DE2308450A1 - HIGH-RACK STACKER AND SHELVING STACKING SYSTEM - Google Patents

Description

DI PL.-I NG. OR KRETZSCH MAR _{2 HAMBURG} ι

AT THE STROHHAUSE 3 * PATENTANWALT RUF O * lt / 2 * 67 3

H. Jungheinrich & Co. K / Stö / hp / Lo -

Machine factory

Hamb urg

Lawyer file:

High rack stacker and shelf stack!

The invention relates to a high-bay stacker with a lifting frame on which a lifting carriage can be moved, on which a boom with a load carrier can be moved laterally, if necessary, on the vehicle Elements of a positioning device are arranged to a certain position in a shelf stacking system with shelves of the vehicle.

The invention further relates to a shelf stacking system with shelves which have compartments arranged one above the other, wherein elements of a positioning device are provided in relation to a vertical row of compartments, and with a high-bay stacker.

A problem with rack stacking systems is that the Stacking vehicle is stopped in front of a shelf in such a way that the load carrier moved upwards is exactly in front of a storage compartment is set. For this purpose, various designs are known, which with electro-optical, magnetic

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ACCOUNTS DRESDNER BANK, ACCOUNT NO. 922937 »· POST CHECK HAMBURG NO. 1V3766

or mechanical facilities work, one of which is on each storage compartment and another of which is control is arranged on the load handling device. Such a design is extremely complex because it is a storage rack has many storage compartments and all storage compartments must be equipped with appropriate elements. Not just the stake on such facilities is great per se, but also the expense of maintaining elements that are very difficult to access. This results in a considerable susceptibility to failure of such known systems.

Furthermore, devices are known between the chassis of the stacking vehicle and certain points of the rack aisle are arranged, next to which there are columns to the side of storage bins. Corresponding devices can also be arranged next to the aisle at the bottom of the shelf be, but in each case a positioning of the chassis of the stacking vehicle takes place. For example, in the mechanical contacts are provided in close proximity to the elements of such positioning devices, or Stops that interact mechanically and trigger a signal when the vehicle reaches a certain position.

These known devices do not take into account that the mast, especially in high-bay forklifts, under the Load bends. The absolute setting of the vehicle to a column of storage compartments arranged one above the other is guaranteed therefore not that the load carrier is actually brought into the correct position for stacking. It is Also take into account that the deflection depends not only on the weight of the load, but also on the respective stacking height is dependent.

It is possible, according to the first-mentioned known embodiment, after the load carrier has been extended on the mast or the extension of the mast close the vehicle

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maneuver. In this case, however, the disadvantageous expense mentioned above must be accepted.

The invention is based on the object of the stacking precision by selecting the stopping point of the stacking vehicle independently the stacking height and the load weight while avoiding the effort of positioning elements on all storage compartments to improve without the need to steer the vehicle back and forth, i.e. an automatic one should also be used Operation be possible. This is not possible if a control is attached to the load bearing device one after the other In different heights of storage compartments arranged one above the other passes by elements of a positioning device .

The object on which the invention is based is achieved in that a control element of a positioning device & m Lifting carriage and / or load carrier is provided and with another element of the positioning device at the lower area of the mast cooperates. This gives the possibility that the load carrier shortly before approaching the storage compartment is extended to its full height, so that the control element with respect to the chassis taking into account the absolute position depends on the lifting height and load. A corresponding signal transmission between the other element and the control element causes the precise positioning of the load carrier, depending on the respective Conditions can change the position of the base frame of the vehicle.

In one embodiment, the invention can be applied entirely to the high bay stacker be realized in that the other element is arranged on the frame of the vehicle. Thereby exists the possibility of taking into account the mast deflection by means exclusively arranged on the vehicle. There is

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in a particularly expedient embodiment, the other element from a series of reflector elements or sensors, which interact with the control element in the area of movement of the mast deflection. Here, the control element can be moved be hung up. It is preferred, however, that the control element is rigid, optionally on a boom, in the area of the upper end of the mast is arranged and down on the row arrangement of the other element in such a way is directed that the control element with a straight mast with a sub-element at one end of the row of elements and with increasing deflection of the mast, the series interacts progressively with other sub-elements of this series.

In one embodiment, when the other element is formed the driver of the stacker truck draws a conclusion about a route that is still required to the correct one from reflectors Drag positioning. According to a particularly advantageous embodiment, however, is between the in particular on the Frame located other element of the positioning device and the vehicle drive a control connection with a control loop provided to move the vehicle according to the mast deflection. This control loop can, for example, be a counting device or the like.

In another version, in which other elements are attached to shelves a positioning device are arranged, the invention provides that a number of storage surfaces arranged one above the other of a shelf only another element of a positioning device in the area of the lower storage compartment, preferably on the shelf aisle in front of the shelf, and that the signal direction between the control element and the other element each is directed vertically.

Various means can be provided for the vertical signal direction. It is preferred, however, that this is done on the lifting carriage or load carrier arranged control element as a pendulum

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is hanged. This automatically finds a vertical setting instead of. Damping means in the suspension can ensure that swaying during braking of the vehicle is omitted.

According to the preferred embodiment, the below are the Shelves or preferably elements arranged on the shelf aisle designed as reflectors, the control element continuing on the lifting carriage is preferably connected to the drive and / or to a brake arrangement.

In this context it should be pointed out that in this embodiment it is absolutely optical, acoustic or electrical Signals can be sent that can propagate over a certain distance. Optical signals are preferred because mirrors can then be arranged as reflectors, and so is the impact of a signal from the driver of the vehicle can be observed by sight, so that manual control is possible in this context. An automatic control however, it is preferred.

In this context it is expediently included that the control element as a receiving device for light signals and the elements arranged on the shelf aisle or the frame as reflectors are carried out on which the incidence of a signal can be observed.

According to a particularly advantageous embodiment, there is a signal amplifier connected downstream of the control element and the traction drive and / or a brake arrangement, a control circuit is arranged, which is a function of the received Signals triggering forward and reverse control of the vehicle. This allows the vehicle to adjust itself, where, for example, after one or more recorded signal pulses, the one or more caused by driving over the reflection

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elements go out, a reversal takes place, which means a reverse drive of the vehicle triggers until a reflected signal pulse is received again. This process could be multiple be repeated.

In order to improve a setting, reflector elements with certain subdivision characteristics and / or reflection intensity are used executed in the direction of travel to control the drive and / or the brake assembly. This can achieve that a received pulse of a certain characteristic or intensity already slows down the drive leads to a gradual application of the brakes, so that the vehicle comes to a standstill at a precisely intended point, which, as mentioned, does not depend on the absolute position of the base frame, but on that of the load carrier.

It is preferred that the arranged on the lifting carriage or load carrier Control is designed as a transmitting and receiving device, so that on the shelves or the shelf aisle or frame only reflector elements or sensors are necessary.

The shelf stacking system designed according to the invention, which works together with a high-bay stacker, on which only the control element is arranged, is characterized in that in the shelf stacking system each vertical row of compartments only one Element of a positioning device for the high-bay stacker is arranged.

The invention is explained below using an exemplary embodiment which is shown in the drawing.

1: a schematic side view of a

as a high-bay stacker vehicle, with two different embodiments be explained;

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Fig. 2: a top view of Pig. I, with the vehicle in an aisle between two rows of shelves are arranged;

3: a schematic representation of a control circuit;

Fig. M: a special embodiment a reflection element.

In all figures, the same parts are denoted by the same reference numerals. However, they are only for the invention essential elements are shown.

The mobile high-bay stacker 1 has a base frame Wheels 2, 3, Ί »of which the latter is steerable and for example is driven. This base frame has a vertical mast, designated as a whole by 5, which can be designed as an extendable or one-piece mast. Means known per se are provided for this. At A lifting carriage 6 is arranged on this lifting frame so as to be movable by drive means known per se, possibly in connection with drive means for extending the lifting frame. Furthermore, a boom 7 is arranged on the lifting carriage so as to be laterally displaceable and on which it can be pivoted about a joint 8 a load carrier 9 is mounted. This load carrier 9 is designed, for example, as a fork carrier with the load forks 10 and carries a load 11.

A driver's seat 12 with steering and control elements 13 is also located on the chassis of the high-bay stacker 1 are in the high-bay stacker in a manner not shown drive devices for the wheel 4, energy sources

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provided for the drive devices and brake assemblies. For example, there are lateral guide rollers 14, 15, 16, 17 at the bottom of the vehicle, which can be guided laterally on rails so that the vehicle itself cannot be steered in the shelf aisle, which is denoted by 18 in FIG. 2 needs. Outside the rack aisle 18, the forced steering caused by the guide rollers 14 to 17 is locked so that the vehicle can be moved freely.

From Fig. 2 it can be seen that the shelf aisle 18 is limited by the shelves 19, 20 indicated only by their fronts. Shelf 20 shows a storage compartment 21 into which the load is to be driven. Such subjects are provided in the Stacking height arranged one above the other. They can be provided at a height of up to 20 m and more.

From Fig. 1 it can be seen that, especially with large stack heights, the lifting frame, which in its vertical position above with 5 '', depending on the extended Height and with weight of the load 11 deflects, i.e. swings out, as indicated by the position 22. This bend can be relatively strong, so that according to FIG. 2 accordingly the arrow 23 in the compartment 21 load to be introduced butts against the side of the shelf. The aim is, however, that between the load and the lateral compartment delimitation a free space 24, 24 'which is as equal as possible on both sides is maintained.

In the rack aisle 18 elements 26, 27 »28 ... of a positioning device are arranged. These elements are one stacked row of shelves 21 in a matched to the particular design of the vehicle Way assigned. In the vehicle, for example, a control element 29 is suspended on the boom 7 so that it can oscillate about an axis 30, which runs transversely to the longitudinal axis of the vehicle or parallel to the transverse extension of the mast 5. This

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So control takes on the deflection of the mast part and remains aligned vertically at all times. This control element 29 is, for example, as a transmitting and receiving device so that it sends a signal vertically downwards in accordance with the row of arrows 31 ', as far as this is concerned If the signal hits a reflection element 26 to 28, it is reflected in accordance with the row of arrows 32 and perceived by a receiving arrangement in the control element 29. To that extent is independent from the amount of deflection of the mast, the signal reception in the control element only from the setting of the load 11 dependent on the reflective element. Receipt of a reflected signal triggers a pulse. This impulse is via a line 33 to an amplifier 34 in the chassis transfer. This amplifier is connected upstream of the traction drive and a brake arrangement when an automatic setting is used is provided. However, this amplifier can also give an acoustic or visual signal for the driver of the vehicle, In order to trigger control reactions, it is essential that the impulses of the control element 29 are not dependent on a specific position of the vehicle 1 in relation to the shelf compartment, but on the absolute setting of the load to the vertical row of stacked shelves, one of which is controlled will.

The signals sent out by the control element 29 can, if they Visual signals are, according to the dash-dotted line, perceived by the driver of the vehicle when they are on the reflection element 26 are reflected because a light effect occurs. Invisible signals such as Sound signals or electromagnetic signals of high frequency and strong focus, such as signals broadcast of gallium areneid diodes or laser beams,

As can be seen from FIG. 2, the reflection elements 26 to 28 can be arranged in the region of each side of the rack aisle 18 to come into its own, depending on which shelf

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should be charged. The reflection elements can extend in strips across part of the aisle.

In Pig. 2 is the element corresponding to the reflection element 26 marked on the other side with 26 '. There is also the option of using only a narrow reflective element, such as denoted by 36, approximately on the center line of the shelf aisle 18 to be arranged, in which case a certain inclination can be provided, and indeed the axis in its parallel alignment remains, but is arranged with their ends at different heights. When using optical signals they will be stroboscopic Lightning signals, for example also intermittently operated gallium arsenide diodes, are preferred.

Fig. 3 shows the amplifier 34 receiving signal pulses via line 33 are fed. The amplifier 34 is about a Effect line 37 with a control circuit 38 in connection, the the traction motor 39 is connected upstream and into which the manual control 40 is also inserted. The control loop 38 can in one embodiment bring about a shutdown of the drive motor 39. In another embodiment, it causes a forward and Reverse control until the exact stopping point is automatically reached.

The amplifier 34 is also available via an active line 4l with a brake assembly 42 for the wheels 2, 3, 4 in connection to effect a gradual brake application or a brake control, those via an action line 43 also from work of the control circuit 38 for the traction motor 39 is influenced. the Brake arrangement 42 can also be actuated in the usual way via a linkage 44, but with a shift Automatic the effect of the foot and hand control from the amplifier 34 is overridden.

Fig. 4 shows a reflection element 45, which is elongated in the direction of travel, in the middle area a position

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kidney section 46 and before and after reflection sections 47, 48, 49 or 47 », 48 ·, 49 ^{f of} different widths and / or different distances, which reflect signals of different intensities. This enables the automatic control to be triggered before the exact setting of the vehicle is reached, so that the stopping point can be approached with precise precision without driving forwards or backwards.

In Fig. 1, another embodiment is explained on the high-bay stacker 1 at the same time. At the upper end of the mast in position 5 ¹ , a control element is arranged on a boom 50, which in this case is held rigidly to the mast and, when the mast is arranged vertically, a signal beam 54 is sent to a row arrangement of the other element made up of the sub-elements 52, 53 .. directs. It can be seen that in this case one end of the row arrangement is acted upon by the signal beam 54 first. When the mast 5 bends into position 22, the assembly 50, 51 migrates accordingly, so that - assuming that the greatest possible deflection is shown at 22 - the signal beam 54 'reaches the other end of the row arrangement 52, 53. In this embodiment, too, an automatic system can be achieved in the manner described if the sub-elements either feed into a control loop individually or if they return modified signals. There is the possibility of aligning the sub-elements accordingly when arranging reflectors, because each specific deflection of the lifting frame is also assigned a specific signal beam direction. Even if the sub-elements are designed as reflectors, they create a scale on which the driver can read how far the vehicle must be driven for correct positioning.

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Claims (14)

Dl PL.-I NG. O. R. KRETZSCHMAR 4960450 2 HAMBURG t AT THE STRf PATENTANWALT RUF Ο · Π / 2 * 67 43 "K / Lo - H. Jungheinrich & Co, Maschinenfabrik Hamburg Lawyers' files: 4241 patent claims 1. High rack stacker with a mast on which a lifting carriage is movable, on which optionally laterally displaceable a boom with a load carrier is movable, wherein elements of a positioning device are arranged on the vehicle to in a Shelf stacking system to achieve a certain position of the vehicle with shelves, characterized in that a control element (29 »5Ό of a positioning device is provided on the lifting carriage (6) and / or load carrier and with another element (26-28, 36, 45, 52, 53) the positioning device interacts at the lower area of the mast. 2. High rack stacker according to claim 1, characterized in that that the other element (45, 52, 53) on the frame of the vehicle is arranged. 3. High-bay stacker according to claim 1 or 2, characterized in that that the other element (52, 53) consists of a number of reflector elements or sensors that are in the range of motion the mast deflection with the control element cooperate. 409836 / 00-7-3- KONTCNi DRESDNER BANK. ACCOUNT NO. 9339 371 POST CHECK HAMBURG NO. 193766 -IV 4. A high-bay stacker according to claim 3, characterized in that the control element (51) is rigidly arranged, optionally on a boom (50), in the region of the upper end of the mast and is directed downwards onto the row arrangement of the other element in such a way that the Control element (51) is called a straight lifting ^{frame (5 1} ) with a sub-element at one end of the row of elements and, with increasing deflection of the lifting frame, the row interacts progressively with further sub-elements of this row. 5. High-bay stacker according to claim 4, characterized in that that between the particular located on the frame other element of the positioning device and the vehicle drive a control connection with a closed-loop control circuit is provided to the vehicle according to the mast deflection to proceed. 6. A high-bay stacker according to claim 1 in conjunction with a Shelf stacking system, with other elements of a shelf on shelves Positioning device are arranged, characterized in that that a row of storage surfaces (21) of a shelf (19 »20) arranged one above the other has only one other element (26-28, 36, 45) a positioning device in the area of the lower storage compartment, preferably on the aisle (18) in front of the shelf, is assigned and that the signal direction is directed vertically between the control element and the other element. 7. High-bay stacker according to claim 6, characterized in that that the control element (29) arranged on the lifting carriage (6) or load carrier (9) is suspended as a pendulum. 8. High rack stacker according to one of claims 6 and 7 »thereby characterized in that the other arranged below on the shelves (19, 20) or preferably on the aisle (18) Elements (26-28, 45) are designed as reflectors and 409836/0073 _ 2308A50 • It- that the control element (29) on the lifting carriage (6) preferably with the travel drive (39) and / or with a brake arrangement (42) is connected. 9. High-bay stacker according to one of claims 1 to 4 and 6 to 8, characterized in that the control element (29) as Transmitting and receiving device is designed for optical, acoustic or electrical signals. 10. High rack stacker according to claim 4 and 9> characterized in that the control element acts as a receiving device for light signals and the elements (26-28, 45) arranged on the aisle (18) or the frame are designed as reflectors at which the incidence of a signal can be observed. 11. High-bay stacker according to claim 8 or 9i, characterized in that that between a signal amplifier (34) connected downstream of the control element (29) and the travel drive (39) and / or a brake arrangement (42) a control circuit (38) is arranged, which as a function of received signals forward and reverse control of the vehicle triggers. 12. High rack stacker according to one of claims 4 and 6, characterized characterized in that reflector elements (45) with certain subdivision characteristics and / or reflection intensity are designed in the direction of travel to control the drive (39) and / or the brake assembly (42). 13. High-bay stacker according to claim 12, characterized in that that the reflector element (45) in the direction of travel before and behind a positioning section (46) reflection sections (47-49) of different widths and / or with different Having a distance from each other. 409836/0073 14. High rack stacker according to one of claims 4 and 7 to 13 » characterized in that the control element (29) is connected to a signal amplifier (34) which drives the drive (39) and / or the brake arrangement (42) controls. 15 · Hegal stacking system with shelves that are arranged one above the other Have compartments, with elements of a positioning device being provided in relation to a vertical row of compartments, and with a high-bay stacker according to one of claims 1 and 4-14, characterized in that in the rack stacking system each vertical row of compartments (21) has only one Element (26-28) of a positioning device for the high-bay stacker is arranged. 409836/0073 Blank page