EP0329642A1 - Handling device for shelves - Google Patents

Handling device for shelves Download PDF

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Publication number
EP0329642A1
EP0329642A1 EP89890038A EP89890038A EP0329642A1 EP 0329642 A1 EP0329642 A1 EP 0329642A1 EP 89890038 A EP89890038 A EP 89890038A EP 89890038 A EP89890038 A EP 89890038A EP 0329642 A1 EP0329642 A1 EP 0329642A1
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EP
European Patent Office
Prior art keywords
chassis
lifting carriage
drivable
lifting
traction means
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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.)
Granted
Application number
EP89890038A
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German (de)
French (fr)
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EP0329642B1 (en
Inventor
Heinrich König
Ludwig Szinicz
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TGW Transportgeraete GmbH
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TGW Transportgeraete GmbH
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Publication of EP0329642A1 publication Critical patent/EP0329642A1/en
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    • 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"
    • 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

Definitions

  • the invention relates to a device for loading and unloading with or from containers on shelves, in which a drivable, horizontally displaceable carriage carries a lifting mast, on which a drivable lifting carriage in the vertical direction by means of flexible traction means guided over the lifting mast above and below , Ropes chains or toothed belts, is held displaceably and in which a control is provided for the corresponding drives.
  • the drives for the chassis as well as for the lifting slide are arranged on the chassis.
  • a device of the type mentioned is known in which the drives of both the chassis and the lifting carriage are arranged on the chassis.
  • the power supply can easily be ensured via sliding contacts.
  • this has the disadvantage that the mass of the chassis increases accordingly, which leads to a corresponding limitation of the acceleration and also the speed at which the chassis can be moved. In addition, this also results in a correspondingly poor ratio of the useful weight to the empty weight of the chassis including the lifting slide.
  • the aim of the invention is to avoid these disadvantages and to propose a device of the type mentioned at the outset is characterized by a low mass of the chassis and lifting carriage and in which trailing cables can largely be dispensed with.
  • drives and their controls are arranged in a stationary manner separately from the chassis and lifting carriage and separate, flexible traction means guided via deflection rollers, e.g. Ropes, chains or toothed belts are provided, the two ends of each traction means assigned to the chassis or the lifting carriage being fastened to the respectively assigned part.
  • deflection rollers e.g. Ropes, chains or toothed belts
  • the possible reduction in mass of the chassis including the lifting slide also improves the ratio between the payload and the unladen weight.
  • a relatively high acceleration of the undercarriage and lifting carriage can therefore be achieved with relatively low drive powers, as a result of which there is a corresponding reduction in the start-up time of the lifting carriage for the selected rack position.
  • the deflection rollers for the two traction means can be driven by a common motor via a differential gear with a variable transmission ratio of the input on the input side to each of the two output outputs on the output side, the control being connected to the control input of the gear unit is.
  • this embodiment also enables a selected rack position to be controlled by the shortest route, ie it is not necessary to carry out the movements of the lifting carriage in the horizontal and vertical directions one after the other.
  • a structurally very simple solution is obtained if the two drivable deflection rollers of the two traction means have the same diameter and are driven by separate motors, preferably asynchronous motors, a clutch controlled by the control being provided which enables the two drivable deflection rollers to be coupled rigidly .
  • Another possibility of driving the drivable deflection rollers is that the two drivable deflection rollers of the two traction means are driven by separate motors provided with rotary encoders, which, like the rotary encoders, are connected to the control.
  • control is connected to the position sensors assigned to the individual rack positions and has a computer which, from the current position of the lifting carriage and the selected rack position, the movements for the chassis and the lifting carriage taking into account the intended limit values for the Speed and acceleration are calculated.
  • the chassis 1 is provided with running wheels 7 which run on a corresponding running rail 8 and stops 9 are provided to limit the displacement path of the chassis 1.
  • This chassis carries a vertical mast 5, along which a lifting carriage 4 is displaceable.
  • a load receiver 17 for the load 10 is arranged on this lifting carriage and can be extended and retracted in the horizontal direction by means of a motor (not shown) located on the lifting carriage 4, so as to receive or switch off the load 10 held in the support brackets 12 of the shelf 11 can.
  • a load receiver 17 can be formed by telescopic arms but also by an extendable chain or belt conveyor or a gripper and the like.
  • the lifting mast 5 is supported in the region of its free end in a guide 30 held on the shelf 11.
  • a conveyor device 13 formed by peripheral belts 31 or the like, which brings the loads 10 placed thereon out of the area of the shelf 11 or into it.
  • a conductor line 19 is provided, on which a corresponding sliding contact slides along and thus enables the energy supply to the drive of the load receiver 17.
  • a controller 28 is also provided, which controls the application of the motor of the load receiver 17, not shown. The corresponding signals are fed to this controller 28 essentially via a data light line 16, one of which is arranged in a stationary manner and the other of which is arranged on the chassis 1, the latter being connected to the controller 28.
  • separate motors 21 and 24 are provided for driving the chassis 1 and the lifting carriage 4, which are assembled with corresponding gears and drive the fixed deflection rollers 29, 30.
  • the corresponding power transmission to the chassis 1 or to the lifting carriage 4 takes place via the traction means 22 and 25, which are formed by ropes, but preferably by chains or toothed belts, in which the latter ensures a positive engagement with the deflection rollers 29, 30 and thus a slipping through is prevented.
  • the traction means 22 is fixed with its two ends to the chassis 1 and runs over the loose deflection roller 23. This ensures that the chassis is displaced along the running rail by rotating the deflection roller 29, which is connected in a rotationally fixed manner to the motor 21 or its transmission.
  • the motor 24 is in a motion-locked connection with the deflection roller 30 via which the traction means 25 is guided, the two ends of which are fixed to the lifting carriage 4 and furthermore via three loose deflection rollers 26 arranged on the chassis 1 or on the lifting mast 5 and another loose pulley 27 is guided.
  • the loose deflection rollers 23 and 27 as well as the deflection rollers 29 and 30 connected to the motors 21 and 24 in a movement-locking manner are arranged at the height of the chassis 1 outside its path of movement.
  • the controller 32 is connected to position sensors (not shown) arranged on the rack positions, which, when the lifting carriage is approached appropriately, is one of the ent Send the corresponding signal to the control system.
  • the drive of the load receiver 17 is activated so that it moves between the corresponding support rails 12 in order to either pick up or put down a load 10.
  • the corresponding commands are transmitted to the controller 28 via the data light line 16, which is also controlled by the controller 32.
  • position reports of the load receiver 17 are transmitted to the controller 32, which, depending on the lifting or lowering of the lifting carriage 5, triggers after reaching the extended end position of the load receiver 17 in order to lift the load 10 from the mounting rails 12 or to place it on the latter.
  • the conveyor device 13 or its drive 33 is also controlled by the controller 32.
  • the two motors 21, 24 are controlled separately and are provided with rotary encoders, not shown, which in turn are connected to the controller 32. These rotary encoders enable feedback regarding the speed of the respective motor 21, 24, which results in a closed control loop.
  • the controller 32 itself is essentially formed by a computer which calculates the shortest path from the instantaneous position of the lifting carriage 4 known from the corresponding signals of the position sensors and the target position selected, for example, via a keyboard (not shown) and the motors 21, 24 according to the predetermined maximum Controls values of acceleration and speed in horizontal and vertical directions. It is preferably provided that the speed and acceleration of the two motors 21, 24 are coordinated with one another such that only one is operated with the intended maximum acceleration or speed and the other is operated with values which are reduced compared to its intended maximum values to such an extent that the selected position continuously along the the starting position of the lifting carriage 4 is approached by the lifting carriage with the straight line connecting the selected position.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Automatic Tape Cassette Changers (AREA)

Abstract

Device for feeding and removing containers from shelves, in which a drivable, horizontally displaceable chassis (1) carries a vertical lifting mast (5) on which a drivable lifting slide (4) is held in such a way as to be displaceable in the vertical direction, and in which a control system (32) is provided for the corresponding drives. In order to permit high acceleration of the chassis (1) at relatively low drive power, provision is made for the drives (21, 24) and their control system (32) to be arranged in a fixed position and for the transmission of force to the chassis (1) and lifting slide (4) to be effected via separate, flexible tension means (22, 25), e.g. ropes, chains or toothed belts, which are run over deflection pulleys (23, 26, 27, 29, 30) and the two ends of which are fastened to the chassis (1) or to the lifting slide (4), deflection pulleys (26) for the tension means (25) being arranged in the bottom and top area of the vertical lifting mast (5) for the lifting slide (4). <IMAGE>

Description

Die Erfindung betrifft eine Einrichtung zur Beschickung und Entnahme mit bzw. von Behältern von Regalen, bei der ein an­treibbarer, horizontal verschiebbarer Schlitten einen Hubmast trägt, an dem ein antreibbarer Hubschlitten in vertikaler Richtung mittels über an dem Hubmast oben und unten ongeordne­ter Umlenkrollen geführter flexibler Zugmittel, Seile Ketten oder Zahnriemen, verschiebbar gehalten ist und bei der eine Steuerung für die entsprechenden Antriebe vorgesehen ist.The invention relates to a device for loading and unloading with or from containers on shelves, in which a drivable, horizontally displaceable carriage carries a lifting mast, on which a drivable lifting carriage in the vertical direction by means of flexible traction means guided over the lifting mast above and below , Ropes chains or toothed belts, is held displaceably and in which a control is provided for the corresponding drives.

Bei bekannten derartigen Einrichtungen sind die Antriebe sowohl für das Fahrgestell, als auch für den Hubschlitten, meist auch noch die Steuerung für diese auf dem Fahrgestell angeordnet. So wurde z.B. durch die DE-OS 22 23 561 eine Ein­richtung der eingangs erwähnten Art bekannt, bei der die An­triebe sowohl des Fahrgestells, wie auch des Hubschlittens auf dem Fahrgestell angeordnet sind. Die Stromversorgung kann in diesem Falle einfach über Schleifkontakte sichergestellt werden. Dies bringt aber den Nachteil mit sich, daß sich da­durch die Masse des Fahrgestells entsprechend erhöht, was zu einer entsprechenden Begrenzung der Beschleunigung und auch der Geschwindigkeit führt, mit der das Fahrgestell bewegt werden kann. Außerdem ergibt sich dadurch auch ein ent­sprechend schlechtes Verhältnis vom Nutz- zum Leergewicht des Fahrgestells samt Hubschlitten.In known devices of this type, the drives for the chassis as well as for the lifting slide, usually also the control for them, are arranged on the chassis. For example, from DE-OS 22 23 561 a device of the type mentioned is known in which the drives of both the chassis and the lifting carriage are arranged on the chassis. In this case, the power supply can easily be ensured via sliding contacts. However, this has the disadvantage that the mass of the chassis increases accordingly, which leads to a corresponding limitation of the acceleration and also the speed at which the chassis can be moved. In addition, this also results in a correspondingly poor ratio of the useful weight to the empty weight of the chassis including the lifting slide.

Bei den bekannten Lösungen, bei denen die Steuerung ortsfest angeordnet ist, ergibt sich zwar eine gewisse Verminderung der Masse des Fahrgestells, doch ist es in einem solchen Falle er­forderlich entsprechend viele Steuerkabel vorzusehen, die vom Fahrgestell mitgeschleppt werden müssen. Dies erfordert wieder einen entsprechend stabil ausgeführten Hubmast, wobei auch die durch das Schleppkabel verursachten Kippmomente, insbesondere bei der Beschleunigung des Fahrgestells berücksichtigt werden müssen.In the known solutions, in which the control is arranged in a fixed manner, there is a certain reduction in the mass of the chassis, but in such a case it is necessary to provide a corresponding number of control cables which have to be towed by the chassis. This again requires an appropriately stable lifting mast, the tilting moments caused by the trailing cable also having to be taken into account, in particular when the chassis is accelerating.

Ziel der Erfindung ist es diese Nachteile zu vermeiden und eine Einrichtung der eingangs erwähnten Art vorzuschlagen, die sich durch eine geringe Masse des Fahrgestells und Hubschlit­tens auszeichnet und bei der auch auf Schleppkabel weitgehend verzichtet werden kann.The aim of the invention is to avoid these disadvantages and to propose a device of the type mentioned at the outset is characterized by a low mass of the chassis and lifting carriage and in which trailing cables can largely be dispensed with.

Erfindungsgemäß wird dies dadurch erreicht, daß die Antriebe und deren Steuerung getrennt vom Fahrgestell und Hubschlitten, ortsfest angeordnet sind und für die Kraftübertragung zum Fahrgestell separate, über Umlenkrollen geführte flexible Zug­mittel, z.B. Seile, Ketten oder Zahnriemen vorgesehen sind, wobei die beiden Enden jedes dem Fahrgestell bzw. dem Hub­schlitten zugeordneten Zugmittels an dem jeweils zugeordneten Teil befestigt sind.According to the invention, this is achieved in that the drives and their controls are arranged in a stationary manner separately from the chassis and lifting carriage and separate, flexible traction means guided via deflection rollers, e.g. Ropes, chains or toothed belts are provided, the two ends of each traction means assigned to the chassis or the lifting carriage being fastened to the respectively assigned part.

Auf diese Weise wird das Fahrgestell von den für den Antrieb erforderlichen Massen entlastet und kann deshalb entsprechend leicht gebaut werden. Da auch nur sehr wenige Steuerleitungen mit dem Fahrgestell verbunden werden müssen, entfallen auch die bei den oben beschriebenen Lösungen gegebenen Schwierig­keiten.In this way, the chassis is relieved of the masses required for the drive and can therefore be built accordingly light. Since only very few control lines have to be connected to the chassis, the difficulties encountered with the solutions described above are also eliminated.

Durch die nach der Erfindung mögliche Massenreduzierung des Fahrgestells samt Hubschlitten verbessert sich auch das Ver­hältnis zwischen Nutzlast und Leergewicht. Außerdem kann daher mit relativ geringen Antriebsleistungen eine relativ hohe Be­schleunigung des Fahrgestells und Hubschlittens erreicht werden, wodurch eine entsprechende Verkürzung der Anlaufzeit des Hubschlittens zur angewählten Regalposition gegeben ist.The possible reduction in mass of the chassis including the lifting slide also improves the ratio between the payload and the unladen weight. In addition, a relatively high acceleration of the undercarriage and lifting carriage can therefore be achieved with relatively low drive powers, as a result of which there is a corresponding reduction in the start-up time of the lifting carriage for the selected rack position.

Nach einem weiteren Merkmal der Erfindung kann vorgesehen sein, daß die Umlenkrollen für die beiden Zugmittel von einem gemeinsamen Motor über ein Differentialgetriebe mit variablem Übersetzungsverhältnis des antriebseitigen Einganges zu jedem der beiden abtriebseitigen Ausgänge des Getriebes antreibbar sind, wobei die Steuerung mit dem Steuereingang des Getriebes verbunden ist.According to a further feature of the invention it can be provided that the deflection rollers for the two traction means can be driven by a common motor via a differential gear with a variable transmission ratio of the input on the input side to each of the two output outputs on the output side, the control being connected to the control input of the gear unit is.

Damit ist es durch entsprechende Einstellung der Übersetzungs­verhältnisse auch möglich beim Verschieben des Fahrgestells den Hubschlitten in gleicher Höhe zu halten. Weiters ermög­licht diese Ausführungsform aber auch eine Ansteuerung einer angewählten Regalposition auf dem kürzesten Weg, d.h. es ist nicht erforderlich die Bewegungen des Hubschlittens in hori­zontaler und vertikaler Richtung nacheinander auszuführen.By adjusting the gear ratios accordingly, it is also possible to keep the lifting carriage at the same height when moving the chassis. Furthermore, this embodiment also enables a selected rack position to be controlled by the shortest route, ie it is not necessary to carry out the movements of the lifting carriage in the horizontal and vertical directions one after the other.

Eine in konstruktiver Hinsicht sehr einfache Lösung ergibt sich, wenn die beiden antreibbaren Umlenkrollen der beiden Zugmittel gleiche Durchmesser aufweisen und über getrennte Mo­tore, vorzugsweise Asynchronmotore angetrieben sind, wobei eine von der Steuerung gesteuerte Kupplung vorgesehen ist, die eine starre Kopplung der beiden antreibbaren Umlenkrollen er­möglicht.A structurally very simple solution is obtained if the two drivable deflection rollers of the two traction means have the same diameter and are driven by separate motors, preferably asynchronous motors, a clutch controlled by the control being provided which enables the two drivable deflection rollers to be coupled rigidly .

Dabei kann mit relativ einfach aufgebauten Bauteilen das Aus­langen gefunden werden. Durch die Kupplung der beiden antreibbaren Umlenkrollen wird auf einfache Weise sicherge­stellt, daß sich bei einer Bewegung des Fahrgestells in hori­zontaler Richtung die Höhenlage des Hubschlittens nicht ändert.Satisfaction can be found with relatively simple components. The coupling of the two drivable deflection rollers ensures in a simple manner that the height of the lifting carriage does not change when the chassis is moved in the horizontal direction.

Eine weitere Möglichkeit des Antriebes für die antreibbaren Umlenkrollen besteht auch darin, daß die beiden antreibbaren Umlenkrollen der beiden Zugmittel über separate mit Drehgebern versehene Motore angetrieben sind, die ebenso wie die Drehge­ber mit der Steuerung verbunden sind.Another possibility of driving the drivable deflection rollers is that the two drivable deflection rollers of the two traction means are driven by separate motors provided with rotary encoders, which, like the rotary encoders, are connected to the control.

Dies ermöglicht eine separate Steuerung des Fahrgestells und des Hubschlittens, wodurch auch eine Ansteuerung einer ange­wählten Regalposition auf dem kürzesten Weg möglich ist. Bei dieser Lösung sind zwar zwei Motore erforderlich, doch entfal­len dafür aufwendige Getriebe.This enables the chassis and the lifting carriage to be controlled separately, which means that a selected shelf position can also be controlled in the shortest possible way. With this solution, two motors are required, but there is no need for expensive gears.

Durch diese Maßnahmen läßt sich auch die Ansteuerung einer an­gewählten Regalposition optimieren, wobei auch eine Anglei­chung der möglichen schnelleren Bewegung in der einen Richtung an die langsamere Bewegung in der dazu senkrechten Richtung erfolgen kann, was zu entsprechenden Energieeinsparungen führt.These measures can also optimize the control of a selected shelf position, and the possible faster movement in one direction can also be matched to the slower movement in the direction perpendicular thereto, which leads to corresponding energy savings.

In diesem Zusammenhang kann auch vorgesehen sein, daß die Steuerung mit den einzelnen Regalpositionen zugeordneten Posi­tionsfühlern verbunden ist und einen Rechner aufweist, der aus der momentanen Position des Hubschlittens und der angewählten Regalposition die Bewegungen für das Fahrgestell und den Hub­schlitten unter Berücksichtigung der vorgesehenen Grenzwerte für die Geschwindigkeit und die Beschleunigung errechnet.In this context it can also be provided that the control is connected to the position sensors assigned to the individual rack positions and has a computer which, from the current position of the lifting carriage and the selected rack position, the movements for the chassis and the lifting carriage taking into account the intended limit values for the Speed and acceleration are calculated.

Auf diese Weise lassen sich sämtliche Regalpositionen mit der optimalen Geschwindigkeit mit einem Minimum an Energieaufwand ansteuern.In this way, all rack positions can be controlled at the optimum speed with a minimum of energy expenditure.

Die Erfindung wird nun anhand der Zeichnung näher erläutert. Dabei zeigen:

  • Fig. 1 und 2 schematisch eine erfindungsgemäße Einrich­tung in Auf- und Seitenriß.
The invention will now be explained in more detail with reference to the drawing. Show:
  • 1 and 2 schematically a device according to the invention in elevation and side view.

Das Fahrgestell 1 ist mit Laufrädern 7 versehen, die auf einer entsprechenden Laufschiene 8 laufen und wobei Anschläge 9 zur Begrenzung des Verschiebeweges des Fahrgestells 1 vorgesehen sind. Dieses Fahrgestell trägt einen vertikalen Hubmast 5, entlang dem ein Hubschlitten 4 verschiebbar ist. Auf diesem Hubschlitten ist ein Lastaufnehmer 17 für die Last 10 angeord­net und mittels eines auf dem Hubschlitten 4 befindlichen, nicht dargestellten Motors in horizontaler Richtung aus- und einfahrbar, um so die in den Tragwinkeln 12 des Regals 11 ge­haltene Last 10 aufnehmen bzw. abstellen zu können. Solch ein Lastaufnehmer 17 kann durch Teleskoparme aber auch durch einen ausfahrbaren Ketten- oder Gurtförderer oder einen Greifer u.dgl, gebildet sein.The chassis 1 is provided with running wheels 7 which run on a corresponding running rail 8 and stops 9 are provided to limit the displacement path of the chassis 1. This chassis carries a vertical mast 5, along which a lifting carriage 4 is displaceable. A load receiver 17 for the load 10 is arranged on this lifting carriage and can be extended and retracted in the horizontal direction by means of a motor (not shown) located on the lifting carriage 4, so as to receive or switch off the load 10 held in the support brackets 12 of the shelf 11 can. Such a load receiver 17 can be formed by telescopic arms but also by an extendable chain or belt conveyor or a gripper and the like.

Der Hubmast 5 im Bereich seines freien Endes in einer am Re­gal 11 gehaltenen Führung 30 abgestützt ist.The lifting mast 5 is supported in the region of its free end in a guide 30 held on the shelf 11.

Im Bereich einer in der untersten Reihe angeordneten Regalpo­sition ist eine durch umlaufende Bänder 31 od. dgl. gebildete Fördereinrichtung 13 angeordnet, das die darauf abgestellten Lasten 10 aus dem Bereich des Regals 11 hinaus bzw. in diesen hineinbringt.In the area of a shelf position arranged in the bottom row there is a conveyor device 13 formed by peripheral belts 31 or the like, which brings the loads 10 placed thereon out of the area of the shelf 11 or into it.

Weiters ist eine Schleifleitung 19 vorgesehen, an der ein ent­sprechender Schleifkontakt entlanggleitet und so die Energie­versorgung des Antriebes des Lastaufnehmers 17 ermöglicht. Da­bei ist noch eine Steuerung 28 vorgesehen, die die Beaufschla­gung des nicht dargestellten Motors des Lastaufnehmers 17 steuert. Die entsprechenden Signale werden dieser Steuerung 28 im wesentlichen über eine Datenlichtleitung 16 zugeführt, deren einer Sender-Empfänger ortsfest und deren anderer an dem Fahrgestell 1 angeordnet ist, wobei letzterer mit der Steue­rung 28 verbunden ist.Furthermore, a conductor line 19 is provided, on which a corresponding sliding contact slides along and thus enables the energy supply to the drive of the load receiver 17. A controller 28 is also provided, which controls the application of the motor of the load receiver 17, not shown. The corresponding signals are fed to this controller 28 essentially via a data light line 16, one of which is arranged in a stationary manner and the other of which is arranged on the chassis 1, the latter being connected to the controller 28.

Bei der dargestellten Ausführungsform sind für den Antrieb des Fahrgestells 1 und des Hubschlittens 4 getrennte Motore 21 und 24 vorgesehen, die mit entsprechenden Getrieben zusammengebaut sind und die festen Umlenkrollen 29, 30 antreiben.In the embodiment shown, separate motors 21 and 24 are provided for driving the chassis 1 and the lifting carriage 4, which are assembled with corresponding gears and drive the fixed deflection rollers 29, 30.

Die entsprechende Kraftübertragung zum Fahrgestell 1 bzw. zum Hubschlitten 4 erfolgt über die Zugmittel 22 und 25, die durch Seile, vozugsweise aber durch Ketten oder Zahnriemen gebildet sind, bei welchen letzteren ein formschlüssiger Eingriff mit den Umlenkrollen 29, 30 sichergestellt und damit ein Durch­rutschen sicher verhindert ist. Dabei ist das Zugmittel 22 mit seinen beiden Enden am Fahrgestell 1 fixiert und läuft über die lose Umlenkrolle 23. Damit ist sichergestellt, daß durch Verdrehen der mit dem Motor 21, bzw. dessen Getriebe drehfest verbundenen Umlenkrolle 29 das Fahrgestell entlang der Lauf­schiene verschoben wird.The corresponding power transmission to the chassis 1 or to the lifting carriage 4 takes place via the traction means 22 and 25, which are formed by ropes, but preferably by chains or toothed belts, in which the latter ensures a positive engagement with the deflection rollers 29, 30 and thus a slipping through is prevented. The traction means 22 is fixed with its two ends to the chassis 1 and runs over the loose deflection roller 23. This ensures that the chassis is displaced along the running rail by rotating the deflection roller 29, which is connected in a rotationally fixed manner to the motor 21 or its transmission.

Der Motor 24 steht in bewegungsschlüssiger Verbindung mit der Umlenkrolle 30 über die das Zugmittel 25 geführt ist, dessen beide Enden an dem Hubschlitten 4 festgelegt sind und das wei­ters über drei am Fahrgestell 1, bzw. an dem Hubmast 5 ange­ordneten lose Umlenkrollen 26 und eine weitere lose Um­lenkrolle 27 geführt ist. Dabei sind die losen Umlenkrollen 23 und 27 ebenso wie die mit den Motoren 21 und 24 bewegungs­schlüssig verbundenen Umlenkrollen 29 und 30 in der Höhe des Fahrgestells 1 außerhalb dessen Bewegungsweges angeordnet.The motor 24 is in a motion-locked connection with the deflection roller 30 via which the traction means 25 is guided, the two ends of which are fixed to the lifting carriage 4 and furthermore via three loose deflection rollers 26 arranged on the chassis 1 or on the lifting mast 5 and another loose pulley 27 is guided. The loose deflection rollers 23 and 27 as well as the deflection rollers 29 and 30 connected to the motors 21 and 24 in a movement-locking manner are arranged at the height of the chassis 1 outside its path of movement.

Durch Verdrehen der Umlenkrolle 30 bei stillstehendem Fahrge­stell 1 ergibt sich eine Änderung der Höhenlage des Hubschlit­tens 4. Werden die beiden Umlenkrollen 29, 30 im Verhältnis ihrer Durchmesser gedreht, so bleibt die Höhenlage des Hub­schlittens 4 trotz der Bewegung des Fahrgestells 1 unverän­dert.By turning the deflection roller 30 when the chassis 1 is stationary, there is a change in the height of the lifting carriage 4. If the two deflection rollers 29, 30 are rotated in relation to their diameter, the height of the lifting carriage 4 remains unchanged despite the movement of the chassis 1.

Durch entsprechende Ansteuerung der beiden Motore 21, 24, die mit der am Regal ortsfest gehaltenen Steuerung 32 verbunden sind, ist es aber auch möglich von einer beliebigen Ausgangs­position des Hubschlittens 4 aus eine beliebige Regalposition auf dem kürzesten Weg mit dem Hubschlitten 4 anzusteuern.By appropriate control of the two motors 21, 24, which are connected to the control 32 held stationary on the rack, it is also possible to control any rack position from the starting position of the lifting carriage 4 in the shortest way using the lifting carriage 4.

Die Steuerung 32 ist mit nicht dargestellten, an den Regalpo­sitionen angeordneten Positionsfühlern verbunden, die bei einer entsprechenden Annäherung des Hubschlittens ein der ent­ sprechenden Position entsprechendes Signal an die Steuerung abgeben.The controller 32 is connected to position sensors (not shown) arranged on the rack positions, which, when the lifting carriage is approached appropriately, is one of the ent Send the corresponding signal to the control system.

Bei Übereinstimmung der angewählten Position mit der erreich­ten Position, was durch einen in der Steuerung 28 angeordneten Komparator einfach ermittelt werden kann, wird der Antrieb des Lastaufnehmers 17 aktiviert, sodaß dieser zwischen die ent­sprechenden Tragschienen 12 einfährt, um eine Last 10 entweder aufzunehmen oder abzustellen. Die entsprechenden Befehle werden dabei über die Datenlichtleitung 16, die ebenfalls von der Steuerung 32 gesteuert wird, zur Steuerung 28 übertragen. Auf dem gleichen Weg werden auch Positionsmeldungen des Lastaufnehmers 17 zur Steuerung 32 übertragen, die je nachdem ein Anheben oder Absenken des Hubschlittens 5 nach dem Er­reichen der ausgeschobenen Endstellung des Lastaufnehmers 17 auslöst, um die Last 10 von den Tragschienen 12 abzuheben oder auf diesen abzustellen.If the selected position matches the position reached, which can easily be determined by a comparator arranged in the control 28, the drive of the load receiver 17 is activated so that it moves between the corresponding support rails 12 in order to either pick up or put down a load 10. The corresponding commands are transmitted to the controller 28 via the data light line 16, which is also controlled by the controller 32. In the same way, position reports of the load receiver 17 are transmitted to the controller 32, which, depending on the lifting or lowering of the lifting carriage 5, triggers after reaching the extended end position of the load receiver 17 in order to lift the load 10 from the mounting rails 12 or to place it on the latter.

Weiters wird auch noch die Fördereinrichtung 13, bzw. deren Antrieb 33 von der Steuerung 32 gesteuert.Furthermore, the conveyor device 13 or its drive 33 is also controlled by the controller 32.

Bei dem dargestellten Ausführungsbeispiel werden die beiden Motore 21, 24 getrennt angesteuert und sind mit nicht darge­stellten Drehgebern versehen, die ihrerseits mit der Steue­rung 32 verbunden sind. Diese Drehgeber ermöglichen eine Rück­meldung bezüglich der Drehzahl des jeweiligen Motors 21, 24 wodurch ein geschlossener Regelkreis gegeben ist.In the illustrated embodiment, the two motors 21, 24 are controlled separately and are provided with rotary encoders, not shown, which in turn are connected to the controller 32. These rotary encoders enable feedback regarding the speed of the respective motor 21, 24, which results in a closed control loop.

Die Steuerung 32 selbst ist im wesentlichen durch einen Rechner gebildet, der aus der durch die entsprechenden Signale der Positionsfühler bekannten momentanen Position des Hub­schlittens 4 und der z.B. über eine nicht dargestellte Tasta­tur angewählten Zielposition den kürzesten Weg errechnet und die Motore 21, 24 entsprechend vorgegebenen maximalen Werte der Beschleunigung und Geschwindigkeit in horizontaler und vertikaler Richtung steuert. Dabei ist vorzugsweise vorge­sehen, daß die Geschwindigkeit und Beschleunigung der beiden Motore 21, 24 so aufeinander abgestimmt werden, daß nur einer mit der vorgesehenen maximalen Beschleunigung bzw. Geschwin­digkeit betrieben wird und der andere mit gegenüber seinen vorgesehenen Maximalwerten soweit verminderten Werten betrie­ben wird, daß die angewählte Position durchgehend entlang der die Ausgangslage des Hubschlittens 4 mit der angewählten Posi­tion verbindenden Geraden vom Hubschlitten angefahren wird.The controller 32 itself is essentially formed by a computer which calculates the shortest path from the instantaneous position of the lifting carriage 4 known from the corresponding signals of the position sensors and the target position selected, for example, via a keyboard (not shown) and the motors 21, 24 according to the predetermined maximum Controls values of acceleration and speed in horizontal and vertical directions. It is preferably provided that the speed and acceleration of the two motors 21, 24 are coordinated with one another such that only one is operated with the intended maximum acceleration or speed and the other is operated with values which are reduced compared to its intended maximum values to such an extent that the selected position continuously along the the starting position of the lifting carriage 4 is approached by the lifting carriage with the straight line connecting the selected position.

Claims (5)

1. Einrichtung zur Beschickung und Entnahme mit bzw. von Be­hältern von Regalen, bei der ein antreibbares, horizontal verschiebbares Fahrgestell einen vertikalen Hubmast trägt an dem ein antreibbarer Hubschlitten in vertikaler Rich­tung verschiebbare gehalten ist und bei der eine Steuerung für die entsprechenden Antriebe vorgesehen ist, dadurch gekennzeichnet, daß die Antriebe (21, 24) und deren Steue­rung (28) ortsfest angeordnet sind und die Kraftübertra­gung zum Fahrgestell (1) und Hubschlitten (5) über ge­trennte, flexible, über Umlenkrollen (22, 23, 26, 27, 29, 30) geführte Zugmittel (22, 25), z.B. Seile, Ketten oder Zahnriemen erfolgt, deren beide Enden an dem Fahrge­stell (1), bzw. an dem Hubschlitten (4) befestigt sind, wobei im unteren und oberen Bereich des Hubmastes (5) für den Hubschlitten (4) Umlenkrollen (26) für das Zugmit­tel (25) angeordnet sind.1. Device for loading and unloading with or from containers from shelves, in which a drivable, horizontally displaceable chassis carries a vertical lifting mast on which a drivable lifting carriage is held displaceably in the vertical direction and in which a control for the corresponding drives is provided, characterized in that the drives (21, 24) and their controls (28) are arranged in a fixed position and the power transmission to the chassis (1) and lifting carriage (5) via separate, flexible, via deflection rollers (22, 23, 26, 27, 29 , 30) guided traction means (22, 25), for example ropes, chains or toothed belts, the two ends of which are attached to the chassis (1) or to the lifting carriage (4), the lower and upper region of the lifting mast (5 ) for the lifting carriage (4), deflection rollers (26) for the traction means (25) are arranged. 2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Umlenkrollen (29, 30) für die beiden Zugmittel (22, 25) von einem gemeinsamen Motor über ein Differentialge­triebe mit variablem Übersetzungsverhältnis des antrieb­seitigen Einganges zu jedem der beiden abtriebseitigen Ausgänge des Getriebes antreibbar sind, wobei die Steue­rung mit dem Steuereingang des Getriebes verbunden ist.2. Device according to claim 1, characterized in that the deflecting rollers (29, 30) for the two traction means (22, 25) can be driven by a common motor via a differential gear with a variable transmission ratio of the drive-side input to each of the two output-side outputs of the transmission , wherein the controller is connected to the control input of the transmission. 3. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die beiden antreibbaren Umlenkrolle (29, 30) der beiden Zugmittel (22, 25) gleiche Durchmesser aufweisen und über getrennte Motore, vorzugsweise Asynchronmotore angetrieben sind, wobei eine von der Steuerung (32) gesteuerte Kupp­lung vorgesehen ist, die ine starre Kopplung der beiden antreibbaren Umlenkrollen ermöglicht.3. Device according to claim 1, characterized in that the two drivable deflection roller (29, 30) of the two traction means (22, 25) have the same diameter and are driven by separate motors, preferably asynchronous motors, one of which is controlled by the controller (32) Coupling is provided which enables a rigid coupling of the two drivable deflection rollers. 4. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die beiden antreibbaren Umlenkrollen (29, 30) der beiden Zugmittel über separate mit Drehgebern versehene Mo­tore (21,24) angetrieben sind, die ebenso wie die Drehge­ber mit der Steuerung (32) verbunden sind.4. Device according to claim 1, characterized in that the two drivable deflection rollers (29, 30) of the two traction means are driven by separate motors provided with rotary encoders (21, 24) which, like the rotary encoders, are connected to the controller (32) . 5. Einrichtung nach einem der Ansprüche 1 bis 4, dadurch ge­kennzeichnet, daß die Steuerung mit den einzelnen Regal­positionen zugeordneten Positionsfühlern verbunden ist und einen Rechner aufweist, der aus der momentanen Position des Hubschlittens (4) und der angewählten Regalposition die Bewegungen für das Fahrgestell (1) und den Hubschlit­ten (4) unter Berücksichtigung der vorgesehenen Grenzwerte für die Geschwindigkeit und die Beschleunigung errechnet.5. Device according to one of claims 1 to 4, characterized in that the control is connected to the position sensors assigned to the individual rack positions and has a computer which, from the current position of the lifting carriage (4) and the selected rack position, the movements for the chassis ( 1) and the lifting carriage (4) are calculated taking into account the limit values for speed and acceleration.
EP19890890038 1988-02-16 1989-02-15 Handling device for shelves Expired - Lifetime EP0329642B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT360/88 1988-02-16
AT36088A AT391845B (en) 1988-02-16 1988-02-16 SHELVING PRODUCTS

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EP0329642A1 true EP0329642A1 (en) 1989-08-23
EP0329642B1 EP0329642B1 (en) 1991-04-24

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EP (1) EP0329642B1 (en)
AT (1) AT391845B (en)
DE (1) DE58900089D1 (en)
DK (1) DK166873B1 (en)
NO (1) NO172112C (en)

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US5156514A (en) * 1990-05-22 1992-10-20 Keuro Maschinenbau Gmbh & Co. Kg Shelf-type storage, retrieval and transfer system for material contained in self-supporting storing pallet boxes or magazines
US5361481A (en) * 1993-04-02 1994-11-08 Harnischfeger Engineers, Inc. Method of assembling an automatic storage and retrieval system
US5385243A (en) * 1992-05-20 1995-01-31 Harnischfeger Engineers, Inc. Modular system for automatically staging letters in connection with a letter sorting machine
US5397211A (en) * 1993-04-02 1995-03-14 Harnischfeger Engineers, Inc. Automatic storage and retrieval system
US5460475A (en) * 1993-10-21 1995-10-24 H. K. Systems, Inc. Long reach shuttle for storage and retrieval machine
US5838572A (en) * 1993-04-02 1998-11-17 Hk Systems, Inc. Real-time interrupt driven PC control system for a storage and retrieval machine
EP1110904A1 (en) * 1999-12-16 2001-06-27 BT Industries Device for lateral movement of load taking means
CN106743017A (en) * 2016-12-30 2017-05-31 杭州德创能源设备有限公司 A kind of subregion storing access device
CN108974957A (en) * 2018-08-27 2018-12-11 潍坊正兴自动化设备科技有限公司 Heat insulation formwork production lift Plate stacking machine

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US2867947A (en) * 1955-03-04 1959-01-13 Int Standard Electric Corp Glass to metal seals
DE4131481A1 (en) * 1991-09-21 1993-03-25 Schlafhorst & Co W Bobbin storage giving rapid access to selected bobbins - has shelved holders for bobbin pallets with inner elevator and external loading and unloading with material flow control
DE4202668C2 (en) * 1992-01-28 1994-02-24 Mannesmann Ag Storage and retrieval machine
JPH09315296A (en) * 1996-05-29 1997-12-09 Daifuku Co Ltd Guide equipment of article conveying car
CN105564996B (en) * 2016-02-05 2017-09-15 云南克来众诚智能设备有限公司 A kind of stacking machine applied widely, stacking efficiency high
DE102016005054A1 (en) * 2016-04-26 2017-10-26 Lenze Drives Gmbh Warehouse operating device and bearing arrangement
CN110775501B (en) * 2019-11-01 2021-03-12 山东科技大学 AGV, automatic storage device and working method

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DE2002749A1 (en) * 1970-01-22 1971-07-29 Bbc Brown Boveri & Cie Loading device for storage shelves
DE2313429A1 (en) * 1972-12-11 1974-06-12 Supreme Equip & Syst STORAGE AND RECOVERY DEVICE FOR FILING PAPERS
EP0241189A2 (en) * 1986-04-11 1987-10-14 Ampex Corporation Bidirectional transfer mechanism

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5156514A (en) * 1990-05-22 1992-10-20 Keuro Maschinenbau Gmbh & Co. Kg Shelf-type storage, retrieval and transfer system for material contained in self-supporting storing pallet boxes or magazines
US5385243A (en) * 1992-05-20 1995-01-31 Harnischfeger Engineers, Inc. Modular system for automatically staging letters in connection with a letter sorting machine
US5405232A (en) * 1992-05-20 1995-04-11 Harnischfeger Engineers, Inc. Automatic storage and retrieval system
US5361481A (en) * 1993-04-02 1994-11-08 Harnischfeger Engineers, Inc. Method of assembling an automatic storage and retrieval system
US5397211A (en) * 1993-04-02 1995-03-14 Harnischfeger Engineers, Inc. Automatic storage and retrieval system
US5838572A (en) * 1993-04-02 1998-11-17 Hk Systems, Inc. Real-time interrupt driven PC control system for a storage and retrieval machine
US5460475A (en) * 1993-10-21 1995-10-24 H. K. Systems, Inc. Long reach shuttle for storage and retrieval machine
EP1110904A1 (en) * 1999-12-16 2001-06-27 BT Industries Device for lateral movement of load taking means
CN106743017A (en) * 2016-12-30 2017-05-31 杭州德创能源设备有限公司 A kind of subregion storing access device
CN108974957A (en) * 2018-08-27 2018-12-11 潍坊正兴自动化设备科技有限公司 Heat insulation formwork production lift Plate stacking machine

Also Published As

Publication number Publication date
DK166873B1 (en) 1993-07-26
NO890634L (en) 1989-08-17
DK72489A (en) 1989-08-17
DE58900089D1 (en) 1991-05-29
ATA36088A (en) 1990-06-15
EP0329642B1 (en) 1991-04-24
AT391845B (en) 1990-12-10
DK72489D0 (en) 1989-02-16
NO172112C (en) 1993-06-09
NO890634D0 (en) 1989-02-15
NO172112B (en) 1993-03-01

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