EP2611718A1 - Convoyeur de positionnement, système de stockage et procédé de reprise de charges isolées sur un convoyeur - Google Patents

Convoyeur de positionnement, système de stockage et procédé de reprise de charges isolées sur un convoyeur

Info

Publication number
EP2611718A1
EP2611718A1 EP11725072.0A EP11725072A EP2611718A1 EP 2611718 A1 EP2611718 A1 EP 2611718A1 EP 11725072 A EP11725072 A EP 11725072A EP 2611718 A1 EP2611718 A1 EP 2611718A1
Authority
EP
European Patent Office
Prior art keywords
conveyor
location detector
positioning conveyor
positioning
piece goods
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.)
Withdrawn
Application number
EP11725072.0A
Other languages
German (de)
English (en)
Inventor
Elmar Issing
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.)
SSI Schaefer Noell GmbH Lager und Systemtechnik
Original Assignee
SSI Schaefer Noell GmbH Lager und Systemtechnik
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SSI Schaefer Noell GmbH Lager und Systemtechnik filed Critical SSI Schaefer Noell GmbH Lager und Systemtechnik
Publication of EP2611718A1 publication Critical patent/EP2611718A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers

Definitions

  • the present invention relates to a positioning conveyor for use as a feed conveyor for an operating device, in particular for a storage and retrieval device, which is movable adjacent to and along the positioning conveyor to receive a piece goods for storage on a shelf from any receiving position on the positioning conveyor.
  • the invention further relates to a storage system with such a positioning conveyor.
  • the present invention relates to a method for picking up a piece goods from a positioning conveyor by means of a load-receiving means of a conveyor, which is movable parallel to the positioning conveyor.
  • the European patent application EP 1 151 942 A2 discloses an automated picking method and a corresponding system. The method is used to automatically pick items to fulfill an order.
  • An order is received and information on the identity and quantity of the items ordered according to the order is extracted therefrom. From the extracted information, a pick list is generated. The removal list is assigned to a receptacle for the removed items. It is determined whether the ordered items are of a first or a second type. If no item of the second type has been ordered, the container is moved to a first location where the items of the first type are stored, and the ordered items stored at the first location are automatically picked and placed in the container. If at least one item of the second type has been ordered, the container is first moved to a second location where the items of the second type are stored.
  • the items stored at the second location are automatically removed and deposited in the container, and the container is next moved to the first location where the items of the first type are stored, if at least one item of the first type has also been ordered. Subsequently, ordered items stored at the first location are automatically removed and stored in the container. The container is then moved to a location for further processing. Unless an item of the first type has also been ordered, the container is moved to a location for further processing after items stored at the second location are removed and placed in the container.
  • the patent US 5,711,410 discloses a conveyor control system and a method for positioning an article at a desired location along a conveyor.
  • the system and method detect articles moving along a conveyor and controls a delay of the conveyor to position the object as desired.
  • the system and method takes into account changing distances between articles on the conveyor and changing distances between articles and the desired position by calculating a delay time as the conveyor continues to accelerate allowed to move before being delayed. At the end of the delay, the item reaches the desired location.
  • the delay time is calculated by comparing the known acceleration and deceleration rates of the conveyor with the measured acceleration time of the conveyor between a start time and the time when the object is detected.
  • the system and method are used to stop an article, such as a package at the outlet end of the conveyor.
  • Japanese Patent Application JP 2002 284 334 A discloses a conveyor control device. It should be solved the task to set a conveying speed easily and quickly. This object is achieved by motor drivers disposed adjacent to each other and interconnected by means of a cable such that a speed command signal is transmitted between the motor drivers through the cable. Cable speed command signal connections are electrically connected to the motor driver on the right and left. The speed command signal is supplied to one of the motor drivers by a speed adjuster. The command signal is transmitted to the other motor driver connected via the cable.
  • European Patent EP 1 897 822 B1 discloses a conventional article storage device and a control method for a stacker crane (hereinafter abbreviated to "RBG"). Between two shelves, a floor-bound RBG can be moved along a running track. The shelves define between them a rack aisle in which the RBG is moved. On one or both ends of the rack aisle, so-called transfer points are provided, where the RBG can pick up or deliver items to be stored and unloaded.
  • the transfer station is, for example, a firmly defined area of a belt conveyor, wherein the firmly defined area preferably lies at one end of the belt conveyor, which lies opposite the front side of the racks.
  • Two parallel belt conveyors can also be provided so that the RBG can load and unload articles on both sides of the rack aisle, with a first transfer station then facing a second transfer station on the other belt conveyor. Further, a modification will be described in which two are juxtaposed lying transfer points, in particular receiving places, are disclosed, of which articles are taken up by the RBG to store the recorded items on the shelf.
  • a stop element is used, against which an article to be stored is conveyed, and thus stopped.
  • an article sensor is provided at the receiving location, which stops the belt conveyor as soon as the article to be stored is detected by the article sensor at the transfer point.
  • the positioning of an article to be stored is difficult in the light of an accuracy dictated by the RBG.
  • a load handler abbreviated to LAM
  • LAM load handler
  • the RBG i. in particular, the LAM of the RBG
  • a very small tolerance range e.g., ⁇ 10 mm
  • the transfer station i. the actual position of the item to be stored at the time of admission by the LAM
  • Even the slightest discrepancies in the positioning between RBG and the actual location of the article to be stored may result in the LAM not properly grasping the article to be stored and the article to be stored either being damaged, not picked up or dropped.
  • the stop member described above provides a safe solution in terms of positioning accuracy, because the items to be stored are always provided exactly at the location of the stop member for receiving by the LAM of the RBG, especially if the conveyor is continuously operated, so that the item to be stored is pressed continuously against the stop element.
  • the stop element has the disadvantage that no articles behind the stop element, ie downstream relative to the stop element, are transportable. With a static stop element can be defined in this sense, only a single, locally fixed transfer point when the items to be stored are tendered with a (continuous) conveyor. Now you could indeed arrange several stop elements along the conveyor one behind the other by the stop elements designed to be movable, by pivoting the stop elements, for example, in the conveying path. But such stop elements would have just because of their mobility a poor positioning accuracy, so that the actually advantageous positioning accuracy of a static stop element is just lost.
  • the inventors of the present invention have recognized that it is advantageous to carry piece goods to be stored over a full length of a storage area, rather than only over a relatively short end side.
  • An advantage is that, e.g. several RBGs within the same lane can simultaneously pick up items to be stored.
  • Storage routes of the RBG can be shortened since the RBGs do not have to be moved to the front of the storage area in order to receive the piece goods to be stored. This reduces the playing time, i. the time required to move the RBG to the receiving location, to fine-position the RBG relative to the receiving space, to pick up the piece goods to be stored by means of the LAM, to move the RBG to the storage location and to deliver the picked general cargo to the storage location.
  • a storage system should be provided with such a positioning conveyor.
  • a positioning conveyor which has an input section and a receiving section located downstream in a conveying direction, the input section and the receiving section section define a conveyor line along which different piece goods can be transported downstream, the input section preferably comprises a piece length measuring device for measuring a length of a piece goods to be picked up by a lifting device of a storage and retrieval device from the positioning conveyor and deliver it to a shelf, and wherein the Receiving portion has at least one pair of location detectors, wherein each pair of location detectors defines a receiving location on the positioning conveyor and a first location detector and a second location detector, which in turn are arranged at a distance to each other such that a conveying speed of the conveying path, after a first, upstream location detector of a target Receiving space has detected a downstream leading edge of the piece goods, so reducible that the cargo, as soon as the leading edge of a stro mabrush lying second location detector of the target receiving location is detected, immediately comes to a stop at the second location detector.
  • a plurality of receiving locations are distributed one behind the other and / or overlapping over a total length of the positioning conveyor, so that a conveyor such. a RBG, can take away from many different receiving spaces to be stored items optimally optimized. This makes it possible to shorten the paths of the RBG which the RBG has to cover in order to pick up a piece of goods from the positioning conveyor which is to be stored next.
  • the conveying speed can be reduced stepwise from a first, mean main conveying speed with which the positioning conveyor is predominantly operated during a tendering operation to a lower second conveying speed ("crawl speed") before the second conveying speed is completely reduced to zero in order to finally stop the piece goods to be stored.
  • the second conveying speed is reduced to zero when a leading edge of the item to be stored reaches the downstream, second location detector of the location detector pair. Since the second conveying speed is much smaller than the first (main) conveying speed, the effect is Inertia effects almost no longer in the form of a "braking path", which can move the item to be stored over the position of the second location detector addition.
  • a predetermined tolerance eg ⁇ 10 mm
  • the conveyor has been finely positioned after reaching a coarse position by a still existing actual distance between the actual location of the Schwarzlagernden piece goods and the location of the LAM was determined by means of a suitable sensor.
  • This fine positioning requires on the one hand additional equipment, which in turn increases the investment costs, and on the other hand, which increases the cycle time and thus reduces the throughput or the performance of the delivery.
  • the positioning conveyor further comprises a control device which is signal-technically connected to the length measuring device and / or the location detector pairs and which preferably has a conveyor speed controller, which is set in knowledge of a distance between a first and a second location detector of Target receiving space to reduce the conveying speed so that the cargo stops when reaching the second location detector of the target receiving space within the tolerance.
  • a control device which is signal-technically connected to the length measuring device and / or the location detector pairs and which preferably has a conveyor speed controller, which is set in knowledge of a distance between a first and a second location detector of Target receiving space to reduce the conveying speed so that the cargo stops when reaching the second location detector of the target receiving space within the tolerance.
  • the speed profile between the various conveyor speeds can be fixed.
  • a conveyor speed controller is superfluous.
  • the transitions and the progression of the conveying speed transitions can also be configured variably, for example as a function of the weight of the piece goods to be stored, in that a conveying speed is used, which adapts the height and the progression of the conveying speed stages accordingly when reducing the conveying speed to zero.
  • control device operates the conveying path with a freely adjustable, preferably constant, first conveying speed until the piece goods have reached the first position detector of the target receiving position, and then, at least in a vicinity of the target receiving position, at a second conveying speed which is (significantly) less than the first conveying speed.
  • different areas of the conveyor line can be operated at different speeds.
  • areas of the conveying speed which are at least as long as the piece goods to be stored, are operated at different speeds.
  • the conveying means of the positioning conveyor can be operated in such a near zone at the second conveying speed.
  • the item to be stored thus approaches the first location detector, for example, with the first conveying speed.
  • the conveying path ie at close range, is operated at the second conveying speed, ie conveyor sections which lie upstream relative to the first position detector are also operated at the second conveying speed. This is especially feasible with powered motor rollers.
  • each of the motor rollers can be driven at a different conveying speed.
  • the controller determines how many motor rollers are needed to transport the piece goods to be stored.
  • a corresponding number of motor rollers, which are located under the Schwarzenden piece goods, is operated either at the first conveying speed or later at the second conveying speed.
  • Other conveyor rollers lying outside this group of motor rollers may be operated at a different, third conveyor speed, which is greater or less than the first or the second conveyor speed.
  • the piece goods can theoretically all be transported at a different conveying speed.
  • the piece goods are transported at a uniform main conveying speed along the positioning conveyor. Only in the vicinity of a target recording position, the speed is reduced and reduced to zero when reaching the second location detector.
  • a conveying means of the positioning conveyor is designed and arranged such that the cargo is moved transversely to the conveying direction in the direction of an edge of the positioning conveyor, which is arranged facing away from the storage and retrieval unit.
  • the positioning conveyor aligned so allows the inclination of the conveyor of the positioning conveyor alignment along a lateral edge of the positioning conveyor. This facilitates the recording process for the RBG.
  • a view from the RBG rear edge of the cargo is then always in a predetermined, fixed depth.
  • the LAM of the RBG must therefore always be extended correspondingly deep in order to grasp the goods to be stored safely.
  • an oriented in the conveying direction guide means is arranged on the edge, which prevents the cargo is conveyed down laterally from the positioning conveyor, and ensures that that the parcel remains aligned in a direction perpendicular to the conveying direction always consistent.
  • a sheet may be provided which is arranged perpendicular to a conveying plane at a lateral edge of the positioning conveyor. Due to the inclination of the conveying means of the positioning conveyor the Schwarzennden piece goods are conveyed against this plate. The sheet prevents the so-oriented piece goods from falling off the positioning conveyor.
  • the sheet represents a kind of stop, which in turn requires a gripping depth of the LAM of the RBG, as explained above.
  • individually driven rollers are used as funding.
  • the axes of rotation of these rollers are preferably oriented obliquely to the conveying direction, so that the piece goods can be transported substantially parallel to the conveying direction and slightly transversely thereto along the receiving portion.
  • the location detectors are light sensors or light barriers, which are preferably arranged between adjacent rollers.
  • Ultrasonic or infrared sensors can be used to detect whether and when a piece goods to be stored has reached a predetermined position on the positioning conveyor.
  • the light sensors and light barriers are particularly advantageous because they can be installed in spaces between adjacent roles. The basic structure of the conveyor is not disturbed by the light sensors or light barriers.
  • the light sensors or light barriers can be connected directly to a control module of the motor rollers in order to influence their conveying speed when a piece goods to be stored are detected.
  • a distance between directly adjacent location detector pairs is constant.
  • the distance between adjacent location detector pairs determines a maximum length of a piece of goods to be stored, which can be stopped at a target picking position.
  • multiple receiving positions may be logically combined into one unit with the most downstream location detector pair providing the speed reduction signals of the type described above.
  • the length of a piece goods to be stored can either be determined in the input section by means of the optionally provided piece goods length measuring device or alternatively already present in the form of previously known data, so that a control device associated with the positioning conveyor can take appropriate measures to logically summarize sufficient pair of location detector, thus a piece goods Excess length, ie a length greater than a normal, maximum length of a recording position, logically merge.
  • a distance between the first and second location detectors of each location detector pair is constant.
  • this distance again corresponds to the distance between directly adjacent location detector pairs.
  • location detectors can be provided between, for example, all adjacent rollers in order to define location detector pairs which are continuously connected one behind the other. which are arranged distributed over an entire length of the positioning conveyor.
  • a higher-level control device eg central computer, warehouse management computer, material flow computer, etc.
  • the paths to be covered by the delivery vehicles are additionally reduced, so that the overall performance is increased.
  • the length-measuring device has a measuring grid, which is designed such that a length in the conveying direction and a width of the piece goods perpendicular to the conveying direction can be determined.
  • the length measuring device can determine both the length and the width of the piece goods to be stored, before the piece goods to be stored are forwarded to the receiving section. This determination may be made either in the entry section or at a location further upstream relative to the positioning conveyor.
  • a storage system with a positioning conveyor according to the invention, a storage and retrieval unit and a shelf wherein the storage and retrieval unit is arranged between the positioning conveyor and the shelf, the load handling means of the storage and retrieval device a piece goods at a destination Recording position can take without having to perform a fine positioning between the positioning conveyor and the storage and retrieval device by means of a corresponding sensor before taking the piece goods.
  • the positioning conveyor is preceded by a piece goods alignment unit to piece goods, the positioning of the conveyor Piece goods alignment unit to be aligned on a side edge that is common to the positioning conveyor and the cargo alignment unit.
  • the conveying means of the positioning conveyor is not formed obliquely, i. If the piece goods to be transported are transported only parallel to the main conveying direction of the positioning conveyor, it could happen that the piece goods are transported with a lateral offset to one another via the positioning conveyor. This complicates the recording process, since the RBG, without additional sensors, has no knowledge of how "deep" the item to be picked up is relative to the conveyor line. Therefore, it may be advantageous to provide the positioning conveyor with a piece-goods alignment unit, such as e.g. a turntable, a matrix conveyor or the like, in order to order piece goods, e.g.
  • a piece-goods alignment unit such as e.g. a turntable, a matrix conveyor or the like
  • a method for picking a piece goods from a positioning conveyor by a load receiving means of a conveyor with the following steps: conveying the piece goods downstream in a conveying direction to a target receiving position with a first conveying speed; Detecting a leading edge of the cargo with a first location detector of a location detector pair defining the destination pickup position, the first location detector spaced upstream relative to a second location detector of the location detector pair; when the first location detector has detected the leading edge, reducing the first conveying speed, at least in a vicinity of the target picking position, to a smaller, second conveying speed such that the second conveying speed immediately reduces to zero as soon as the leading edge is detected by the second location detector is so that the cargo comes to a stop at the second location detector.
  • the conveyor is moved to a position directly opposite to the receiving position, so that a load receiving means of the conveyor, preferably in knowledge of the length of the piece goods, is positioned and moved so that the cargo directly from the positioning conveyor without further Fine positioning of the truck is recorded.
  • Fig. 1 is a plan view of a storage system with a positioning conveyor according to the present invention
  • Fig. 2 is a plan view of another embodiment of a positioning conveyor according to the present invention.
  • FIG. 3 is an enlargement of a detail of Fig. 2;
  • FIG. 4 is a flowchart of a method according to the present invention.
  • RBG Storage and retrieval machines
  • RBGs include a chassis, one or more masts, a hoist and a load handling attachment (LAM).
  • the LAM is a mechanical unit which has storage units, i. General cargo, such as Picks up and delivers pallets, containers, cartons or similar.
  • a typical LAM for pallets is e.g. a (telescopic) lifting fork.
  • the RBG By way of a control of the RBG, for the load-oriented regulation of the RBG such variables as e.g. Velocity and acceleration / deceleration set variably to reduce energy consumption and mechanical wear.
  • high throughput i. a high performance in terms of interplay, be achieved.
  • the throughput is particularly high when the RBG is moved at high speeds within the rack aisles. For this purpose, it is necessary that a sufficient number of items to be stored are provided in time, so that feed conveyors are preferably also operated at a high average speed.
  • a conveyor is a device for transporting piece goods (eg pallets, boxes, parcels, boxes, trays, containers, etc.). Under a conveyor or a conveyor system is initially understood the mechanical unit. For conveyor technology internal transport systems are calculated, such as continuous conveyors.
  • the conveyor technology essentially comprises all technical and organizational facilities for moving or transporting goods and persons.
  • the conveyed goods are usually transported in a continuous flow from one or more points of delivery (sources) to one or more delivery points (destinations). eg with belt conveyors, roller conveyors, chain conveyors, circular conveyors, belt conveyors, overhead conveyors and similar conveyors.
  • a continuous conveyor a continuous or discrete-continuous fertilgutstrom; a loading and unloading during operation; a steady intake / release readiness; as well as a stationary facility.
  • the continuous operation allows the transport of relatively large quantities in a short time.
  • the throughput is calculated as the quotient of the conveying speed and a mean general cargo distance.
  • unstable conveyors work in so-called intermittent operation.
  • the transport takes place in several, one behind the other, sometimes simultaneously running individual movements (eg start, sink, lift, etc.).
  • An example of a discontinuous conveyor is a forklift or crane.
  • a storage system 100 having a positioning conveyor 10.
  • the positioning conveyor 10 can be used for example in a plant, as described in the German patent application DE 10 2010 010 433.
  • the positioning conveyor 10 has an input section 12 and an adjoining receiving section 14. Parallel to the positioning conveyor 10, a conveyor 16 is arranged, which is embodied here in the form of an RBG 18 by way of example.
  • the RBG 18 may be movable along a running rail 20.
  • a storage area is arranged in parallel alignment, such as a shelf 22. It is understood that the positioning conveyor 10 may be parallel under, over or in the shelf 22.
  • the shelf 22 has a plurality of (shelf) storage bins 24, which may be provided in several levels one above the other.
  • the RBG 18 is both in the horizontal direction (X-direction) and in the vertical direction (Y-direction), ie perpendicular to the plane of the Fig.l movable.
  • conveying devices 16 such as, for example, a sliding carriage (not shown here), can be used which, for example, are movable only in one spatial direction.
  • Shuttle cars usually have no lifting function and are therefore predominantly only in one horizontal direction movable.
  • RBG 18 can be used as a lifting beam with horizontally displaceable carriage mounted as a conveyor 16, for example.
  • movable or static (gripping) robots (not shown) or the like can be used.
  • the positioning conveyor 10 has a conveying path 28 which moves in a (main) conveying direction 32 and which defines a conveying plane 30. It is understood that the conveyor line 28 may have gradients and gradients to bridge height differences. On the conveyor line 28 and the conveying plane 30 can be transported piece goods 26 in the conveying direction 32, as indicated by dark arrows in FIG. 1.
  • the LAM may be multiple deep, i. e.g. can extend deeper than a storage space 24 in the shelf 22 so as to reach a second row of storage bins 24, which is arranged behind a first row of storage bins, wherein the first row of storage bins directly adjacent to a rack aisle in which the RBG 18 in the horizontal and / or vertical direction is moved.
  • the positioning conveyor 10 has at least one pair of location detectors 34 in its receiving section 14, where the RBG 18 stores piece goods 26 to be stored.
  • Each location detector pair 34 includes at least two location detectors 36 and 38.
  • a first location detector 36 is located upstream relative to further location detectors, here to a second location detector 38 of the same location detector pair 34. Additional location detectors, if present, are located farther downstream relative to the second location detector 38 (FIG. not shown in Fig. 1).
  • the first location detector 36 is at a distance AI to the second location detector 38 of each location detector pair 34 spaced.
  • the distances AI may vary from pair 34 to pair 34.
  • Adjacent location detector pairs 34 are spaced apart by a distance A2.
  • the distances AI between a first and second location detectors 36 and 38 are the same for all location detector pairs 34. The same applies to the distance A2 between adjacent location detector pairs 34.
  • the distances AI and A2 are in particular identical.
  • the distance AI is preferably selected as a function of a mean conveying speed of the positioning conveyor 10. The greater the average conveying speed, the greater the distance AI should be selected.
  • the input section 12 of the positioning conveyor 10 receives cargo 26 to be stored and delivers it in the conveying direction 32 to the receiving section 14 adjoining it.
  • the input portion 12 and the receiving portion 14 may be in the form of separate conveyors.
  • a separate embodiment of the conveyor sections is particularly advantageous when the input section 12 is a length measuring device 40, such. a light grid 42, in order to determine a geometric length L of a stored material to be stored 26 parallel to the conveying direction 32.
  • a width B of the conveyed material perpendicular to the conveying direction 32 may additionally be determined.
  • a knowledge of the length L and the width B is important for a LAM of the RBG 18 and, knowing the length L and the width B, can be set so that gripping elements of the LAM are sufficiently far apart and / or sufficiently deep to to pick up the Hurlagernde cargo 26 safely without damaging the cargo 26 or lose.
  • a control device 44 of the positioning conveyor 10 is further shown.
  • the controller 44 may be implemented in the form of a programmable logic controller (PLC) and may optionally have a conveyor speed controller 45 implemented either in hardware and / or software.
  • PLC programmable logic controller
  • the conveyor speed controller 45 can be Delivery speeds, as will be explained in more detail below, change as desired.
  • the control device 44 may be connected via a signal connection 46 with the length measuring device 40, as long as the length measuring device 40 is present at all.
  • the control device 44 can be connected to the location detector pairs 34 via signal connections 48.
  • the control device 44 can be connected via signal connections 50 to one or more conveying means which define the conveying path 28.
  • the controller 44 may also communicate with a higher level controller 54 via a signal connection 52, e.g. be connected to a central computer, a warehouse management computer or a material flow computer.
  • the signal connections 46 to 50 are designed as solid lines by way of example.
  • the signal connection 52 is exemplified as a wireless connection. It is understood that each connection may be fixed or wireless.
  • the storage system 10 of FIG. 1 may further comprise a piece goods alignment unit 60, which in turn may include a rotator 62 and optionally an intermediate conveyor 64.
  • the turning device 62 is shown here by way of example in the form of a turntable, with the item to be stored 26 can be rotated about an axis and then aligned, which is perpendicular to the conveying plane 30.
  • the intermediate conveyor 64 can be an inclined conveyor which conveys the piece goods 26 to a side edge located at the top in FIG. 1, which merges into a corresponding upper lateral edge 77 of the positioning conveyor 10.
  • the rotator 62 may include an imaging device 66, such as a video camera 68, which is preferably located upstream of the rotator 62 so as to be able to detect in advance by suitable image processing algorithms whether or not a packaged article 26 needs to be rotated. For example, rotation may be required when a longitudinal side of the article 26 is wider than a width of the positioning conveyor 10. In this case, it is recommended to align the piece goods 26 with its longitudinal side parallel to the conveying direction 32, before this piece goods 26 enters the positioning conveyor.
  • Fig. 2 shows a modified embodiment of a positioning conveyor 10.
  • the positioning conveyor 10 of Fig. 2 has a plurality of rollers 76, some or all of which can be driven individually.
  • Axes of the rollers 76 are slightly inclined to the transverse direction (Z-direction) oriented to promote piece goods 26 against the edge 77 shown in FIG. 2 above.
  • a guide device 78 is provided, for example in the form of a guide plate, which is oriented perpendicular to the conveying plane 30.
  • the guide means 78 could also be realized by a vertical, driven conveyor belt or the like.
  • FIG. 3 an enlarged section of FIG. 2 is shown, which is surrounded by a circle in FIG. FIG. 2 shows a receiving position 72, the position of which is fixed relative to the conveying path 28 by the guide device 78 and the most downstream location detector 38 of the associated location detector pair 34.
  • Each location detector pair 34 defines its own location 72.
  • the receiving space 72 shown in FIG. 3 corresponds in terms of its area to a piece goods 26 to be stored with a length L. It is understood that the receiving space 72 can be selected to be virtually any length. If the receiving station extends beyond an upstream pair of location detectors 34, then the affected location detector pairs 34 are logically combined into one unit. A maximum width of the receiving position 72 is determined by the width of the conveyor.
  • light scanners are used as the first and second location detectors 36 and 38, which are formed by way of example from a plurality of light switches connected in series.
  • the location detectors 36 and 38 are preferably located in spaces between the rollers 76.
  • the location detectors 36 and 38 for example, be arranged below a conveying plane 30 and so do not interfere with the cargo flow on the conveyor line 28.
  • light sensors and light barriers or the like can be used, which are then preferably arranged laterally to the side edges of the conveyor line 28.
  • any other type of sensor eg, pressure sensors, touch sensors, ultrasonic sensors, infrared sensors, etc.
  • any other type of sensor eg, pressure sensors, touch sensors, ultrasonic sensors, infrared sensors, etc.
  • two different receiving positions 72 and 72 ' are shown, which preferably correspond to a geometric base of the piece goods 26 to be stored.
  • first LAM 80-1 and a second LAM 80-2 of the RBG 18 are shown by way of example in FIG. 2.
  • the first LAM 80-1 is illustrated with a gripping unit 82, e.g. has two gripping arms to move the item 26 to be stored on the LAM 80-1 can.
  • FIG. 4 a highly schematic flow of a method 110 according to the present invention is shown. It is understood that the explanations given above regarding the general procedure can be seen in addition to the flowchart of FIG. 4.
  • a length L of the piece goods 26 to be stored can be determined.
  • the piece goods 26 are conveyed to a destination receiving position 72 at a first conveying speed.
  • the conveying speed in the vicinity of the location detector pair 34 is reduced in a step S3.
  • the leading edge 74 is detected with the second location detector 38.
  • a recording can also be accompanied by a levy at the same time. This ultimately depends on the design of the lifting device of the HMI device. If the load handling device is designed to handle several piece goods at the same time, a first piece goods can be picked up while a second piece goods are delivered at the same time. Such a recording and dispensing can be done between the HMI device and storage locations as well as between the HMI device and the positioning conveyor. The piece goods can be dispensed and / or recorded simultaneously next to one another and / or one above the other.
  • An operating device can be provided in addition to a storage and retrieval device in the form of a (gripping) robot or a slider / puller, which in turn can be provided statically or movably.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un convoyeur de positionnement (10) destiné à être utilisé comme convoyeur d'amenée pour un transélévateur (18) qui peut se déplacer à côté et le long du convoyeur de positionnement (10) pour reprendre une charge isolée (26) dans une position de reprise prédéterminée (72, 72') du convoyeur de positionnement (10) afin de la placer dans un rayonnage (22), comprenant une section d'entrée (12) et une section de reprise (14) disposée en aval dans la direction de déplacement (32). La section d'entrée (12) et la section de reprise (14) définissent un segment de transport (28) le long duquel différentes charges isolées (26) peuvent être transportées vers l'aval. La section d'entrée (12) possède, de préférence, un dispositif (40) de mesure de la longueur de la charge, destiné à mesurer une longueur (L, L') d'une charge isolée (26) à recevoir, qui doit être saisie à l'aide d'un organe (80) de préhension des charges du transélévateur (18) sur le convoyeur de positionnement (10) et placée dans le rayonnage (22). La section de reprise (14) possède au moins une paire de détecteurs (34), chaque paire de détecteurs (34) définissant un emplacement de reprise (72) sur le convoyeur de positionnement (10) et comprenant un premier détecteur (36) et un second détecteur (38) qui sont implantés avec une distance (A1) entre eux de manière qu'après qu'un premier détecteur (36) d'un emplacement de reprise (72) de destination, qui est situé en amont, a détecté une arête (75) de la charge isolée (26) située vers l'aval, une vitesse de déplacement du segment de transport (28) peut être réduite afin que la charge isolée (26), dès que l'arête (75) située vers l'aval est détectée par le second détecteur (38) du emplacement de reprise (72), situé plus en aval, soit immobilisée immédiatement par le second détecteur (38).
EP11725072.0A 2010-09-02 2011-06-09 Convoyeur de positionnement, système de stockage et procédé de reprise de charges isolées sur un convoyeur Withdrawn EP2611718A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010044615A DE102010044615A1 (de) 2010-09-02 2010-09-02 Positionierungsförderer, Lagersystem und Verfahren zum Aufnehmen von Stückgütern von einem Förderer
PCT/EP2011/059629 WO2012028347A1 (fr) 2010-09-02 2011-06-09 Convoyeur de positionnement, système de stockage et procédé de reprise de charges isolées sur un convoyeur

Publications (1)

Publication Number Publication Date
EP2611718A1 true EP2611718A1 (fr) 2013-07-10

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EP11725072.0A Withdrawn EP2611718A1 (fr) 2010-09-02 2011-06-09 Convoyeur de positionnement, système de stockage et procédé de reprise de charges isolées sur un convoyeur

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Country Link
US (1) US20130251482A1 (fr)
EP (1) EP2611718A1 (fr)
DE (1) DE102010044615A1 (fr)
WO (1) WO2012028347A1 (fr)

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KR102173894B1 (ko) * 2014-10-08 2020-11-04 두산공작기계 주식회사 팰릿 이송시스템
CN107531428B (zh) 2014-12-31 2021-06-22 费孚内部物流公司 具有基于物品特性的转移率的滑动分选器弹出式分流输送机
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CH715062A1 (de) 2018-06-01 2019-12-13 Ferag Ag Kommissionieranlage und Verfahren zum Betrieb einer Kommissionieranlage.
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CN109980048B (zh) * 2019-04-03 2024-04-19 杭州中为光电技术有限公司 用于光伏组件生产中的载板定位装置
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CN114074815A (zh) * 2020-08-17 2022-02-22 力山工业股份有限公司 立体式输送装置
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US20130251482A1 (en) 2013-09-26
DE102010044615A1 (de) 2012-03-08
WO2012028347A1 (fr) 2012-03-08

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