 7, which extends transversely to the removal end 3 of the web 1. The storage and retrieval device 15 can be positioned opposite each individual lane 1 of the flow warehouse in order to remove containers from the lane in question.

Part of the stacker crane 15 here are two operating arms 16 coupled to one another. These can be retracted against the web direction R and extended in the web direction R, with one operating arm on one side and the other operating arm on the other side of the container 5.1. The path direction R should be understood to mean that direction in which the containers 5 move downwards along the path 1 under the influence of gravity.

The operating arms 16 are each provided with a driver 17 at their free end. The driver 17 is designed to be movable into the conveying cross section in order to reach behind the first container 5.1 for pulling it out of the roller conveyor 1.

The movement of the driver 17 is preferably a pivoting movement originating from a servomotor in the RGB. The pivoting movement takes place about an axis 17A arranged on the operating arm 16 and extending parallel to the operating arm.

The procedure is in the 2-6 shown. These show the individual stages of the process in their chronological order.

In 2 the starting position is shown. The storage and retrieval machine 15 is in a position opposite the removal end 3 of the roller conveyor 1. The lock 10 is active and blocks the first container 5.1 so that all other containers back up against it. The retaining projection 21 is lowered, i.e. inactive.

In 3 the operating arm 16 extends horizontally against the web direction R, with the end face 37 of the operating arm 16 at some point abutting against the roller 36, and from then on a corresponding movement of the pushing and locking element 20 occurs, whereby the retaining projection 21 between the first 5.1 and second 5.2 container lifts and becomes active while the barrier 10 continues to block.

The 4 shows the state of maximum displacement of the pushing and blocking element 20. The retaining projection 21 blocks the second container 5.2 in the area with level 4 ( 1 ) provided front edge, whereas the barrier 10 has already lowered itself, so that the first container 5.1 rolls towards the removal end 3 under the influence of gravity.

In the resulting distance A between the back of the first container 5.1 and the front of the second container 5.2, the driver 17 pivots about the axis 17A ( 1 ) a. The driver 17 therefore engages behind the first container 5.1, and when the operating arm 16 moves back, it actively pulls the first container 5.1 onto a horizontal container shelf of the storage and retrieval unit 15.

5 shows for the retraction of the operating arm 16 that the thrust and locking element 20 acted upon by the return spring 39 also moves in the path direction R. The retaining projection 21 still projects into the conveying cross section and holds back the second container 5.2 and the containers behind it.

In 6 the pushing and locking element 20 has reached its initial position again. Shortly beforehand, the retaining projection 21 lowered and became inactive, meaning that all containers still on track 1 can move forward under the influence of gravity. The first container 5.1 is located on the container shelf of the stacker crane 15 and is ready for further removal.

Reference symbol list

1

Railway, roller conveyor

2

Rolling, rolling

3

end of withdrawal

4

Level

5

container

5.1

first container

5.2

second container

6

support level

7

Alley for the stacker crane

10

Lock

15

Storage and retrieval machine (RBG)

16

Operating arm

17

taker

17A

axis

20

Push and locking element

21

Retention projection

31a

pivot point

31b

pivot point

31c

pivot point

31d

pivot point

32

Swing lever

32A

connecting line

33

Swing lever

33A

connecting line

35

lever

36

role

37

front side

39

Return spring

A

Distance

L

length

R

Path direction

Claims (11)

Method for removing individual containers (5) from a flow rack, in which the containers (5) are stored immediately one behind the other on a track (1) composed of rollers or rollers (2), which go to the removal end (3) and there into the conveyor cross section movable lock (10) is inclined downwards, the removal being carried out by a storage and retrieval device (15) which can be positioned opposite the removal end (3) and which has at least one operating arm which can be extended counter to the web direction (R) and retracted with the web direction (R). 16), characterized by the steps a) when the lock (10) is active, extending the operating arm (16) along the first, frontmost container (5.1) until there is contact between the operating arm (16) and a movably arranged thrust - and locking element (20); b) further extending the operating arm (16), taking with it the pushing and locking element (20), which in turn takes the first (5.1) or the second (5.2) container with it; c) deactivation of the lock (10) and thus release of the first container (5.1), the second container (5.2) being held back by the pushing and locking element (20) at the time of deactivation or immediately afterwards; d) Moving back the operating arm (16) and transferring the first container (5.1) from the track (1) to the stacker crane (15). Procedure according to Claim 1 , characterized in that the pushing and locking element (20) carries the first container (5.1), the lock (10) being the driver. Procedure according to Claim 1 or 2 , characterized in that during the further extension of the operating arm (16), a retaining projection (21) arranged on the pushing and locking element (20) moves between the first and the second container into the conveying cross section. Procedure according to Claim 3 , characterized in that the retaining projection (21) maintains its position, which has moved into the conveying cross section, at least until the operating arm (16) is moved back. Procedure according to Claim 3 or 4 , characterized in that the retaining projection (21) is moved into the conveying cross section by a lifting movement and out of the conveying cross section by a lowering movement. Procedure according to one of the Claims 3 until 5 , characterized in that the distance between the barrier (10) and the retaining projection (21) is equal to the length (L) of the containers (5). Procedure according to one of the Claims 3 until 6 , characterized in that both the lock (10) and the retaining projection (21) are formed on the pushing and locking element (20). Procedure according to Claim 7 , characterized in that the pushing and locking element (20) carries out a movement similar to a parallelogram guide. Procedure according to Claim 8 , characterized in that the movement approximating a parallelogram guide is carried out by means of a trapezoidal arrangement, in which the connecting lines (32A or 33A) of the trapezoid points (31a, 31c or 31b, 31d) arranged one above the other are at a location above the path (1 ) meet. Method according to one of the preceding claims, characterized in that after deactivation of the lock (10), a driver (17) movably arranged on the operating arm (16) moves into the resulting distance (A) between the first and second container, and that the driver (17) takes the first container (5.1) with it in the web direction (R) when the operating arm (16) moves back. Procedure according to Claim 10 , characterized in that the driver (17) pivots from the side into the resulting distance (A) between the first and second container.

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