EP2883831B1 - Kleinteilegerät - Google Patents

Kleinteilegerät Download PDF

Info

Publication number
EP2883831B1
EP2883831B1 EP14196033.6A EP14196033A EP2883831B1 EP 2883831 B1 EP2883831 B1 EP 2883831B1 EP 14196033 A EP14196033 A EP 14196033A EP 2883831 B1 EP2883831 B1 EP 2883831B1
Authority
EP
European Patent Office
Prior art keywords
guide
lifting platform
masts
small components
running gear
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.)
Active
Application number
EP14196033.6A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2883831A1 (de
Inventor
Christian Kuner
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.)
Stoecklin Logistik AG
Original Assignee
Stoecklin Logistik AG
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 Stoecklin Logistik AG filed Critical Stoecklin Logistik AG
Priority to SI201430132A priority Critical patent/SI2883831T1/sl
Priority to PL14196033T priority patent/PL2883831T3/pl
Publication of EP2883831A1 publication Critical patent/EP2883831A1/de
Application granted granted Critical
Publication of EP2883831B1 publication Critical patent/EP2883831B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives

Definitions

  • the present invention relates to a small scale divider with a vertically movable on a guide device lifting platform and arranged on the lifting platform horizontally movable load-carrying means and each one arranged at an upper and lower end of the guide device chassis for horizontal movement of Kleinvongerats, wherein the guide device two at least substantially parallel to each other Having arranged with a gap guide poles and the lifting platform is arranged in the intermediate space, according to the preamble of claim 1.
  • a generic small parts device is used for storage and outsourcing of goods in a small parts shelf, which is intended for the temporary inclusion of goods of all kinds, for example, light consumer goods.
  • the small parts shelf is operated in an automated manner together with the small parts device with which the goods are handled.
  • the small parts device thus corresponds functionally to a storage and retrieval unit and has a lifting platform, arranged on the load handling device is, with which the goods can be handled together with an outer packaging or, for example, goods on a receiving device for the goods in the form of a tray or the like.
  • the lifting platform is usually vertically movable on a structure carrying the lifting platform and can be moved horizontally along with the supporting structure along the small parts rack.
  • a storage and retrieval unit which has a mast, which is arranged on an upper and lower chassis and has a boom on which a stored goods arranged vertically and with which the stored goods can be moved.
  • the traction drives for the movement of the trolleys are arranged on the trolleys, so driving along formed and the mast is arranged to maintain a largely vertical orientation on the lower and upper chassis articulated.
  • the mast is exposed by the boom principle of the mast vertically movable lifting platform a large bending moment and must therefore be made very rigid.
  • a storage and retrieval unit which has a vertical mast on which a lift table designed as a boom is vertically movable, on which a take-out unit for loading and unloading of an associated shelf is arranged.
  • the storage and retrieval unit has a drive which is used for both the lifting movement and for the movement, whereby the net mass of the storage and retrieval unit, which must be accelerated during the movements, can be reduced.
  • the design of the lifting table as a boom ensures that the vertical mast is subjected to a bending load and is therefore rigid and heavy.
  • a storage and retrieval unit and a picking system have become known, wherein the storage and retrieval unit has a mast, which is designed as a folding mast with a joint between the mast and an upper and lower chassis.
  • the travel drives are each designed to ride along on the upper and lower chassis, with the chassis running on rails that are integrated into the rack system.
  • the storage and retrieval machine can be moved along driving and guide rails which are arranged on the shelf.
  • the stacker crane has a vertically movable lifting platform and a shelf mast, which is connected to a lower and upper chassis.
  • the trolleys each have a traveling drive with the trolleys and the lifting platform is designed as a mast vertically displaceable boom, so that the mast is again exposed to a bending moment and therefore must be rigid, which has the result that the mast has a high intrinsic mass and the storage and retrieval unit designed in this way requires high electrical drive power for the movement movements.
  • the US 2013/0156419 A1 shows a stacker crane, which has two vertical masts and at the top and bottom of each chassis, with which the stacker crane can be moved to longitudinal rails.
  • a lifting platform has a fork carriage, which has a fork which is perpendicular to the horizontal direction Traversing direction of the car can be operated between a retracted position and an extended position.
  • a shelf storage has become known with a storage and retrieval unit, which can be moved between the shelves and two vertically arranged truss girder and has a vertically movable lifting platform between the truss girders, which is provided with a horizontally movable load-carrying means.
  • the storage and retrieval unit is provided at the lower and at the upper area in each case with trolleys for movement along rails.
  • a device with a vertically movable on a guide device lifting platform and arranged on the lifting platform horizontally movable load-carrying means known.
  • a chassis for horizontal movement of the device is provided in each case and the guide device has two largely parallel to each other with a space arranged guide masts and the lifting platform is arranged in the space.
  • the said stacker cranes suffer from the disadvantage that their masts are loaded due to the cantilever principle of the lift truck with high bending moments and the masts must therefore be designed rigid with large surface areas and therefore have high to be accelerated and braked masses. These masses in turn require due to the short required transfer times for the respective procedural operations powerful drive motors, the energy consumption is high accordingly. In the storage and retrieval units, in which the drive motors are designed to ride, the energy consumption increases in addition. The large moving masses cause the payload ratio from which the moving goods taking into account useful mass to the moving mass of the storage and retrieval device is very small.
  • the present invention for eliminating the disadvantages described the object of providing a small scale device, which has a significantly higher payload ratio and can be operated with drive motors for the small scale device, which have a lower energy consumption at comparable acceleration and speed values of Kleinmaschinegerats and the guide device is not distorted during operation.
  • the invention provides a small part of a device with a vertically movable on a guide lifting platform and arranged on the lifting platform horizontally movable load-carrying means and each one arranged at an upper and lower end of the guide device chassis for horizontal movement of the Kleinmaschineêts, the guide device two at least substantially parallel to each other an intermediate space arranged guide masts and the lifting platform is arranged in the intermediate space, wherein the guide masts are rotatably mounted on the lower chassis in a respective fixed bearing and the upper chassis in a respective floating bearing.
  • the weight of the entire system of lifting platform, load-carrying means and goods or goods arranged on the load-receiving means and any containers for receiving the goods or goods is advantageously the lifting platform of two holding holding ropes that extend from the lifting platform towards the upper chassis, there are supported on the upper chassis, which then absorbs the weight and initiates in rails of the upper chassis.
  • the rails are set in an advantageous manner to the shelf structure of a small parts rack, which is operated with the small parts device.
  • the weight force can be introduced into the rack structure and does not have to be taken up by the guide masts, which accordingly do not have to be dimensioned to accommodate the weight.
  • the guide device By forming the guide device with two at least largely parallel to each other and spaced apart to form a gap arranged guide masts the possibility is created that the weight of the entire system of lifting platform, load handling equipment and arranged on the load handling goods or goods and any container for receiving the goods or goods throughout the horizontal process operations of Kleinmaschinenisms along a provided small parts rack is held so relative to the guide masts that no transversely to the vertical direction of the guide masts force components occur and accordingly the guide masts are not charged to bending in the direction transverse to the direction of the Kleinmaschinefits.
  • the small parts device is controlled by a controller so that the horizontal movement stops at the corresponding horizontal position of the shelf storage space to be loaded. Thereafter, or even during the movement of the Kleinmaschinenos towards the horizontal target position, the lifting platform is moved vertically with the attached load-carrying means and the goods to be stored on the guide poles until the vertical position of the Zielregallagerplatzes has been reached.
  • the lifting platform with the center of gravity of the overall system remains arranged in the intermediate space of the guide masts such that the weight force does not execute a bending moment about a horizontal axis which lies centrally between two parallel virtual planes enclosing the guide masts.
  • the guide masts are therefore not burdened by the weight force on bending transversely to the direction of travel of Kleinmaschinefits.
  • the guide masts are charged only to bending and they are not additionally burdened by a resulting from the weight force normal force component, such a load collective in the dimensioning of the guide masts also not be taken into account, which in turn means that the guide masts no must have large area moments of inertia and therefore have a low mass.
  • a reduction in the mass of the guide masts means that the masses of the small parts device to be accelerated and braked can be reduced, and thus low-power drive motors with low energy consumption are sufficient for their movements.
  • the lifting platform is arranged relative to the guide masts so that one of the normal force of the horizontally moved load-carrying means caused bending load largely uniformly distributed on the guide masts.
  • the two guide masts may be a structure which is similar in each case to a conductor, so that each guide mast has two elongate rods arranged largely parallel to one another, between which respective parallel struts extending at right angles to the vertical direction of the rods or at an angle to one another are located ,
  • a guide mast can therefore also be referred to as ladder mast.
  • the two conductor masts of the guide device can thus be arranged so that the four vertical bars each extend substantially parallel to each other and are arranged between two respective pairs of rods parallel or at an angle to each other extending struts, which ensure that the vertically extending bars of a conductor mast for each considered, for example, can be designed as a thin-walled tube or thin-walled hollow profile and thus have little net mass and a mast-like structure is formed by the connection with the struts connecting a respective pair of rods.
  • the lifting platform Since the lifting platform is arranged between the two guide masts or ladder masts, divides in a storage or Auslagerspiel by the horizontal displacement movement of the lifting device with or without goods located thereon towards Kleinerregalfach and occurring back from this bending load of the guide device to the two conductor masts largely equal parts on - so in each case in half - so that each ladder pole receives an approximately equal bending load, but only during the projecting from the center position of the lifting device relative to the lifting platform position and not, for example, during movements of Kleinmaschineaces along the longitudinal direction of the small parts rack, during which the lifting platform is located in the middle position in the space between the two guide poles.
  • a guide device is created with only low net mass, which is about 50 percent lower than the net mass of the shelf masts of the storage and retrieval units described above in their execution as a small parts device for an automatic small parts warehouse.
  • the effect of this significant reduction in moving masses during Fahroperationen the Kleinmaschinenados can be further improved by the fact that the drive motors are arranged stationary and spaced from the chassis and coupled by means of a respective power transmission means with the chassis for power transmission.
  • the power transmission means may, for example, be a traction means with which the two running gears can be displaced by the respective drive motor.
  • the power transmission means has been referred to herein in the form of a traction means, another power transmission means may be used to displace the respective chassis toward the drive motor and away from the drive motor.
  • the trolleys are not provided with moving drive motors, so that can be further reduced by this configuration during moving operations of moving in the Kleinmaschinecommunications invention masses and therefore compared with known small parts shelves and their Kleinmaschineellan at comparable Speed and acceleration values low-power drive motors can be used, the energy consumption is comparatively low.
  • the guide masts are rotatably mounted on the lower chassis in a respective fixed bearing and the upper chassis in a respective floating bearing.
  • the two running gears are synchronized by the two drive motors with respect to their respective position and torque moves, so that the conductor masts of the guide device in principle run parallel to each other.
  • connection of the ladder masts or guide masts on the lower chassis in a respective fixed bearing which allows the degree of freedom of rotation of the ladder mast at least an orthogonal to the direction of the guide device along the Kleinmaschineregals axis is achieved that any slight inclination the ladder mast during operation or during, for example, an emergency stop situation does not cause the guide device is braced.
  • the trolleys have a rectangular shaped travel frame with arranged in the region of the longitudinal ends wheels and at least one longitudinal side in the area the longitudinal ends of a respective pair of guide rollers is provided.
  • the trolleys can be moved in rails along a small parts rack.
  • the lower rails these may be provided at the bottom of a warehouse, which accommodates the Kleinmaschineregal with the small parts device according to the invention.
  • the upper rails can be fixed to the roof structure of the warehouse, the rails can be arranged in an advantageous manner but also on the shelf structure, so be integrated into the shelf.
  • the trolleys can be provided with noise-damping and low-wear rollers of, for example, a polyurethane plastic and are moved horizontally in each horizontally disposed leg of advantageously U-shaped rails.
  • the trolleys can be guided by a longitudinal guide in the direction of travel via guide rollers arranged on a longitudinal side of the trolleys, which can roll on a vertically arranged leg of the rails.
  • the trolleys can advantageously have a rectangular shaped travel frame which is formed, for example, from prefabricated profiles or modules made of an aluminum alloy, wherein the profiles or modules can be fixed to one another by means of screw connections and / or plug connections.
  • a respective, disposed on the vertically disposed leg inside lying leadership may be assigned to the chassis, the leg lying outside lying leadership associated with it, it is also possible to bias at least one guide roller of a pair of guide rollers with a compression spring towards the vertical leg of the rail so that slight unevenness of the rails do not lead to a tension of the chassis around a virtual vertical axis of the chassis.
  • the guide rollers can also be designed to be adjustable by means of an eccentric, so that thickness tolerances of the rails can also be compensated.
  • the arrangement of the guide rollers on only a rail has the advantage that occurring in the longitudinal direction of the rails angle tolerances need not be compensated in addition and do not lead to a distortion of the two chassis relative to each other.
  • the invention also provides for a development that a chassis is provided with an electrically actuated geared motor, which is coupled with two positively coupled to the lifting platform hoisting ropes for actuating the lifting platform.
  • the geared motor can be provided for example on the lower chassis and act on two hoisting ropes, which in turn are fixed to the lifting platform.
  • the power transmission from the geared motor on the hoisting ropes can be done for example via driven by the gear motor rope drums, the power transmission from the geared motor can take place on the cable drums positively or frictionally.
  • the hoisting ropes can run from the lower chassis in the direction of the upper chassis and be deflected there via a deflection roller and then extend to the lifting platform, where they can be fixed.
  • This design has the advantage that the weight of the lifting platform and arranged thereon lifting device and any other provided on the lifting platform facilities on the upper chassis and the upper rails in the small parts rack can be initiated, as has already been explained above and thus not over the guide device must be supported on the lower chassis. Therefore, since the weight force does not lead to a pressurization of the guide device, the weight must not be supported on the vertical bars of the ladder masts, which must therefore not be dimensioned to accommodate the weight dimensioned, which accommodates the lightweight construction of the Kleinmaschinefits invention.
  • an optical path measuring system is arranged on the lower chassis, which cooperates with a arranged on the lifting platform reflector for vertical positioning of the lifting platform.
  • the upper and lower chassis each have a reflector is provided which cooperates with a, the respective suspension associated optical path measuring system for horizontal position detection of the two chassis.
  • the optical path measuring system for the lower chassis may be provided on the shelf or hall floor of a small scale device according to the invention receiving warehouse and the optical path measuring system for the upper chassis can be provided on the shelf or for example on the roof of the hall. This means that essential components of the respective optical path measuring system are not designed to ride along with the small part device and therefore do not increase the intrinsic mass of the small part device to be accelerated and braked.
  • the lifting platform has a rectangular shaped support frame, which is designed to accommodate the moving with the lifting platform components, such as the load receiving means. Similar to the traveling frame of the upper and lower chassis of the support frame of the lifting platform can be designed as a screwed construction, wherein the individual profiles may be formed, for example, of an aluminum alloy material to form the support frame, which therefore have only a small intrinsic mass.
  • the support frame may be provided with rollers for contacting guide surfaces on the guide masts or ladder masts of the guide device for guiding the lifting platform in a first horizontal direction
  • the lifting platform may comprise a guide frame coupled to the support frame provided with rollers for contact with guide surfaces on the guide masts
  • Guide the Hubbühne is provided in a direction orthogonal to the first horizontal direction second horizontal direction.
  • a controller synchronizes the position of the two carriages in the direction of travel relative to each other, so that any skew of the ladder masts can be minimized relative to a vertical position of the ladder booms, even if such a skew due to the articulated connection the guide masts on the chassis can not lead to a tension of Kleinmaschinenados.
  • This control is not provided arranged on the chassis, so that the driving mass of the chassis is not increased thereby. Since the drive motors for the trolleys are not designed to ride along with the trolleys, the driving mass is not increased by the drive motors.
  • the invention provides for a development that a first drive motor is associated with the lower chassis and is coupled to the lower chassis via a rotating toothed belt for power transmission and the first drive motor is assigned a spaced first deflecting roller and the lower chassis between the first drive motor and the first deflection roller is arranged and a second drive motor assigned to the upper chassis and coupled to the upper chassis via a rotating toothed belt for power transmission is, wherein the second drive motor associated with a second spaced deflection roller assigned and the upper chassis between the second drive motor and the second deflection roller is arranged, wherein the second drive motor and the second deflection roller are arranged on a Kleinmaschineger associated Kleinmaschineregal.
  • the second drive motor and the second pulley are positioned at a distance from the second chassis, as well as the first drive motor and the first guide roller, so that the respective net mass of the chassis is not increased by said components.
  • a control device for controlling the operation of the load-receiving means is arranged and the lifting platform by means of a vertical conductor rail with electrical energy can be supplied and an optical data transmission device is provided between the lower chassis and the lifting platform.
  • the lower chassis can be powered by means of a guided by a drag chain power supply line with electrical energy.
  • Both the control for the trolleys and a control for the actuation of the lifting platform are stationary, so not with the trolleys ride, but spaced to the trolleys and the lifting platform arranged, whereby the driving mass of the trolleys and Kleinmaschinegerats can be reduced.
  • each guide mast has two largely mutually parallel elongated rods, between which each parallel and transverse to the vertical direction of the rods or at an angle to each other located struts.
  • the guide masts are therefore similar to a ladder formed with two vertical bars and connecting the two bars cross struts.
  • the guide poles or ladder poles are also designed as an ascent, since the crossbars, which are preferably bolted to the vertical bars, simultaneously serve as ladder rungs, so where the service personnel at the small partition can rise high, for example, to eliminate a breakdown.
  • the cross struts may be provided with an anti-slip coating, or be provided, for example, with plastic strips that prevent slipping off the strut.
  • the struts running transversely or at an angle to the vertical bars also increase the stability of the guide mast or ladder mast.
  • the conductor masts can be modular, so that a mast with the desired predeterminable length is created by connecting a plurality of conductor mast modules.
  • a Ladermastmodul can consist of two equal length and prefabricated main profiles with interspaced at regular intervals rungs or struts, as already mentioned above.
  • the guide mast or ladder mast can therefore have at least two modular guide mast sections, which are longitudinally connectable by means of connector sections which can be brought into engagement with the guide mast sections.
  • the connection of the guide mast sections via the connector sections can be detachable, for example by means of a screw connection.
  • the guide mast sections can be made of an aluminum alloy to reduce the mass, the sections can be brought to rest with their end portion to each other to produce a guide mast of predetermined desired length.
  • the guide mast sections are bolted together under bias to achieve a sufficiently high rigidity and to form the transition region between two guide mast sections without great shock. The avoidance of a large shock clearance leads to a quiet driving over the transition region by the rollers or guide rollers of the lifting platform.
  • the guide masts are rotatably mounted on the lower chassis by means of respective arranged in formed from a plastic material receptacles pivot pin.
  • the invention also provides, according to a development, for the guide masts to be mounted displaceably on the upper chassis by means of respective hinge pins arranged in a receptacle provided with a slot.
  • the lower bearing is thus designed as a fixed bearing and has hinge pins about whose longitudinal axis the guide masts can rotate, the hinge pins are arranged in a respective plastic material for noise damping and vibration isolation, wherein the plastic material may be formed self-lubricating.
  • the fixed bearing absorbs the self-weight force of the guide mast and, due to the provision of the degree of freedom of rotation about the hinge pins, ensure that the two ladder masts or guide masts coupled to one another via the lifting platform do not brace against one another in the event of an inclined position of the guide device.
  • the end portion of the guide masts relative to the recording perform a longitudinal displacement, which, for example, in the above-mentioned inclined position of the guide device leads to the fact that the small parts device not braced.
  • the two running gears are synchronized by the above-mentioned two drive motors with respect to their respective position and torque, so that the conductor masts of the guide device are basically parallel to each other. But it can also occur in an emergency stop situation of Kleinmaschine Corporations the situation of a slight inclination of the two ladder masts or guide masts.
  • the guide masts are arranged in operation of the small parts device in a vertical orientation in front of the small parts shelf.
  • the guide masts are loaded transversely to the Hochachsraum with positive and negative acceleration forces. These acceleration forces ensure that the vertical bars of the guide masts are subjected to a bending load transversely to their longitudinal direction.
  • the guide masts spaced horizontal stabilizers which detachably interconnect the spaced guide poles, provide, the horizontal stabilizers each having a space spanning carrier, by means of at least one respective spacer on the respective guide mast is fixed.
  • the horizontal stabilizers are parallel to the horizontal traversing direction of the Kleinmaschineêts and connect one vertical bar of a guide mast with a vertical bar of the other guide mast.
  • a plurality of such horizontal beams may be disposed between a first pair of vertical bars and a second pair of vertical bars, one vertical bar of each pair being associated with a respective guide pole.
  • the carriers are in each case arranged at a slight distance from the vertical bars in order to run outside the travel range of lifting platform and outside the working range of the lifting device. The carriers are therefore placed like a collar between the small parts device and an equipped small parts shelf.
  • Such a Kleinerregal can be a Einplatzregal, so that the horizontal support are each arranged at the height of a shelf longitudinal dressing, while placed in multi-user shelves in an advantageous manner at the height of a longitudinal recording medium.
  • the connection of the horizontal stabilizers on the guide poles takes place in an advantageous manner via hinge pins, so that the horizontal stabilizers can move relative to the guide poles or ladder masts, which helps ensure that the small parts device is not braced relative to each other with an offset of the lower and upper chassis.
  • the guide masts in Hochachscardi spaced from their vertical bars have vertical stabilizers, each having an elongate carrier, which is fixed by means of respective spacers on the vertical bar.
  • Each guide post has two vertical bars, so that two vertical stabilizers are provided on each guide post, which are fastened thereto by spacers at several points in the vertical axis of the vertical bars.
  • the small-part device has, in contrast to known Kleinmaschineziern on a mast structure that is not rigidly connected to the chassis and the mast structure has two mutually spaced guide pylons or conductor masts, the lifting platform is arranged with the load receiving means in the space in such a way that the Mass center of Hubbühne and not projecting load handling equipment and any other arranged on the lifting platform components of Kleinvonmaschinecommunications in the direction of Kleinvonmaschinegerats is centrally located in the space and is also arranged in a direction orthogonal to the direction of travel centered in the space.
  • the small part of the device is therefore not acted upon in a non-cantilevered rest position of the load-carrying means of a bending load to the horizontal direction of the Kleinmaschinefits.
  • FIG. 1 The drawing shows a perspective view of a small parts shelf 100 with an embodiment of a movable along the small parts rack Kleinmaschineêts 101.
  • the small parts device 101 travels between the two rack structures and can store and retrieve small items to be loaded and unloaded in all rack storage spaces 6. From a small parts shelf 100 receiving warehouse only schematically illustrated hall floor 102 can be seen.
  • the Kleinerregal 100 has a plurality of juxtaposed and stacked shelf storage bins 6 which are adapted to receive containers, trays or boxes.
  • the small parts device 101 has a lower chassis 1 and an upper chassis 2, as shown by Fig. 2B is apparent.
  • the small parts device 101 is movable with its lower chassis 1 on lower rails 7 and with its upper chassis 2 on upper rails 8 along the small parts rack 100.
  • the rails 7 and 8 are integrated into the rack structure, as will be explained in more detail below.
  • the small parts device 101 has a guide device 103 with two at least substantially parallel to each other with a gap 104 arranged guide masts 3, wherein the lifting platform 4 is arranged with its arranged thereon load-receiving means 5 in the space 104 between the two guide masts 3, as shown in FIG Fig. 2A is apparent.
  • a first drive motor 9 which is assigned to the lower chassis 1, arranged on the hall floor 102 and at a distance from the chassis 1.
  • the drive motor 1 is used for horizontal movement of the chassis 1 and is not arranged on the chassis 1, so not moving educated.
  • a lower toothed belt 11 extends in the direction of a deflecting station 13 arranged at a distance from the drive motor 9, on which a deflection roller 58 is rotatably mounted, as described with reference to FIG Fig. 14 the drawing is visible.
  • the upper chassis 2 can be moved horizontally via an upper circulating toothed belt 12 which is driven by a second or upper drive motor 10 integrated into the rack structure. From the drive motor 10, the upper toothed belt 12 extends in the direction of a spaced-apart from the drive motor 10 upper deflection station 14, which has a rotatably mounted guide roller 58 similar to the lower deflection.
  • the lower toothed belt 11 and the upper toothed belt 12 are releasably fixed to the lower chassis 1 and upper chassis 2, so that the drive motors 9, 10 both the chassis 1 and 2 can accelerate and decelerate.
  • the drive motors 9, 10 are controlled via a control unit or control unit arranged in the control cabinet 19.
  • a control unit or control unit arranged in the control cabinet 19.
  • the cabinet 19 is this a programmable logic controller, a control console in the form of a touch panel, a braking resistor and the controller for drive the Verfahroperationen the drive motors 9, 10 and the lifting movement of the lifting platform 4.
  • From the main cabinet 19 from a horizontal cable drag chain 20 extends to the lower chassis 1, the is arranged in the hall floor 102 in a guide channel 59.
  • a vertical conductor line 17 ( Fig. 3B ), the power supply of the control cabinet 44 and the traveling on the lifting platform 4 associated cabinets 48 and the load receiving means. 5
  • a Wegmesssystem 42 and the shelf structure in the upper part of the small parts rack 100 a further Wegmesssystem 43 are provided with the provided on the trolleys 1 and 2 reflectors 41 for determining the Collaborate horizontal positions.
  • the guide masts 3 as explained in more detail by Fig. 2B to Fig. 3C is visible, ladder-shaped.
  • Each guide mast 3 has two mutually parallel vertical bars 105, between which transverse struts 106 are arranged, which can serve at the same time advantageously as a climbing aid for a user during maintenance or service work or the like.
  • maintenance platforms 60 are also provided on the small parts shelf, from the in Fig. 1 the drawing is shown only one, another working platform but can be provided on the opposite end face of the small parts rack 100.
  • FIG. 3B The arrangement of the guide masts 3 on the lower chassis 1 via in Fig. 3B illustrated fixed bearing 15, for which purpose mounting plates 107 are provided, on which the vertical bars 105 via respective hinge pins 108 vertically and horizontally fixed, but can be rotatably arranged.
  • Fig. 16 The drawing shows an enlarged detail view Fig. 3B , On the mounting plates 107 shown fixed bearings 15 are arranged on both sides in the form of bolted to the mounting plates 107 tabs 150, which are penetrated by the hinge pin 108.
  • the tabs 150 also serve to arrange block-shaped receivers 151 made of a plastic material in the form of, for example, polyamide PA6 or PA12G, which are penetrated by the hinge pins 108 and on which the vertical bars 105 of the conductor bars 103 are supported. Between the vertical bars 105 extend at a distance of about 30 cm parallel to each other arranged transverse struts 106, which are provided with plastic pads 152 which serve the slip-off. A user or service personnel can climb over the cross struts 106, the ladder pole, for example, to reach the lifting platform 4 for performing a relaxation. For this purpose, 3 fall protection cables 153 are provided on both ladder masts, in which a user can attach a fall protection device.
  • the mounting plates 107 may be attached to the in Fig. 4 the drawing visible travel frame 109 are releasably fixed, for example by means of a screw, so that the guide device 103 is pivotally mounted on the traveling frame 109 and a basis of Fig. 2A can perform by the double arrow 110 apparent rotational movement, so that, for example, in a deviation of the chassis 1, 2 from a synchronous movement in the direction of the longitudinal direction of the small parts rack 100 or even in an emergency stop the trolleys 1, 2 does not come to a tension of Kleinmaschinegerats 101 ,
  • FIG. 3C The drawing shows floating bearing 16, arranged at the upper end of the vertical bars 105 plates 110 A, each provided with a slot 111, in the basis of Fig. 6 visible hinge pin 63 can engage, which are arranged on the receptacle 62 for the floating bearing of the traveling frame 109, so that it does not lead to a distortion of the guide device 103 at a possible inclination of the conductor mast or guide masts 3.
  • the guide masts 3 are therefore hinged to the trolleys 1, 2 and can be based on Fig. 2A perform with the double arrow 110 apparent displacement movement.
  • the conductor masts or guide masts 3 are connected to each other via horizontal stabilizers 112, which may be arranged in the height direction of the guide masts 3 at regular intervals, in order to increase the rigidity of the guide device 103 transversely to the Hochachscardi the guide device 103.
  • the horizontal stabilizers 112 are supported by spacers 154 and diagonal struts 155 in such a way that the diagonal struts 155 are screwed to the spacers 154, which in turn via a respective mounting block 156 made of a plastic material in the form of polyamide PA6 or PA12G with the vertical bars 105 are bolted.
  • the vertical bars on a receiving groove 157 in which sliding blocks can be inserted which are bolted with hinge pins 158 so that the horizontal stabilizers 112 remain movable relative to the vertical bars 105 and an inclination of the conductor bar 3 to each other not to a bracing Kleinmaschinecuits 101 leads.
  • vertical stabilizers 114 are provided which increase the rigidity of the guide device 103 in the high axis direction.
  • the vertical stabilizers 114 are parallel to the Hochachscardi the vertical bars 105 via based on Fig. 3C apparent spacers 159 fixed to the vertical rods 105 and serve to increase the rigidity of the conductor mast 3 in Hochachs512.
  • the vertical stabilizers 114 are connected along their Hochachsplatz via a plurality of spacers 159 with a respective vertical rod 105.
  • a vertical bar 105 may, as in Fig. 17 is formed of two or more guide pole sections 160 which are defined in the region of their end faces 162 via connector portions 161 in the form of connector plates in such a way that a connector portion 161 spans the two end faces 162 and by means of bolts 163, the be screwed with inserted in longitudinal grooves 164 groove stones are fixed to the guide pole sections 160.
  • abutment plates 165 are screwed to the guide mast sections 160 and the guide mast sections 160 are abutted against each other with interposition of abutting plates 165 and screwed together via bolts, not shown, arranged in the grooves 166.
  • the lifting platform 4 and the load receiving means 5 loading normal force is thus displaced off-center and there is a vertical bars 105 loading bending moment, which is but in a good approximation with almost the same amount on all vertical bars 105 is shifted in equal parts, of which each one so is loaded with only a small bending moment and the individual rods can therefore be designed as a hollow profile with low wall thickness, for example with a pipe cross-section or with a square or rectangular cross-section and therefore have only a small intrinsic mass.
  • This makes it possible to design the drive motors 9, 10, which are provided for the movement of the small-unit device 101, comparatively poorly in power, thereby creating an energy-efficient system with low consumption of electrical energy.
  • FIG. 4 The drawing shows a perspective view of the lower chassis 1.
  • the chassis 1 has a traveling frame 109 which can be formed from profile longitudinal members 23 which are screwed together.
  • the chassis 1 has four laterally mounted wheels 25, which roll on horizontally extending legs of the rails 7.
  • the wheels 25 and guide rollers 26 can be made to reduce noise from a soft and low-wear polyurethane material.
  • a clamping device 27 is provided for releasably securing the lower toothed belt 11.
  • the reflector 41 is arranged, which reflects a laser beam emitted from the lower position measuring system 42, wherein the in the cabinet 19 provided control over the transit time difference of the laser beam, the horizontal position of the chassis 1 can determine.
  • a geared motor 28 is arranged, the one based on Fig. 5 has apparent output shaft 29, at the two-sided end regions in each case a toothed belt wheel 30 is arranged.
  • a first cable drum 34 is driven at the one closer by Fig. 2A apparent hoist rope 37 is arranged.
  • a second cable drum 34 is driven, on which also a hoist rope 37 is arranged, which serves as well as the first hoist rope 37 for raising and lowering the lifting platform 4.
  • the cable drums 34 are thereby driven via respective toothed belt wheels 35 engaged with the toothed belts 32, 33 and are rotatably mounted on the traveling frame 109 via a respective bearing 31, 36.
  • a transmitter 21 is provided for the optical data transmission to the lifting platform and a distance measuring system 39 for determining the vertical position of the lifting platform. 4
  • An in Fig. 5 apparent support roller 61 is provided for supporting the toothed belt 11 in order to avoid sagging of the toothed belt 11.
  • further support rollers may be provided.
  • support rollers not shown in detail, for example, can be provided on shelf uprights or chassis supports that avoid sagging of the upper toothed belt 12.
  • FIG. 6 the drawing shows the upper chassis 2 with a traveling frame 109, which can be formed from similar to the profile longitudinal members 23 formed profile longitudinal beams 24 by means of screw. Also on the upper chassis 2 clamping devices 27 are provided for fixing the upper circumferential toothed belt 12 in this case.
  • the traveling frame 109 has wheels 25 and guide rollers 26, which serve to arrange the traveling frame 109 on the upper rails 8. On the traveling frame 109 guide rollers 38 are provided for the hoisting ropes 37, so that the hoisting ropes 37 extend from the lower chassis 1 in the direction of the upper chassis 2, are deflected there and then towards the in Fig. 9 and 10 apparent lifting platform 4 extend.
  • FIG. 7 The drawing shows in the upper view a partial view of the travel frame 109 of the upper chassis 2 with the timing belt 12 fixed to the clamping device 27 and a running on the horizontal leg 116 of the rail 8 impeller 25 and the shorter vertical leg 117 of the U-shaped upper Rail 8 running guide rollers 26.
  • FIG. 7 a partial view of the lower chassis 1 with the rail 7, at the horizontally extending leg 116, the impeller 25 is running and at the shorter vertical leg 117, the two guide rollers 26 are arranged.
  • Fig. 8 The drawing shows in a detailed view of the arrangement of the lower rails 7 on vertically extending shelf uprights 118 of the small parts shelf 100.
  • the rails 7 are defined by support means in the form of support brackets 119 on the shelf uprights 118.
  • the support bracket 119 are defined by vertical legs 120 by means of screw connections to the shelf uprights 118 and the exact alignment of the rails 7 can between a respective vertical leg 120 and the vertical leg 122 of the rail 7 and the horizontal leg 121 of the support bracket 119 shims 123rd be provided to provide a tolerance compensation in both a horizontal and a vertical direction.
  • the upper rails 8 are fixable on shelf uprights 118 and aligned.
  • FIG. 9 The drawing shows a perspective view of the lifting platform 4 with a support frame 124, which is a screw construction of profiled longitudinal members in lightweight construction and has a plurality of lateral guide rollers 47 which roll on corresponding guide surfaces of the guide masts 3.
  • the lifting platform 4 has a guide frame 45, on whose front side further guide rollers 46 are provided, which roll on corresponding guide surfaces of the guide masts 3.
  • control cabinets 48 are provided which have control components for the load-receiving means 5.
  • One of the two hoisting ropes 37 can be fixed to a load measuring pin 50, which can act on a measuring device to determine a possible overload situation and under load situation of the lifting platform 4.
  • the other hoist rope 37 can be fixed to an upper horizontal profile of the lifting platform 4.
  • a current collector 18 is used for the contact with the vertical contact line 17 for supplying power to the control cabinets 48 and the load-receiving means 5.
  • Fig. 10 The drawing shows a respective drive motor 49 of the load-receiving means 5 and in conjunction with Fig. 11 the drawing a reflector 40 which cooperates with the arranged on the lower chassis 1 position measuring system 39 for measuring the vertical position of the lifting platform 4 and a module 21, which is designed as a transmitter-receiver unit and with the corresponding unit 21 on the lower chassis 1 for data transmission cooperates.
  • FIG. 12 The drawing shows the drive motor 9 for the horizontal displacement of the lower chassis 1, which is arranged on a frame 51 and an emergency braking system 22, the details of which are described in more detail with reference to FIG Fig. 13 the drawing can be seen.
  • the electric drive motor 9 is coupled to a gear 56, which via a drive shaft 52 which is mounted in a bearing 53, the toothed belt pulley 54 drives, with the lower toothed belt 11 are driven can.
  • a brake disc 55 On the drive shaft 52, a brake disc 55 is arranged, which is overlapped by brake pads 125 which are held open by an electric drive 126 during its energization.
  • the brake pads 125 spring loaded automatically engage the brake disc 55 and thus ensure that a displacement movement of the lower chassis 1 is interrupted immediately. Since an identical emergency brake system 22 is also provided on the upper drive motor 10, the upper drive motor 10 immediately comes to a standstill in such a situation and thus also the upper chassis 2.
  • Fig. 14 The drawing shows the deflecting stations 13, 14 with a respective frame 57 on which the deflection roller 58 is arranged via a bearing, over which the toothed belts 11, 12 are deflected.
  • the toothed belts 11, 12 are biased by means not shown tensioning devices on the respective drive motors receiving drive stations to reduce the elastic shape changes of the timing belt and to increase the positioning accuracy of the chassis 1, 2 and to prevent the timing belt sag. In addition, by biasing the belts, it is also ensured that the belts on the drive-side toothed belt wheel 54 do not skip.
  • the pretensioning of the toothed belts generates a reaction force that has to be supported.
  • the biasing force against the hall floor 102 can be supported, while such a possibility in the region of the upper drive motor 10 is not present, since this together with the deflection roller is arranged on the shelf structure. Supports the biasing force on the shelf structure but would require an increase in the strength of the shelf structure, which is disadvantageous on the cost side.
  • FIG. 15 The drawing shows that the rails 8 are composed of rail sections 127 which are coupled in the joint area via a connecting plate.
  • the connecting plate 128 is coupled via screw connections 130 to the rail sections 127 both in the region of the horizontal and in the region of the vertical segments of the rail sections 127.
  • This can be formed by the rail sections a pressure-loaded beams, in addition to the absorption of forces the process of the upper chassis 2 also absorbs the biasing force of the toothed belt.
  • the small parts device according to the invention is characterized by a significantly improved payload ratio compared with known small divider devices, since the small part device has a significantly lower net mass for comparable payload to be handled.
  • This also means that the drive motors for the process operations of Kleinmaschinestis to its movement require significantly less drive power, as is the case with the known small parts shelves.
  • the provided with the small part of the device Kleinmaschineregal therefore requires less electrical energy for its operation than is the case with known small parts shelves and is therefore characterized by a high energy efficiency.
  • the lifting platform of the small part device is arranged symmetrically on the guide device, thereby reducing the load on the guide device with a bending moment during storage and retrieval of goods relative to the rack storage bins, which means that the guide device must absorb significantly lower forces, as this is the case with known small parts.
  • the guide device can be made slimmer and lighter, which in turn can be reduced by the drive motors to be provided drive power.
  • the travel drives and essential control components for the operation of the small parts rack and the Kleinmaschinegerats are not designed as moving parts, whereby the driving weight of Kleinmaschinegerats can be reduced again.
  • the drive and guide rails are provided arranged in the rack structure, so that separate trades for the arrangement of the rails in the hall floor of the provided with the Kleinmaschinecommunications Kleinmaschineregals receiving warehouse fall into the way.
  • the design of the traction drives with rotating belt makes it possible to realize a bufferless braking system, which in turn means that the forces acting on the hall floor and the rack structure loads can be reduced.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)
EP14196033.6A 2013-12-10 2014-12-03 Kleinteilegerät Active EP2883831B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SI201430132A SI2883831T1 (sl) 2013-12-10 2014-12-03 Naprava za majhne dele
PL14196033T PL2883831T3 (pl) 2013-12-10 2014-12-03 Układnica do drobnych elementów

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102013113798.9A DE102013113798A1 (de) 2013-12-10 2013-12-10 Kleinteilegerät

Publications (2)

Publication Number Publication Date
EP2883831A1 EP2883831A1 (de) 2015-06-17
EP2883831B1 true EP2883831B1 (de) 2016-10-19

Family

ID=52020988

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14196033.6A Active EP2883831B1 (de) 2013-12-10 2014-12-03 Kleinteilegerät

Country Status (7)

Country Link
EP (1) EP2883831B1 (pt)
DE (1) DE102013113798A1 (pt)
DK (1) DK2883831T3 (pt)
ES (1) ES2611188T3 (pt)
PL (1) PL2883831T3 (pt)
PT (1) PT2883831T (pt)
SI (1) SI2883831T1 (pt)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106217410B (zh) * 2016-08-25 2018-06-19 宁波朝平智能科技有限公司 用于全自动密集架存储库取盒机械手的节移轴
CN106219125B (zh) * 2016-08-25 2018-06-22 宁波朝平智能科技有限公司 全自动密集架存储库
AT519139B1 (de) * 2016-10-10 2018-09-15 Tgw Mechanics Gmbh Regalbediengerät und Regallagersystem mit verbesserter Zugänglichkeit und Gewichtsverteilung
CN109607014B (zh) * 2018-12-27 2024-03-15 湖北科德智能装备有限公司 一种车轮调节装置及其四向搬运车

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3485390A (en) * 1967-09-25 1969-12-23 Triax Co Storage system with a transfer mechanism for an article handling vehicle
DE2035455A1 (pt) * 1969-07-22 1971-02-04
DE4202668C2 (de) 1992-01-28 1994-02-24 Mannesmann Ag Regalbediengerät
DE69305712T2 (de) * 1992-09-10 1997-03-20 Daifuku Kk Antrieb in einem Regalbediengerät
DE19534291C2 (de) 1995-09-15 2002-02-21 Mannesmann Ag Regalanlage mit an Schienen geführtem Regalbediengerät
DE19614660A1 (de) 1996-04-13 1997-10-16 Mannesmann Ag Regalbediengerät
AT500378B1 (de) * 2001-06-13 2006-12-15 Tgw Transportgeraete Gmbh Regalbediengerät
DE202004002337U1 (de) 2004-02-16 2004-05-19 Knapp Logistik Automation Ges.M.B.H. Regalbediengerät für einen Transport von Gütern aus einem bzw. in ein Regal vorzugsweise in einer Kommissionieranlage
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
JP5802937B2 (ja) * 2010-07-01 2015-11-04 北陽電機株式会社 光データ伝送装置、光通信装置、及び自動搬送装置
ES2364685B1 (es) * 2011-04-15 2012-05-22 Mecalux, S.A. Cuna de elevación y transelevador para el transporte de cargas.

Also Published As

Publication number Publication date
PT2883831T (pt) 2016-12-27
DK2883831T3 (en) 2017-01-16
SI2883831T1 (sl) 2017-03-31
EP2883831A1 (de) 2015-06-17
ES2611188T3 (es) 2017-05-05
DE102013113798A1 (de) 2015-06-11
PL2883831T3 (pl) 2017-05-31

Similar Documents

Publication Publication Date Title
EP1395512B1 (de) Regalbediengerät
EP1401743B1 (de) Transportwagen zum ein- und auslagern von transportgut
DE112014003015B4 (de) Mobilkran
EP2673218B1 (de) Regallagersystem
EP3107860B1 (de) Verfahren und vorrichtung zum ein- und auslagern oder umlagern von containern in hochregallagern
AT513930B1 (de) Regallagersystem mit Förderfahrzeug-Hebevorrichtung
EP2648997B1 (de) Universelles lastaufnahmemittel für palettenlose handhabung von paletten-ladegütern
EP2161236B1 (de) Regalbediengerät mit einem Fahrwerk
EP2883831B1 (de) Kleinteilegerät
EP0029073B1 (de) Warenlager zur Lagerung von Stückgütern
EP2433882A1 (de) Verfahren zum Einlagern von Waren sowie Vorrichtung dazu
DE19534291A1 (de) Regalanlage mit an Schienen geführtem Regalbediengerät
EP3513002B1 (de) Schienensystem für ein förderfahrzeug und lagersystem
DE102006047864B4 (de) Fördereinrichtung zum Quertransport langgestreckter Werkstücke
AT519139B1 (de) Regalbediengerät und Regallagersystem mit verbesserter Zugänglichkeit und Gewichtsverteilung
EP2673220B1 (de) Einebenenregalbediengerät zum ein- bzw. auslagern von ladegütern in ein bzw. aus einem regallager
EP0899217B1 (de) Hochregallager für hängende Waren
DE102016108382A1 (de) Schienenprofil für Kran-Hängebahnen und Schwenkkräne mit integrierbarer Energiekette
CN112978180A (zh) 高速轻型换层提升机
AT507334B1 (de) Regalbediengerät
DE202013105616U1 (de) Kleinteilegerät
DE4325446C2 (de) Regalbediengerät mit Gegengewichtsanordnung und einem einzigen Antriebsmittel für Hub- und Senkbewegung
DE102011001518A1 (de) Regalbediengerät
AT7107U1 (de) Lagersystem
AT509458B1 (de) Regallager mit regalbediengerät

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20141203

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

R17P Request for examination filed (corrected)

Effective date: 20150903

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20160511

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 838135

Country of ref document: AT

Kind code of ref document: T

Effective date: 20161115

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502014001752

Country of ref document: DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 3

REG Reference to a national code

Ref country code: PT

Ref legal event code: SC4A

Ref document number: 2883831

Country of ref document: PT

Date of ref document: 20161227

Kind code of ref document: T

Free format text: AVAILABILITY OF NATIONAL TRANSLATION

Effective date: 20161214

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

Effective date: 20170112

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: UDO SOELLNER, CH

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20161019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170120

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2611188

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20170505

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170219

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502014001752

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170119

26N No opposition filed

Effective date: 20170720

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161203

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 4

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: LU

Payment date: 20171219

Year of fee payment: 4

Ref country code: FI

Payment date: 20171215

Year of fee payment: 4

Ref country code: CZ

Payment date: 20171121

Year of fee payment: 4

Ref country code: DK

Payment date: 20171221

Year of fee payment: 4

Ref country code: NO

Payment date: 20171219

Year of fee payment: 4

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20171219

Year of fee payment: 4

Ref country code: PT

Payment date: 20171127

Year of fee payment: 4

Ref country code: SE

Payment date: 20171221

Year of fee payment: 4

Ref country code: SI

Payment date: 20171122

Year of fee payment: 4

Ref country code: PL

Payment date: 20171121

Year of fee payment: 4

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20141203

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

REG Reference to a national code

Ref country code: NO

Ref legal event code: MMEP

REG Reference to a national code

Ref country code: DK

Ref legal event code: EBP

Effective date: 20181231

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181203

Ref country code: PT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190603

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181203

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181204

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20181203

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181203

Ref country code: SI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181204

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20181231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181203

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181203

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502014001752

Country of ref document: DE

Representative=s name: SOELLNER, UDO, DIPL.-ING.UNIV., DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 502014001752

Country of ref document: DE

Owner name: STOECKLIN LOGISTIK AG, CH

Free format text: FORMER OWNER: STOECKLIN LOGISTIK AG, AESCH, CH

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230522

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20231219

Year of fee payment: 10

Ref country code: FR

Payment date: 20231220

Year of fee payment: 10

Ref country code: DE

Payment date: 20231103

Year of fee payment: 10

Ref country code: AT

Payment date: 20231214

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240118

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20240109

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20231229

Year of fee payment: 10