DE2642136A1 - SHELVING SYSTEM FOR HIGH STORAGE DENSITY WITH STACKING CRANE - Google Patents

Description

BL-Lv /; BACH · Wf

PATENT LAWYERS IN k- '. UiMCHEN AND V / itGBADEN

Postal address Münctic-n: Palsnlconsuit a München 60 Pa: ir; ri.i? Elraße 43 lrloinn (03?) BSSt ₁ ^ i iHaS-Ί'Μ Telex f; 3 212313 Postal address Wiesb .-. Risi: Pa! ° n. tconsi'I '6? Wiesbaden Scmopf-orger Slraße 42 lW:?! O ⁿ . (06121) '· <> l Ο.'561993 i ·.? · .- 0i-'S6? 37 American Chain Sc Cable Compare Inc.

Connecticut Avenue

Bridgeport, Connecticut 06602, U.S.A *

Shelf system for high storage density with stacking crane

The invention relates to a Regalanlagc after Preamble of claim 1.

In'stapelkrananlagen loads or goods are a plurality from storage positions of a storage shelf supplied or removed from there, so that it is necessary to stack the iran to move horizontally and the table vertically in order to depend of signals to control the selected positions. The positioning system usually provides the required Information to control the drive of the crane and to move the crane at a controlled speed in the right direction so that an end position or position is finally reached. Today's positioning systems are usually based on incremental counting or discrete address identification, but no inter-address identification takes place.

The encoders in these systems are expensive and prone to failure.

Munich: Kramer Dr. We: or Hirsch - Wiesbodor .: Blumbach - Dr. Borgen - Zwimer

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The mechanical drives are necessarily designed for the specific application, have very tight manufacturing tolerances and must have largely backlash-free gears. The device for imparting the movement to this drive is usually carried out via a parasitic drive using a sprocket which is rotated by engaging a stationary roller chain that is laid along the path of the stacking crane or the table, if the stacking crane is moving, does the sprocket rotate and give a rotary motion to the encoder, in steps? which are roughly equal to the pitch of the chain. To be precise, the roller chain is quite expensive and requires special construction to accommodate expansion, _etc.

In an incremental or step system there is no fixed relationship to the original starting position. One Interrupting the central power supply therefore leads to the loss of the data structure, which can only be achieved by returning to a known position can be recovered.

Systems with discrete addresses do the shifting of the Crane in one of the discrete address positions or locations required to obtain the positioning data relative to the target address. Da position information regarding inter-address Not known, it has become difficult to find out for one central system to receive the required feedback in order to determine the correct acceleration or deceleration profiles for

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to maintain optimal cycle efficiencies *

Most scanning systems use a Y- or a U-shaped one Scanning method (V or U shaped reading technique) to obtain a Avoid ambiguity when reading a code track at the transition points on the scale. That is why there have been 2n-1 scanners required, where η indicates the number of tracks «The smallest Interval requires only one scanner, while each of the other scanners requires a pair of scanners, the lateral distance equal to half the length of one field the respective code track is «. This method becomes impractical in a system with a large number of lanes »

The invention is therefore based on the object of a shelving system to design the generic type in such a way that the Disadvantages of systems with mechanical encoders or of optical systems using the V- or U-shaped Able technology to be avoided »

The task is based on the measures of the main claim solved and designed and developed by the further measures of the subclaims.

With the new racking system, the relative position information is driven in the correct direction and with the stacker crane the right speed in terms of optimized

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Acceleration and deceleration of the livr.rn: αααο: h obtained that a strip with an imprinted ": · Gr ^ y- ~ wü'-i. Pattern of alternating dark and. Light sectors iv. Ode."; .-: ···· calibration "is used, whereby the smallest Intc interval between clj -: ii-ii areas is twice the size of the minimum resolution bicWigt. The positioning system uses a scanning system, ordering from pre-focussed pairs, each with an optical source and a sensor directed to an associated track having the desired resolution or granularity. The system can be provided for any direction of movement, that is, for a horizontal, a vertical and a further horizontal displacement of the table, if necessary.

An exemplary embodiment of the invention is based on the drawing described. It shows:

FIG. 1 is a view of part of a shelving system to which the invention is applied; FIG.

FIG. 2 shows an enlarged detail from FIG. 1 along line 2-2 Scale;

3 is a view of a stacker crane from the direction according to arrow 3 in Fig. 2;

FIG. 4 shows a section of a Gray code pattern which is shown in FIG is used in the new system;

Fig. 5 shows a circuit arrangement of a scanning device;

6 is a view of a scanning head, partially in section;

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FIG. 7 shows a block diagram of a control system, FIG. 8 shows a side view of a shelf of the shelving system,

in which the new system used vrlra ;. Fig. 9 shows a detail of the shelf according to Fig. 8; and FIG. 10 is a diagram showing the manner in which how to calibrate the system along a series of memory locations.

The new system is intended for use in conjunction with a shelf storage (Fig. 8), which has a plurality of parallel having mutually arranged vertical racks in rows 20, whereby in the horizontal and vertical distance compartments can be determined with positions P. As can be seen from Fig. 1, several shelves can be provided, between which each a ravine-like shelf aisle is located. The rack aisles are used by one or more storage and retrieval vehicles that are referred to here as crane 21 and run on upper and lower rails 22, 23. Each storage and retrieval vehicle or crane 21 has a mast 26 and a table T, - the one along the mast is movable and can be extended telescopically in the horizontal direction in order to store goods in the desired compartment P give up or take over. The storage and retrieval vehicle bzv /. The crane has a running gear housed in a base 25 Motor 27 for horizontal travel and a motor 28 with chain-sprocket gear for vertical drive of the table T. (Figures 1 to 3). The table T is in the horizontal direction, for example by means of a motor and a chain drive, drivable as it is known.

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According to the invention, the strip 31 with a Gray code as shown in FIG. 4 is along the horizontal web 2? and a similar strip 32 is laid along the mast 26. The Gray code strip 31 or 32 has "alternating" dark and light patterns, namely only one pattern element changes per interval or level, ie, one bit in the position code. In other words, the path shown has nine tracks or locations per position. however, a change in the brightness of the pattern occurs only in one track _f when stepping from one position to the other, which represents the minimum resolution interval. All patterns repeat the sequence if necessary. For example, if the minimum interval is 1/8 inch ■ = 3.17 mm, the highest order track repeats every 64 inches. In the example given, strips 64 inches long could be made and butted together along the path of the positioning system. Needs at the joint; no special care is taken except that the transition area between successive strips must occur within the minimum resolution interval, ie, one-eighth of an inch in the example given.

In connection with the strip 31, a scanning head 33 is on Crane and a scanning head 34 on the table T for the strip 32 (FIG. 3). The scanning heads 33, 34 are similar and have, as FIG. 6 shows, a number of Infrared light sources 35 and sensors 36. The infrared

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Light sources 35 direct their light onto an assigned part the track of the strips 31, 32, corresponding to the position of the crane or the table with respect to this strip .; and öio Sensors 36 scan the backscattered light «,

Referring now to Figure 5, there is shown an electrical circuit for detecting a single track or "channel" of the system. The ira Scanning head 33 provided infrared light source 35 is a diode formed, the coded strip 31 has reflective and non-reflective locations in accordance with the coding and the infrared sensor 36 responds thereupon. An operating voltage source 37 supplies current through a limiting resistor 38 to the diode 35. The infrared sensor 36 is connected to a Preamplifier and Schmitt trigger 39 connected, thereby the required shaping of the pulse and signal level increase performed for a long-line transformer 40 is required that the digital information of the scanner to a drive control device 41 v / eiterenders.

7 shows a typical control circuit as a block diagram for each individual track. The readhead 33 or 34 supplies the digital position information in Gray code to the drive control device, which acts as a comparator is shown, which in turn, the information in the natural binary code or another suitable for comparison Code converts and compares it with the command information obtained from a command source 43. Storage locations or locations are sent to the comparator 42 by a memory

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source of supply 44 supplied. This source can be from punch cards or punched tape, data connections from remote data sources or computers, from a keypad or memory. The data to be compared are then used by the control device 42 to determine the direction and the optimum speed of the required drive, the commands of which are supplied to the motor drive 27 or 28.

In the event that the table T in several horizontal positions can extend relative to the mast, an additional system can be installed with a gray code strip along the part of the Table would be provided and another scanning head 53 on the movable part of the table would send the data to the comparator 42 give, which in turn controls the table drive 54.

The use of the positioning system according to the invention enables any coordinate point to be determined in the X and Y directions corresponding to the possible minimum resolution, as explained in connection with FIG. 4. However, every Compartment previously identified as target point (storage removal point), i.e. its position can be measured and determined with the more or less precisely laid scanning scales 31, 32 * If a facility exists to identify the exact location to be headed for while the device is in motion, the calibration process can be carried out automatically by an electronic logic circuit to be determined. One method is to use a retroreflective stop 50 or strip

* ("Calibration").

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ϊζώά a :: *: Tiso? i "attached device from photo source / sensor 1> 1 f" ·. α Auoc'lag 50 scans, the range of positioners ..: dsr addresses is recorded in which the stop is misdirected: .-:., -: -! is. This calibration or dimensioning process proceeds as follows (Fig. 10): It is assumed at one end of the system (r; ri, renie X dimension) and the lowest range of the target locations must be determined. "The" table is then shifted horizontally and all locations are recorded when a stop is scanned. These X coordinates are temporarily saved together with the Y coordinates of the scan. The table is then shifted upwards in the Y coordinate by a given increment Δ »and returns to the original X position, whereupon all stop positions are scanned and recorded again. After Y incremental counts, all keystrokes are sampled and recorded for the particular level or range of Y digits. The exact address (center point of the keystroke) can then be calculated by calculating the center X and Y readings from the previously recorded data of each sample and this information is held in memory 44.

The invention thus enables savings in terms of construction, operation and the additional equipment required. By giving the opportunity is created to precisely and easily locate the crane at any point along the shelf, it is possible to to reduce the size of the compartment openings compared to

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adorn and the tolerance requirements for Ik.-rstd! '. , ■ ·. ; j rro. vtsvmimin, which saves additional costs iverdtv-i.,. ■ '■' .-; Mügl.ldikeit the positioning enables the an or dr ::.:; ..; _ / vrcchieCiu large openings in optimal places within - .; i- ~ r shelf structure door, in contrast to the usual practice »The g?. ^; s control of the accelerator belt: g and delay aor Zylelürjze.it to the Going to a given spot is because of the small irikrement the addressing device given to the system Strip "is used, for example from paper with a printed qray code, it can be inexpensive in components manufactured and installed. The assembly-wise arrangement des..Codes on your stripe avoids problems with Expansion joints, in which the overlapping of the components of the strip are approved during installation, The reading devices are simple photoelectric scanners, unlike complicated, gear drive & neri encoders, which also leads to simplification and economic operation »

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Claims (5)

.--. ί-ΓνϊΒΛν: Η · WL'L ^ -R. BUR (SEN KRAMER. ■ "■ '- ■ ^.: ZWIRNER · HIRSCH - "- ΡΛΙE-NTANWALTt IN MUNICH AND WIESBADEN FoM.ii: c- -.-- · Mü.'iditäji: Palcnlconb'.iil 8 Münchei, CO F: <jdec!; Estraße 43 Telephone (C89) 8S36Oi / 883604 Telex 05-212513 rt: sicicfrc% c ■ / .V ^ 'den: PcHenitonsu !! 62 Wiesbaden Somenberger Strasse 4? Telephone (06171) 5629 43/561998 Telnx 04-1R6 237 ■: \ u-3tS.; ':: j:, i Chain &. Cable cowpanyy. InQ, Connecticut Avenue Bridgeport. Connecticut 06602, U ", S.A. ■. Pa te η t a η s ρ r ü c h e Shelf system with a shelf ₉ polygamy s one more saw! of positions which are separated by horizontally from each other in. Distance - standing memory areas are defined _? with a stacking crane, with a path _f which extends horizontally along the shelf and on which the stacking crane can be moved, with a drive for shifting the stacking crane along the path, characterized in that a scanning rake (3.1) is laid along the path , the one. Gray code arrangement including alternating dark and light Ihkrementen, each increment defining a bit that an infrared source (53) is provided on the stacking crane (21) so that it directs radiant energy onto the scale (31) that an infrared sensor (33) is provided on the stacking crane (31) for scanning the area illuminated by the infrared source, that a comparison ©: ?? ■ (42) the scanning of the infrared sensor (33) nit- Qixmr main position according to the desired- Lags; des Stapelki-'ans .compares, uiid that a device (43) WunrJ.en: Krarnpr ■ Tues. Weser · Hirsch —Wis ^ bathing: Blumbach · Dr. Bergor, ■ Z-, virner 70 3814702 63 on the Konpara'lv. (^ C) BiirA ^ i ^ t imi the drive (27) of the stack fire (2 . 2. Shelf system according to /iii.- language I ₅ .
thus gc ■ ": e π η ζ eich η et that optical /insel·.".I.~gs (50) are provided for cooperation with an optical scanning on this stacking crane and table, the jsv. ^R eils have retro-reflective facilities on the track or on the shelf. 3. Shelf system according to claim 1 or 2, characterized in that that the shelf has storage areas arranged at a vertical distance from one another, that a table (T) and an associated one Table drive (29, 30) provided for moving the table on the stacking crane along a vertical path are that a second scanning scale (32) is laid along the vertical path, that a second scanning head (34) including a second infrared source and a second scanner is provided that the comparator (42) compares the scanning of the second infrared sensor (34) with a main position, and that corresponding to that Comparison of a device applied to the drive (29, 30) of the table. 4. Regalari-location n?.; ^; 'j a rl? ··? Claims 1 to 3 "characterized £ s lc ο η η ζ eic Ii et η that the Posibi .-- ·, the memory locations due to the more or wsniß or ^ r precisely laid Abtastmaßstäbe (31 _y 32) detected (Anrchläge 50) and storable (memory 44). 5. Shelf system according to claim 4, d a d u r c h g e k e η η ζ e i c h η e t, that a mean value from several scans can be stored as the position of each memory location (P) (FIG. 10). BAD Origi _NAL