EP0801911B1 - Schieberegalanlage - Google Patents
Schieberegalanlage Download PDFInfo
- Publication number
- EP0801911B1 EP0801911B1 EP96106050A EP96106050A EP0801911B1 EP 0801911 B1 EP0801911 B1 EP 0801911B1 EP 96106050 A EP96106050 A EP 96106050A EP 96106050 A EP96106050 A EP 96106050A EP 0801911 B1 EP0801911 B1 EP 0801911B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- shelf
- wheels
- measuring elements
- elements
- wheel
- 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.)
- Expired - Lifetime
Links
- 238000012937 correction Methods 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 230000004913 activation Effects 0.000 claims 1
- 230000002123 temporal effect Effects 0.000 claims 1
- 239000002184 metal Substances 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 206010017577 Gait disturbance Diseases 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009408 flooring Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B53/00—Cabinets or racks having several sections one behind the other
- A47B53/02—Cabinet systems, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets
Definitions
- the invention relates to a sliding shelf system with several shelf elements, which are each driven by several wheels, at least some of which are driven is on the ground, parallel to each other support, the driven wheels being provided with separate drives and means cooperating with the driven wheels being provided to align the wheels with respect to the raceways.
- Sliding shelf systems of this type come in a wide variety of designs and sizes known, e.g. from GB-A-1 594 872. Small sliding shelf systems are mostly used in the office area a large number of files used in a small space. The same thing The principle is also used on a much larger scale in large rack storage facilities.
- the individually movable shelf elements can have a width of 50 m and more. Such sliding shelves are used to e.g. loaded industrial pallets in two rows in a row and several Record rows one above the other.
- the inward-facing surfaces of the Cause the wheels to be guided by engaging the side surfaces of the raceways or lie on both sides.
- the tracks are for this purpose as rails with one horizontal tread and the two lateral guide surfaces.
- shelf elements with wheel flange-guided wheels have proven themselves and are ready no difficulties in operational practice as long as the individual Shelf elements are not too wide.
- the available storage space is aimed at, the shelf elements to be made increasingly wider with a total width of 50 m and about that.
- Such large shelves have been found not to work with the reliability of smaller constructions.
- shelf elements are mainly made of metal
- the rails are embedded in a shrink concrete flooring, which has a temperature behavior different from metal. With especially Low or particularly high temperatures therefore increase the risk a run-up of the flanged wheels.
- the known wheels with wheel flange guidance are subject to considerable Wear that due to the increasing tendency to tilt the widening of the shelf elements increases sharply. So is the wear with a shelf element of 30 m width considerably higher than with just one half the shelf element with a width of 15 m.
- the invention is therefore based on the object of creating a sliding shelf system composed of a plurality of movable shelf elements, which operates with little wear, and allows greater lengths of the individual shelf elements than is the case with conventional sliding shelf systems. Furthermore, a method is to be developed which enables the control of the displacement movement of the individual shelf elements of such a sliding shelf system.
- the lateral guidance takes place with respect the raceways not by means of wheel flanges firmly molded on the wheels, but using a sensor arrangement to detect the alignment and the lateral offset of the wheels with respect to a predetermined one Ideal line along the raceways.
- the drive control and in particular Corrections to the drive control of the separately driven wheels then take place depending on the signals of this sensor arrangement.
- derailment i.e. leaving the running track through at least the tread of one of the wheels, can no longer occur. This applies especially in such cases in which there is a foreign body between two adjacent shelf elements clamps, and thus inhibits the movement of a shelf element.
- Another advantage is that the parallel alignment of the individual raceways to each other is not of the decisive importance as in the known one Sliding shelf system with wheel rims. Even temperature fluctuations do not have that influence on the accuracy of leadership like in the well-known sliding shelf system. Unevenness in the raceways, such as can arise from slight subsidence of the sliding shelf system performed according to the invention can be better compensated than is the case with the prior art.
- the sliding shelf system according to the invention also reacts far less overall sensitive to uneven loading.
- One due to loading errors Drive slip is triggered because it is in a deviation of orientation the wheels result in relation to a given ideal line, immediately from the Sensor arrangement detected and by appropriate control of Drive control balanced.
- the sensor arrangement consists of measuring elements connected to the drive control and at least one reference element, and that the measuring elements are arranged on the shelf element, whereas the reference element is designed as a stationary, elongated profile, which has exactly the same longitudinal alignment as the raceways.
- the reference element is outside and next to one of the two outer raceways.
- one of the raceways is the reference element itself.
- the sensor arrangement for each shelf element is at least four in has two groups of combined measuring elements.
- the measuring elements of the first group in one Level near the front of the shelf element, and the measuring elements of the second group arranged in a plane near the back of the shelf element his.
- the top of the reference element can be delimited on both sides by edges Surface be formed, the measuring elements on the detection these edges are sensitized. This configuration allows a flat design of the reference element, so that this is largely flush with the floor can be formed, and therefore when driving over with a forklift does not form a stumbling block.
- Fig. 1 is a sliding shelf system in plan view and partially greatly simplified shown, which is composed of a total of four shelf elements 1.
- Each shelf element 1 consists of a composite of metal profiles Structure and forms a rectangular box in outline. In different Levels are formed storage areas on which loaded industrial pallets or have other goods sold.
- the shelf elements 1 are displaceable, so that one between two of these shelf elements 1 Gear 2 can be opened in the forklift or other vehicles for the goods can be brought in and out.
- Each shelf element 1 is supported by wheels 4 on rails Raceways 5, which are in the direction of displacement of the shelf elements 1 extend.
- FIGS. 1 and 3a to 3d of the raceways 5 only their respective center line 6 is drawn.
- the flat and just designed raceways 5 are wider and preferably twice wide as the footprint of the wheels 4.
- each shelf element 1 is supported overall six wheels 4 on three tracks 5.
- these numbers can vary and depend on the width B of the shelf elements 1. This width can without fundamental design changes, 50 m or be more.
- At least some of the wheels 4 are provided with their own drives, however can individual wheels, especially those in the middle of the shelf element, also be free running. At least one of the outside Wheels 4, however, must have an individually controllable drive which is e.g. can be a relay-controlled asynchronous motor.
- the long sides of the shelf elements 1 are near the bottom with an over provided the full width fuse 7, which when touched Power supply to the drive motors is interrupted, especially in the event of jamming a foreign body between two shelf elements 1 their immediate Stop bringing about.
- the wheels 4 have one essentially cylindrical tread that extends across the entire width of the wheel.
- a wheel flange or other mechanical means related to the wheels to center the center line 6 of the rail are not available.
- the rail is embedded in the concrete mass 10 of the floor 8, and therefore forms on it Top the flat and evenly designed, and to the top of the concrete layer flush adjoining track 5.
- Anchor elements 8 contribute to the Anchoring rail firmly in the concrete mass 10, so that a temperature-related Arching of the rail within the concrete mass is prevented.
- a reference element 9 in the form of a flat metal profile.
- the reference element 9 is also anchored in the concrete mass 10 or otherwise attached to the flooring.
- the measuring elements 21 - 24 are on supports 25 attached by means of screws on one of the narrow sides of the shelf element 1 are attached.
- 2 is the measuring elements 21 to 24 to proximity sensors, each of which is based on it is sensitized to recognize whether the reference element 9 located, or the free surface of the concrete mass 10th
- the measuring elements 21-24 are connected to a control unit via signal lines 26 connected, which in turn to the individual drive controls of the driven Wheels 4 is connected.
- the control unit can be placed in the respective shelf element 1, but a central control unit can also be used be the by means of suitable electrical connections Measurement signals and drive commands of all shelf elements processed.
- the exact installation of the reference element is required 9 of particular importance because this element is exactly on an ideal line is coordinated, along which the wheels 4 move on the track 5 should.
- the ideal line is the same Center line 6 of the raceway 5.
- the measuring elements 21 - 24 in transverse guides on the carrier 25 attached so that they can be adjusted sideways. Also one Height adjustment with respect to the top of the elongated Reference element 9 is provided.
- the reference element 9 and the carrier 25 with the measuring elements 21-24 are for space reasons on that narrow side 27 of the shelf element 1, which is usually located directly next to the hall wall. To this Way, the carrier 25 does not hinder the transport movements of the forklift.
- the measuring elements 21-24 form a together with the reference element 9 Sensor arrangement, with the help of a guide for the wheels of the shelf element is created by means of the lack of mechanical guidance here a flange replaced.
- the four measuring elements 21 - 24 are divided into two groups, of which the first group 21, 22 in a plane near the front 28 of the Shelf element 1, and the second group 23, 24 in a plane near the Rear 29 of the shelf element 1 is located.
- the greatest possible distance of the two groups from each other is for the sake of accuracy desirable.
- the distance between the two measuring elements 21, 22 and 23, 24 of each group is on matched the width of the reference element 9 running underneath.
- Neutral position i.e. with wheels 4 on the ideal line 6 with wheel alignment likewise in the direction of the ideal line 6, there are both measuring elements each group above the reference element 9 and with a certain lateral distance A to its edges or edges 30.
- a measurement signal is detected and assigned to the control unit.
- Fig. 3a the ideal position of movement of the shelf element 1 is shown at which the roles are exactly on the ideal line 6 of the raceways. All Measuring elements 21-24 detect the reference element underneath 9, from which the signal is derived for the drive controls, all driven Apply the same drive speed to the wheels. this applies especially for the outer wheels 4a, 4b.
- the measuring element 24 does not provide any measured values, since it is located outside the edge 30 of the reference element 9.
- the type of inclination can be within the Evaluation logic of the control unit based on the identification of this particular Measuring element can be determined.
- the missing signal of the measuring element 24 that the shelf element 1 in the clockwise direction is slanted.
- This inclination is then corrected using the starting drive control of the wheels.
- the wheel 4b in the drawing direction is given priority driven, or the wheel 4a in the drawing direction down.
- priority drive either that the wheel in question with higher speed than the other wheels, or that the Drive of the wheel in question before the drives of the other wheels is switched on. Combinations of these two approaches are also possible possible.
- the control logic implemented within the control unit is normal Driving situations as in Fig. 3b designed so that the return of the individual wheels 4, 4a, 4b on the ideal line 6 not by the shortest route done, but it will be until the next shelf element is reached available travel path, i.e. the width of aisle 2, considered.
- the sliding shelf system has sensors for this purpose, which the central control unit the distance between the individual shelf elements reports to each other. In this way, abrupt panning movements become unnecessary avoided the shelf element. Only in emergency situations like in the Figures 3c and 3d, the wheels are returned to the shortest possible Path.
Landscapes
- Warehouses Or Storage Devices (AREA)
Description
- Fig. 1
- in einer Draufsicht eine Schieberegalanlage mit insgesamt vier Regalelementen;
- Fig. 2
- in einer vertikalen Schnittansicht die Einzelheit II der Fig. 1;
- Fig. 3a
- ein Regalelement in ordnungsgemäßer Ausrichtung;
- Fig. 3b
- in Draufsicht ein Regalelement bei korrektionsbedürftiger Ausrichtung;
- Fig. 3c
- in Draufsicht ein Regalelement bei stark korrektionsbedürftiger Ausrichtung und
- Fig. 3d
- in Draufsicht ein Regalelement bei stark korrektionsbedürftiger Ausrichtung.
Claims (10)
- Schieberegalanlage mit mehreren Regalelementen (1), die sich jeweils über mehrere Räder (4, 4a, 4b), von denen zumindest ein Teil angetrieben ist, auf am Boden befestigten, parallel zueinander ausgerichteten Laufbahnen (5) abstützen, wobei die angetriebenen Räder (4, 4a, 4b) mit getrennten Antrieben versehen sind und mit den angetriebenen Rädern (4, 4a, 4b) zusammenwirkende Mittel vorgesehen sind, um die Räder (4, 4a, 4b) in bezug auf die Laufbahnen (5) auszurichten,
dadurch gekennzeichnet,
daß sich jedes Regalelement auf drei oder mehr Laufbahnen (5) zugleich abstützt, deren jeweils flach und eben gestalteten Oberseiten breiter sind als die Aufstandsfläche der weder Spurkränze noch andere mechanische Führungshilfsmittel aufweisenden Räder (4, 4a, 4b),
und daß die mit den angetriebenen Rädern (4, 4a, 4b) zusammenwirkenden Mittel aus einer Sensoranordnung (9, 21, 22, 23, 24) zum Erfassen der Ausrichtung und des seitlichen Versatzes der Räder (4, 4a, 4b) in bezug auf eine vorgegebene Ideallinie (6) entlang der Laufbahnen (5) und einer in Abhängigkeit von den Signalen der Sensoranordnung (9, 21, 22, 23, 24) arbeitenden Antriebssteuerung für die angetriebenen Räder (4, 4a, 4b) bestehen. - Schieberegalanlage nach Anspruch 1, dadurch gekennzeichnet, daß die Ideallinie (6) die Mittellinie der Laufbahn (5) ist.
- Schieberegalanlage nach Anspruch 1 oder Anspruch 2, dadurch gekennzeichnet, daß sich die Sensoranordnung aus mit der Antriebssteuerung verbundenen Meßelementen (21 - 24) und mindestens einem Referenzelement (9) zusammensetzt, und daß die Meßelemente (21 - 24) an dem Regalelement (1) angeordnet sind, wohingegen das Referenzelement (9) als stationäres, langgestrecktes Profil ausgebildet ist, welches exakt dieselbe Längsausrichtung aufweist wie die Laufbahnen (5).
- Schieberegalanlage nach Anspruch 3, dadurch gekennzeichnet, daß sich das Referenzelement (9) außerhalb und neben oder oberhalb einer der beiden außenliegenden Laufbahnen (5) erstreckt.
- Schieberegalanlage nach Anspruch 3, dadurch gekennzeichnet, daß eine der Laufbahnen (5) zugleich das Referenzelement (9) ist.
- Schieberegalanlage nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Sensoranordnung für jedes Regalelement (1) mindestens vier in zwei Gruppen zusammengefaßte Meßelemente (21 - 24) aufweist.
- Schieberegalanlage nach Anspruch 6, dadurch gekennzeichnet, daß die Meßelemente (21, 22) der ersten Gruppe in einer Ebene nahe der Vorderseite (28) des Regalelementes (1), und die Meßelemente (23, 24) der zweiten Gruppe in einer Ebene nahe der Rückseite (29) des Regalelementes (1) angeordnet sind.
- Schieberegalanlage nach Anspruch 6 oder Anspruch 7, dadurch gekennzeichnet, daß jede Gruppe aus zwei Meßelementen (21, 22 bzw. 23, 24) besteht, die bei bezüglich der Ideallinie (6) neutraler Ausrichtung der Räder (4, 4a, 4b) denselben Abstand zu der Mittellinie des Referenzelementes (9) haben.
- Schieberegalanlage nach Anspruch 8, dadurch gekennzeichnet, daß die Oberseite des Referenzelementes (9) als beidseitig durch Ränder (30) begrenzte Fläche ausgebildet ist, und die Meßelemente (21 - 24) auf das Erkennen dieser Ränder (30) sensibilisiert sind.
- Verfahren zur Steuerung der Verschiebebewegung von Regalelementen einer Schieberegalanlage mit einer Merkmalskombination gemäß einem der Ansprüche 1 bis 9,
dadurch gekennzeichnet,
daß mittels der Sensoreinrichtung laufend die Radausrichtung und der seitliche Radversatz in bezug auf eine vorgegebene Ideallinie überwacht wird, daß für den Fall einer/eines vorgegebene Mindestwerte übersteigenden Radausrichtung und/oder Radversatzes die Antriebssteuerung im Sinne einer Korrektur der Radausrichtung/des Radversatzes angesteuert wird, und daß die Korrektur durch unterschiedliche Antriebsdrehzahl und/oder durch unterschiedliche zeitliche Ansteuerung der Räder des Regalelementes erfolgt.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP96106050A EP0801911B1 (de) | 1996-04-18 | 1996-04-18 | Schieberegalanlage |
DE59605500T DE59605500D1 (de) | 1996-04-18 | 1996-04-18 | Schieberegalanlage |
JP8181373A JPH09278124A (ja) | 1996-04-18 | 1996-06-21 | スライドラック装置 |
US08/702,313 US5842585A (en) | 1996-04-18 | 1996-08-23 | Movable shelf arrangement |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP96106050A EP0801911B1 (de) | 1996-04-18 | 1996-04-18 | Schieberegalanlage |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0801911A1 EP0801911A1 (de) | 1997-10-22 |
EP0801911B1 true EP0801911B1 (de) | 2000-06-28 |
Family
ID=8222680
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96106050A Expired - Lifetime EP0801911B1 (de) | 1996-04-18 | 1996-04-18 | Schieberegalanlage |
Country Status (4)
Country | Link |
---|---|
US (1) | US5842585A (de) |
EP (1) | EP0801911B1 (de) |
JP (1) | JPH09278124A (de) |
DE (1) | DE59605500D1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3509626B2 (ja) * | 1998-08-04 | 2004-03-22 | 双福鋼器株式会社 | 無軌条型移動ラック |
CN1220464C (zh) * | 2000-10-26 | 2005-09-28 | 金刚株式会社 | 电动辅助式移动架 |
JP3804462B2 (ja) | 2001-03-19 | 2006-08-02 | 株式会社ダイフク | 移動棚設備 |
TWI274719B (en) * | 2002-08-23 | 2007-03-01 | Kongo Kabushiki Kaisha | Moveable shelf and partitioning system |
JP4614649B2 (ja) * | 2002-11-12 | 2011-01-19 | 金剛株式会社 | 移動棚の制御方法 |
US20040226256A1 (en) * | 2003-05-12 | 2004-11-18 | Kongo Kabushiki Kaisha | Control method for moving racks |
US7306303B2 (en) * | 2003-06-30 | 2007-12-11 | General Electric Company | Methods and apparatus for refrigerator compartment |
US20070158286A1 (en) * | 2005-12-22 | 2007-07-12 | Rmr, Creative Storage Systems, Inc. | Storage system |
US7508145B2 (en) * | 2006-01-25 | 2009-03-24 | Spacesaver Corporation | Multiple simultaneous aisle access control for a mobile storage system |
US7992949B2 (en) * | 2007-04-30 | 2011-08-09 | Spacesaver Corporation | Mechanical safety brake for a mobile storage system |
US9051779B2 (en) | 2012-03-23 | 2015-06-09 | Material Control, Inc. | Dual track ladder for use with mobile shelving |
DE102014108827B4 (de) * | 2014-06-24 | 2021-06-17 | Bito-Lagertechnik Bittmann Gmbh | Verfahren zum Fahren eines Regals einer Regalanlage |
JP6350243B2 (ja) * | 2014-11-28 | 2018-07-04 | 株式会社ダイフク | 移動棚設備 |
CN112716167B (zh) * | 2021-01-08 | 2022-12-23 | 江西光正金属设备集团有限公司 | 一种智能双向轨道移动式密集架 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA1086841A (en) * | 1970-03-17 | 1980-09-30 | Han-Ichiro Naito | Shiftable article storage device |
GB1594872A (en) * | 1977-05-18 | 1981-08-05 | Bar Prod Bromsgrove Ltd | Storage assembly |
US4307922A (en) * | 1980-03-13 | 1981-12-29 | Reflector-Hardware Corporation | Movable storage system |
JPS58109380A (ja) * | 1981-12-24 | 1983-06-29 | 宇部興産株式会社 | 速度同調装置 |
CA1201685A (en) * | 1983-05-04 | 1986-03-11 | Hanichiro Naito | Apparatus for preventing a movable rack from falling down |
US4991725A (en) * | 1985-08-29 | 1991-02-12 | Intermetro Industries Corporation | Compact storage system |
US4733923A (en) * | 1986-09-08 | 1988-03-29 | Spacesaver Corporation | Movable storage unit control system |
US4743078A (en) * | 1986-09-22 | 1988-05-10 | Spacesaver Corporation | Movable storage unit control system |
JPH01276213A (ja) * | 1988-04-27 | 1989-11-06 | Mitsui Eng & Shipbuild Co Ltd | 無軌道式クレーンの走行軌道修正装置 |
US5160189A (en) * | 1990-04-03 | 1992-11-03 | Automated Storage & Retrieval Systems Of America | Automatic locking device for movable shelving |
GB2257966B (en) * | 1991-04-26 | 1994-08-31 | Daifuku Kk | Rack arrangement |
US5160190A (en) * | 1991-05-20 | 1992-11-03 | Automated Storage & Retrieval Systems Of America Inc. | Movable storage system with aisle monitoring apparatus |
US5417487A (en) * | 1992-01-13 | 1995-05-23 | Spacesaver Corporation | Presence detector |
KR950009344B1 (ko) * | 1992-09-15 | 1995-08-21 | 주식회사삼성중공업 | 무궤도식 크레인 자동주향방법 및 그 장치 |
US5359191A (en) * | 1993-04-16 | 1994-10-25 | Spacesaver Corporation | Cross-aisle photo-detector for mobile storage system having a light detector mounted to the movable storage unit |
US5427444A (en) * | 1993-06-09 | 1995-06-27 | Spacesaver Corporation | Bi-directional motion sensor for mobile storage systems |
US5569910A (en) * | 1994-11-10 | 1996-10-29 | Spacesaver Corporation | Photodetector system for detecting obstacles in aisles between mobile shelving carriages |
-
1996
- 1996-04-18 EP EP96106050A patent/EP0801911B1/de not_active Expired - Lifetime
- 1996-04-18 DE DE59605500T patent/DE59605500D1/de not_active Expired - Fee Related
- 1996-06-21 JP JP8181373A patent/JPH09278124A/ja active Pending
- 1996-08-23 US US08/702,313 patent/US5842585A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH09278124A (ja) | 1997-10-28 |
EP0801911A1 (de) | 1997-10-22 |
DE59605500D1 (de) | 2000-08-03 |
US5842585A (en) | 1998-12-01 |
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