EP1088774B1 - Loading and pick-up device - Google Patents

Loading and pick-up device Download PDF

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Publication number
EP1088774B1
EP1088774B1 EP00118067A EP00118067A EP1088774B1 EP 1088774 B1 EP1088774 B1 EP 1088774B1 EP 00118067 A EP00118067 A EP 00118067A EP 00118067 A EP00118067 A EP 00118067A EP 1088774 B1 EP1088774 B1 EP 1088774B1
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EP
European Patent Office
Prior art keywords
loading
pick
individual drives
elevating platform
wheels
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
Application number
EP00118067A
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German (de)
French (fr)
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EP1088774A1 (en
Inventor
Hans-Werner Schwalm
Rolf Schumacher
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.)
Oerlikon Textile GmbH and Co KG
Original Assignee
W Schlafhorst AG and Co
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Publication of EP1088774A1 publication Critical patent/EP1088774A1/en
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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
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
    • 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"

Definitions

  • the invention relates to a loading and Removal device according to the preamble of claim 1.
  • DE 36 37 414 C2 describes, for example, a rack system with several racks, each of which has a large number of rack compartments arranged one above the other for storing pallets.
  • the rack system is operated by a loading and unloading device which has a lifting mechanism which can be acted upon by a drive and with loading and unloading spars which can be moved into the rack compartments.
  • the loading and unloading spars are each surrounded in the longitudinal direction by a transport chain to which a special drive is also connected.
  • a comparable storage and retrieval unit is also known from EP 0 116 126 A1.
  • This operating device also has a lifting table that can be raised and lowered by means of a drive and a gripping device that is horizontally movably mounted on the lifting table.
  • the gripping device in the present case a magnet, can be moved by means of a separate drive.
  • a disadvantage of these known loading and unloading devices is, above all, that they each require a separate drive device for the vertical displacement device and a separate drive device for the horizontal displacement device.
  • the electrical supply of the drive of the horizontal transport device which can be positioned at different heights, requires special, generally costly, constructive measures, such as a drag chain arrangement or the like.
  • DE 39 01 201 A1 describes a storage device which is equipped with a large number of tray-like workpiece carriers.
  • the workpiece carriers are arranged on a loop-like endless storage chain.
  • the effective storage capacity of this endless storage chain can be adjusted by the vertical displacement of a carriage designed as a loop puller, over the deflection wheels of which the storage chains are guided.
  • FR-PS 1.333.174 also describes a loading and unloading device which has a vertically movable lifting table and a horizontal transport device arranged on the lifting table.
  • a common, continuous endless traction means is provided, which is driven by a stationary motor arranged on the base frame.
  • the lifting table In order either to be able to either move the lifting table vertically or to operate the horizontal transport device, the lifting table also has a relatively complex gear arrangement which, depending on the switching position, enables one of the two aforementioned operating modes.
  • a drag chain arrangement or the like is necessary for the energy supply of the gear arrangement.
  • the invention based on the task, the known loading and Improve removal devices for rack systems, in particular to simplify their power supply.
  • the inventive design of a loading and unloading device has the advantage that there is no need for a movably arranged second drive and thus also for a complex power supply device for such a drive.
  • the drive device comprises two reversible electric motors which can be controlled in a defined manner.
  • the two electric motors thereby, as stated in claim 2, as frequency-controlled Synchronous machines trained.
  • Such synchronous machines are on the one hand robust and inexpensive and ensure on the other hand, that the individual transport positions of the Feeding and removal device exactly at all times can be approached.
  • the connecting wheel of the lifting table which is part of the horizontal transport device, is positively connected to the endless traction means.
  • the endless traction means is designed, for example, as a toothed belt, as set out in claim 4. Instead of a toothed belt, it is of course also possible to use another endless traction means, for example an articulated chain or the like.
  • a direction of rotation of the drives in the same direction leads to an activation of the arranged in the area of the lifting table Horizontal transport device (claim 6).
  • sensor devices preferably inductive sensors
  • These sensor devices are connected to the control device of the loading and unloading device according to the invention, so that the respective position of the lifting table can be detected at any time.
  • the lifting table position can also be monitored by means of a rotary encoder.
  • These rotary encoders are then arranged, for example, in the area of the motor axes of the lifting table drives and work on the principle of pulse counting.
  • at least one further sensor is preferably provided, which enables a position adjustment, a so-called zeroing (claim 8).
  • control device of the loading and unloading device is preferably designed as a programmable logic controller and is connected to higher-level material flow systems via a bus system.
  • the loading and unloading device according to the invention can be integrated into a higher-level control and monitoring system and operated, for example, from a central control room.
  • FIG. 1 shows a side view of the base frame 2 total of feed and Removal device.
  • the base frame 2 has a columnar, vertical guide construction 36, has a Base plate 4, a cover plate 29 and is by lateral Struts 3 stiffened.
  • Base frame 2 In the base plate 4 holes are arranged, through which Base frame 2 can be fixed on the hall floor 6.
  • the corresponding ground anchors 5 are only schematic indicated.
  • FIG. 2 shows a drive device 35 installed, consisting of two individual drives 7, 7 'arranged side by side consists. At the individual drives 7, 7 'is in each case one Reduction gear 8, 8 'connected. The output shaft this reduction gear 8, 8 'carries in each case Drive wheel 9, 9 '.
  • Deflection rollers 12 are on the cover plate 29 of the base frame 2 arranged, the traction means for a counterweight 27 a Take up lifting table 13.
  • the Counterweight 27 is, preferably on the back of the Base frame 2, a guide 11 available.
  • a lifting table 13 is guided on the base frame 2 and can be displaced in a defined manner.
  • This lifting table 13, which is explained in more detail below with reference to FIGS. 4 to 6, preferably has an essentially box-like, hollow frame 17 and is supported with rollers 16 on raceways 30, 30 'of the vertical guide structure 36 of the base frame 2.
  • the lifting table 13 is guided by side wheels 20 on the base frame 2.
  • the position of the lifting table 13 is monitored by means of a sensor device 33.
  • the preferably inductive sensors of this position monitoring device arranged on the base frame 2 are connected to the control device 31 of the loading and unloading device 1 according to the invention.
  • Other sensor devices can of course also be used for the position monitoring device of the lifting tables 13. It is possible, for example, to provide rotary encoders in the area of the motor axes of the lifting table drives 7, 7 ', which perform a pulse count. In this case, at least one further sensor must be provided for the position adjustment of the lifting table, that is to say for its zeroing.
  • the lifting table 13 also has a first connecting wheel 15 and a second freely rotatable connecting wheel 14.
  • the connecting wheel 15 is part of a horizontal transport device 30th
  • the connecting wheel 15 is connected via a central shaft 19 to a plurality of drive wheels 21 of the horizontal transport device 30.
  • this horizontal transport device 30 has, for example, four endless transport belts 23, each of which runs over one of the drive wheels 21.
  • the endless conveyor belts 23 also loop around end-side guide wheels 25 and are held in the required operating tension by a belt tensioning device 24.
  • Roller tracks 26 may be provided.
  • the stationary drive device 35 is controlled via the programmable logic controller 31 such that the drive wheel 9 'of the individual drive 7', as indicated in FIG. 8, rotates in the direction L (counterclockwise), while at the same time the drive wheel 9 of the individual drive 7 in the direction R rotates (clockwise).
  • the torques of the drives 7, 7 ' are transmitted to the connecting wheels 14, 15 of the lifting table 13 via the endless traction means 28, which runs over the stationary deflection wheels 10, 10'.
  • the drives 7, 7 'rotating at the same speed but with different directions of rotation each transmit torques to the connecting wheels 14, 15, which cancel each other out, so that the connecting wheels 14, 15 do not rotate, but rather the lifting table 13 is displaced vertically, that is, depending on the direction of rotation of the drives 7, 7 'is raised or lowered.
  • the lifting table 13 is raised, for example.
  • the loop of the endless traction means 28 extending between the deflecting wheels 10, 10 'and the second connecting wheel 14 of the lifting table 13 is shortened to the same extent as the loop of the driving wheels 9, 9' and the first connecting wheel 15 of the lifting table 13 Endless pull means 28 is extended.
  • the individual drives 7, 7 ' are rotated in the aforementioned directions of rotation L or R until the programmable controller 32 is informed by the sensor device 33 that the lifting table 13 has reached the predetermined vertical position.
  • the connecting wheels 14, 15 arranged in the region of the lifting table 13 rotate.
  • the rotation of the first connecting wheel 15 is transmitted via a central shaft 19 to the drive wheels 21 of the horizontal transport device 30.
  • These drive wheels 21, as can be seen in particular from FIGS. 5 and 6 and have already been briefly mentioned above, are partially surrounded by endlessly rotating transport belts 23.
  • These transport belts 23 are also guided around the frame 17 of the lifting table 13 guide wheels 25 and, as is customary in the case of belt-type conveying means, are acted upon by a tensioning device 24.
  • the lifting table 13 is to be lowered again, for example, the individual drives 7, 7 'are switched again so that they rotate in opposite directions.
  • the drive 7 must then, as indicated in the present embodiment with reference to FIG. 8, rotate counterclockwise while the drive 7 'is driven clockwise.

Abstract

The supply and discharge unit has a stationary drive (35) in the area of the main frame (2), which has at least two controllable, reversible single drives (7,7'). The drives are connected via an endless conveyor (28) with junction wheels (14,15) to a horizontal transporting device, with the first junction wheel being a component of the transporting device. The single drives are frequency controlled synchronous motors.

Description

Die Erfindung betrifft eine Beschickungs- und Entnahmevorrichtung gemäß dem Oberbegriff des Anspruches 1.The invention relates to a loading and Removal device according to the preamble of claim 1.

Derartige Beschickungs- und Entnahmevorrichtungen, insbesondere für Regalanlagen, sind in verschiedenen Ausführungsformen bekannt.Such loading and unloading devices, especially for shelving systems, are in different Embodiments known.

Die DE 36 37 414 C2 beschreibt beispielsweise eine Regalanlage mit mehreren Regalen, die jeweils eine Vielzahl von übereinander angeordneten Regalfächern für das Einlagern von Paletten aufweist.
Die Regalanlage wird durch eine Beschickungs- und Entnahmevorrichtung bedient, die ein durch einen Antrieb beaufschlagbares Hubwerk mit in die Regalfächer einfahrbaren Beschickungs- und Entnahmeholmen besitzt. Die Beschickungsund Entnahmeholme sind dabei in Längsrichtung jeweils von einer Transportkette umgeben, auf die ebenfalls ein spezieller Antrieb geschaltet ist.DE 36 37 414 C2 describes, for example, a rack system with several racks, each of which has a large number of rack compartments arranged one above the other for storing pallets.
The rack system is operated by a loading and unloading device which has a lifting mechanism which can be acted upon by a drive and with loading and unloading spars which can be moved into the rack compartments. The loading and unloading spars are each surrounded in the longitudinal direction by a transport chain to which a special drive is also connected.

Ein vergleichbares Regalbediengerät ist auch durch die EP 0 116 126 A1 bekannt.
Dieses Bediengerät besitzt ebenfalls einen mittels eines Antriebes heb- und senkbaren Hubtisch sowie eine auf dem Hubtisch horizontal beweglich gelagerte Greifeinrichtung. Die Greifeinrichtung, im vorliegenden Fall ein Magnet, kann mittels eines separaten Antriebes verschoben werden.A comparable storage and retrieval unit is also known from EP 0 116 126 A1.
This operating device also has a lifting table that can be raised and lowered by means of a drive and a gripping device that is horizontally movably mounted on the lifting table. The gripping device, in the present case a magnet, can be moved by means of a separate drive.

Nachteilig bei diesen bekannten Beschickungs- und Entnahmevorrichtungen ist vor allem, daß sie jeweils eine separate Antriebseinrichtung für die Vertikalverlagerungseinrichtung sowie jeweils eine separate Antriebseinrichtung für die Horizontalverlagerungseinrichtung benötigen.
Insbesondere die elektrische Versorgung des in unterschiedlichen Höhen positionierbaren Antriebes der Horizontal-Transporteinrichtung erfordert dabei spezielle, in der Regel kostspielige, konstruktive Maßnahmen, wie zum Beispiel eine Schleppkettenanordnung oder dergleichen.A disadvantage of these known loading and unloading devices is, above all, that they each require a separate drive device for the vertical displacement device and a separate drive device for the horizontal displacement device.
In particular, the electrical supply of the drive of the horizontal transport device, which can be positioned at different heights, requires special, generally costly, constructive measures, such as a drag chain arrangement or the like.

Des weiteren ist durch die DE 39 01 201 A1 eine Speichervorrichtung Stand der Technik, die mit einer Vielzahl von tablettartigen Werkstückträgern ausgestattet ist.
Die Werkstückträger sind dabei an einer schlaufenartig angeordneten Endlos-Speicherkette angeordnet. Die jeweils wirksame Speicherkapazität dieser Endlos-Speicherkette kann durch die vertikale Verlagerung eines als Schlaufenzieher ausgebildeten Wagens, über dessen Umlenkräder die Speicherketten geführt sind, eingestellt werden.Furthermore, DE 39 01 201 A1 describes a storage device which is equipped with a large number of tray-like workpiece carriers.
The workpiece carriers are arranged on a loop-like endless storage chain. The effective storage capacity of this endless storage chain can be adjusted by the vertical displacement of a carriage designed as a loop puller, over the deflection wheels of which the storage chains are guided.

Auch in der FR-PS 1.333.174 ist eine Beschickungs- und entnahmevorrichtung beschrieben, die einen vertikal verfahrbaren Hubtisch sowie eine auf dem Hubtisch angeordnete Horizontal-Transporteinrichtung besitzt.
Zum Antrieb sowohl des Hubtisches als auch der Horizontal-Transporteinrichtung ist dabei ein gemeinsames, umlaufendes Endloszugmittel vorgesehen, das von einem am Grundgestell angeordneten, stationären Motor angetrieben wird.
Um wahlweise entweder den Hubtisch vertikal verlagern oder die Horizontal-Transporteinrichtung betreiben zu können, weist der Hubtisch außerdem relativ aufwendige Getriebeanordnung auf, die je nach Schaltstellung eine der beiden vorgenannten Betriebsarten ermöglicht.
Auch bei dieser bekannten Beschickungs- und entnahmevorrichtung ist zur Energieversorgung der Getriebeanordnung eine Schleppkettenanordnung oder dergleichen notwendig.FR-PS 1.333.174 also describes a loading and unloading device which has a vertically movable lifting table and a horizontal transport device arranged on the lifting table.
To drive both the lifting table and the horizontal transport device, a common, continuous endless traction means is provided, which is driven by a stationary motor arranged on the base frame.
In order either to be able to either move the lifting table vertically or to operate the horizontal transport device, the lifting table also has a relatively complex gear arrangement which, depending on the switching position, enables one of the two aforementioned operating modes.
In this known loading and unloading device, a drag chain arrangement or the like is necessary for the energy supply of the gear arrangement.

Ausgehend vom genannten Stand der Technik liegt der Erfindung die Aufgabe zugrunde, die bekannten Beschickungs- und Entnahmevorrichtungen für Regalanlagen zu verbessern, insbesondere deren Stromversorgung zu vereinfachen.Based on the prior art mentioned, the invention based on the task, the known loading and Improve removal devices for rack systems, in particular to simplify their power supply.

Diese Aufgabe wird erfindungsgemäß durch eine Beschickungsund Entnahmevorrichtung mit den im Anspruch 1 beschriebenen Merkmalen gelöst.This object is achieved by a loading and Removal device with those described in claim 1 Features resolved.

Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of Dependent claims.

Die erfindungsgemäße Ausbildung einer Beschickungs- und Entnahmevorrichtung hat dabei den Vorteil, daß auf einen beweglich angeordneten zweiten Antrieb und damit auch auf eine aufwendige Stromversorgungseinrichtung für einen solchen Antrieb völlig verzichtet werden kann.
Das heißt, sowohl die vertikale Verlagerung des Hubtisches als auch die Aktivierung der im Bereich des Hubtisches angeordneten Horizontal-Transporteinrichtung erfolgt über eine gemeinsame, stationäre, im Bereich des Grundgestelles angeordnete Antriebseinrichtung. Die Antriebseinrichtung umfaßt dabei zwei definiert ansteuerbare, reversierbare Elektromotore.The inventive design of a loading and unloading device has the advantage that there is no need for a movably arranged second drive and thus also for a complex power supply device for such a drive.
This means that both the vertical displacement of the lifting table and the activation of the horizontal transport device arranged in the area of the lifting table takes place via a common, stationary drive device arranged in the area of the base frame. The drive device comprises two reversible electric motors which can be controlled in a defined manner.

Da das Endloszugmittel formschlüssig wenigstens mit den Antriebsrädern der vorgenannten, definiert ansteuerbaren Einzelantriebe verbunden ist und außerdem über am Grundgestell festgelegte stationäre Umlenkräder sowie am Hubtisch angeordnete, mit diesem vertikal verlagerbare Anschlußräder geführt ist, kann auf einfache Weise, durch reine Drehrichtungswahl der Einzelantriebe, sowohl die Richtung der vertikalen Verlagerung des Hubtisches als auch die Arbeitsrichtung der Horizontal-Transporteinrichtung vorgegebeben werden.Since the endless traction means at least with the Drive wheels of the aforementioned, controllable Single drives is connected and also on the base frame fixed stationary deflection wheels and at the lifting table arranged, with this vertically displaceable connecting wheels can be done in a simple way, by pure Selection of the direction of rotation of the individual drives, both the direction of the vertical displacement of the lifting table as well Working direction of the horizontal transport device be pretended.

In bevorzugter Ausführungsform sind die beiden Elektromotoren dabei, wie im Anspruch 2 ausgeführt, als frequenzgesteuerte Synchronmaschinen ausgebildet. Solche Synchronmaschinen sind einerseits robust und kostengünstig und gewährleisten andererseits, daß die einzelnen Transportpositionen der Beschickungs- und Entnahmevorrichtung jederzeit exakt angefahren werden können.In a preferred embodiment, the two electric motors thereby, as stated in claim 2, as frequency-controlled Synchronous machines trained. Such synchronous machines are on the one hand robust and inexpensive and ensure on the other hand, that the individual transport positions of the Feeding and removal device exactly at all times can be approached.

Wie im Anspruch 3 dargelegt, ist dabei wenigstens das Anschlußrad des Hubtisches, das Bestandteil der Horizontal-Transporteinrichtung ist, formschlüssig mit dem Endloszugmittel verbunden.
Das Endloszugmittel ist dabei, wie im Anspruch 4 dargelegt, zum Beispiel als Zahnriemen ausgebildet. Anstelle eines Zahnriemens ist selbstverständlich auch die Verwendung eines anderen Endloszugmittels, zum Beispiel einer Gelenkkette oder dergleichen, möglich.As stated in claim 3, at least the connecting wheel of the lifting table, which is part of the horizontal transport device, is positively connected to the endless traction means.
The endless traction means is designed, for example, as a toothed belt, as set out in claim 4. Instead of a toothed belt, it is of course also possible to use another endless traction means, for example an articulated chain or the like.

Wie im Anspruch 5 beschrieben, führen gegensinnige Drehrichtungen der Einzelantriebe zu einer vertikalen Verlagerung des Hubtisches. Das heißt, über die jeweilige Drehrichtung der beiden Einzelantriebe kann problemlos die Richtung der Verlagerung des Hubtisches bestimmt werden.As described in claim 5, lead opposite Direction of rotation of the individual drives to a vertical Relocation of the lifting table. That is, about each The direction of rotation of the two individual drives can easily Direction of displacement of the lifting table can be determined.

Eine gleichsinnige Drehrichtung der Antriebe führt dagegen zu einer Aktivierung der im Bereich des Hubtisches angeordneten Horizontal-Transporteinrichtung (Anspruch 6). A direction of rotation of the drives in the same direction leads to an activation of the arranged in the area of the lifting table Horizontal transport device (claim 6).

Wie im Anspruch 7 dargelegt, ist in weiterer Ausgestaltung der Erfindung vorgesehen, daß beispielsweise im Bereich des Grundgestelles Sensoreinrichtungen, vorzugsweise induktive Sensoren, angeordnet sind.
Diese Sensoreinrichtungen sind an die Steuereinrichtung der erfindungsgemäßen Beschickungs- und Entnahmevorrichtung angeschlossen, so daß jederzeit die jeweilige Position des Hubtisches erfaßbar ist.As stated in claim 7, it is provided in a further embodiment of the invention that, for example, sensor devices, preferably inductive sensors, are arranged in the region of the base frame.
These sensor devices are connected to the control device of the loading and unloading device according to the invention, so that the respective position of the lifting table can be detected at any time.

In alternativer Ausgestaltung kann die Überwachung der Hubtischposition auch mittels Drehgeber erfolgen.
Diese Drehgeber sind dann beispielsweise im Bereich der Motorachsen der Hubtischantriebe angeordnet und arbeiten nach dem Prinzip der Impulszählung. Bei einer solchen Ausführungsform ist vorzugsweise mindestens ein weiterer Sensor vorgesehen, der einen Positionsabgleich, eine sogenannte Nullung, ermöglicht (Anspruch 8).In an alternative embodiment, the lifting table position can also be monitored by means of a rotary encoder.
These rotary encoders are then arranged, for example, in the area of the motor axes of the lifting table drives and work on the principle of pulse counting. In such an embodiment, at least one further sensor is preferably provided, which enables a position adjustment, a so-called zeroing (claim 8).

Wie im Anspruch 9 dargelegt, ist die Steuereinrichtung der Beschickungs- und Entnahmevorrichtung vorzugsweise als speicherprogrammierbare Steuereinrichtung ausgebildet und über ein Bussystem mit übergeordneten Materialflußsystemen verbunden.
Das heißt, die erfindungsgemäße Beschickungs- und Entnahmevorrichtung kann in ein übergeordnetes Kontroll- und Überwachungssystem eingebunden und beispielsweise von einer zentralen Steuerwarte aus bedient werden.As stated in claim 9, the control device of the loading and unloading device is preferably designed as a programmable logic controller and is connected to higher-level material flow systems via a bus system.
This means that the loading and unloading device according to the invention can be integrated into a higher-level control and monitoring system and operated, for example, from a central control room.

Weitere Einzelheiten der Erfindung sind einem nachfolgend anhand der Zeichnungen erläuterten Ausführungsbeispiel entnehmbar. Further details of the invention are as follows exemplary embodiment explained with reference to the drawings removable.

Es zeigen:

Fig. 1 - 3
das Grundgestell der erfindungsgemäßen Beschickungs- und Entnahmevorrichtung in verschiedenen Ansichten, (Figur 1 Seitenansicht, im Schnitt), (Figur 2 Draufsicht, im Schnitt), (Figur 3 Vorderansicht),
Fig. 4 - 6
verschiedene Ansichten des Hubtisches,
Figur 4 Hubtisch in Seitenansicht,
Figur 5 Hubtisch in Draufsicht und
Figur 6 Hubtisch gemäß Schnitt VI-VI der Figur 5,
Fig. 7
in Seitenansicht die komplette Beschickungs- und Entnahmevorrichtung, wobei der Hubtisch geschnitten dargestellt ist, gemäß Schnitt VII-VII der Figur 5,
Fig. 8
eine Vorderansicht der erfindungsgemäßen Beschickungs- und Entnahmevorrichtung gemäß Pfeil X der Figur 7.
Show it:
1 - 3
the base frame of the loading and unloading device according to the invention in different views, (Figure 1 side view, in section), (Figure 2 top view, in section), (Figure 3 front view),
Fig. 4-6
different views of the lifting table,
FIG. 4 side elevation table,
Figure 5 lifting table in plan view and
FIG. 6 lifting table according to section VI-VI of FIG. 5,
Fig. 7
in side view the complete loading and unloading device, the lifting table being shown in section, according to section VII-VII of FIG. 5,
Fig. 8
a front view of the loading and unloading device according to the arrow X of Figure 7.

Die Figur 1 zeigt eine Seitenansicht des Grundgestelles 2 einer insgesamt mit der Bezugszahl 1 gekennzeichneten Beschickungsund Entnahmevorrichtung.FIG. 1 shows a side view of the base frame 2 total of feed and Removal device.

Das Grundgestell 2 weist eine säulenartig ausgebildete, vertikale Führungskontruktion 36 auf, verfügt über eine Bodenplatte 4, eine Deckplatte 29 und ist durch seitliche Verstrebungen 3 versteift.The base frame 2 has a columnar, vertical guide construction 36, has a Base plate 4, a cover plate 29 and is by lateral Struts 3 stiffened.

In der Bodenplatte 4 sind Bohrungen angeordnet, über die das Grundgestell 2 am Hallenboden 6 festlegbar ist. Die entsprechenden Bodenanker 5 sind dabei nur schematisch angedeutet.In the base plate 4 holes are arranged, through which Base frame 2 can be fixed on the hall floor 6. The corresponding ground anchors 5 are only schematic indicated.

Im Bereich der Bodenplatte 4 ist außerdem, wie insbesondere aus Figur 2 ersichtlich, eine Antriebseinrichtung 35 installiert, die aus zwei nebeneinander angeordneten Einzelantrieben 7, 7' besteht. An die Einzelantriebe 7, 7' ist dabei jeweils ein Untersetzungsgetriebe 8, 8' angeschlossen. Die Ausgangswelle dieser Untersetzungsgetriebe 8, 8' trägt jeweils ein Antriebsrad 9, 9'.In the area of the base plate 4 is also, as in particular FIG. 2 shows a drive device 35 installed, consisting of two individual drives 7, 7 'arranged side by side consists. At the individual drives 7, 7 'is in each case one Reduction gear 8, 8 'connected. The output shaft this reduction gear 8, 8 'carries in each case Drive wheel 9, 9 '.

Die Antriebsräder 9, 9', die auf ihrem Außenumfang beispielsweise eine Verzahnung für ein Endloszugmittel 28, im Ausführungsbeispiel ein Zahnriemen, tragen, laufen innerhalb der zur Frontseite hin teilweise offenen Führungskontruktion 36 des Grundgestelles 2.The drive wheels 9, 9 'on their outer circumference for example, a toothing for an endless traction means 28, in Embodiment a toothed belt, wear, run inside the leadership construction 36, which is partially open to the front of the base frame 2.

Wie insbesondere aus den Figuren 1 und 3 ersichtlich, sind im oberen Bereich der Führungskontruktion 36 des Grundgestelles 2 außerdem stationäre Umlenkräder 10, 10' angeordnet. Wie die Antriebsräder 9, 9' können auch die Umlenkräder 10, 10' auf ihrem Außenumfang eine Verzahnung aufweisen. Es ist allerdings auch denkbar, daß die Lauffläche der Umlenkräder 10, 10' glatt ist.As can be seen in particular from FIGS. 1 and 3, in upper area of the guide structure 36 of the base frame 2 stationary deflection wheels 10, 10 'are also arranged. Like the drive wheels 9, 9 ', the deflection wheels 10, 10' have a toothing on its outer circumference. It is however, it is also conceivable that the running surface of the deflection wheels 10, 10 'is smooth.

Auf der Deckplatte 29 des Grundgestelles 2 sind Umlenkrollen 12 angeordnet, die das Zugmittel für ein Kontergewicht 27 eines Hubtisches 13 aufnehmen. Zur seitlichen Führung dieses Kontergewichtes 27 ist, vorzugsweise auf der Rückseite des Grundgestelles 2, eine Führung 11 vorhanden.Deflection rollers 12 are on the cover plate 29 of the base frame 2 arranged, the traction means for a counterweight 27 a Take up lifting table 13. For lateral guidance of this Counterweight 27 is, preferably on the back of the Base frame 2, a guide 11 available.

Wie beispielsweise in Figur 7 angedeutet, ist am Grundgestell 2, definiert vertikel verschiebbar, ein Hubtisch 13 geführt.
Dieser Hubtisch 13, der nachfolgend insbesondere anhand der Figuren 4 bis 6 näher erläutert wird, weist vorzugsweise einen im wesentlichen kastenartigen, hohlen Rahmen 17 auf und stützt sich mit Rollen 16 an Laufbahnen 30, 30' der vertikalen Führungskonstruktion 36 des Grundgestelles 2 ab. Außerdem ist der Hubtisch 13 durch Seitenräder 20 am Grundgestell 2 geführt.As indicated, for example, in FIG. 7, a lifting table 13 is guided on the base frame 2 and can be displaced in a defined manner.
This lifting table 13, which is explained in more detail below with reference to FIGS. 4 to 6, preferably has an essentially box-like, hollow frame 17 and is supported with rollers 16 on raceways 30, 30 'of the vertical guide structure 36 of the base frame 2. In addition, the lifting table 13 is guided by side wheels 20 on the base frame 2.

Die Position des Hubtisches 13 wird mittels einer Sensoreinrichtung 33 überwacht. Die am Grundgestell 2 angeordneten, vorzugsweise induktiven Sensoren dieser Positionsüberwachungseinrichtung sind dabei an die Steuereinrichtung 31 der erfindungsgemäßen Beschickungs- und Entnahmevorrichtung 1 angeschlossen.
Zur Positionsüberwachungseinrichtung des Hubtische 13 können selbstverständlich auch andere (nicht dargestellte) Sensoreinrichtungen Verwendung finden.
Es ist beispielsweise möglich im Bereich der Motorachsen der Hubtischantriebe 7,7' Drehgeber vorzusehen, die eine Impulszählung durchführen. In diesem Fall ist zum Positionsabgleich des Hubtisches, das heißt zu dessen Nullung, mindestens ein weiterer Sensor vorzusehen. The position of the lifting table 13 is monitored by means of a sensor device 33. The preferably inductive sensors of this position monitoring device arranged on the base frame 2 are connected to the control device 31 of the loading and unloading device 1 according to the invention.
Other sensor devices (not shown) can of course also be used for the position monitoring device of the lifting tables 13.
It is possible, for example, to provide rotary encoders in the area of the motor axes of the lifting table drives 7, 7 ', which perform a pulse count. In this case, at least one further sensor must be provided for the position adjustment of the lifting table, that is to say for its zeroing.

Der Hubtisch 13 weist des weiteren ein erstes Anschlußrad 15 sowie ein zweites frei drehbar gelagertes Anschlußrad 14 auf. Das Anschlußrad 15 ist dabei Bestandteil einer Horizontal-Transporteinrichtung 30.The lifting table 13 also has a first connecting wheel 15 and a second freely rotatable connecting wheel 14. The connecting wheel 15 is part of a horizontal transport device 30th

Wie insbesondere in den Figuren 5 und 6 dargestellt, ist das Anschlußrad 15 über eine zentrale Welle 19 mit einer Mehrzahl von Treibrädern 21 der Horizontal-Transporteinrichtung 30 verbunden.
Diese Horizontal-Transporteinrichtung 30 verfügt in der dargestellten Ausführungsform beispielsweise über vier Endlos-Transportriemen 23, die jeweils über eines der Treibräder 21 laufen. Die Endlos-Transportriemen 23 umschlingen außerdem endseitige Führungsräder 25 und werden durch eine Riemen-Spanneinrichtung 24 in der erforderlichen Betriebsspannung gehalten.As shown in particular in FIGS. 5 and 6, the connecting wheel 15 is connected via a central shaft 19 to a plurality of drive wheels 21 of the horizontal transport device 30.
In the embodiment shown, this horizontal transport device 30 has, for example, four endless transport belts 23, each of which runs over one of the drive wheels 21. The endless conveyor belts 23 also loop around end-side guide wheels 25 and are held in the required operating tension by a belt tensioning device 24.

Im Bereich der Transportoberfläche des Hubtisches 13 können des weiteren, wie in den Figuren 5 und 7 angedeutet, Rollenbahnen 26 vorgesehen sein.In the area of the transport surface of the lifting table 13, the further, as indicated in FIGS. 5 and 7, Roller tracks 26 may be provided.

Funktion der Einrichtung:Function of the facility:

Wenn beispielsweise ein Transportgut in eines der oben liegenden Regalfächer einer Regalanlage transportiert werden soll, muß dieses zunächst durch den Hubtisch 13 angehoben werden. Zu diesem Zweck wird die stationäre Antriebseinrichtung 35 über die speicherprogrammierbare Steuereinrichtung 31 so angesteuert, daß das Antriebsrad 9' des Einzelantriebes 7', wie in Figur 8 angedeutet, in Richtung L (Gegenuhrzeigersinn) rotiert, während gleichzeitig das Antriebsrad 9 des Einzelantriebes 7 in Richtung R (Uhrzeigersinn) umläuft. Die Drehmomente der Antriebe 7, 7' werden dabei über das Endloszugmittel 28, das über die stationären Umlenkräder 10, 10' läuft, auf die Anschlußräder 14, 15 des Hubtisches 13 übertragen.
Die mit gleicher Geschwindigkeit, jedoch unterschiedlichem Drehsinn rotierenden Antriebe 7, 7' übertragen dabei jeweils Drehmomente auf die Anschlußräder 14, 15, die sich gegenseitig aufheben, so daß die Anschlußräder 14, 15 nicht rotieren, sondern der Hubtisch 13 vertikal verlagert, das heißt, je nach Drehrichtung der Antriebe 7, 7' angehoben oder abgesenkt wird. Bei den im vorliegenden Ausführungsbeispiel angegebenen Drehrichtungen der Antriebe 7, 7' wird der Hubtisch 13 beispielsweise angehoben.If, for example, a transport good is to be transported into one of the overhead compartments of a rack system, it must first be lifted by the lifting table 13. For this purpose, the stationary drive device 35 is controlled via the programmable logic controller 31 such that the drive wheel 9 'of the individual drive 7', as indicated in FIG. 8, rotates in the direction L (counterclockwise), while at the same time the drive wheel 9 of the individual drive 7 in the direction R rotates (clockwise). The torques of the drives 7, 7 'are transmitted to the connecting wheels 14, 15 of the lifting table 13 via the endless traction means 28, which runs over the stationary deflection wheels 10, 10'.
The drives 7, 7 'rotating at the same speed but with different directions of rotation each transmit torques to the connecting wheels 14, 15, which cancel each other out, so that the connecting wheels 14, 15 do not rotate, but rather the lifting table 13 is displaced vertically, that is, depending on the direction of rotation of the drives 7, 7 'is raised or lowered. In the directions of rotation of the drives 7, 7 ′ specified in the present exemplary embodiment, the lifting table 13 is raised, for example.

Das heißt, die zwischen den Umlenkrädern 10, 10' und dem zweiten Anschlußrad 14 des Hubtisches 13 erstreckende Schleife des Endloszugmittels 28 wird im gleichen Maße verkürzt, wie die zwischen den Antriebsrädern 9, 9' und dem ersten Anschlußrad 15 des Hubtisches 13 verlaufende Schleife des Endloszugmittels 28 verlängert wird.
Die Einzelantriebe 7, 7' werden dabei so lange in den vorgenannten Drehrichtungen L beziehungsweise R rotiert, bis der speicherprogrammierbaren Steuerung 32 durch die Sensoreinrichtung 33 gemeldet wird, daß der Hubtisch 13 die vorbestimmte vertikale Position erreicht hat.That is, the loop of the endless traction means 28 extending between the deflecting wheels 10, 10 'and the second connecting wheel 14 of the lifting table 13 is shortened to the same extent as the loop of the driving wheels 9, 9' and the first connecting wheel 15 of the lifting table 13 Endless pull means 28 is extended.
The individual drives 7, 7 'are rotated in the aforementioned directions of rotation L or R until the programmable controller 32 is informed by the sensor device 33 that the lifting table 13 has reached the predetermined vertical position.

Zur Betätigung der Horizontal-Transporteinrichtung 30 wird jetzt einer der beiden Einzelantriebe 7 oder 7' umgeschaltet. Das heißt, die beiden Einzelantriebe 7, 7' rotieren jetzt gleichsinnig. Welcher der beiden Einzelantriebe 7 beziehungsweise 7' dabei umgeschaltet werden muß, hängt von der gewünschten Transportrichtung der Horizontal-Transporteinrichtung 30 ab. To operate the horizontal transport device 30 is now one of the two individual drives 7 or 7 'switched. This means that the two individual drives 7, 7 'are now rotating in the same direction. Which of the two individual drives 7 or 7 'must be switched depends on the desired transport direction of the horizontal transport device 30 from.

Bei einer gleichsinnige Rotation der beiden Einzelantriebe 7, 7' kommt es zu einer Rotation der im Bereich des Hubtisches 13 angeordneten Anschlußräder 14, 15.
Die Rotation des ersten Anschlußrades 15 wird dabei über eine zentrale Welle 19 auf die Treibräder 21 der Horizontal-Transporteinrichtung 30 übertragen.
Diese Treibräder 21 sind, wie insbesondere aus den Figuren 5 und 6 ersichtlichund vorstehend bereits kurz erwähnt, teilweise von endlos umlaufenden Transportriemen 23 umschlungen. Diese Transportriemen 23 sind außerdem im Rahmen 17 des Hubtisches 13 Führungsräder 25 herumgeführt und werden dabei, wie bei gurtartigen Fördermitteln üblich, durch eine Spannvorrichtung 24 beaufschlagt.When the two individual drives 7, 7 'rotate in the same direction, the connecting wheels 14, 15 arranged in the region of the lifting table 13 rotate.
The rotation of the first connecting wheel 15 is transmitted via a central shaft 19 to the drive wheels 21 of the horizontal transport device 30.
These drive wheels 21, as can be seen in particular from FIGS. 5 and 6 and have already been briefly mentioned above, are partially surrounded by endlessly rotating transport belts 23. These transport belts 23 are also guided around the frame 17 of the lifting table 13 guide wheels 25 and, as is customary in the case of belt-type conveying means, are acted upon by a tensioning device 24.

Das bedeutet, je nach Drehrichtung der gleichsinnig umlaufenden Einzelantriebe 7, 7' kann die Horizontal-Transporteinrichtung 30 ein Transportgut entweder in Richtung V oder in Richtung Z fördern.This means, depending on the direction of rotation, the rotating in the same direction Single drives 7, 7 'can the horizontal transport device 30 a cargo either in the direction of V or promote towards Z.

Wenn nach der Überführung des Transportgutes in das betreffenden Regalfach der Regalanlage der Hubtisch 13 z.B. wieder abgesenkt werden soll, werden entsprechend die Einzelantriebe 7, 7' wieder so geschaltet, daß sie gegensinnig rotieren.
Der Antrieb 7 muß dann, wie im vorliegenden Ausführungsbeispiel anhand der Fig. 8 angedeutet, im Gegenuhrzeigersinn rotieren während der Antrieb 7' im Uhrzeigersinn angesteuert wird.If, after transfer of the goods to be transported into the relevant shelf compartment of the rack system, the lifting table 13 is to be lowered again, for example, the individual drives 7, 7 'are switched again so that they rotate in opposite directions.
The drive 7 must then, as indicated in the present embodiment with reference to FIG. 8, rotate counterclockwise while the drive 7 'is driven clockwise.

Claims (9)

  1. Loading and pick-up device (1) for a shelf unit with a base frame (2) comprising vertical guide paths, an elevating platform (13) which can be displaced along the guide paths comprising a horizontal conveying device (30) and a stationary drive device (35) in the region of the base frame (2),
    characterised in that
    the stationary drive device (35) comprises at least'two, reversible individual drives (7, 7'), which are controllable in a defined manner,
    in that the individual drives (7, 7') are connected via an endless traction means (28) to connecting wheels (14, 15) of the elevating platform (13), a first connecting wheel (15) being a component of the horizontal conveying device (30) of the elevating platform (13),
    in that the endless traction means (28) is guided with interlocking fit at least via drive wheels (9, 9') of the individual drives (7, 7'),
    in that the endless traction means (28) also runs via stationary reversing wheels (10, 10') fixed to the base frame (2) and via connecting wheels (14, 15) arranged on the elevating platform (13) and which can be vertically displaced together therewith, and
    in that a vertical displacement of the elevating platform (13) or operation of the horizontal conveying device (30) is selectively possible in one of its two conveying directions owing to appropriate control of the individual drives (7, 7').
  2. Loading and pick-up device according to claim 1, characterised in that the individual drives (7, 7') are constructed as frequency-controlled synchronous motors.
  3. Loading and pick-up device according to claim 1, characterised in that at least the first connecting wheel (15) is connected with interlocking fit to the endless traction means (28).
  4. Loading and pick-up device according to any of the preceding claims, characterised in that the endless traction means (28) is constructed as a toothed belt.
  5. Loading and pick-up device according to any of the preceding claims, characterised in that the elevating platform (13) can be vertically displaced in that the individual drives (7, 7') are controlled in such a way that they rotate in opposite directions of rotation (R, L or L, R).
  6. Loading and pick-up device according to any of the preceding claims, characterised in that the horizontal conveying device (30) can be activated in that the individual drives (7, 7') are controlled in such a way that they rotate in the same direction of rotation (R, R or L, L).
  7. Loading and pick-up device according to any of the preceding claims, characterised in that sensors (33), preferably inductive sensors, are arranged in the region of the base frame (2) to monitor the respective elevating platform position.
  8. Loading and pick-up device according to claim 7, characterised in that the sensor (33) is constructed as a rotary transducer arranged in the region of the motor axes of the drives (7, 7').
  9. Loading and pick-up device according to any of the preceding claims, characterised in that a programmable controller (31) which is connected via a bus system (32) to higher order material flow systems, is provided for controlling the individual drives (7, 7').
EP00118067A 1999-10-02 2000-08-23 Loading and pick-up device Expired - Lifetime EP1088774B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29917411U 1999-10-02
DE29917411U DE29917411U1 (en) 1999-10-02 1999-10-02 Loading and unloading device

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EP1088774A1 EP1088774A1 (en) 2001-04-04
EP1088774B1 true EP1088774B1 (en) 2003-08-13

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EP (1) EP1088774B1 (en)
AT (1) ATE247059T1 (en)
DE (2) DE29917411U1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29917411U1 (en) * 1999-10-02 2000-02-10 Schlafhorst & Co W Loading and unloading device
JP5983752B2 (en) * 2012-09-05 2016-09-06 村田機械株式会社 Stacker crane
CN105347234A (en) * 2015-11-24 2016-02-24 重庆红亿机械有限公司 Car lifting jack body landing safety alarm system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1333174A (en) * 1962-06-13 1963-07-26 Batignolles Chatillon Device for vertical movement and storage of objects on stacked shelves
US3674159A (en) * 1969-03-07 1972-07-04 Triax Co Load handling mechanism and automatic storage system
EP0116126A1 (en) * 1982-12-21 1984-08-22 J. Sandt AG Shelf with at least one storage and retrieval machine
US4820109A (en) * 1986-04-11 1989-04-11 Ampex Corporation Bidirectional transfer mechanism
DE3637414C2 (en) * 1986-04-24 1994-02-10 Neuhaeuser Helmut Shelving system
DE3901201A1 (en) 1989-01-17 1990-07-19 Expert Maschbau CHAIN STORAGE DEVICE
DE29917411U1 (en) * 1999-10-02 2000-02-10 Schlafhorst & Co W Loading and unloading device

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Publication number Publication date
DE50003252D1 (en) 2003-09-18
DE29917411U1 (en) 2000-02-10
EP1088774A1 (en) 2001-04-04
ATE247059T1 (en) 2003-08-15

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