US20130037388A1 - Matrix conveyor for use as a sorting device or palletizing device - Google Patents

Matrix conveyor for use as a sorting device or palletizing device Download PDF

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Publication number
US20130037388A1
US20130037388A1 US13/655,887 US201213655887A US2013037388A1 US 20130037388 A1 US20130037388 A1 US 20130037388A1 US 201213655887 A US201213655887 A US 201213655887A US 2013037388 A1 US2013037388 A1 US 2013037388A1
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US
United States
Prior art keywords
conveying
roller modules
individual roller
matrix
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.)
Abandoned
Application number
US13/655,887
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English (en)
Inventor
Bernd Faist
Axel Müller
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 US20130037388A1 publication Critical patent/US20130037388A1/en
Priority to US13/856,754 priority Critical patent/US8567587B2/en
Abandoned legal-status Critical Current

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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
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B65G13/04—Roller-ways having driven rollers all rollers driven
    • 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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G13/08—Roller-ways of curved form; with branch-offs
    • B65G13/10—Switching arrangements
    • 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
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/10—Arrangements of rollers
    • B65G39/12—Arrangements of rollers mounted on framework
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/06—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines
    • B65G47/08—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding
    • B65G47/084—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern
    • B65G47/086—Devices for feeding articles or materials to conveyors for feeding articles from a single group of articles arranged in orderly pattern, e.g. workpieces in magazines spacing or grouping the articles during feeding grouping articles in a predetermined 2-dimensional pattern cubiform articles
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way

Definitions

  • the present invention relates to a matrix conveyor which can be used in a manifold manner such as for (steadily) conveying, sorting, orientating, picking, palletizing or forming layers of loads, distributing, and similar actions.
  • the article entitled “Flexibler Material strain such bei submitr Auslastung” published in “LOGISTIK für réelle”, Vol. 1/2-2010, pages 52 ff. discloses a material flow conveyor transporting the conveying goods by means of slide conveyance.
  • the conveyor designated as “WAVE”, comprises a horizontal conveying membrane beneath which a plurality of vertically actuable lifting pins are arranged along a regular structure (grid).
  • the lifting pins can be deflected temporarily up or down perpendicularly, thereby allowing deformation of the conveying membrane.
  • mountains or valleys can be generated, which can be moved and rotated selectively by means of a control device.
  • a moving conveying membrane mountain runs like a wave through the membrane and pushes in this manner a conveying good in front thereof, assuming that the slide characteristics (conveying good—membrane) are selected correspondingly.
  • the described wave conveyor represents a test run of the Universitat of Hamburg, which has not yet gone into production up to now.
  • One problem seemingly is the high adhesive friction between the conveying membrane and the conveying goods.
  • lifting pins need to be extracted and retracted correspondingly high and deep.
  • the conveying membrane can be stressed extraordinarily strong so that lifetime is expected to be small due to a high risk of wear. If the material thickness of the conveying membrane is increased for increasing the lifetime, the flexibility and the sensitivity is decreased in a disadvantageous manner so that the conveying goods become worse steerable.
  • Conveying velocity is limited by a control velocity of the lifting pins.
  • the WAVE system is inert.
  • the control is complex and requires a high degree of synchronization since the lifting and lowering movements of the lifting pins need to be adapted to each other while the wave formed by the conveying membrane continues. Otherwise the wave does not run continuously through the conveying membrane.
  • the wave conveyor does not allow rotation of one of the conveying goods at one and the same spot.
  • the operational principle of the slide conveyance of the wave conveyor always requires movement of the conveying goods by pushing or pulling by means of the conveying membrane. Therefore, the wave conveyor is less suitable for orientating, sorting and forming predefined load arrangements of conveying goods (such as pallet layers).
  • the European patent application 0 563 824 A2 discloses a storage system which can consist of several planes being arranged on top of each other.
  • Each of the storage planes comprises a plurality of conveying modules having a square base area.
  • Each of the conveying modules comprises rollers which can cause movement of one of the conveying goods in a longitudinal or transversal direction.
  • the document DE 11 2005 001 095 T5 discloses an arrangement and a method for the relative control of load-moving actuators.
  • the patent DE 199 27 251 C2 discloses a device for handling piece goods which are fed and discharged side-by-side and/or one after the other by means of transport means in a lying manner, the device comprising at least one entrance, at least one exit and at least one image-processing device for detecting handling information, which classifies the piece goods, based on the recorded images of the piece goods, wherein several conveying means, which are arranged in an array within one plane, are provided which can move the piece goods 1 in one plane along four directions being orientated perpendicular to each other, wherein each of the piece goods within the array area is always located on at least three conveying means, wherein at least one control device is provided for independently controlling each individual one of the conveying means, at least with regard to one conveying direction and one conveying period, for moving the piece goods 1 in a collision-free manner in accordance with the current handling schedule, which assigns the to-be executed handling actions to the handling information of the piece goods 1, wherein position and location of each classified piece good are determined online by tracking the
  • matrix conveyor comprising: a regular grid-shaped structure have a plurality of points of intersections; a plurality of individual roller modules, wherein respectively one of the individual roller module is arranged at each of the points of intersection of the regular grid-shaped structure, and wherein the individual roller modules commonly define a conveying plane, which is substantially planar, for transporting conveying goods thereon; and a control device being adapted to individually control each of the individual roller modules so that the conveying goods are transported along a path, which is planned in advance, wherein a shape of the path is defined by a plurality of overlaps of at least two basic conveying directions geometrically spanning the conveying plane; wherein each of the individual roller modules has at least one all-side wheel and is drivable in only one of the at least two basic conveying directions, wherein directly adjacent ones of the individual roller modules are respectively drivable in another one of the at least two basic convey
  • a matrix conveyor comprises: a plurality of individual roller modules, wherein respectively one roller module is arranged at each point of intersection of a regular rid-shaped structure, and wherein the roller modules commonly define a conveying plane, which is substantially planar, for transporting a conveying good thereon; and a superordinated control device being adapted to individually control each of the individual roller modules so that the conveying good can be transported along a path, which can be planned in advance, wherein a shape of the path is defined by a plurality of overlaps of at least two basic conveying directions of the conveying plane wherein the at least two basic conveying directions span the conveying plane geometrically, and wherein each of the roller modules is drivable in only one of the at least two basic conveying directions, wherein directly adjacent roller modules are respectively drivable in the other of the at least two basic conveying directions.
  • rotational movements of one of the conveying goods “at one and the same spot” can be performed by means of the above-described matrix conveyor of the invention which can be scaled freely.
  • the movement of the conveying goods and the start of movement of the conveying goods are almost independent of the weight of the conveying goods and the consistence of the surface. Even conveying goods having a very small weight can be moved instantaneously and without any problem by means of the roller modules.
  • the conveying goods which have a surface with a high adhesive frictional coefficient can be moved exceptionally well by means of the roller modules since the rollers are frictionally connected to the surface of the conveying goods thereby preventing slip.
  • roller modules beneath one of the conveying goods does not have any effect on other conveying goods being located outside a region where the operated roller modules are arranged.
  • the conveying goods can overtake each other on directly neighbouring conveying paths, which are arranged in parallel, without causing path interferences due to the overtaking process.
  • the matrix conveyor further comprises a frame, wherein each of the roller modules is arranged in a rotationally fixed manner relative to the frame, so that a respective basic conveying direction thereof cannot be changed.
  • roller modules are arranged rigidly relative to the frame. This facilitates the control since merely two degrees of freedom (longitudinal and transversal) exist ideally, the control mapping the desired paths of the conveying goods.
  • each of the roller modules comprises a separate drive unit, and preferably a separate module control device.
  • roller modules which have the same basic conveying direction, at different velocities and/or accelerations.
  • the different control allows rotational movements of the conveying goods without slip.
  • the roller modules which are arranged radially at the inside relative to the conveying good path operate at a smaller velocity than roller modules which are arranged radially at the outside, since the conveyor goods typically comprise a certain geometrical size and a corresponding base area.
  • the actuating elements (roller modules) of the matrix conveyor can be operated differently at the same time.
  • each of the roller modules comprises a separate module control
  • the superordinated control device can be operated in a decentralized manner.
  • the superordinated control device merely outputs tasks to the module controls, being arranged hierarchically lower, which in turn take care of keeping a temporal sequence of the conveying velocities which can change dependent on time.
  • the superordinated control device controls the roller modules by means of a control matrix, wherein each of the roller modules has assigned, preferably exactly one, matrix element and wherein each of the matrix elements can be determined uniquely by a location of the respectively assigned roller module in the grid-shaped structure, conveying velocity, acceleration, lift, and/or time.
  • a conveying velocity of each of the roller modules can be set stepless and temporarily changeable.
  • Accelerations become possible due to the stepless setability.
  • the accelerations allow, for example, overtaking processes or rotational movements on the matrix conveyor.
  • a palletizing device for stacking loading goods on a load carrier comprises: a matrix conveyor which comprises: a regular grid-shaped structure have a plurality of points of intersections; a plurality of individual roller modules, wherein respectively one of the individual roller module is arranged at each of the points of intersection of the regular grid-shaped structure, and wherein the individual roller modules commonly define a conveying plane, which is substantially planar, for transporting conveying goods thereon; and a control
  • Still another aspect of the invention is defined by a sorting device for sorting conveying goods in accordance with a predefined sequence by use of the matrix conveyor in accordance with one of the claims 1 to 8 , wherein the superordinated control device is adjusted to bring the conveying goods, which are given on the conveying plane in a chaotic sequence, into the predefined sequence by planning in advance an individual path for each of the conveying goods, wherein the path is designed such that the conveying goods leave the conveying plane in accordance with the predefined sequence.
  • roller modules are arranged and operated along a regular rectangular grid.
  • each of the roller modules is of the same type.
  • each of the roller modules comprises at least one all-side wheel, a drive, a shaft, a force transmission unit, and/or a support.
  • All-side wheels have the advantage that they can be used for transporting the conveying goods along one direction (preferably along one of the basic conveying directions) allowing an almost frictionless passage of one of the conveying goods at the same time along a direction which is oriented perpendicularly thereto (preferably along the other basic conveying direction).
  • Matrix conveyor of the invention can be used, amongst other things, in a palletizing device for loading a load carrier with differently sized and shaped loading goods, wherein the palletizing device further comprises: one or more feeding conveyors, wherein each of the feeding conveyors is coupled in a conveying manner, preferably at another side, to the matrix conveyor; and a loading station which is arranged adjacent to one of the sides of the matrix conveyor so that loading goods, which are collected for generating one layer on the matrix conveyor, can be transferred to a provided load carrier, preferably by means of the matrix conveyor itself; wherein the superordinated control device of the matrix conveyor is adapted to transport each of the loading goods along a path, which is specifically planned in advance, from one of the feeding conveyors to a location within the layer, which has been planned in advance.
  • the superordinated control device of the matrix conveyor rotates one of the loading goods, while moving same to its planned-in-advance location along its planned-in-advance path, additionally about an axis perpendicular to the conveying plane.
  • the conveying plane of the matrix conveyor is greater, preferably at least double in size, than a loading area of the load carrier which is to be loaded.
  • the conveying plane of the matrix conveyor provides sufficient space for manipulating conveying goods and loading goods, which have been fed, so that the sum of the loading goods can be moved to form one layer of loading goods, which can be transferred to the load carrier subsequently.
  • a sorting device for sorting conveying goods in accordance with a predetermined sequence by means of the matrix conveyor of the invention wherein the superordinated control device is adapted to bring the conveying goods, which are given on the conveying plane in a chaotic sequence, into a predetermined sequence by planning in advance an individual path for each of the conveying goods, the path being formed so that the conveying goods exit the conveying plane in accordance with the predetermined sequence.
  • At least one feeding conveyor and at least one discharging conveyor are coupled in a conveying manner to the matrix conveyor, and the superordinated control device is adapted to transport conveying goods, which have been fed chaotically on the conveying plane, to one of the discharging conveyors in accordance with their respectively-planned in advance paths, the one discharging conveyor being assigned to the respective conveying good.
  • FIG. 1 shows a perspective view of a matrix conveyor of the invention
  • FIG. 6 shows a magnified view of a section of FIG. 5 for illustrating a rotational movement
  • FIG. 11 shows an alternative embodiment including three basic conveying directions.
  • the matrix conveyor 10 can be used in a conveying system, for example, for automating storage and picking systems.
  • the matrix conveyor 10 is connected in a controlling manner to a superordinated control device 12 such as a warehouse management computer, material flow computer or the like, either wired physically by means of signal lines 14 or in a wireless manner (e.g., by means of WLAN), as indicated by means of a double arrow 16 .
  • a superordinated control device 12 such as a warehouse management computer, material flow computer or the like, either wired physically by means of signal lines 14 or in a wireless manner (e.g., by means of WLAN), as indicated by means of a double arrow 16 .
  • the roller modules 28 which protrude from the top side 26 , substantially define a planar conveying plane 30 . It is clear that not all of the vertices of the roller modules 28 are lying exactly in the conveying plane 30 due to, for example, installation tolerances. However, they preferably define a planar plane indicated in FIG. 1 by means of a broken line.
  • the conveying plane 30 does not need to be orientated necessarily in a horizontal orientation, as indicated in FIG. 1 .
  • the conveying plane 30 can also be arranged obliquely relative to a horizontal line for overcoming obstacles.
  • the all-side wheels 36 respectively comprise three roller bodies 38 , which in turn are supported rotationally about roller shafts 40 in a bearing body 42 , which in turn is mounted on the shaft 34 in a rotationally fixed manner.
  • the roller bodies 38 of the neighbouring all-side wheels 36 are, preferably, arranged relatively to each other so that always one of the roller bodies 38 is in the vertex of the roller module 28 .
  • the contours of the roller bodies 38 are preferably formed such that a circle is formed in terms of an envelope (cf. FIG. 2C ).
  • the drive unit 44 is fixed to the support 32 by means of a separate drive support 52 .
  • the drive unit 44 could also be fixed directly to the support 32 .
  • An exemplary central roller module 64 is picked out close to the center of the array or roller modules, the central roller module 64 being surrounded by four direct neighbours 66 .
  • a direct neighbour 66 is to be understood hereinafter as one of the roller modules 28 , which has the shortest distance relative to the central roller module 64 . It is clear that each arbitrary one of the roller modules 28 of the 144 exemplary roller modules 28 of FIG. 3 could have been picked out for illustrating this type of arrangement.
  • a grid-like structure 68 is indicated by means of imaginary lines 70 in the left lower region of the matrix conveyor 10 of FIG. 3 , the imaginary lines 70 being oriented in parallel to the direction X and the direction Z. In the present case, a regular grid is shown. It is clear that the grid distances along the direction X can be selected different relative to the grid distances along the direction Z. In principle, the arrangement structure of each matrix conveyor 10 in accordance with the present invention can be reduced to such a grid-like structure, as will be described below with reference to FIG. 11 .
  • FIG. 5 shows a top view of another matrix conveyor 10 ′ as a schematic top view, wherein the matrix conveyor 10 ′ in this case comprises twenty rows and twelve columns.
  • part of the second section 80 - 2 is illustrated in an enlarged manner for explaining rotational movement at one and the same spot.
  • the individual roller modules (a 65 to a 98 ) can be operated at velocities like they are exemplarily inserted in the boxes of FIG. 6 in terms of positive and negative numbers, wherein the boxes are only shown for facilitating an illustration.
  • the conveying good 72 can be rotated at one and the same spot about 180°. This is indicated in terms of a rotation arrow 82 .
  • Individual movement directions of sub-groups of arrays of roller modules, which result therefrom, are indicated by means of arrows 84 . It is clear that this rotation can be overlapped with a straight-ahead travel along the positive direction X.
  • the superordinated control device 12 can be connected to one or more light barriers 118 for detecting the entry of a loading good 108 at the matrix conveyor 10 .
  • one of more image detecting systems 120 can be provided for getting delivered information on the current states of the entire system at any time.
  • the superordinated control device 12 can calculate in real time changing commands for the roller modules 28 based on this information for adapting a deviating actual position to a set position.
  • the conveying goods only move along planned-in-advance paths (set positions) without corresponding corrections.
  • the state of the system 130 can be monitored by means of one or more cameras 120 delivering data so that the superordinated control device 12 can correct paths planned in advance or obtaining the situation illustrated in the upper region of FIG. 8 .
  • FIG. 9 shows the sorting device 130 of FIG. 8 as used for orientating the conveying goods 72 , as shown for illustrative purposes by means of a respective dark corner in the conveying goods 72 .
  • FIG. 10 illustrates a distributing device 130 ′.
  • the feeding conveyors 102 feed four for conveying goods A to D in the sequences A, D, B, C to the matrix conveyor 10 .
  • the matrix conveyor 10 distributes the conveying good C to the discharging conveyor 132 - 1 , the conveying good D to the discharging conveyor 132 - 2 , and the conveying good B to the discharging conveyor 132 - 3 .
  • the conveying good A is buffered, for example, in the lower right corner of the matrix conveyor 10 until the conveyor good A is required and then delivered to one of the discharging conveyors 132 .
  • roller modules 28 With reference to FIG. 11 an alternative arrangement of roller modules 28 is shown, wherein the roller modules 28 are oriented along three basic conveying directions.
  • the basic conveying directions can map, for example, an equilateral triangle.
  • the centers of the sides in turn are arranged along a regular grid.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
US13/655,887 2010-04-19 2012-10-19 Matrix conveyor for use as a sorting device or palletizing device Abandoned US20130037388A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/856,754 US8567587B2 (en) 2010-04-19 2013-04-04 Matrix conveyor for use as a sorting device or palletizing device

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010015584.5 2010-04-19
DE102010015584A DE102010015584A1 (de) 2010-04-19 2010-04-19 Matrixförderer zur Verwendung als Sorter oder Palettiervorrichtung
PCT/EP2011/055985 WO2011131573A1 (de) 2010-04-19 2011-04-15 Matrixförderer zur verwendung als sorter oder palettiervorrichtung

Related Parent Applications (1)

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PCT/EP2011/055985 Continuation WO2011131573A1 (de) 2010-04-19 2011-04-15 Matrixförderer zur verwendung als sorter oder palettiervorrichtung

Related Child Applications (1)

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US13/856,754 Continuation US8567587B2 (en) 2010-04-19 2013-04-04 Matrix conveyor for use as a sorting device or palletizing device

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US20130037388A1 true US20130037388A1 (en) 2013-02-14

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US13/655,887 Abandoned US20130037388A1 (en) 2010-04-19 2012-10-19 Matrix conveyor for use as a sorting device or palletizing device
US13/856,754 Active US8567587B2 (en) 2010-04-19 2013-04-04 Matrix conveyor for use as a sorting device or palletizing device

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US13/856,754 Active US8567587B2 (en) 2010-04-19 2013-04-04 Matrix conveyor for use as a sorting device or palletizing device

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US (2) US20130037388A1 (de)
EP (1) EP2560898A1 (de)
DE (1) DE102010015584A1 (de)
WO (1) WO2011131573A1 (de)

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CN112867681A (zh) * 2018-10-22 2021-05-28 莱特拉姆有限责任公司 网格分拣机
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EP3187438B1 (de) * 2015-12-30 2022-10-12 Siemens Aktiengesellschaft Förderanlage für stückgüter und verfahren zum beheben einer störung einer förderanlage
CN109195886B (zh) * 2016-05-19 2021-08-06 伊东电机株式会社 输送装置
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US8567587B2 (en) 2013-10-29

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