EP2088116B1 - Protection électronique contre le glissement et procédé destiné à empêcher le glissement ou l'extraction involontaire de palettes dans un rayonnage de stock - Google Patents

Protection électronique contre le glissement et procédé destiné à empêcher le glissement ou l'extraction involontaire de palettes dans un rayonnage de stock Download PDF

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Publication number
EP2088116B1
EP2088116B1 EP09150146A EP09150146A EP2088116B1 EP 2088116 B1 EP2088116 B1 EP 2088116B1 EP 09150146 A EP09150146 A EP 09150146A EP 09150146 A EP09150146 A EP 09150146A EP 2088116 B1 EP2088116 B1 EP 2088116B1
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EP
European Patent Office
Prior art keywords
load
handling device
storage
safeguard
retrieval
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Not-in-force
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EP09150146A
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German (de)
English (en)
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EP2088116A3 (fr
EP2088116A2 (fr
Inventor
Gerhard Schäfer
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SSI Schaefer Noell GmbH Lager und Systemtechnik
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SSI Schaefer Noell GmbH Lager und Systemtechnik
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Application filed by SSI Schaefer Noell GmbH Lager und Systemtechnik filed Critical SSI Schaefer Noell GmbH Lager und Systemtechnik
Priority to PL09150146T priority Critical patent/PL2088116T3/pl
Priority to SI200930636T priority patent/SI2088116T1/sl
Publication of EP2088116A2 publication Critical patent/EP2088116A2/fr
Publication of EP2088116A3 publication Critical patent/EP2088116A3/fr
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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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Definitions

  • the present invention relates to an electronic fürschubêt for a storage and retrieval device and a method for preventing unintentional pushing or pulling a loading aid, such as a pallet, in or out of a parking space of a storage rack, the storage and retrieval device automatically stores the loading equipment in the parking space or automated outsourced to the pitch.
  • the DE 10 2006 039 382 A1 discloses a stacker crane.
  • RBG storage and retrieval units
  • An RBG usually has three degrees of freedom of movement, namely, along an x-axis (lane direction, travel direction, travel unit), a y-axis (vertical direction, stroke direction), and a z-axis (lateral gait, load pickup).
  • An RBG is usually a vehicle which is a ground-based, freely movable on or along a rail conveyor, which essentially horizontal and vertical in-house transport of goods, articles, loads and / or - if appropriate facilities - of people is used ,
  • the RBG is often moved in a corridor or an alley between two shelves on rails.
  • shelf-bound RBG More detailed information on the structure of an RBG can be found in the patent DE 10 2006 037 719 ,
  • An RBG normally includes a landing gear, a mast, a hoist, a lift truck and a load handling attachment. With the chassis, the RBG can be moved along the lane.
  • a lift truck which has the lifting device, is moved by means of the hoist in a substantially vertical direction along the mast.
  • the load receiving means serves to receive and deliver storage units, which are usually stored on a loading aid.
  • a load handling attachment is understood to mean a part of the RBG that receives and delivers storage units.
  • a typical LAM for pallets is eg a lifting fork.
  • a storage unit provides a handling unit (loaded pallet, Containers, trays, etc.), which are stored for example in a high-bay warehouse or an AKL.
  • a loading aid is used to form bearing units. Depending on their function, a distinction is made between loading aids with a supporting function (eg pallets), carrying and enclosing functions (eg grid box pallets, containers, trays, etc.) as well as supporting, enclosing and terminating functions (eg containers).
  • Article-only storage units contain only items of one type or type.
  • load bearing of the storage units generally takes place via a telescopic fork pair, in the case of containers via e.g. rolling up with a belt conveyor, drawbars such as hooks, lasso or swivel arm, or with a lift table or shuttle.
  • LVR warehouse management computer
  • the LVR is subordinated to a large number of hierarchically structured control units.
  • An RBG receives its commands to load and unload LHM, e.g. from a programmable logic controller (PLC).
  • PLC programmable logic controller
  • a PLC is an assembly that is commonly used to control and / or regulate machinery. As a rule, such an assembly is made electronically and resembles components of a computer.
  • encoders sensors
  • actuators actuators
  • An associated operating system ensures that a user program always has a current status of an encoder. Based on this information, the user program can turn the actuators on or off so that the RBG functions as desired, e.g. to put a pallet in or out.
  • Another way to at least detect push through is to use e.g. a telescopic fork in it to monitor a required drive torque when retracting or extending the fork. If a pallet to be delivered encounters a pallet already on the shelf because the pallet to be delivered is moved too far away from the LAM, the required torque increases as both pallets are moved onto the shelf. Based on this principle of torque monitoring electronic fürschubêten with so-called. Snap-through clutches or with friction clutches. However, this type of electronic push-through fuse has the disadvantage that it is moment-limited, i. among other things depending on a friction between the involved components (shelf, pallet, fork, etc.).
  • the electronic fürschub Anlagen for a storage and retrieval unit, which automatically emits a loading equipment, especially a pallet or container, to a parking space in a storage rack or picks up from there, the storage and retrieval unit a substantially vertically movable pallet truck with a substantially horizontally movable load-receiving means is provided with a load receiving means control means, wherein the load receiving means control means is connected to a position detection means to detect a position of a clarlagernden or to be stored loading aid relative to the parking space, wherein the position detection means is arranged, a deviation of an actual position from a target position of the loading means, preferably by means of a distance measurement, to output a deviation signal to the load receiving means control means, and wherein the load receiving means control means is adapted to stop receiving the deviation signal, a horizontal movement of the receiving means.
  • this object is achieved with a method for preventing unintentional pushing through or pulling out of a loading aid, which is to be delivered with a storage and retrieval unit to a parking space in a storage rack from there, the storage control unit automatically stores the loading equipment in the parking space or automated from the parking space outsourced, wherein the storage and retrieval device comprises a substantially vertically movable lift truck with a substantially horizontally movable load-carrying means, comprising the following steps: determining a relative distance between parked on the parking load support and the lift truck to define a desired position of the loading aid; Activating position monitoring when the lift truck is positioned in a stowed position or a stowed position in front of the staging area to define an actual position of the load carrier; Method of the load-receiving means such that the load receiving means is moved during the removal of the loading aid into the parking space in order to subsequently lift the loading aid on the extended load-receiving means, or such that the load-receiving means during storage of the loading
  • a logic integrated into the sensor detects an unintentional shifting of the LHM relative to the parking space in the rack and generates a corresponding deviation signal.
  • the deviation signal is applied to, in particular direct, paths to a load handling means control means, e.g. to a converter, which controls a drive of the LAM. Since the inverter waits for such deviation signals, the logic contained in the inverter can react immediately, e.g. Using a so-called zero-ramp, the power supply from the drive of the LAM as quickly as possible take away by the energy is reduced to zero.
  • the communication between sensor and inverter is preferably done directly, i. without detour via a PLC, so that the time interval required for the evaluation and implementation of the error signal is extremely short.
  • the load-carrying means moves horizontally into the parking space or out of the parking space in order to store or outsource the loading aid.
  • Another advantage is the fact that the position detection device is fixedly mounted on the pallet truck and laterally spaced from the LAM, that the position detection device does not move relative to the storage rack during horizontal movement of the LAM and that the position detection device in the vertical process of the lift truck synchronously with moved the truck relative to the storage rack.
  • the LAM Since unintentional pushing through or pulling out is caused by the LAM of the storage and retrieval unit, it is recommended to determine the relative distance between the pallet truck and the LHM. As is known, the LAM moves during a storage and retrieval process. The LAM can not serve as a reference. The pallet truck, on the other hand, is at rest.
  • the position detection means i. for example, a laser distance sensor, also on the LAM, such as the LAM. attached to a telescopic fork.
  • the relative distance between the laser sensor and LHM such as that shown in FIG. a palette, change. Since it is known at what speed the fork is moved, so the expected distance between the sensor and pallet could be calculated. If the expected value deviates from the actual value, the pallet is either pushed or pulled unintentionally.
  • this solution is somewhat slower than the solution described above, since data must constantly be exchanged and calculated between the sensor and the control device. Furthermore, acceleration and braking effects have to be considered, which makes the monitoring more complex.
  • the LAM control device is a converter with integrated logic, in which a zero-ramp for stopping the movement of the LAM is stored.
  • the evaluation no longer takes place, as usual, in the PLC, but directly at the RBG.
  • the reaction time at detected error is very short.
  • the LAM is a telescoping fork for pallet handling or a horizontally movable lifting table for container handling.
  • the position detecting device is a distance sensor, such as a distance sensor. a laser sensor or a light sensor.
  • a further control device is provided for the global coordination of an emplacement process or an embarrassing process. This control device is e.g. a higher-level programmable controller.
  • a bus system allows the addressed control of several components in compliance with special security requirements, as they exist in connection with the automated LHM handling.
  • the LAM control device is connected directly to the position detection device in order to be able to receive the deviation signal without interposition of the further control device.
  • an “electronic push-through fuse” it is meant not only to prevent inadvertent push-through of an LHM, but also to prevent unintentional pull-out of an LHM.
  • the push-through fuse according to the present invention is “electronic” because it is not a “mechanical” push-through fuse of the kind mentioned in the opening paragraph, e.g. a stop, acts.
  • Fig. 1 shows a schematic block diagram of a rack system 10, as used for example in picking systems.
  • the racking system 10 is controlled by a warehouse management computer (LVR) 12.
  • LVR 12 coordinates the movement of storage machines, such as e.g. from RBG, inside the warehouse.
  • the LVR 12 also manages all data associated with the warehouse, such as Information about which goods are located in the warehouse, how many goods of a particular type are stored in the warehouse, which order picking orders have to be processed, which is the best order for processing the orders, etc.
  • material flow computers can be used which are not are shown.
  • the LVR 12 is over wired lines 14, and alternatively via wireless links 15, which are in Fig. 1 are indicated by a double arrow, with hierarchically subordinate control devices in connection.
  • Fig. 1 By way of example, two programmable logic controllers (PLC) 16 are shown as subordinate control devices.
  • PLC programmable logic controllers
  • the LVR 12 may communicate with other slave controllers, which need not necessarily be PLC 16, as indicated by unfinished connections 14.
  • the PLC 16 is connected via connections 18, inter alia, with stacker cranes (RBGs) 20 in connection.
  • the connections 18 are wired lines that implement a bus system (eg fieldbus, CAN bus, etc.).
  • An RGB 20 comprises, in addition to the components mentioned at the outset, such as e.g. a z-directional traveling gear, a mast extending in the y-direction, a lift truck movable along the mast and a load handling device (LAM) also comprise a position detector or sensor 22 and a LAM controller 24, e.g. an inverter.
  • the inverter 24 has logic and usually controls the drive current.
  • the inverter 24 and the sensor 22 may be directly connected to each other via a connection 26.
  • a loading equipment LHM
  • the RBG 20 is shown in the lower half of the drawing.
  • the RBG 20 has a lift truck 28 on which a load handling device (LAM) 30 is mounted.
  • the LAM 30 is for example a telescopic fork 32 with two prongs.
  • the lift truck 28 is vertically movable in the rack system along the (not shown) mast.
  • the vertical direction corresponds in the Fig. 2 the y direction.
  • the chassis of the RBG 20, also not shown, is moved in the aisle along the y-direction.
  • the telescopic fork 32 is movable transversely to the storage lane in the shelf along the z-direction. This is illustrated by double arrows 34.
  • the position detection device 22 which is exemplarily a laser distance sensor, is fixedly mounted on the lift truck 28 between the tines of the telescopic fork 32. It is understood that the sensor 22 could also be attached to the left or right of the tines. The sensor 22 could also be located remotely from the lift truck 28, as long as it is firmly connected to the lift truck 28 to synchronously, for example, in a vertical travel of the lift truck 28 to be moved with the same.
  • the pallet 38 is assigned to an isolated, schematically illustrated parking space 40.
  • the parking space 40 is a part of the shelf, not shown here in detail, which consists of a plurality of cross members 42 and longitudinal members 44 on which the pallet 38 can be parked for storage purposes. It is understood that several pallets 38 can be stored in the z-direction one behind the other. One speaks then of multiple deep storage. Furthermore, it is understood that several parking spaces could be arranged on the left and / or right of the individual parking space 40 shown. To simplify the illustration and the explanation, only the isolated parking space 40 will be considered below.
  • the parking space 40 or the shelf can only consist of side rails (Avemlagerriegeln).
  • the structure of the parking space 40 is arbitrary.
  • the sensor 22 measures a distance or a distance 36 between the pallet truck 28 brought into position and the pallet 38 parked on the parking space 40. It is understood that the pallet truck 28 or the storage and retrieval unit 20 is placed in a predetermined position before an emplacement process Transfer position is brought to move the LAM 30 in the z-direction can.
  • the RBG 20 is from the PLC 16 of the Fig. 1 (roughly) controlled to the transfer position.
  • reference marks can be provided on the shelf in order to make a fine adjustment of the RBG 20 relative to the parking space 40, since tolerances always have to be taken into account when activating predetermined positions.
  • Fig. 2A the RBG 20 is shown in a takeover position relative to the parking space 40.
  • the telescopic fork 32 In order to outsource the pallet 38, the telescopic fork 32 must be moved in the z direction under the pallet 38, as indicated by dark arrows within the fork Fig. 2B is indicated.
  • the pallet 38 has to corresponding, extending in the z-direction recesses for receiving the fork 32, which in the Fig. 2 Not are shown in more detail. If a container is used as an LHM, gripper arms or a lifting table (as a LAM) could be extended in z-direction.
  • the lift table 28, including the sensor 22, can be lifted slightly to raise the pallet 38 in the rack. Subsequently, the fork 32 is retracted in the reverse direction to get the pallet 38 on the truck 28.
  • the RBG 20 may return the pallet 38 at a remote transfer position.
  • a situation is shown in which the extension of the fork 32, however, does not proceed without errors.
  • the pallet 38 pushes the extending fork 32, the pallet 38, for example due to a protruding obstacle below the range 38 deeper into the pitch 40 inside. This is indicated by an arrow 46. This push through is usually unintentional and should be prevented.
  • the sensor 22 detects when pushing through a growing distance 36 'between the sensor 22 and the lift truck 28 and the pallet 38. This offset is between the Figs. 2B and 2C schematically indicated by V.
  • the controller 24 responsible for controlling the LAM 30 must now stop the movement of the forks 32 as quickly as possible to prevent the pallet 38 from being pushed through.
  • FIGS. 3A and 3B show a storage process.
  • the pallet 38 is in the Fig. 3A already successfully parked on pitch 40.
  • the distance between sensor 22 and pallet 38 is also indicated by reference numeral 36.
  • the LAM controller 24 interrupts the extension or retraction of the fork 32.
  • a so-called "zero ramp” is applied to the drive of the LAM 30.
  • a corresponding zero ramp is exemplary in Fig. 4 shown.
  • the zero ramp is stored in a memory, not shown, of the LAM controller 24 and causes the drive energy, here in the form of a current, is reduced as quickly as possible to zero. In Fig. 4 this happens by way of example at the time t '.
  • the LAM controller 24 receives a signal from the sensor 22 that a change in distance, ie, a deviation of the actual position of the LHM 38 from the desired position of the LHM 38, is present.
  • Fig. 5 shows the connections between the individual components of the Fig. 1 who are directly involved in an import or export procedure. In addition, let the Fig. 5 Read signals that are exchanged between the individual components.
  • control technology sequence is shown as an example for the converter 24.
  • the PLC 16 requests the RBG 20, not shown here, to drive to the transfer position. Once the RBG 20 has reached the transfer position, the PLC 16 instructs the sensor 22 to determine the distance 36 between itself and the pallet 38. Out For this reason, the PLC 16 sends a so-called teach signal 48 to the sensor 22. In a paging operation, the teach signal 48 is sent when the lift truck 28 has reached its takeover position and before the LAM 30 is extended. In a storage process, the transmission of the teach signal 48, as soon as the pallet 38 is deposited on the parking space and before the LAM 30 is to be withdrawn to the truck 28.
  • the distance 36 determined by the sensor 22 on the basis of the teach signal 48 between the sensor 22 / lifting carriage 28 and the pallet 38 represents the desired position of the pallet 38. This value can be stored in the sensor 22.
  • the teach signal 48 also causes the sensor 22 to monitor the distance 36 and, upon a significant change in the distance, a corresponding sensor feedback, i. a deviation signal 50 to send to the LAM controller 24.
  • the LAM controller 24 receives via the bus 18 from the PLC 16 a signal with which it gets informed that the controller 24 has to pay attention to deviation signals 50 of the sensor 22. The monitoring is activated.
  • the PLC 16 causes the control device 24 for extending or retracting the forks 32.
  • the control device 24 transmits a signal to a motor connection of a drive 51 of the LAM 30.
  • the drive 51 is fed back to the control device 24 to bearing return signals 52 and speed feedback signals 54 at to transmit the controller 24.
  • FIG. 6 an operation in the LAM controller 24 is shown.
  • a first step 60 the control device 24 is informed that the push-through protection is to be activated because the fork 32 is to be retracted or extended in the Z-direction.
  • the sensor 22 or the control device 24 is responsible for detecting a deviation
  • parameters for monitoring are stored. One parameter is, for example, the distance 36, which was determined by the sensor 22. If the controller 24 is responsible for detecting a push-through, the sensor 22 provides a value corresponding to the actual position of the pallet 38 to the control device 24, which in turn decides whether or not there has been a significant deviation.
  • steps 62, 62 ' are performed equivalently when the position monitoring is performed by the sensor 22, in which case the corresponding parameters are stored in the sensor 22.
  • step 64 the PLC 16 notifies the controller 24 via the bus 18 that an extension or retraction of the fork 32 is imminent, i. the monitoring is activated on the part of the LAM controller 24.
  • step 66 the controller 24 then monitors a port over which the deviation signal 50 is sent. Since the deviation signal 50 is preferably transmitted directly from the sensor 22 to the control device 24, the transmission is much faster than via the detour of the PLC 16.
  • the push-through protection is deactivated again in step 68.
  • the controller 24 determines in a step 70 that the sensor 22 has sent the deviation signal 50.
  • existing logic detects this situation and solves the zero ramp (see. FIG. 4 ) to stop the drive 51 as fast as possible.
  • braking devices can be used, which are not shown in the figures.
  • the profile of the zero ramp of the Fig. 4 is freely changeable, depending on the specific requirement.
  • step 74 the controller 24 sends a signal to the PLC 16 to indicate that there is a failure (push-through or pull-out).
  • FIG. 7 Various steps are shown that occur when loading or unloading an LHM 38.
  • a paging operation is shown in the left branch of the Fig. 7 .
  • an emplacement process is shown in the right branch of the Fig. 7 .
  • the Fig. 7 essentially shows such actions that are coordinated by the PLC 16.
  • a first step 76 the PLC 16 queries whether an emplacement process or a removal process is present.
  • step 78 If it is determined in step 78 that a paging order is present, the lift truck 28 is moved to the takeover position. Subsequently, the sensor 22 is instructed to determine the desired position of the LHM 38 (see step 80). In step 82, the monitoring is then activated by the sensor 22 and / or the controller 24 are sent corresponding signals from the PLC 16. Subsequently, in a step 84, the extension of the fork 32 is caused. The fork is usually extended very quickly, as it is empty at this time and should only be driven under the pallet to be picked.
  • step 86 it is checked whether the fork 32 has been driven completely under the pallet 38. If this is the case, the monitoring can be deactivated in step 88. The fork 32 is then lifted and the pallet 38 sits securely on it.
  • step 92 it is determined whether the lift truck 28 has reached its Hubendposition. If this is the case, the fork 32 is preferably retracted slowly (see step 94) since it is now loaded with the LHM 38. Once the fork 32 is in its center position relative to the RBG 20 (see step 96), the swap is completed (see step 98).
  • step 78 ' the loaded lift truck 28 is brought into the transfer position.
  • step 100 the fork 32 is extended.
  • step 102 it is checked whether the fork 32 is fully extended (see step 102). If the fork 32 is fully extended, the sensor 22 is commanded in step 104 to determine the desired position of the LHM 38.
  • step 106 the lift truck 28 is lowered. This can be done simultaneously to the distance determination of step 104, since the lift truck 28 and sensor 22 move synchronously.
  • step 108 It is then checked in a step 108 whether the lift truck 28 is lowered far enough to settle the LHM 38 on the pitch 40. If the LHM 38 is deposited on the parking space 40, the position or distance monitoring is activated in a step 110. In step 112, the fork is then retracted. If it is determined in step 114 that the fork is retracted, the monitoring can be switched off in step 116. The putaway process is then completed in step 118.
  • a laser sensor e.g.
  • a light sensor could be used, which determines that the pallet has been moved. The light sensor would then provide a suitable location, so that it is not unintentionally obscured the view.

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

Claims (17)

  1. Protection électronique contre le glissement pour un appareil de commande de rayonnage (20), envoyant un moyen d'aide au chargement (38), notamment une palette (38) ou un bac, de façon automatisée à un emplacement (40) situé dans un rayonnage de stock (42, 44) ou repartant de là, l'appareil de commande de rayonnage (20) comportant un chariot de levage (28) pouvant être déplacé pour l'essentiel à la verticale et pourvu d'un moyen de réception de chargement (30) pouvant être déplacé pour l'essentiel à l'horizontale, d'un dispositif de commande de moyen de réception de chargement (24), le dispositif de commande de moyen de réception de chargement (24) étant relié à un dispositif d'enregistrement de position (22) permettant d'enregistrer une position d'un moyen d'aide au chargement (38) en situation rapprochée ou éloignée par rapport à l'emplacement (40), le dispositif d'enregistrement de position (22) étant conçu pour enregistrer un écart entre une position réelle et une position théorique du moyen d'aide au chargement (38), de préférence à l'aide d'une mesure de distance, pour envoyer un signal de déviation au dispositif de commande de moyen de réception de chargement (24) et le dispositif de commande de moyen de réception de chargement étant conçu pour arrêter un mouvement horizontal du moyen de réception de chargement (30) à réception du signal de déviation.
  2. Protection électronique contre le glissement selon la revendication 1, le moyen de réception de chargement (30) pouvant être rentré horizontalement dans l'emplacement (40) et sorti de l'emplacement (40) afin d'éloigner ou de rapprocher le moyen d'aide au chargement (38).
  3. Protection électronique contre le glissement selon la revendication 1 ou 2, le dispositif d'enregistrement de position (22) pouvant être attaché fixement au chariot de levage (28) et écarté de telle sorte en côté par rapport au moyen de réception de chargement (30) que le dispositif d'enregistrement de position (22) n'est pas déplacé par rapport au rayonnage de stock (42, 44) lors du déplacement horizontal du moyen de réception de chargement (30) et que le dispositif d'enregistrement de position (22) est déplacé de façon synchrone avec le chariot de levage (28) par rapport au rayonnage de stock (40, 42) lors du déplacement vertical du chariot de levage (28).
  4. Protection électronique contre le glissement selon l'une quelconque des revendications 1 à 3, une énergie d'entraînement d'un entraînement de moyen de réception de chargement étant placée sur zéro à l'arrêt du déplacement du moyen de réception de chargement (30).
  5. Protection électronique contre le glissement selon la revendication 4, le dispositif de commande de moyen de réception de chargement (24) étant un convertisseur de fréquence (24) avec système logique intégré dans lequel une rampe nulle est mémorisée pour arrêter le déplacement du moyen de réception de chargement (30).
  6. Protection électronique contre le glissement selon l'une quelconque des revendications précédentes, le moyen de réception de chargement (30) étant une fourche (32) télescopable servant à la manipulation des palettes ou une table de levée pouvant être déplacée dans la direction horizontale pour la manipulation des bacs.
  7. Protection électronique contre le glissement selon l'une quelconque des revendications précédentes, le dispositif d'enregistrement de position (22) étant un capteur de distance, de préférence un capteur laser ou une cellule lumineuse.
  8. Protection électronique contre le glissement selon l'une quelconque des revendications précédentes, un dispositif de commande (16) supplémentaire étant prévu pour coordonner de façon globale un processus d'approche et/ou un processus d'éloignement et prenant de préférence la forme d'un dispositif de commande maître de préférence programmable dans la mémoire.
  9. Protection électronique contre le glissement selon la revendication 8, les deux dispositifs de commande étant reliés l'un à l'autre par le biais d'un système de bus (18).
  10. Protection électronique contre le glissement selon l'une quelconque des revendications 8 ou 9, le dispositif de commande de moyen de réception de chargement (24) étant directement relié au dispositif d'enregistrement de position (22) afin de pouvoir transmettre le signal de déviation sans avoir à connecter entre le dispositif de commande (16) supplémentaire.
  11. Appareil de commande de rayonnage (20) pourvu d'un moyen de réception de chargement (30), d'un chariot de levage (28) pouvant être déplacé pour l'essentiel à la verticale et d'une protection électronique contre le glissement selon l'une quelconque des revendications 1 à 10.
  12. Installation de rayonnage (10) pourvu d'un ordinateur de gestion des stocks (12) et d'au moins un appareil de commande de rayonnage (20) selon la revendication 11.
  13. Procédé destiné à empêcher le glissement ou l'extraction involontaire d'un moyen d'aide au chargement (38), envoyé à un emplacement (40) prévu dans un rayonnage de stock (42, 44) à l'aide d'un appareil de commande de rayonnage (20) et en étant retiré, l'appareil de commande de rayonnage (20) rapprochant de façon automatisée le moyen d'aide au chargement (38) à l'emplacement (40) ou l'éloignant de façon automatisée hors de l'emplacement (40), l'appareil de commande de rayonnage (20) comportant un chariot de levage (28) pouvant être déplacé pour l'essentiel à la verticale et pourvu d'un moyen de réception de chargement (30) pouvant être déplacé pour l'essentiel à l'horizontale, avec les étapes suivantes :
    détermination d'une distance relative (36) entre le moyen d'aide au chargement (38) positionné sur l'emplacement (40) et le chariot de levage (28), afin de définir une position théorique du moyen d'aide au chargement (38) ;
    activation d'une surveillance de position lorsque le chariot de levage (28) est positionné dans une position rapprochée ou dans une position éloignée devant l'emplacement, afin de définir une position réelle du moyen d'aide au chargement (38) ;
    déplacement du moyen de réception de chargement (30) de telle sorte que le moyen de réception de chargement (30) est déplacé vers l'intérieur dans l'emplacement (40) dans une position rapprochée du moyen d'aide au chargement (38), afin de lever ensuite le moyen d'aide au chargement (38) sur le moyen de réception de chargement (30) éloigné, et/ou de telle sorte que le moyen de réception de chargement (30) soit ressorti de l'emplacement (40) lors du rapprochement du moyen d'aide au chargement (38) après un décrochage réussi du moyen d'aide au chargement (38) sur l'emplacement (40) ;
    détermination d'une éventuelle déviation significative de la position réelle par rapport à la position théorique pendant le déplacement du moyen de réception de chargement (30) ; et
    en cas de déviation significative, émission d'un signal de déviation (50) déclenchant un arrêt immédiat du déplacement du moyen de réception de chargement (30) ; ou
    en l'absence de déviation significative, poursuite du déplacement du moyen de réception de chargement (30).
  14. Procédé selon la revendication 13, le signal de déviation (50) étant directement transmis à un dispositif de commande de moyen de réception de chargement (24).
  15. Procédé selon l'une quelconque des revendications 13 ou 14, une rampe nulle étant mémorisée dans le dispositif de commande de moyen de réception de chargement (24).
  16. Procédé selon l'une quelconque des revendications 13 à 15, la surveillance de position (22) n'étant activée que pendant un déplacement horizontal du moyen de réception de chargement (30).
  17. Procédé selon l'une quelconque des revendications 13 à 16, l'activation de la surveillance de position étant déclenchée par un dispositif de commande d'appareil de commande de rayonnage (16) maître de préférence relié à un ordinateur de gestion des stocks (12).
EP09150146A 2008-02-08 2009-01-07 Protection électronique contre le glissement et procédé destiné à empêcher le glissement ou l'extraction involontaire de palettes dans un rayonnage de stock Not-in-force EP2088116B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL09150146T PL2088116T3 (pl) 2008-02-08 2009-01-07 Elektroniczne zabezpieczenie przed przesunięciem i sposób zabezpieczający przed niezamierzonym przesunięciem lub wyciągnięciem palet na regale magazynowym
SI200930636T SI2088116T1 (sl) 2008-02-08 2009-01-07 Elektronska zaščita pred potiskanjem in postopek za preprečevanje nenamernega potiskanja ali vlečenja palet v skladiščnem regalu

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008009841A DE102008009841B3 (de) 2008-02-08 2008-02-08 Elektronische Durchschubsicherung und Verfahren zum Verhindern eines unbeabsichtigten Durchschiebens oder Herausziehens von Paletten in einem Lagerregal

Publications (3)

Publication Number Publication Date
EP2088116A2 EP2088116A2 (fr) 2009-08-12
EP2088116A3 EP2088116A3 (fr) 2011-12-14
EP2088116B1 true EP2088116B1 (fr) 2013-03-20

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EP (1) EP2088116B1 (fr)
DE (1) DE102008009841B3 (fr)
ES (1) ES2407961T3 (fr)
PL (1) PL2088116T3 (fr)
SI (1) SI2088116T1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5842276B2 (ja) * 2012-02-28 2016-01-13 株式会社ダイフク 物品移載装置
CN110606448A (zh) * 2019-08-22 2019-12-24 河南宝合元汽车配件有限公司 一种具有声光自动报警的高堆机

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DE9013721U1 (de) * 1990-10-02 1990-12-06 Helo-Norm Metall-Vertrieb GmbH, 4405 Nottuln Palettendoppelregal mit Durchschubsicherung
DE10015009B4 (de) * 2000-03-20 2006-02-23 Jungheinrich Ag Flurförderzeug mit einem Anzeige-, Steuerungs- und Überwachungssystem
JP2002087794A (ja) * 2000-09-13 2002-03-27 Tcm Corp 産業車両の荷役安全装置
DE20119110U1 (de) * 2001-11-23 2003-01-09 Janssen Wolfgang Flurförderzeug mit Sicherheitseinrichtung
JP4577568B2 (ja) * 2005-09-09 2010-11-10 株式会社ダイフク 物品収納設備における物品搬送装置
DE102006010290A1 (de) * 2006-03-03 2007-09-06 Jungheinrich Ag Flurförderzeug für ein System zur Lagerverwaltung
US7699141B2 (en) * 2006-03-20 2010-04-20 Fossier David A Pallet distance ranging device for forklift
DE102006037719B4 (de) * 2006-08-03 2009-07-02 SSI Schäfer Noell GmbH Lager- und Systemtechnik Regalbediengerät

Also Published As

Publication number Publication date
ES2407961T3 (es) 2013-06-17
EP2088116A3 (fr) 2011-12-14
DE102008009841B3 (de) 2009-08-06
EP2088116A2 (fr) 2009-08-12
PL2088116T3 (pl) 2013-07-31
SI2088116T1 (sl) 2013-07-31

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