EP0672611B1 - Retrieval machine for pallets and containers - Google Patents

Abstract

The shelf stacking vehicle (4) for loading and unloading shelves has a drive system consisting of running wheels arranged behind one another, underneath a loading hoist (10). The hoist has a platform (6) for pallets and containers, which can elevate and lower, and can pivot about an axis. When negotiating curved paths through shelf systems, the hoist can also rotate so as to follow the direction of the shelving. The hoist can also be arranged to be coaxial to the axis of rotation (11a,11b) and/or the pivot of at least one running wheel (9a).

Description

The invention relates to a shelf conveyor for receiving and delivering Pallets, containers and the like with a travel drive that is spaced impellers arranged one behind the other, of which at least one is steerable is, and has a lifting and lowering lifting table with one on it arranged load handling system for the pallets, containers and the like, wherein the load suspension system is arranged above the travel drive and is pivotable on the lifting table about an axis of rotation.

Such a rack conveyor is known from EP-A 0 302 205. This shelf conveyor has a load handling system that is around 90 ° from the central position on a slewing ring. The load suspension system can be in accordance with the position of the Shelf conveyor to the rows of shelves or production lines can be pivoted by exactly 90 °.

The invention has for its object a shelf conveyor to provide that over the prior art shown can be used even more effectively.

This object is achieved in that the load suspension system electrical, hydraulic, servo-controlled or in combination with it the steerable impeller is pivotally connected. This training is applicable to both rail-guided wheels, for example very high loads on the load suspension system rest, or in particular with exposed impellers, the for example controlled by induction cables in the floor of the Ragalhalle become applicable. In this case, the curve position as a control variable for the swiveling of the load suspension system used. It is provided in the context of the invention both mechanical and hydraulic, servo-controlled or electrical control of the swiveling process parent of the barrel mounting system for special applications a hand-controlled pivoting of the Load suspension system to be provided with which a freely controllable pivotability is made possible. This freely controllable swiveling can then be used for special applications. By this electrical, hydraulic, servo-controlled or combined On the one hand, the possibility of swiveling is the inclusion and delivery options of pallets, containers and the like on the load handling system expanded because the load to be picked up or released not - as in the prior art - exactly must be arranged parallel to the Rega conveyor, but in an almost any angle can be arranged. This is for example at Interesting places where the shelf conveyor starts and where then by swiveling the load suspension system from either next to the shelf conveyor or take-over space arranged on the front side Pallets or containers can be picked up. Conversely it is possible to drop the pallets or containers into the shelving system, at the end of the aisle an additional shelf in the direction of the aisle set up in which additional pallets, containers or other goods can be used. Alternatively, it is also possible at this point order additional takeover places. But there is a particular advantage in that it is possible to swivel the load suspension system in every situation to align with the shelving system and thus in particular in, for example, arranged curved due to structural conditions Shelf systems to enable precise alignment to the respective shelf.

In a further development of the invention, the load suspension system when cornering of the rack conveyor in a rack system in the direction of the rack system swiveling. This training represents a particularly advantageous further training represents, among other things, an increased compared to the prior art Capacity of the shelving system enables. Because through this training can Entry of the shelf conveyor from a shelf connecting aisle into a shelf aisle of the shelf system additional shelf space can be created because due to the inventive design of the shelf conveyor this not must be exactly parallel to the shelving system in the shelf aisle To be able to hand over containers or pallets to the shelving system already when turning into the rack aisle by swiveling the load suspension system can also operate shelves installed there. This Training enables more effective use of expensive shelf space.

In a further development of the invention, the load suspension system is coaxial with the Axis of rotation and / or the pivot point of at least one impeller. That is, if there is only a single impeller at the end of the shelf conveyor is arranged, the load suspension system is coaxial to the axis of rotation of this Impeller arranged. It is also the same if there are two next to each other arranged impellers through a common axis are interconnected and above an axis of rotation with the shelf conveyor are connected, arranged coaxially to this axis of rotation. Are the wheels via axle steering on a rigid axle of the rack conveyor arranged, the load suspension system is coaxial to the two kingpin arranged in the middle between the two kingpin. This training ensures that the load suspension system always is pivotable according to the wheels of the shelf conveyor and thus optimal mobility of the load suspension system is given.

In a further development of the invention, the load suspension system is on a turntable arranged. This training represents a simple constructive measure to achieve the swiveling of the load suspension system on the Lift table.

In a further development of the invention, the load suspension system is a continuous conveyor and / or a telescopic fork. Both systems are preferably simultaneously pivotable about a common axis of rotation. For example caused by the arrangement on a common turntable become.

In a further development of the invention, the load suspension system is on the end Shelf conveyor arranged. If basically an order of the Load suspension system, for example, at least in the middle of the shelf conveyor it is possible to achieve part of the stated advantages of the invention, can by the end arrangement of the load suspension system on the Shelf conveyor all the advantages shown can be achieved additively.

In a development of the invention, the load suspension system is automatically in Alignable towards the shelving system. That is, for example For example, the load suspension system becomes an inclined shelf Aligned by sensors in the direction of the respective shelf. In particular, however, the automatic alignment is when the rack conveyor is cornering intended. In a further embodiment of the invention the load suspension system depending on the position of the curve at least one steerable impeller swiveling. This is without the need of, for example, additional sensors due to the curve position of the Impeller an exact alignment of the load suspension system on the Shelf system possible. Here is the coaxial arrangement of the load suspension system to the axis of rotation or the fulcrum of the impeller (s) This is an advantage because it precisely measures the degree of cornering of the wheel corresponds to the necessary pivoting position of the load suspension system.

This advantage is particularly given with rail-guided wheels, because inevitable by the rolling of the wheels on the rails exact curve position of the wheel is specified. You can do this Training in development of the invention a mechanical coupling of the load suspension system to the steerable impeller, because by the a correspondingly steered impeller without further strengthening Swiveling movement on the load suspension system without any problems can be transferred.

In a further development of the invention, the load suspension system is to the Shelving system controlled by sensors. Here are the Sensors arranged on the load suspension system so that an accurate Statement or statement, whether the load suspension system is parallel to the corresponding shelf compartment is aligned, is possible. For this purpose, the sensors are particularly on the both sides of the racking system on the load suspension system attached. However, the sensors can also possibly be in front of possible ones Damage protected on the telescopic fork or its two arms be attached.

In a development of the invention, the sensors are photocells, photocells with Reflectors, optical sensors or any combination of these Elements. The selection is made according to the requirements and the local Circumstances.

In a further development of the invention, the load suspension system is part of the shelf system or to the shelf compartment arranged on the load suspension system Alignable limit switch. These limit switches can be designed so that when one-sided touches one on one side of the load suspension system arranged limit switch with the shelving system this so far and so long swivel until on the other side of the load suspension system Arranged limit switches also touches the shelf system or shelf compartment and is thus signaled that the load suspension system to the shelf system is properly aligned. These limit switches can of course also be inductive work, i.e. it does not need to touch the load suspension system to come up with the shelving system.

In a further development of the invention, one controls the absolute path of the rack conveyor Processing path detection system the alignment of the load suspension system to the shelf system or the shelf compartment to be approached. This Control works in such a way that, for example, a driver-operated rack conveyor to any shelf in the shelving system to order there to store or pick up a product. It is during the start the absolute path of a given zero point (Transfer location) to the shelf compartment and measured from the measured distance possibly in connection with registered turning processes is known whether the load suspension system is aligned when the shelf is approached to the shelf compartment is necessary. This orientation can basically done during the start of the shelf, but is preferred only after reaching the shelf compartment to avoid possible dangers to avoid by a twisted load suspension system.

In a development of the invention, the alignment of the load suspension system takes place to the corresponding shelf compartment or shelf space after moving off of the desired shelf following a control command. This training will are used in particular in a driver-operated rack conveyor, where the driver takes the shelf conveyor to the corresponding shelf compartment conducts. If he has reached exactly the shelf compartment, he actuates a release device, which then automatically transmits the load suspension system via a control command aligns with the shelf. For this purpose, the one to be set is suitable Rotation of the load suspension system saved and available. It can the corresponding assignment of the necessary twist, yes of the location of the shelf conveyor is dependent on those embedded in the floor inductive barriers occur. It is of course also possible to use this inductive To arrange the encoder in another suitable place.

In a development of the invention, the alignment of the load suspension system takes place to the shelving system depending on the location via a programmable logic controller Control system (PLC). This control works in such a way that here a central computer each individual shelf compartment with its position coordinates and all necessary additional information about content, etc. This tax system sends then the preferably driverless shelf conveyor to the specified shelf and the load handling system controls a specific shelf compartment. The exact computer to be selected is then also in the central computer Alignment of the load suspension system to the shelf is saved. Possibly this system can be equipped with additional sensors be who measure and check the exact position and, if necessary, corrective commands trigger. The controller can be designed to be self-learning, that is So, a necessary correction is saved and at automatically taken into account the next time the same shelf compartment is approached.

Figur 1:

Ein Regalförderzeug in verschiedenen Positionen in Bezug zu einem Regalsystem,

Figur 2:

das Regalförderzeug in einer Seitenansicht und

Figur 3:

eine Rückansicht des Regalförderzeugs.

Further refinements of the invention can be found in the description of the drawing, in which an exemplary embodiment of the invention illustrated in the figures is described in more detail.
Show it:

Figure 1:

A shelf conveyor in different positions in relation to a shelf system,

Figure 2:

the shelf conveyor in a side view and

Figure 3:

a rear view of the shelf conveyor.

A shelf system has shelves 1 which are parallel to one another along shelf aisles 2a, 2b, 2c and arranged at right angles to a shelf connecting aisle 3 are. The shelves 1 are supported by at least one shelf conveyor 4 loaded that rolls on a floor rail system 5. The shelf conveyor 4 essentially consists of one in the following figures even more precisely explained lift table 6, a driver's station 7 arranged next to it, a mast 8, a travel drive and one arranged on the lifting table 6 Load suspension system 10.

In the left rack aisle 2a of FIG. 1 is the movement sequence of the retraction of the shelf conveyor 4 from the shelf connection aisle 3 into the shelf aisle 2a shown. The axes of rotation 11a, 11b of the impellers 9a, 9b not recognizable in these figures. The Wheels 9a, 9b run on the bottom rail system 5 and are at Forced cornering. With a conventional shelving system, a shelf aisle 2a, the shelf 1a first of all rigidly on the lifting table arranged load handling system 10 are loaded, because only at the Shelf 1a the shelf conveyor is aligned parallel to the shelf system. The fact that the load suspension system 10 is pivotable on the lifting table Additional shelves can be arranged coaxially to the axis of rotation 11b 1b and 1c, which are already in the curve during the Turning process from the shelf connection aisle 3 into the shelf aisle 2a, 2b, 2c can be operated by the load suspension system towards the Shelves 1b, 1c is aligned. This means that the expensive storage space is in an appropriately equipped warehouse without structural changes additional storage space through a corresponding modification or a corresponding exchange of the shelf conveyor 4 available. By doing right shelf aisle 2c, the shelf conveyor 4l is retracted and protrudes the last shelves 1 of the shelf aisle 2c. It is also conceivable here, in extension the shelf aisle 2c to set up an additional shelf or one Set up the transfer station by 90 swiveling the load suspension system 10 would be reachable to the position shown.

According to Figure 2, the shelf conveyor 4 has a mast 8, a lower one Frame 12 and an upper frame 13, which are firmly connected to the mast 8 are. The lower frame 12 has wheels 9a, 9b on treads unroll the floor rail system 5. The impellers 9a, 9b pivotally attached to the lower frame 12 and each have an axis of rotation 11a, 11b about which they are pivotable in relation to the lower frame 12 are. On the upper frame 13 support rollers 14 are attached, which are in the top rail system 15 are performed. A lifting table 6 is vertically along the mast 8 of the mast 8 guided, which includes a driver's station 7. Farther a load suspension system 10 is arranged on the lifting table 6, which consists of a Telescopic fork 16 and a continuous conveyor 17 exists. This load suspension system 10 is - as shown in Figure 1 - around the lifting table 6 in extension pivotable to the axis of rotation 11b and thus coupled to the axis of rotation 11b, that with a curve position of the impeller 9b a corresponding pivot position of the load suspension system 10. The telescopic fork 16 is preferred extendable on both sides of the lifting table 6, so that when the shelf conveyor 4 moves along the shelves 1, 1a, 1b, 1c, there pallets, containers and record and deliver the like. The fact that the shelf conveyor 4 along the shelf aisles 2a, 2b, 2c and the shelf connecting aisle 3 can drive and in addition the height of the lifting table 6 on the mast 8 all compartments of shelves 1, 1a, 1b, 1c can be reached.

With the continuous conveyor 17, which in the rest of the embodiment as a chain conveyor trained, can advantageously at takeover locations, not shown the pallets or containers are picked up by the Continuous conveyor 17 with corresponding chain conveyors on or on the transfer points work together and the move the load to be lifted onto the lifting table 6. During driving from the transfer point to the shelf, the continuous conveyor becomes 17 lowered in relation to the telescopic fork, or the telescopic fork 16 raised in relation to the continuous conveyor 17 so that a transfer the load on the telescopic fork 16 takes place. This can then be achieved of the respective controlled shelves 1, 1a, 1b, 1c and, if applicable required pivoting of the load suspension system 10 towards the shelf 1a, 1b are extended laterally and thus the load in the shelf deliver or remove from the shelf.

In Figure 3, a guide wheel 18 is also shown that between the floor rail system 5 rolls. This guide wheel 18 enables one soft-free laying of floor rails, for example by the right one Rail of the floor rail system 5 arranged in the shelf connecting aisle 3 is and the left rail of the floor rail system 5 in a rack aisle 2a, 2b, 2c branches. By lifting and lowering the guide wheel 18 and an additional guide wheel, not shown, next to the left Bottom rail is arranged, a branch from the shelf connecting aisle 3 reached in the rack aisle 2a, 2b, 2c.

It is also noted that the shelf conveyor 4 after the Drawing is to be understood as an example, and this shelf conveyor 4 in any Way can be designed within the scope of the invention. So is it is in particular also conceivable to arrange the mast 8 in the center of the shelf conveyor 4 and two lifting tables on both sides of the mast 8 above the axes of rotation 11a, 11b to be arranged. This allows a with a shelf conveyor 4 even higher handling capacity can be achieved.

Claims (16)

1. A conveyor for receiving and delivering pallets, containers and the like, comprising a driving mechanism containing wheels spaced apart one behind the other, at least one wheel being steerable, and also comprising a lifting platform which can be raised and lowered and a load bearing system disposed on the platform for the pallets, containers and the like, the load bearing system being disposed above the driving mechanism and pivotable around an axis of rotation on the lifting platform, characterised in that the load bearing system (10) is pivotable by the steerable wheel (9a, 9b) by electrical, hydraulic or servo-controlled means or a combination thereof.
2. A conveyor according to claim 1, characterised in that when the retrieval unit (4) is turning round a bend in a rack or shelf system, the load bearing system (10) is pivotable in the direction towards the rack or shelf system.
3. A conveyor according to claim 1 or 2, characterised in that the load bearing system (10) is disposed coaxially with the axis of rotation (11a, 11b) and/or the point of rotation of at least one wheel (9a, 9b).
4. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) is disposed on a pivoted bogie.
5. A conveyor according to any of the preceding claims, characterised in that the load bearing system is a continuous conveyor (17) and/or a telescopic fork (16).
6. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) is disposed at one end on the retrieval unit (4).
7. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) can be automatically aligned with a rack or shelf system.
8. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) is pivotable in dependence on the position on the bend of at least one steerable wheel (9a, 9b).
9. A conveyor according to any of the preceding claims, characterised in that the spaced-apart wheels (9a, 9b) run on rails of a floor rail system (5).
10. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) can be aligned with the rack or shelf system under control by sensors.
11. A conveyor according to any of the preceding claims, characterised in that the sensors are photocells, photocells with reflectors, optical sensors or a combination thereof.
12. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) can be aligned with the rack or shelf system by limit switches disposed on the load bearing system (10).
13. A conveyor according to any of the preceding claims, characterised in that a travel detecting system which processes the absolute travel of the conveyor controls the alignment of the load bearing system (10) relative to a rack or shelf system.
14. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) is aligned with the rack or shelf system in response to a control command.
15. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) is automatically aligned by a triggering device which is actuated after driving up to the rack or shelf location.
16. A conveyor according to any of the preceding claims, characterised in that the load bearing system (10) is aligned with the rack or shelf system via a memory-programmable control system (SPS) in dependence on the rack or shelf location.

Images