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EP0329642B1 - Handling device for shelves - Google Patents

Handling device for shelves Download PDF

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Publication number
EP0329642B1
EP0329642B1 EP19890890038 EP89890038A EP0329642B1 EP 0329642 B1 EP0329642 B1 EP 0329642B1 EP 19890890038 EP19890890038 EP 19890890038 EP 89890038 A EP89890038 A EP 89890038A EP 0329642 B1 EP0329642 B1 EP 0329642B1
Authority
EP
European Patent Office
Prior art keywords
traction means
lifting
pulleys
control device
driveable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP19890890038
Other languages
German (de)
French (fr)
Other versions
EP0329642A1 (en
Inventor
Heinrich König
Ludwig Szinicz
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.)
TGW Transportgeraete GmbH
Original Assignee
TGW Transportgeraete GmbH
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 TGW Transportgeraete GmbH filed Critical TGW Transportgeraete GmbH
Publication of EP0329642A1 publication Critical patent/EP0329642A1/en
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Publication of EP0329642B1 publication Critical patent/EP0329642B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to a device for loading and unloading with or from containers on shelves, in which a drivable, horizontally displaceable chassis carries a vertical lifting mast on which a drivable lifting carriage is held displaceably in the vertical direction and in which a control is provided for the corresponding drives is, the drives and their controls are arranged in a fixed position and the power transmission to the chassis and lifting carriage via separate, flexible traction means guided via deflection rollers, for example Ropes, chains or toothed belts take place and one of these traction means is attached to the chassis with its two ends and furthermore deflection rollers for the traction means are arranged in the lower and upper region of the lifting mast for the lifting carriage.
  • deflection rollers for example Ropes, chains or toothed belts
  • Such a facility was, for. B. known from EP-A-241 189.
  • the ends of the flexible traction means provided for the transmission of the movement of the corresponding drive to the lifting carriage are fixed in place and the two strands of this traction means are each guided over a deflection roller arranged on the lifting carriage, these deflection rollers being at a vertical distance from one another on the Lift carriages are held.
  • the traction means is guided via a reel driven by a controllable motor.
  • the aim of the invention is to avoid these disadvantages and to propose a device of the type mentioned at the outset is characterized by a simple structure and in which with a minimum of deflections for the traction means it is sufficient and the guidance of the strands of the traction means for the lifting carriage is essentially possible in a horizontal plane.
  • the deflection rollers for the two traction means can be driven by a common motor via a differential gear with a variable transmission ratio of the input on the input side to each of the two output outputs on the output side, the control being connected to the control input of the gear unit is.
  • this embodiment also enables a selected rack position to be controlled by the shortest route, ie it is not necessary to carry out the movements of the lifting carriage in the horizontal and vertical directions one after the other.
  • Another possibility of driving the drivable deflection rollers is that the two drivable deflection rollers of the two traction means are driven by separate motors provided with rotary encoders, which, like the rotary encoders, are connected to the control.
  • control is connected to the position sensors assigned to the individual rack positions and has a computer which, from the current position of the lifting carriage and the selected rack position, the movements for the chassis and the lifting carriage taking into account the intended limit values for the Speed and acceleration are calculated.
  • the chassis 1 is provided with running wheels 7 which run on a corresponding running rail 8 and stops 9 are provided for limiting the displacement path of the chassis 1.
  • This chassis carries a vertical mast 5, along which a lifting carriage 4 is displaceable.
  • a load receiver 17 for the load 10 is arranged on this lifting carriage and can be extended and retracted in the horizontal direction by means of a motor (not shown) located on the lifting carriage 4, so as to receive or switch off the load 10 held in the support brackets 12 of the shelf 11 can.
  • a load receiver 17 can be formed by telescopic arms but also by an extendable chain or belt conveyor or a gripper and the like.
  • the lifting mast 5 is supported in the region of its free end in a guide 31 held on the shelf 11.
  • a conveyor device 13 formed by peripheral belts or the like, which brings the loads 10 placed thereon out of the area of the shelf 11 or into it.
  • a conductor line 19 is provided, on which a corresponding sliding contact slides along and thus enables the energy supply to the drive of the load receiver 17.
  • a controller 28 is also provided, which controls the application of the motor of the load receiver 17, not shown. The corresponding signals are fed to this controller 28 essentially via a data light line 16, one of which is arranged in a stationary manner and the other of which is arranged on the chassis 1, the latter being connected to the controller 28.
  • separate motors 21 and 24 are provided for driving the chassis 1 and the lifting carriage 4, which are assembled with corresponding gears and drive the fixed deflection rollers 29, 30.
  • the corresponding power transmission to the chassis 1 or to the lifting carriage 4 takes place via the traction means 22 and 25, which are formed by ropes, but preferably by chains or toothed belts, in which the latter ensures a positive engagement with the deflection rollers 29, 30 and thus a slipping through is prevented.
  • the traction means 22 is fixed with its two ends to the chassis 1 and runs over the loose deflection roller 23. This ensures that the chassis is displaced along the running rail by rotating the deflection roller 29 which is connected in a rotationally fixed manner to the motor 21 or its gear.
  • the motor 24 is in a motion-locked connection with the deflection roller 30 via which the traction means 25 is guided, the two ends of which are fixed to the lifting carriage 4 and furthermore via three loose deflection rollers 26 arranged on the chassis 1 or on the lifting mast 5 and another loose pulley 27 is guided.
  • the loose deflection rollers 23 and 27 as well as the deflection rollers 29 and 30 connected to the motors 21 and 24 in a movement-locking manner are arranged at the height of the chassis 1 outside its path of movement.
  • the controller 32 is connected to position sensors (not shown) which are arranged on the rack positions and which, when the lifting carriage is approached accordingly, is one of the Send the corresponding signal to the controller at the corresponding position.
  • the drive of the load receiver 17 is activated so that it moves between the corresponding support rails 12 in order to either pick up or put down a load 10.
  • the corresponding commands are transmitted to the controller 28 via the data light line 16, which is also controlled by the controller 32.
  • position reports of the load receiver 17 are transmitted to the controller 32, which, depending on the lifting or lowering of the lifting carriage 4, triggers after reaching the extended end position of the load receiver 17 in order to lift the load 10 from the support rails 12 or to place it on the latter.
  • the conveyor device 13 or its drive 33 is also controlled by the controller 32.
  • the two motors 21, 24 are controlled separately and are provided with rotary encoders, not shown, which in turn are connected to the controller 32. These rotary encoders enable feedback regarding the speed of the respective motor 21, 24, which results in a closed control loop.
  • the controller 32 itself is essentially formed by a computer which calculates the shortest path from the instantaneous position of the lifting carriage 4 known from the corresponding signals of the position sensors and the target position selected, for example, via a keyboard (not shown) and the motors 21, 24 in accordance with the predetermined maximum Controls values of acceleration and speed in horizontal and vertical directions. It is preferably provided that the speed and acceleration of the two motors 21, 24 are coordinated with one another such that only one is operated at the intended maximum acceleration or speed and the other is operated at values which are reduced compared to its intended maximum values to such an extent that the selected position continuously along the the starting position of the lifting carriage 4 is approached by the lifting carriage with the straight line connecting the selected position.

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

Description

Die Erfindung betrifft eine Einrichtung zur Beschickung und Entnahme mit bzw. von Behältern von Regalen, bei der ein antreibbares, horizontal verschiebbares Fahrgestell einen vertikalen Hubmast trägt an dem ein antreibbarer Hubschlitten in vertikaler Richtung verschiebbar gehalten ist und bei der eine Steuerung für die entsprechenden Antriebe vorgesehen ist, wobei die Antriebe und deren Steuerung ortsfest angeordnet sind und die Kraftübertragung zum Fahrgestell und Hubschlitten über getrennte, flexible, über Umlenkrollen geführte Zugmittel, z.B. Seile, Ketten oder Zahnriemen erfolgt und eines dieser Zugmittel mit seinen beiden Enden an dem Fahrgestell befestigt ist und weiters im unteren und oberen Bereich des Hubmastes für den Hubschlitten Umlenkrollen für das Zugmittel angeordnet sind.The invention relates to a device for loading and unloading with or from containers on shelves, in which a drivable, horizontally displaceable chassis carries a vertical lifting mast on which a drivable lifting carriage is held displaceably in the vertical direction and in which a control is provided for the corresponding drives is, the drives and their controls are arranged in a fixed position and the power transmission to the chassis and lifting carriage via separate, flexible traction means guided via deflection rollers, for example Ropes, chains or toothed belts take place and one of these traction means is attached to the chassis with its two ends and furthermore deflection rollers for the traction means are arranged in the lower and upper region of the lifting mast for the lifting carriage.

Eine solche Einrichtung wurde z. B. durch die EP-A-241 189 bekannt. Bei dieser bekannten Einrichtung sind die Enden des für die Übertragung der Bewegung des entsprechenden Antriebes auf den Hubschlitten vorgesehenen flexiblen Zugmittels ortsfest festgelegt und die beiden Trume dieses Zugmittels über je eine an dem Hubschlitten angeordnete UMlenkrolle geführt, wobei diese Umlenkrollen in einem vertikalen Abstand voneinander auf dem Hubschlitten gehalten sind. dabei ist das Zugmittel über eine von einem steuerbaren Motor angetrieben Haspel geführt.Such a facility was, for. B. known from EP-A-241 189. In this known device, the ends of the flexible traction means provided for the transmission of the movement of the corresponding drive to the lifting carriage are fixed in place and the two strands of this traction means are each guided over a deflection roller arranged on the lifting carriage, these deflection rollers being at a vertical distance from one another on the Lift carriages are held. the traction means is guided via a reel driven by a controllable motor.

Der Nachteil dieser Lösung liegt, darin, daß im oberen und unteren Endbereich des Hubmastes je zwei Umlenkrollen angeordnet sein müssen. Außerdem müssen in der Höhe dieser Umlenkrollen auch noch weitere Umlenkrollen angeordnet sein, um des Zugmittel zur Haspel umlenken zu können. Dabei müssen aber die Trume des Zugmittels stets in der Höhe der oberen und unteren Umlenkrollen des Hubmastes geführt werden, wodurch in den meisten Fällen auch deren Abdeckung erforderlich ist, die mit einem entsprechenden Aufwand verbunden ist.The disadvantage of this solution is that two deflection rollers must be arranged in the upper and lower end region of the mast. In addition, other deflection rollers must also be arranged at the height of these deflection rollers in order to be able to deflect the traction means to the reel. However, the strands of the traction device must always be guided at the height of the upper and lower deflection rollers of the mast, which means that in most cases their cover is also required, which is associated with a corresponding outlay.

Ziel der Erfindung ist es diese Nachteile zu vermeiden und eine Einrichtung der eingangs erwähnten Art vorzuschlagen, die sich durch einen einfachen Aufbau auszeichnet und bei der mit einem Minimum an Umlenkungen für die Zugmittel das Auslangen gefunden wird und die Führung der Trume des Zugmittels für den Hubschlitten im wesentlichen in einer Horizontalebene möglich ist.The aim of the invention is to avoid these disadvantages and to propose a device of the type mentioned at the outset is characterized by a simple structure and in which with a minimum of deflections for the traction means it is sufficient and the guidance of the strands of the traction means for the lifting carriage is essentially possible in a horizontal plane.

Erfindungsgemäß wird dies dadurch erreicht, daß die beiden Enden des zweiten Zugmittels an dem Hubschlitten befestigt sind.According to the invention this is achieved in that the two ends of the second traction means are attached to the lifting slide.

Durch diese Maßnahmen ergibt sich eine einfach Führung des für die Bewegung des Hubschlittens vorgesehenen Zugmittels. Dabei genügt z.B. im oberen Bereich des Hubschlittens eine einzige Umlenkrolle und im unteren Bereich zwei Umlenkrollen, sowie im Bereich des Endes des Fahrweges des Fahrgestelles die Anordnung einer weiteren Umlenkrolle. Es ergibt sich daher ein sehr einfacher Aufbau der Führung der Zugmittel, wobei es auch möglich ist sämtliche im wesentlichen horizontal verlaufenden Zugmittel der Einrichtung im wesentlichen in einer Ebene zu führen, sodaß mit einer Abdeckung derselben das Auslangen gefunden wird.These measures result in simple guidance of the traction means provided for the movement of the lifting carriage. Here, e.g. in the upper area of the lifting carriage a single guide roller and in the lower area two guide rollers, and in the area of the end of the travel path of the chassis the arrangement of a further guide roller. This results in a very simple construction of the guidance of the traction means, and it is also possible to guide all of the traction means of the device which run essentially horizontally essentially in one plane, so that a covering of the traction means is sufficient.

Nach einem weiteren Merkmal der Erfindung kann vorgesehen sein, daß die Umlenkrollen für die beiden Zugmittel von einem gemeinsamen Motor über ein Differentialgetriebe mit variablem Übersetzungsverhältnis des antriebseitigen Einganges zu jedem der beiden abtriebseitigen Ausgänge des Getriebes antreibbar sind, wobei die Steuerung mit dem Steuereingang des Getriebes verbunden ist.According to a further feature of the invention it can be provided that the deflection rollers for the two traction means can be driven by a common motor via a differential gear with a variable transmission ratio of the input on the input side to each of the two output outputs on the output side, the control being connected to the control input of the gear unit is.

Damit ist es durch entsprechende Einstellung der Übersetzungsverhältnisse auch möglich beim Verschieben des Fahrgestells den Hubschlitten in gleicher Höhe zu halten. Weiters ermöglicht diese Ausführungsform aber auch eine Ansteuerung einer angewählten Regalposition auf dem kürzesten Weg, d.h. es ist nicht erforderlich die Bewegungen des Hubschlittens in horizontaler und vertikaler Richtung nacheinander auszuführen.By adjusting the gear ratios accordingly, it is also possible to keep the lifting carriage at the same height when moving the chassis. Furthermore, this embodiment also enables a selected rack position to be controlled by the shortest route, ie it is not necessary to carry out the movements of the lifting carriage in the horizontal and vertical directions one after the other.

Eine in konstruktiver Hinsicht sehr einfache Lösung ergibt sich, wenn die beiden antreibbaren Umlenkrollen der beiden Zugmittel gleiche Durchmesser aufweisen und über getrennte Motore, vorzugsweise Asynchronmotore angetrieben sind, wobei eine von der Steuerung gesteuerte Kupplung vorgesehen ist, die eine starre Kopplung der beiden antreibbaren Umlenkrollen ermöglicht.A structurally very simple solution is obtained if the two drivable deflection rollers of the two traction means have the same diameter and are driven by separate motors, preferably asynchronous motors, a clutch controlled by the control being provided which enables a rigid coupling of the two drivable deflection rollers .

Dabei kann mit relativ einfach aufgebauten Bauteilen das Auslangen gefunden werden. Durch die Kupplung der beiden antreibbaren Umlenkrollen wird auf einfache Weise sichergestellt, daß sich bei einer Bewegung des Fahrgestells in horizontaler Richtung die Höhenlage des Hubschlittens nicht ändert.Satisfaction can be found with relatively simple components. The coupling of the two drivable deflection rollers ensures in a simple manner that the height of the lifting carriage does not change when the chassis is moved in the horizontal direction.

Eine weitere Möglichkeit des Antriebes für die antreibbaren Umlenkrollen besteht auch darin, daß die beiden antreibbaren Umlenkrollen der beiden Zugmittel über separate mit Drehgebern versehene Motore angetrieben sind, die ebenso wie die Drehgeber mit der Steuerung verbunden sind.Another possibility of driving the drivable deflection rollers is that the two drivable deflection rollers of the two traction means are driven by separate motors provided with rotary encoders, which, like the rotary encoders, are connected to the control.

Dies ermöglicht eine separate Steuerung des Fahrgestells und des Hubschlittens, wodurch auch eine Ansteuerung einer angewählten Regalposition auf dem kürzesten Weg möglich ist. Bei dieser Lösung sind zwar zwei Motore erforderlich, doch entfallen dafür aufwendige Getriebe.This enables the chassis and the lifting carriage to be controlled separately, which means that a selected shelf position can also be controlled in the shortest possible way. With this solution, two motors are required, but there is no need for expensive gears.

Durch diese Maßnahmen läßt sich auch die Ansteuerung einer angewählten 0Regalposition optimieren, wobei auch eine Angleichung der möglichen schnelleren Bewegung in der einen Richtung an die langsamere Bewegung in der dazu senkrechten Richtung erfolgen kann, was zu entsprechenden Energieeinsparungen führt.These measures also enable the control of a selected shelf position to be optimized, and the possible faster movement in one direction can also be matched to the slower movement in the direction perpendicular thereto, which leads to corresponding energy savings.

In diesem Zusammenhang kann auch vorgesehen sein, daß die Steuerung mit den einzelnen Regalpositionen zugeordneten Positionsfühlern verbunden ist und einen Rechner aufweist, der aus der momentanen Position des Hubschlittens und der angewählten Regalposition die Bewegungen für das Fahrgestell und den Hubschlitten unter Berücksichtigung der vorgesehenen Grenzwerte für die Geschwindigkeit und die Beschleunigung errechnet.In this context it can also be provided that the control is connected to the position sensors assigned to the individual rack positions and has a computer which, from the current position of the lifting carriage and the selected rack position, the movements for the chassis and the lifting carriage taking into account the intended limit values for the Speed and acceleration are calculated.

Auf diese Weise lassen sich sämtliche Regalpositionen mit der optimalen Geschwindigkeit mit einem Minimum an Energieaufwand ansteuern.In this way, all rack positions can be controlled at the optimum speed with a minimum of energy expenditure.

Die Erfindung wird nun anhand der Zeichnung näher erläutert. Dabei zeigen:

  • Fig. 1 und 2 schematisch eine erfindungsgemäße Einrichtung in Auf- und Seitenriß.
The invention will now be explained in more detail with reference to the drawing. Show:
  • 1 and 2 schematically a device according to the invention in elevation and side view.

Das Fahrgestell 1 ist mit Laufrädern 7 versehen, die auf einer entsprechenden Laufschiene 8 laufen und wobei Anschläge 9 zur Begrenzung des Verschiebeweges des Fahrgestells 1 vorgesehen sind. Dieses Fahrgestell trägt einen vertikalen Hubmast 5, entlang dem ein Hubschlitten 4 verschiebbar ist. Auf diesem Hubschlitten ist ein Lastaufnehmer 17 für die Last 10 angeordnet und mittels eines auf dem Hubschlitten 4 befindlichen, nicht dargestellten Motors in horizontaler Richtung aus- und einfahrbar, um so die in den Tragwinkeln 12 des Regals 11 gehaltene Last 10 aufnehmen bzw. abstellen zu können. Solch ein Lastaufnehmer 17 kann durch Teleskoparme aber auch durch einen ausfahrbaren Ketten- oder Gurtförderer oder einen Greifer u.dgl, gebildet sein.The chassis 1 is provided with running wheels 7 which run on a corresponding running rail 8 and stops 9 are provided for limiting the displacement path of the chassis 1. This chassis carries a vertical mast 5, along which a lifting carriage 4 is displaceable. A load receiver 17 for the load 10 is arranged on this lifting carriage and can be extended and retracted in the horizontal direction by means of a motor (not shown) located on the lifting carriage 4, so as to receive or switch off the load 10 held in the support brackets 12 of the shelf 11 can. Such a load receiver 17 can be formed by telescopic arms but also by an extendable chain or belt conveyor or a gripper and the like.

Der Hubmast 5 im Bereich seines freien Endes in einer am Regal 11 gehaltenen Führung 31 abgestützt ist.The lifting mast 5 is supported in the region of its free end in a guide 31 held on the shelf 11.

Im Bereich einer in der untersten Reihe angeordneten Regalposition ist eine durch umlaufende Bänder od. dgl. gebildete Fördereinrichtung 13 angeordnet, das die darauf abgestellten Lasten 10 aus dem Bereich des Regals 11 hinaus bzw. in diesen hineinbringt.In the area of a shelf position arranged in the bottom row there is a conveyor device 13 formed by peripheral belts or the like, which brings the loads 10 placed thereon out of the area of the shelf 11 or into it.

Weiters ist eine Schleifleitung 19 vorgesehen, an der ein entsprechender Schleifkontakt entlanggleitet und so die Energieversorgung des Antriebes des Lastaufnehmers 17 ermöglicht. Dabei ist noch eine Steuerung 28 vorgesehen, die die Beaufschlagung des nicht dargestellten Motors des Lastaufnehmers 17 steuert. Die entsprechenden Signale werden dieser Steuerung 28 im wesentlichen über eine Datenlichtleitung 16 zugeführt, deren einer Sender-Empfänger ortsfest und deren anderer an dem Fahrgestell 1 angeordnet ist, wobei letzterer mit der Steuerung 28 verbunden ist.Furthermore, a conductor line 19 is provided, on which a corresponding sliding contact slides along and thus enables the energy supply to the drive of the load receiver 17. A controller 28 is also provided, which controls the application of the motor of the load receiver 17, not shown. The corresponding signals are fed to this controller 28 essentially via a data light line 16, one of which is arranged in a stationary manner and the other of which is arranged on the chassis 1, the latter being connected to the controller 28.

Bei der dargestellten Ausführungsform sind für den Antrieb des Fahrgestells 1 und des Hubschlittens 4 getrennte Motore 21 und 24 vorgesehen, die mit entsprechenden Getrieben zusammengebaut sind und die festen Umlenkrollen 29, 30 antreiben.In the embodiment shown, separate motors 21 and 24 are provided for driving the chassis 1 and the lifting carriage 4, which are assembled with corresponding gears and drive the fixed deflection rollers 29, 30.

Die entsprechende Kraftübertragung zum Fahrgestell 1 bzw. zum Hubschlitten 4 erfolgt über die Zugmittel 22 und 25, die durch Seile, vozugsweise aber durch Ketten oder Zahnriemen gebildet sind, bei welchen letzteren ein formschlüssiger Eingriff mit den Umlenkrollen 29, 30 sichergestellt und damit ein Durchrutschen sicher verhindert ist. Dabei ist das Zugmittel 22 mit seinen beiden Enden am Fahrgestell 1 fixiert und läuft über die lose Umlenkrolle 23. Damit ist sichergestellt, daß durch Verdrehen der mit dem Motor 21, bzw. dessen Getriebe drehfest verbundenen Umlenkrolle 29 das Fahrgestell entlang der Laufschiene verschoben wird.The corresponding power transmission to the chassis 1 or to the lifting carriage 4 takes place via the traction means 22 and 25, which are formed by ropes, but preferably by chains or toothed belts, in which the latter ensures a positive engagement with the deflection rollers 29, 30 and thus a slipping through is prevented. The traction means 22 is fixed with its two ends to the chassis 1 and runs over the loose deflection roller 23. This ensures that the chassis is displaced along the running rail by rotating the deflection roller 29 which is connected in a rotationally fixed manner to the motor 21 or its gear.

Der Motor 24 steht in bewegungsschlüssiger Verbindung mit der Umlenkrolle 30 über die das Zugmittel 25 geführt ist, dessen beide Enden an dem Hubschlitten 4 festgelegt sind und das weiters über drei am Fahrgestell 1, bzw. an dem Hubmast 5 angeordneten lose Umlenkrollen 26 und eine weitere lose Umlenkrolle 27 geführt ist. Dabei sind die losen Umlenkrollen 23 und 27 ebenso wie die mit den Motoren 21 und 24 bewegungsschlüssig verbundenen Umlenkrollen 29 und 30 in der Höhe des Fahrgestells 1 außerhalb dessen Bewegungsweges angeordnet.The motor 24 is in a motion-locked connection with the deflection roller 30 via which the traction means 25 is guided, the two ends of which are fixed to the lifting carriage 4 and furthermore via three loose deflection rollers 26 arranged on the chassis 1 or on the lifting mast 5 and another loose pulley 27 is guided. The loose deflection rollers 23 and 27 as well as the deflection rollers 29 and 30 connected to the motors 21 and 24 in a movement-locking manner are arranged at the height of the chassis 1 outside its path of movement.

Durch Verdrehen der Umlenkrolle 30 bei stillstehendem Fahrgestell 1 ergibt sich eine Änderung der Höhenlage des Hubschlittens 4. Werden die beiden Umlenkrollen 29, 30 im Verhältnis ihrer Durchmesser gedreht, so bleibt die Höhenlage des Hubschlittens 4 trotz der Bewegung des Fahrgestells 1 unverändert.By turning the deflection roller 30 when the chassis 1 is stationary, there is a change in the height of the lifting carriage 4. If the two deflection rollers 29, 30 are rotated in relation to their diameter, the height of the lifting carriage 4 remains unchanged despite the movement of the chassis 1.

Durch entsprechende Ansteuerung der beiden Motore 21, 24, die mit der am Regal ortsfest gehaltenen Steuerung 32 verbunden sind, ist es aber auch möglich von einer beliebigen Ausgangsposition des Hubschlittens 4 aus eine beliebige Regalposition auf dem kürzesten Weg mit dem Hubschlitten 4 anzusteuern.By appropriate control of the two motors 21, 24, which are connected to the control 32 held stationary on the rack, it is also possible to control any rack position from the starting position of the lifting carriage 4 in the shortest way using the lifting carriage 4.

Die Steuerung 32 ist mit nicht dargestellten, an den Regalpositionen angeordneten Positionsfühlern verbunden, die bei einer entsprechenden Annäherung des Hubschlittens ein der entsprechenden Position entsprechendes Signal an die Steuerung abgeben.The controller 32 is connected to position sensors (not shown) which are arranged on the rack positions and which, when the lifting carriage is approached accordingly, is one of the Send the corresponding signal to the controller at the corresponding position.

Bei Übereinstimmung der angewählten Position mit der erreichten Position, was durch einen in der Steuerung 28 angeordneten Komparator einfach ermittelt werden kann, wird der Antrieb des Lastaufnehmers 17 aktiviert, sodaß dieser zwischen die entsprechenden Tragschienen 12 einfährt, um eine Last 10 entweder aufzunehmen oder abzustellen. Die entsprechenden Befehle werden dabei über die Datenlichtleitung 16, die ebenfalls von der Steuerung 32 gesteuert wird, zur Steuerung 28 übertragen. Auf dem gleichen Weg werden auch Positionsmeldungen des Lastaufnehmers 17 zur Steuerung 32 übertragen, die je nachdem ein Anheben oder Absenken des Hubschlittens 4 nach dem Erreichen der ausgeschobenen Endstellung des Lastaufnehmers 17 auslöst, um die Last 10 von den Tragschienen 12 abzuheben oder auf diesen abzustellen.If the selected position matches the position reached, which can easily be determined by a comparator arranged in the control 28, the drive of the load receiver 17 is activated so that it moves between the corresponding support rails 12 in order to either pick up or put down a load 10. The corresponding commands are transmitted to the controller 28 via the data light line 16, which is also controlled by the controller 32. In the same way, position reports of the load receiver 17 are transmitted to the controller 32, which, depending on the lifting or lowering of the lifting carriage 4, triggers after reaching the extended end position of the load receiver 17 in order to lift the load 10 from the support rails 12 or to place it on the latter.

Weiters wird auch noch die Fördereinrichtung 13, bzw. deren Antrieb 33 von der Steuerung 32 gesteuert.Furthermore, the conveyor device 13 or its drive 33 is also controlled by the controller 32.

Bei dem dargestellten Ausführungsbeispiel werden die beiden Motore 21, 24 getrennt angesteuert und sind mit nicht dargestellten Drehgebern versehen, die ihrerseits mit der Steuerung 32 verbunden sind. Diese Drehgeber ermöglichen eine Rückmeldung bezüglich der Drehzahl des jeweiligen Motors 21, 24 wodurch ein geschlossener Regelkreis gegeben ist.In the illustrated embodiment, the two motors 21, 24 are controlled separately and are provided with rotary encoders, not shown, which in turn are connected to the controller 32. These rotary encoders enable feedback regarding the speed of the respective motor 21, 24, which results in a closed control loop.

Die Steuerung 32 selbst ist im wesentlichen durch einen Rechner gebildet, der aus der durch die entsprechenden Signale der Positionsfühler bekannten momentanen Position des Hubschlittens 4 und der z.B. über eine nicht dargestellte Tastatur angewählten Zielposition den kürzesten Weg errechnet und die Motore 21, 24 entsprechend vorgegebenen maximalen Werte der Beschleunigung und Geschwindigkeit in horizontaler und vertikaler Richtung steuert. Dabei ist vorzugsweise vorgesehen, daß die Geschwindigkeit und Beschleunigung der beiden Motore 21, 24 so aufeinander abgestimmt werden, daß nur einer mit der vorgesehenen maximalen Beschleunigung bzw. Geschwindigkeit betrieben wird und der andere mit gegenüber seinen vorgesehenen Maximalwerten soweit verminderten Werten betrieben wird, daß die angewählte Position durchgehend entlang der die Ausgangslage des Hubschlittens 4 mit der angewählten Position verbindenden Geraden vom Hubschlitten angefahren wird.The controller 32 itself is essentially formed by a computer which calculates the shortest path from the instantaneous position of the lifting carriage 4 known from the corresponding signals of the position sensors and the target position selected, for example, via a keyboard (not shown) and the motors 21, 24 in accordance with the predetermined maximum Controls values of acceleration and speed in horizontal and vertical directions. It is preferably provided that the speed and acceleration of the two motors 21, 24 are coordinated with one another such that only one is operated at the intended maximum acceleration or speed and the other is operated at values which are reduced compared to its intended maximum values to such an extent that the selected position continuously along the the starting position of the lifting carriage 4 is approached by the lifting carriage with the straight line connecting the selected position.

Claims (5)

1. Apparatus for loading and unloading shelves with containers, whereby a driveable, horizontally moveable carriage (1) carries a vertical lift mast in which a driveable lifting sledge (4) is arranged vertically moveable, whereby a control device (32) is provided for controlling the respective drives (21, 24), said drives and their control device being arranged stationary, and the transmission of power onto the carriage and the lifting sledge occurs via seperate, flexible traction means (23, 26, 27, 29, 30) which are guided over pulleys, e.g. ropes, chains or toothed belts, and one of said traction means is attached with both of its ends to said carriage and, furthermore, in the lower and upper section of the lifting mast (5) for the lifting sledge (4) pulleys (26) are provided for the traction means (25), characterized in that both ends of the second traction means are attached to the lifting sledge (4).
2. Apparatus in accordance with claim 1, characterized in that the pulleys (29, 30) for the two traction means (22, 25) are driven by a common motor via a differential gear with a variable gear ratio of the driving input of said gear to any of the two driven outputs of said gear, whereby the control device (32) is connected with the control input of said gear.
3. Apparatus in accordance with claim 1, characterized in that the two driveable pulleys (29, 30) of the two traction means (22, 25) comprise the same diameter and are driven via seperate motors, preferably asynchronous motors, whereby a clutch is provided which is controlled by the control device (32), which allows a rigid coupling of the two driveable pulleys.
4. Apparatus in accordance with claim 1, characterized in that the two driveable pulleys (29, 30) of the two traction means are driven via separate motors (21, 24), said motors having ratation sensors and being, like said ratation sensors, connected with the control device (32).
5. Apparatus in accordance with one of claims 1 to 4, characterized in that the control device is connected with the position sensors being attributed to the individual shelf positions, and that said apparatus comprises a computer which calculates from the momentary position of the lifting sledge (4) and the selected shelf position the movements for the carriage (1) and the lifting sledge (4), whereby the provided limits for the speed and acceleration are taken into consideration.
EP19890890038 1988-02-16 1989-02-15 Handling device for shelves Expired - Lifetime EP0329642B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT360/88 1988-02-16
AT36088A AT391845B (en) 1988-02-16 1988-02-16 SHELVING PRODUCTS

Publications (2)

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EP0329642A1 EP0329642A1 (en) 1989-08-23
EP0329642B1 true EP0329642B1 (en) 1991-04-24

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ID=3488541

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EP19890890038 Expired - Lifetime EP0329642B1 (en) 1988-02-16 1989-02-15 Handling device for shelves

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EP (1) EP0329642B1 (en)
AT (1) AT391845B (en)
DE (1) DE58900089D1 (en)
DK (1) DK166873B1 (en)
NO (1) NO172112C (en)

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DE4131481A1 (en) * 1991-09-21 1993-03-25 Schlafhorst & Co W Bobbin storage giving rapid access to selected bobbins - has shelved holders for bobbin pallets with inner elevator and external loading and unloading with material flow control
DE4202668A1 (en) * 1992-01-28 1993-10-14 Mannesmann Ag Storage and retrieval machine
DE19722108B4 (en) * 1996-05-29 2007-12-20 Daifuku Co., Ltd. Vehicle for transporting articles and guidance system therefor
CN110775501A (en) * 2019-11-01 2020-02-11 山东科技大学 AGV, automatic storage device and working method

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DE4016810C1 (en) * 1990-05-25 1991-11-21 Keuro Maschinenbau Gmbh & Co Kg, 7590 Achern, De
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Cited By (5)

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Publication number Priority date Publication date Assignee Title
DE4131481A1 (en) * 1991-09-21 1993-03-25 Schlafhorst & Co W Bobbin storage giving rapid access to selected bobbins - has shelved holders for bobbin pallets with inner elevator and external loading and unloading with material flow control
DE4202668A1 (en) * 1992-01-28 1993-10-14 Mannesmann Ag Storage and retrieval machine
DE19722108B4 (en) * 1996-05-29 2007-12-20 Daifuku Co., Ltd. Vehicle for transporting articles and guidance system therefor
CN110775501A (en) * 2019-11-01 2020-02-11 山东科技大学 AGV, automatic storage device and working method
CN110775501B (en) * 2019-11-01 2021-03-12 山东科技大学 A kind of AGV, automatic storage device and working method

Also Published As

Publication number Publication date
DE58900089D1 (en) 1991-05-29
EP0329642A1 (en) 1989-08-23
NO890634D0 (en) 1989-02-15
AT391845B (en) 1990-12-10
DK72489D0 (en) 1989-02-16
NO172112C (en) 1993-06-09
DK72489A (en) 1989-08-17
NO172112B (en) 1993-03-01
ATA36088A (en) 1990-06-15
DK166873B1 (en) 1993-07-26
NO890634L (en) 1989-08-17

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