EP0329642A1 - Appareil de desserte de rayonnages - Google Patents

Appareil de desserte de rayonnages 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
Authority
EP
European Patent Office
Prior art keywords
chassis
lifting carriage
drivable
lifting
traction means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP89890038A
Other languages
German (de)
English (en)
Other versions
EP0329642B1 (fr
Inventor
Heinrich König
Ludwig Szinicz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TGW Transportgeraete GmbH
Original Assignee
TGW Transportgeraete GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by TGW Transportgeraete GmbH filed Critical TGW Transportgeraete GmbH
Publication of EP0329642A1 publication Critical patent/EP0329642A1/fr
Application granted granted Critical
Publication of EP0329642B1 publication Critical patent/EP0329642B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • 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.
EP19890890038 1988-02-16 1989-02-15 Appareil de desserte de rayonnages Expired - Lifetime EP0329642B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT360/88 1988-02-16
AT36088A AT391845B (de) 1988-02-16 1988-02-16 Regalfoerderzeug

Publications (2)

Publication Number Publication Date
EP0329642A1 true EP0329642A1 (fr) 1989-08-23
EP0329642B1 EP0329642B1 (fr) 1991-04-24

Family

ID=3488541

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19890890038 Expired - Lifetime EP0329642B1 (fr) 1988-02-16 1989-02-15 Appareil de desserte de rayonnages

Country Status (5)

Country Link
EP (1) EP0329642B1 (fr)
AT (1) AT391845B (fr)
DE (1) DE58900089D1 (fr)
DK (1) DK166873B1 (fr)
NO (1) NO172112C (fr)

Cited By (9)

* 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
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 (fr) * 1999-12-16 2001-06-27 BT Industries Dispositif pour le déplacement latéral des moyens de prise de la charge
CN106743017A (zh) * 2016-12-30 2017-05-31 杭州德创能源设备有限公司 一种分区储物存取装置
CN108974957A (zh) * 2018-08-27 2018-12-11 潍坊正兴自动化设备科技有限公司 保温模板生产用升降式码板机

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2867947A (en) * 1955-03-04 1959-01-13 Int Standard Electric Corp Glass to metal seals
DE4131481A1 (de) * 1991-09-21 1993-03-25 Schlafhorst & Co W Lagervorrichtung fuer textilspulen, insbesondere kreuzspulen
DE4202668C2 (de) * 1992-01-28 1994-02-24 Mannesmann Ag Regalbediengerät
JPH09315296A (ja) * 1996-05-29 1997-12-09 Daifuku Co Ltd 物品搬送車の案内設備
CN105564996B (zh) * 2016-02-05 2017-09-15 云南克来众诚智能设备有限公司 一种适用范围广、码垛效率高的码垛机
DE102016005054A1 (de) * 2016-04-26 2017-10-26 Lenze Drives Gmbh Lagerbediengerät und Lageranordnung
CN110775501B (zh) * 2019-11-01 2021-03-12 山东科技大学 一种agv、自动化仓储装置及工作方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1547586A (fr) * 1966-10-12 1968-11-29 Demag Zug Gmbh Appareil mobile de desserte de rayonnages
DE2002749A1 (de) * 1970-01-22 1971-07-29 Bbc Brown Boveri & Cie Beschickungseinrichtung fuer Lager-Regale
US3638575A (en) * 1969-07-03 1972-02-01 Palmer Shile Co Analog control system
DE2313429A1 (de) * 1972-12-11 1974-06-12 Supreme Equip & Syst Speicher- und wiedergewinnungsvorrichtung fuer aktenpapiere
EP0241189A2 (fr) * 1986-04-11 1987-10-14 Ampex Corporation Mécanisme de transfert bidirectionnel

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2223561A1 (de) * 1972-05-15 1974-01-17 Aplitec Ltd Automatisches lagersystem

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1547586A (fr) * 1966-10-12 1968-11-29 Demag Zug Gmbh Appareil mobile de desserte de rayonnages
US3638575A (en) * 1969-07-03 1972-02-01 Palmer Shile Co Analog control system
DE2002749A1 (de) * 1970-01-22 1971-07-29 Bbc Brown Boveri & Cie Beschickungseinrichtung fuer Lager-Regale
DE2313429A1 (de) * 1972-12-11 1974-06-12 Supreme Equip & Syst Speicher- und wiedergewinnungsvorrichtung fuer aktenpapiere
EP0241189A2 (fr) * 1986-04-11 1987-10-14 Ampex Corporation Mécanisme de transfert bidirectionnel

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 (fr) * 1999-12-16 2001-06-27 BT Industries Dispositif pour le déplacement latéral des moyens de prise de la charge
CN106743017A (zh) * 2016-12-30 2017-05-31 杭州德创能源设备有限公司 一种分区储物存取装置
CN108974957A (zh) * 2018-08-27 2018-12-11 潍坊正兴自动化设备科技有限公司 保温模板生产用升降式码板机

Also Published As

Publication number Publication date
NO172112C (no) 1993-06-09
NO890634L (no) 1989-08-17
DE58900089D1 (de) 1991-05-29
AT391845B (de) 1990-12-10
NO172112B (no) 1993-03-01
DK166873B1 (da) 1993-07-26
NO890634D0 (no) 1989-02-15
DK72489A (da) 1989-08-17
EP0329642B1 (fr) 1991-04-24
ATA36088A (de) 1990-06-15
DK72489D0 (da) 1989-02-16

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