DK2883831T3 - Device for small parts - Google Patents
Device for small parts Download PDFInfo
- Publication number
- DK2883831T3 DK2883831T3 DK14196033.6T DK14196033T DK2883831T3 DK 2883831 T3 DK2883831 T3 DK 2883831T3 DK 14196033 T DK14196033 T DK 14196033T DK 2883831 T3 DK2883831 T3 DK 2883831T3
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- DK
- Denmark
- Prior art keywords
- guide
- lifting platform
- masts
- small parts
- chassis
- Prior art date
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Classifications
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- 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
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- 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
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- 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)
Description
SMALL COMPONENTS DEVICE
The present invention relates to a small components device with a lifting platform vertically displaceable on a guide system and, arranged on the lifting platform, horizontally displaceable loading bearing means, and arranged at each of an upper and lower end section of the guide system a running gear for the horizontal displacement movement of the small components device, wherein the guide system has two guide masts arranged at least largely in parallel with each other with an intermediate space and the lifting platform is arranged in the intermediate space according to the introductory section of claim 1. A small components device of the type in question is used for storing and retrieving items in a small components rack system intended for temporarily receiving goods of all kinds, for example light consumer goods. The small components rack system is operated in an automatic manner together with the small components device with which the items are handled. Functionally the small components device corresponds to a storage and retrieval machine and has a lifting platform on which load bearing means are arranged with which the items, along with an outer packaging or, for example, items on a receiving device for the items in the form of a tray or suchlike, can be manipulated.
The lifting platform is usually vertically displaceable on a structure bearing the lifting platform and together with the bearing structure can be horizontally displaced along the small components rack.
Through DE 196 14 660 A1 a storage and retrieval machine has become known which comprises a mast which is arranged on an upper and lower running gear and has a boom on which a storage item can be vertically arranged and with which the storage item can be displaced. The drives for the displacement movement of the running gears are arranged on the running gear, i.e. travelling therewith, and mast is arranged on the upper running gear in an articulated manner in order to maintain a largely vertical alignment on the upper and lower running gear. Through the cantilever principle the lifting platform vertically displaceable on the mast is subjected to a large bending moment and must therefore be designed to be very rigid.
This rigid design, along with the fact that the heavy drives must be displaced with the running gears means that for the displacement movement of the storage and retrieval machine high drive outputs are required and the payload ratio derived from the payload manipulated with the storage and retrieval machine and the dead weight of the storage and retrieval machine is very low.
From DE 42 02 668 A1 a storage and retrieval machine has become known which has a vertical mast on which a lifting table designed as a boom is vertically displaceable, on which an extension-retraction unit for loading and unloading an assigned rack is arranged. The storage and retrieval machine has a drive which is used both for the lifting movement and the displacement movement, through which the dead weight of the storage and retrieval machine, which has to be accelerated during the displacement movements, can be reduced. Designing the lifting table as a boom means that the vertical mast is subject to a bending stress and it is therefore designed to be rigid and heavy.
According to DE 20 2004 002 337 U1 a storage and retrieval machine and a picking system are known wherein the storage and retrieval machine has a mast which is designed as a buckling mast with a joint between the mast and an upper and lower running gear. The drives are designed to travel along on each of the upper and lower running gears, wherein the running gears run on running rails which are integrated into the rack system.
From DE 195 34 291 A1 a rack system with a storage and retrieval machine guided on rails has become known. The storage and retrieval machine can be moved along travel and guide rails which are arranged on the rack. The storage and retrieval machine has a vertically displaceable lifting platform and a rack mast is attached to a lower and upper running gear. The running gears each have a drive which travels with the running gears and the lifting platform is designed as a boom which is vertically displaceable on the mast so that the mast is again subject to a bending moment and therefore has to be rigid which results in the mast having a high dead weight and the thus designed storage and retrieval reguires high electrical drive outputs for the displacement movements. US 2013/0156419 A1 sets out a stacking crane which has two vertical masts and running gears at both the upper and lower ends with which the stacking crane can be displaced on longitudinal rails. A lifting platform has a fork carrier having a fork which can be operated in a horizontal direction at right angles to the displacement direction of the vehicle, namely between a retracted position and an extended position.
From US 3,485,390 A a rack store with a storage and retrieval machine is known which can be displaced between the racks and has two vertically arranged truss girders and between the truss girders a vertically displaceable lifting platform which is provided with horizontally displaceable load bearing means. In the lower and upper area the storage and retrieval machine is equipped with running gears for displaceable movement along rails.
Finally, through WO 2012/140295 A1 a device with a lifting platform vertically displaceable on a guide system and horizontally displaceable load bearing means arranged on the lifting platform is known. At each of an upper and lower end area of the guide system a running gear is provided for the horizontal displacement of the device and the guide system has two guide masts largely in parallel with each other with an intermediate space and the lifting platform is arranged in the intermediate space.
Said storage and retrieval machines suffer from the drawback that that due to the cantilever principle of the lifting carriage their masts are subject to high bending moments and must therefore be rigidly designed with large area cross-sections and thus have high weight that have to be accelerated and braked. In turn, due to the short reguired transfer times for the displacement operation, these weights require power drive motors, whose energy consumption is accordingly high. In the case of storage and retrieval machines in which the drive motors are designed to travel along, the energy consumption increases further. The large moved masses result in the payload ratio derived from the payload of the moved items to the moved mass of the storage and retrieval machine being very low.
On the basis of this, to eliminate the described drawbacks, the object of the present invention is to create a small components device which has a considerably higher payload ratio and which can be operated with drive motors for the small components device which with comparable acceleration and speed values of the small components device exhibit a lower energy consumption and the guide system does not distort in operation.
To solve this problem the invention has the features set out in claim 1. Advantageous embodiments thereof are described in the further claims.
The invention sets out a small components device with a lifting platform vertically displaceable on a guide system, and arranged on the lifting platform, horizontally displaceable load bearing means, and arranged at each of an upper and lower end section of the guide system a running gear for the horizontal displacement of the small components device, wherein the guide system has two guide masts arranged at least largely in parallel with each other with an intermediate space with the lifting platform being arranged in the intermediate space, wherein on the lower running gear the guide masts are borne rotatably in a respective fixed bearing and on the upper running gear are borne in a respective floating bearing.
The weight force of the entire system comprising the lifting platform, load bearing means and items or goods arranged on the load bearing means as well as any containers for receiving the items or goods is advantageously taken up by two retaining cables holding the lifting platform and extending from the lifting platform in the direction of the upper running gear, being supported there on the upper running gear, which then takes up the weight and transfers it into travel rails of the upper running gear. The rails are advantageously fastened to the rack structure of a small components rack system which is served with the small components device. In this way the weight 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 take up the weight.
Designing the guide system with two guide masts arranged at least largely in parallel with each other at a distance in order to form an intermediate space, makes it possible that during the entire horizontal displacement movement of the small components device along a small components rack provided therewith, the weight of the entire system comprising the lifting platform, load bearing means and items or goods arranged on the load bearing means as well as any containers for receiving the items or goods, is held relative to the guide masts in such way that no force components acting perpendicularly to the vertical direction of the guide masts occur and accordingly the guide masts are not subject to bending in the direction perpendicular to the direction of displacement of the small components device .
If the item located on the small components device is to be stored in a rack storage place, the small components device is operated by a control in such a way that the horizontal displacement movement ends at the corresponding horizontal position of the storage location to be filled. Thereafter, or even during the displacement movement of the small components device in the direction of the horizontal destination position, the lifting platform with the load bearing means located thereon and the item to be stored is moved vertically on the guide masts until the vertical position of the destination storage location has been reached.
During these displacement movements the lifting platform with the centre of gravity of the entire system remains arranged in the intermediate space of the guide masts so that the weight force does not bring about a bending moment about a horizontal axis, lying centrally between two parallel virtual planes, which includes the guide masts. Through the weight force the guide masts are not subject to bending perpendicularly to the direction of displacement of the small components device.
Only in the case of storage and/or retrieval of items relative to a rack storage position are the guide masts subject to a bending moment as the loading bearing means extending in the direction of the rack storage position assume a protruding position and the centre of gravity is displaced outwards from the centre of the intermediate space lying in the direction of displacement of the small components device. The protruding weight force results in a bending stress on the guide masts which in good approximation is evenly distributed onto the guide masts. However, as in the extending position the guide masts are also only subject to bending stress and are not additional subject to a normal force component arising from the weight force, such a collective load does not have to be taken into account in the dimensioning of the guide masts which in turn means that the guide masts do not have to exhibit any great area moments of inertia and therefore have a low mass .
In turn, a reduction in the weight of the guide masts results in the weight of the small components device to be accelerated and braked being able to be reduced and therefore for their displacement movements lower output drive motors with a low energy consumption are sufficient.
According to a further development of the invention it is envisaged that the lifting platform is arranged relative to the guide masts in such a way that a bending stress brought about by the normal force of horizontally displaced load bearing means is largely evenly distributed onto the guide masts .
The two guide masts can involve a structure in each case designed similarly to a ladder, so that each guide masts has two elongated rods largely arranged in parallel with each other, between which there are struts each arranged in parallel and extending at right angles to the vertical direction of the rod or at an angle to each other. A guide mast can therefore also be designated as a ladder mast. The two ladder masts of the guide system can thus be arranged in such a way that the four vertical rods extend largely in parallel with each other, and arranged between each pair of rods are struts running in parallel with or at an angle to each other which ensures that the vertically extending rods of a ladder mast each considered in themselves can, for example, be designed as a thin-walled tube or thin-walled hollow profile and thus have little dead weights and through the connection with struts connecting each pair of rods a mast-like structure is formed.
As the lifting platform is arranged between the two guide masts or ladder masts, the bending stress on the guide system, occurring in the case of a storing or retrieving action through the horizontal displacement movement of the load bearing means with or without items located thereon in the direction to and back from the small components device, is divided into two largely equally portions, i.e. halved, so that each ladder mast takes up around the same bending stress, which, however only occurs during the protruding position from the middle position of the load bearing means relative to the lifting platform and not, for example, during displacement movements of the small components along the longitudinal direction of the small components rack system, during which the lifting platform is arranged in the middle position in the intermediate space between the two guide masts.
In the known small components devices with a protruding lifting table, a bending stress of the mast structure of the small component device occurs, which during the displacement movement of the load bearing means on the lifting table to a boom projecting deep into the shelf compartment is increased further and is only compensated in that the known mast structures have large area cross-sections which increase the dead weight of the mast structure .
Through the framework-like structure of the ladder masts of the small components device according to the invention a guide system with only a low dead weight is created, which is around 50 percent less than the dead weight of the shelf mast of the previously described storage and retrieval machines when designed as a small components device for an automatic small components store.
The effect of this considerable reduction in the weights moved during the travel operations of the small components device can also be improved in that the drive motors are arranged to be stationary and at a distance from the running gears and are connected by means of respective force transmission means with the running gears for force transmission. The force transmission means can, for example, be tension means with which the two running gears can be displaced by the respective drive motors. Although the force transmission means are cited here as tension means, other force transmission means can also be used which with the respective running gear can be displaced in the direction towards the drive motor and away from the drive motor.
The running gears are therefore not provided with jointly travelling drive motors so that through this embodiment the weights moved during the travel operations of the small components device according to the invention can be reduced further and therefore compared with known small components rack systems and their small components device at comparable speed and acceleration values low-power drive motors can deployed whose energy consumption is comparatively low.
According to a further embodiment of the invention it is also envisaged that on the lower running gear the guide masts are borne rotabably in a fixed bearing and on the upper running gear in a floating bearing. The two running gears are moved in a synchronised manner in terms of their position and turning moment so that the ladder masts of the guide system are always in parallel with each other.
In the lower area of the guide system, through the envisaged attachment of the ladder masts or guide masts on the lower running gear in a fixed bearing which makes possible the degree of freedom of rotation of the ladder at least about an axis orthogonal to the displacement direction of guide system along the small components device, it is achieved that any slight oblique position of the ladder masts during operation or during, for example, an emergency stop situation, does not lead to the guide system distorting. As a rotational movement of the respective ladder mast on the lower running gear is possible while the weight force of the ladder mast and the components attached thereto is supported on the fixed bearings and the ladder masts or guide masts are borne in a respective floating bearing which allows a relative movement of the guide mast relative to the bearing on the upper running gear, distortion of the two ladder masts relative to each other is avoided. The two running gears are therefore not rigidly connected to each other in the direction of displacement of the small parts component.
According to a further development of the invention it is envisaged that the running gears have a rectangularly designed travelling frame with running wheels arranged in the area of the longitudinally directed ends and on at least on longitudinal side in the area of the longitudinally directed ends a pair or guide rollers is provided. With the running rollers the running gears can be moved in rails along the small components device. In the case of the lower rail these can be provided on the floor of a warehouse accommodating the small components rack system with the small components device according to the invention. The upper rails can be fastened to the roof structure of the warehoue, but the rails can also be arranged in an advantageous manner on the rack structure, i.e. incorporated into the rack.
The running gears can be provided with noise-absorbing and low-wear running rollers made, for example, of a polyurethane synthetic material and can be horizontally moved in the horizontally arranged limb of the advantageously U-shaped rails. Additionally, via guide rollers which are arranged on a longitudinal side of the running gears and can roll on a vertically arranged limb of the rails, the running gears can undergo longitudinally movement in the direction of displacement. Advantageously the running gears can have a rectangular travelling frame, which, for example, is made of prefabricated profiles or modules of an aluminium alloy, wherein the profiles or modules can be fastened to each other by means of screw connections or plug connections.
Assigned to a guide roller arranged on the inside on the vertically arranged limb can be a guide roller, arranged on the running gear, running on the outside on the limb, wherein it is also possible to pretension at least one guide roller or pair of guide rollers with a pressure spring in the direction of the vertically extending limb of the rail, so that slight unevenness of the rails does not lead to distortion of the running gear about a virtual vertical axis of the running gear. 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 balanced out. The arrangement of the guide rollers on just one rail provides the advantage that angle tolerances occurring in the longitudinal direction of rails do not have to be additionally evened out and do not lead to distortion of the two running gears relative to each other.
According to a further embodiment the invention also envisages that a running gear is provided with an electrically operable gear motor which is non-positively connected to two lifting cables connected to the lifting platform for operating the lifting table. The gear motor can, for example, be provided on the lower running gear and act on two lifting cables which in turn are attached to the lifting platform. The force transmission from the gear motor to the lifting cables can, for example, take place via cable drums driven by the gear motor, wherein the force transmission from the gear motor to the cable drums can take place in a positive or non-positive manner.
The lifting cables can extend from the lower running gear in the direction of the upper running gear and there be deflected via a deflection roller and then extend to the lifting platform where they can be attached. This design has the advantage that the weight force of the lifting platform and the load bearing means arranged thereon as well as any other devices provided on the lifting platform can be introduced via the upper running gear and the upper rails into the small components rack as has already been described above and does not therefore have to be supported via the guide system on the lower running gear. As the weight force does not therefore lead to pressure being exerted on the guide system the weight force also does not have to be supported via the vertical rods of the ladder masts, which do not therefore have to be dimensioned to take up the weight force, which complies with the lightweight design of the small components device according to the invention.
According to a further embodiment of the invention it is envisaged that on the lower running gear an optical distance measuring system is arranged which cooperates with a reflector arranged on the lifting platform for vertical position determination of the lifting platform. This design ensures that to bring about the distance measuring system on the side of the lifting platform only a small optical reflector is required, which has a very low dead weight and therefore only very slightly increases the dead weight of the lifting platform to be accelerated and braked.
Similarly according to a further development of the invention it is envisaged that on each of the upper and lower running gears a reflector is provided which cooperates with an optical distance measuring system assigned to the respective running gear for the horizontal position recording of the two running gears. The optical distance measuring system for the lower running gear can be provided on the rack or on the hall floor of a warehouse accommodating the small components device according to the invention and the optical distance measuring system for the upper running gear can be provided on the rack or, for example, on the roof of the warehouse. This means that essential components of the respective optical distance measuring system are designed to travel along with the small components device and therefore do no increase the dead weight of the small components device to be accelerated and braked.
According to a further embodiment of the invention it is also envisaged that the lifting platform has a rectangular bearing frame which is designed for receiving the components travelling with the lifting platform, such as the load bearing means for example. In a similar manner to the travelling frame of the upper and lower running gear, the bearing frame of the lifting platform can be designed as a screwed structure, wherein the individual profiles for forming the bearing frame can, for example, be made of an aluminium alloy material, and therefore only have a low dead weight.
The bearing frame can be provided with rollers for contacting guide surfaces on the guide masts or ladder mast of the guide system for guiding the lifting platform in a first horizontal direction and the lifting platform can have a guide frame connected to the bearing frame which is provided with rollers for contacting guide surfaces on the guide masts for guiding the lifting platform in a second horizontal direction which is orthogonal to the first horizontal direction. This design with several guide rollers ensures that the load bearing means projecting in the direction of a shelf compartment during a storing and retrieval action can position the item to be stored or retrieved precisely in the rack compartment or retrieve it from the rack compartment.
According to a further embodiment of the invention it is envisaged that a control synchronises the position of the two running gears relative to each other in the displacement direction, so that any oblique deviation of the ladder masts relative to a vertical position of the ladder masts can be minimised, even though such an oblique deviation cannot lead to distortion of the small components device due to the articulated connection of the guide masts to the running gears. This control is not provided arranged on the running gears so that the travelling weight of the running gears is not increased thereby. As the drive motors for the running gear are not designed to travel with the running gears the travelling weight is not increased by the drive motors.
According to a further embodiment it is envisaged that a first drive motor is assigned to the lower running gear and connected to the lower running gear by way of a circulating toothed belt for force transmission, and assigned to the first drive motor is a first deflection roller arranged at a distance and the lower running gear is arranged between the first drive motor and the first deflection roller and a second drive motor is assigned to the upper running gear and connected to the upper running gear with a circulating toothed belt for force transmission, wherein also assigned to the second drive motor is second deflection rollers arranged at a distance and the upper running gear is arranged between the second drive motor and the second deflection roller , wherein the second drive motor and the second deflection roller are arranged on a small components rack assigned to the small components device.
The second drive motor and the second deflection roller are thus positioned at a distance from the second running gear, as is the first drive motor and the first deflection roller, so that the respective weight of the running gears is not increased by said components.
According to a further embodiment of the invention it is envisaged that arranged on the lifting platform is a control device for controlling the operation of the load bearing means and the lifting platform can be supplied with electrical energy by means of a vertical conductor line and an optical data transmission device is provided between the lower running gear and the lifting platform. In this way the number of components travelling with the lifting platform and required for operation of the small component device is minimised through which in turn the travelling weight of the small components device can be reduced. The lower running gear can be supplied with electrical energy by means of an energy supply line guided by a cable carrier .
Both the control for the running gears and a control for operating the lifting platform are stationary, i.e. do not travel with the running gears, but are arranged at a distance from the running gears and the lifting platform through which the travelling weight of the running gears and the small components device can be reduced.
According to a further embodiment of the invention it is envisaged that each guide mast has two elongated rods arranged largely in parallel to each other, between which there are parallel struts extending perpendicularly to the vertical direction of the rods or arranged at an angle to each other. The guide masts are there designed in a similar way to a ladder with two vertical rods and the two transverse struts combining the rods.
On the one hand this design makes for a reduction in the weight of the guide system and thus the small components device according to the invention and on the other hand also ensures that it is not necessary, as is the case in known small components devices, to provide a climbing device on the guide system for the servicing personnel. The guide masts or ladder masts are simultaneously designed as a climbing aid as the transverse struts which are preferably screwed to the vertical rods, at the same time serve as ladder rungs on which the servicing personnel can climb up the small components device in order, for example, to rectify a fault. For this purpose the transverse struts can be provided with an anti-slip covering, or be provided with plastic bars, for example, which prevent slipping from the strut. The struts extending perpendicularly or at an angle to the vertical rods also increase the stability of the guide masts or ladder mast.
The ladder masts can be designed in a modular manner so that through combining several ladder mast modules a mast with a desired, pre-determinable length is produced. A ladder mast module can comprise two main profiles which are of equal length and prefabricated with rungs or struts arranged between them at regular intervals as has already been stated previously. The guide mast or ladder mast can therefore comprise at least two modular guide mast sections which can be longitudinally connected by means of connector sections that can be brought into engagement with the guide mast sections. The connection of the guide mast sections via the connector sections can, for example, be formed detachably by means of a screw connection.
To reduce the dead weight the guide mast sections can be made of an aluminium alloy, with their end section the sections can be brought into contact with each other in order to produce a guide mast of a predetermined desired length. The guide mast sections are screwed to each other under pre-tensioning in order to achieve sufficiently high rigidity and to form the transitional area between two guide mast sections without too large an end gap. Avoidance of a large end gap results in the running rollers or guide rollers of the lifting platform smoothly travelling across the transition area.
As the rollers of the lifting platform travel across the transition area during their vertical movement along the guide system and with a simultaneous horizontal movement of the small components device, an obligue force can act on the transition area. In order to evenly distribute the obligue force onto the entire transition cross-section of the transition area it is advantageous to provide a strike plate, made, for example, of a steel material and corresponding to the cross-section of the guide mast section, at the respective end section of the guide mast section, wherein the strike plates can be screwed to each other by means of a screw connection with a high prestressing force which exceeds the pre-stressing force with which the strike plates can be attached to the respective guide mast section, whereby the strength of the material of the guide mast section can also be taken into account. The transition area can thus be flatly designed without an inadmissible end gap occurring. The modular design of the guide mast also advantageously results in easy handling during its transportation and assembly.
According to a further embodiment of the invention it is envisaged that the guide masts are rotatably supported on the lower running gear by means of joint bolts each arranged in receptacles made of a plastic material.
According to a further embodiment the invention also envisaged that the guide masts are displaceably supported on the upper running gear by means of joint bolts each arranged in a receptacle provided with an elongated hole.
The lower bearing is thus designed as a fixed bearing and has joint bolts, about the longitudinal axis of which the guide mast can rotate, the joint bolts each being arranged in a plastic material for noise absorption and vibration isolation, wherein the plastic material can be self-lubricating. The fixed bearing takes up the dead weight force of the guide mast and due to the provision of the degree of freedom of rotation about the joint bolts ensures that the two ladder masts or guide masts connected to each other via the lifting platform do not become distorted with regard to each other in the event of any oblique positioning of the guide system.
Through the arrangement of the guide mast in the area of the upper running gear by means of joint bolts arranged in a receptacle provided with an elongated hole, the end section of the guide mast can undergo a longitudinal displacement relative to the receptacle which, for example, in the event of the aforementioned oblique positioning of the guide system ensures that the small components device does not become distorted.
The two running gears are moved by the two aforementioned drive motors in a synchronised manner in terms of their respective position and turning moment so that the ladder masts of the guide system are essentially in parallel with each other. However, in an emergency stop situation of the small components device the situation of slight obligue positioning of the two ladder masts or guide masts can occur .
Through the envisaged connection in the lower area of the guide system of the ladder mast or guide mast on the lower running gear in a respective fixed bearing, which allows the degree of freedom of rotation of the ladder mast at least about an axis vertical to the direction of travel of the guide system along the small component rack, it is achieved that any slight oblique positioning of the ladder mast during operation or during an emergency stop situation, for example, does not result in the guide system becoming distorted. As a rotational movement of the respective ladder mast on the lower running gear is possible while the dead weight force of the ladder mast and components connected thereto is supported on the fixed bearing and the ladder masts or guide masts are borne on the upper running gear in a respective floating gear which allow a relative movement of the guide masts relative to the bearing on the upper running gear, distortion of the two ladder masts relative to each other can be prevented. In the direction of travel of the small components device the two running gears are therefore not rigidly connected to each other, which could lead to distortion of the system.
During operation of the small components device the guide mast are arranged vertically aligned in front of the small components rack system. During displacement operation of the small components device horizontally along the small components rack system positive and negative acceleration forces act on the guide masts perpendicularly to the vertical axis direction. These acceleration forces mean that a bending stress acts on the vertical rods of the guide masts at right angles to their longitudinal direction. It has proven to be advantageous to provide horizontal stabilisers arranged at a distance from one another perpendicularly to the vertical axis of the guide masts and which detachably connect the guide masts arranged with a space between them, wherein the horizontal stabilisers each have a carrier spanning the intermediate space which is attached on the relevant guide mast by means of at least one spacer.
The horizontal stabilisers therefore extend in parallel to the horizontal direction of displacement of the small components device and each connect a vertical rod of one guide mast to a vertical rod of the other guide mast. In the direction of the vertical axis of the small components device there can be several such horizontal carriers between a first pair of vertical rods and a second pair of vertical rods, wherein one vertical rod of one pair belongs to one guide mast in each case. The carriers are each arranged at a distance from the vertical rods so as to extend outside the travelling area of the lifting platform and outside the working area of the load bearing means. The carrier are therefore placed in a collar-like manner between the small components device and a small components rack system equipped therewith.
Such a small components rack system can be a single position rack so that the horizontal carriers are each arranged at the level of a longitudinal rack group, whereas in the case of multi-position rack they can be advantageously placed at a longitudinal receptacle carrier. The horizontal stabilisers are advantageously connected to the guide masts via joint bolts so that the horizontal stabilisers can move relative to the guide masts or ladder masts which contributes to the small components device not distorting in the event of displacement of the upper and lower running gears relative to each other.
According to a further embodiment of the invention it is also envisaged that in the vertical axis direction the guide masts have vertical stabilisers, arranged at a distance to their vertical rods, which each have an elongated carrier which is attached by means of spacers on the vertical rod. Each guide mast has two vertical rods so that on each guide mast two vertical stabilisers are provided which are attached thereto at several points in the vertical axis direction of the vertical rods.
In contrast to known small components devices, this small components device has a mast structure which is not rigidly connected to the running gears and the mast structure has two guide masts or ladder masts arranged with an intermediate space between them, wherein the lifting platform with the load bearing means is arranged in the intermediate space in such a way that the centre of gravity of the lifting platform and not extending loading bearing means and any other components of the small components device arranged on the lifting platform is arranged centrally in the intermediate space and also centrally in the intermediate space in a direction orthogonal to the direction of displacement. Therefore, in a non-extending rest position of the load bearing means a bending stress does not act on the small components device in the horizontal displacement direction of the small component device .
The invention will be described in more detail below with the aid of the drawing. In this:
Fig. 1 shows a perspective view of a small components rack system with, arranged in front of it, a small components device according to one embodiment of the present invention;
Fig. 2A shows a view from above of the small components device;
Fig. 2B shows a perspective view of the small components device;
Fig. 3A shows a perspective view of the guide system of the small components device;
Fig. 3B shows a lower partial section of the guide system;
Fig. 3C shows an upper partial section of the guide system;
Fig. 4 shows a perspective view of the lower running gear;
Fig. 5 shows a view of the lower running gear from below;
Fig. 6 shows a perspective view of the upper running gear;
Fig. 7 shows two views to explain the arrangement of the running gears on rails;
Fig. 8 shows a view to explain the arrangement of the rails on rack columns of the small components rack system;
Fig. 9 shows a perspective view of the lifting platform with load bearing means arranged thereon;
Fig. 10 shows a further perspective view similar to fig. 9;
Fig. 11 shows a view from below of the lifting platform with load bearing means;
Fig. 12 shows a perspective view of a drive motor with a braking device;
Fig. 13 shows a view from below of the drive motor and braking device according to fig. 12;
Fig. 14 shows a perspective view of a deflection station with a deflection roller for the toothed belt arranged thereon;
Fig. 15 shows a detailed view of a section of the upper rails in the area of a connection of two rail sections;
Fig. 16 shows an enlarged detailed view according to fig. 3B; and
Fig. 17 shows an enlarged detailed view according to fig. 3C .
Fig. 1 of the drawing shows a perspective view of a small component rack system 100 with one embodiment of a small components device 101 displaceable on the small components rack system. In the selected view, to improve illustration, an identical rack structure with further rack storage places 6 located perspectively in front of the shown rack structure with a plurality of rack storage places 6 has been left out.
The small components device 101 moves between the two rack structures and can place into storage and remove from storage small components which are to be stored and retrieved. Of a warehouse accommodating the small components rack system 100 only a schematically shown floor 102 is visible. The small components rack system 100 has a plurality of rack storage places 6 arranged next to each other and on top of each other which are designed for receiving containers, trays or cartons.
The small components device 101 has a lower running gear 1 and an upper running gear 2, as can be seen in fig. 2B. With its lower running gears 1 the small components device 101 is displaceable along the small components rack system 100 on lower rails 7 and with its upper running gear 2 on upper rails 8. The rails 7 and 8 are integrated into the rack structure as will be explained in more detail below.
The small components device 101 has a guide system 103 with two guide masts 3 arranged at least partially in parallel with each other with an intermediate space 104, wherein the lifting platform 4 with its load bearing means 5 arranged thereon being arranged in the intermediate space 104 between the two guide masts 3 as can be seen in fig. 2A.
As can be seen by way of fig. 1, a first drive motor 9, which is assigned to the lower running gear 1, is arranged on the hall floor 102 at distance from the running gear 1. The drive motor 1 brings about the horizontal displacement movement of the running gear 1 and is not arranged on the running gear 1, i.e. it is not designed to travel with it. From the drive motor 9 a lower toothed belt 11 extends in the direction of a deflection station 12 which is arranged at a distance from the drive motor 9 and on which a deflection roller 58 is rotatably borne, as can be seen from fig. 14 of the drawing.
The upper running gear 2 can be horizontally displaced 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 an upper toothed belt 12 extends in the direction of an upper deflection station 14 arranged at a distance from drive motor 10 and which in a similar way to the lower deflection station has a rotatably borne deflection roller 58.
The lower toothed belt 11 and the upper toothed belt 12 are detachably fastened to the lower running gear 1 and upper running gear 2 respectively so that the drive motors 9, 10 can both accelerate and also brake the running gears 1 and 2 .
The drive motors 9, 10 are operated via a control or control unit arranged in a control cabinet 19. For this, in the control cabinet 19 there is a programmable logic control, an operating console in the form of a touch panel, for example, a braking resistance and the control for drive regulators for the displacement operations of the drive motors 9, 10 and the lifting movement of the lifting platform 4. From the main control cabinet 19 a horizontal cable carrier 20 extends to the lower running gear 1 which is arranged in a guide channel 59 in the hall floor 102. From there extends a vertical conductor line 17 (fig. 3B) for supplying energy to the control cabinet 44 and control cabinets 48 travelling on the lifting platform 4 as well as the load bearing means 5.
To control the horizontal position and to synchronise the displacement movements of the running gears 1 and 2 a distance measuring system 42 is provided on the hall floor 12 and on the rack structure in the upper section of the small components rack system 100 a further distance measuring system 43 is provided, which cooperates with the reflectors 41 provided on the running gears 1 and 2 in order to determine the horizontal positions. The evaluation of data and control of the drive motors 9, 10 for the synchronised movement of the running gears 1, 2 takes place via the programmable logic control integrated in the control cabinet 19 so that oblique deviations of the guide masts 3 are avoided.
As can be seen in more detail in fig. 2B and fig. 3C, the guide masts 3 are designed in the form of ladders. Each guide mast 3 has two vertical rods 105 arranged in parallel with each other between which transverse struts 106 are arranged, which advantageously can simultaneously be used as a climbing aid for a user in connection with maintenance or servicing work or suchlike. For this purpose maintenance platforms 60 are also provided on the small component rack system, of which only one is shown in fig. 1 of the drawing, though a further working platform can be provided on the opposite end side of the small components rack system 100.
The guide masts 3 are arranged on the lower running gear 1 via fixed bearings 15 shown in fig. 3B, wherein for this purpose assembly plates 107 are provided on which, via respective joint bolts 108, the vertical rods 105 can be vertically and horizontally firmly but rotatably arranged. Fig. 16 of the drawing shows an enlarged detailed view according to fig. 3B. On the shown assembly plates 107 on both side fixed bearing 15 in the form of brackets 150 screwed to the assembly plates 107 are arranged through which joint bolts 108 can pass. The brackets 150 are also used for the arrangement of rectangular receptacles 151 made of a plastic material in the form of, for example, polyamide PA6 or PA12G, through which the joint bolts 108 pass and on which the vertical rods 105 of the ladder masts 103 are supported. Between the vertical rods 105 are transverse struts 106 arranged in parallel with each other at a distance of round 30 cm which are provided with plastic supports 152 to protect against slipping. A user or service personnel can climb the ladder mast using the transverse struts 106 in order, for example, to reach the lifting platform 4 to alleviate tension. For this purpose on both ladder masts 3 fall arrest ropes 153 are proved to which a user can attached fall arrest equipment.
The assembly plates 107 can be detachably fastened to the travelling frame 109 seen in fig. 4 of the drawing by means of a screw connection so that the guide system 109 is borne on the travelling frame 109 in an articulated manner and can perform a rotational movement shown by the double arrow 100 in fig. 2A so that, for example, in the event of deviation of the running gears 1, 2 from a synchronised movement in the direction of the longitudinal direction of the small components rack system 100 or also in the case of an emergency stop of the running gears 1, 2, distortion of the small components device 101 does not occur.
Fig. 3C of the drawing shows floating bearing 16 with plates 110A arranged on the upper end section of the vertical rods 105 which are each provided with an elongated hole into which joint bolts 63 shown in fig. 6 can engage, which are arranged on the receptacle 63 for the floating bearings of the travelling frame 109 so that in the event of any oblique positioning of the ladder masts or guide masts 3 no distortion of the guide system 103 occurs. The guide masts 3 are therefore connected to the running gears 1, 2 in an articulated manner and can perform the displacement movement shown by the double arrow 110 by way of fig. 2A.
In order to increase the rigidity of the guide system 103 perpendicularly to the vertical axis direction of the guide system 103, the ladder masts or guide masts 3 are connected to each other via horizontal stabilisers 112 which can be arranged at regular intervals in the vertical direction of the guide masts. The horizontal stabilisers 112 are supported by spacers 152 and diagonal struts 155, namely in such a way that the diagonal struts 155 are screw-connected to the spacers 154, which in turn are screwed to the vertical rods 105 via a respective assembly block 156 made of a plastic material in the form of, for example, polyamide PA6 or PA12G. For this purpose the vertical rods have a receiving groove 157 into which slot nuts can be inserted which are screw-connected to joint bolts 158 so the horizontal stabilisers 112 remain stable relative to the vertical rods 105 and oblique position of the ladder masts 3 in relation to each other does not lead to distortion of the small components device 101.
In a similar manner vertical stabilisers 114 which increase the rigidity of the guide system 103 in the vertical direction. The vertical stabilisers 114 are fastened to the vertical rods 105 in parallel with the vertical axis direction of the vertical rods 105 by means of spacers 159 shown in fig. 3C and serve to increase the rigidity of the ladder masts 3 in the vertical axis direction. Along their vertical axis direction the vertical stabilisers 114 are connected by means of several spacers 159 to a respective vertical rod 105.
As shown in fig. 17 of the drawing, a vertical rod 105 can be formed of two or more guide mast sections 160 which in the area of the end faces 162 are connected to each other by means of connector sections 161 in the form of connector plates, namely in such a way that a connector section 161 spans both end faces 162 and by means of screw bolts 163, which are screw-connected to slot nuts inserted into longitudinal grooves 164, are connected to the guide mast sections 160. At the relevant end faces 162 of the guide mast section 160 strike plates 165 are screwed to the guide mast sections 160 and the guide mast sections 160 with strike plates 165 arranged between them are brought into contact and screwed to each other by means of screw bolts, which are not shown in more detail, arranged in the grooves 16 6 .
If an item is put into storage in a rack storage place 6 with the small components device 101, the item is moved by means of the load bearing means 5 seen in fig. 2B of the drawing in direction of the rack storage place 6 so that the centre of gravity of the entire system comprising the lifting platform 4, load bearing means 5 and an item stored, for example in a container 129 according to fig. 10, is displaced from the centre of the lifting platform 4 in the direction of the rack storage place 6. This results in a bending stress acting on the guide system 103 and a bending moment acting on the vertical rods 105. The normal force acting on the lifting platform and the load bearing means 5 is thus eccentrically displaced and a bending moment acting on the vertical rods 105 is brought about which, however, in good approximation in almost equal parts is distributed egually to all the vertical rods 105, wherein each individual one is only subjected to a small bending moment and the individual rods can therefore be designed as a hollow profile with a small wall thickness, for example with a tubular cross-section or a quadratic or rectangular cross-section and therefore only have a low dead weight. In turn, this makes it possible to design the drive motors 9, 10 envisaged for the displacement movement of the small components device 101 with a relatively low output, through which an energy-efficient system with low consumption of electrical energy is created.
Through the measures proposed according to the invention, with reference to identical acceleration and speed values of known small components devices and the small components device according to the invention, a weight saving of a small components device of up to 60 percent is achieved. The drives and their regulators of the small components device according to the invention have an up to 60 percent lower weight. As a result of this, with comparable operating time, compared with known small components devices the small components rack system has an annual energy consumption which is up to 45 percent lower than the annual energy consumption of the known small energy rack systems .
Fig. 4 of the drawings shows a perspective view of the lower running gear 1. The running gear 1 has a travelling frame 109 which can be made of profile longitudinal carriers 23 which can be screwed to each other. The running gear 1 has four laterally attached running wheels 25 which roll on horizontally extending limbs of the rails 7. By way of guide rollers 26 which roll on a vertically extending limb of rails 7 the travelling frame 1 can be laterally guided. To reduce noise the running wheels 25 and guide rollers 26 can be made of a soft and low-wear polyurethane material.
On both longitudinal sides of the running gear 1 a clamping device 27 for the detachable connection of the lower toothed belt 11 is provided. At the face end of the travelling frame 109 a reflector 41 is arranged which reflects a laser beam emitted by the lower distance measuring device 42, wherein the control provided in the control cabinet can determine the horizontal position of the running gear 1 from the difference in run time of the laser beam.
Arranged on the travelling frame 109 is a gear motor 28 which comprises a drive shaft 29, visible in fig. 5, on each of both end sections of which a toothed belt wheel 29 is arranged. Via a first toothed belt 32 a first toothed drum is driven 34 on which a lifting cable 37 shown in more detail by way of fig. 2A is arranged. Via the second toothed belt 33 driven by the gear motor 28 a second cable drum 34 is driven on which a lifting cable 37 is also arranged, which just like the first mentioned lifting cable 37 lifts and lowers the lifting platform 4. The cable drums 34 are driven by way of respective toothed belt wheels 35 which engage in the toothed belts 32, 33 and are rotatably borne on the travelling frame 109 by means of a respective bearing 31, 36. Provided on the lower travelling gear 1 is an emitter 21 for optical transmission to the lifting platform and a distance measuring system 39 for determining the vertical position of the lifting platform 4. A support 61 shown in fig. 5 is provided to support the toothed belt 11 in order to prevent sagging of the toothed belt 11. Along the hall floor 102 further support rollers, which are not shown, can be provided. On the small components rack system 100 too, support rollers, which are not shown, can be provided on rack columns or running gear supports in order to prevent sagging of the upper toothed belt 12.
Fig. 6 of the drawing shows the upper travelling gear 2 with a travelling frame which can be formed of profile longitudinal carriers 34 similar to the profile longitudinal carriers 23 by means of screw connections. Also provided on the upper running gear 2 are clamping devices 27 for attaching in this case the upper circulating toothed belt 12. The travelling frame 109 has running wheels 25 and guide rollers 26 for arranging the travelling frame 109 on the upper rails 8. Provided on the travelling frame 109 are deflection rollers 38 for the lifting cables 37 so that the lifting cables 37 extend from the lower running gear 1 in the direction of the upper running gear 2, are deflected there and then extend in the direction of the lifting platform 4 seen in fig. 9 and 10.
In the upper illustration fig. 7 of the drawing shows a partial view of the travelling frame 109 of the upper running gear 2 with the toothed belt 12 attached to the clamping device 27 and a running wheel running on the horizontal limb 116 of the rail 8 as well as running rollers 26 running on the shorter vertical limb 117 of the U-shaped upper rail 8.
Similarly the lower illustration of fig. 7 shows a partial view of the lower running gear 1 with the rail 7 on the horizontal limb 116 of which the running wheel 25 runs and on the shorter vertical limb 117 the two guide rollers 26 are arranged.
In a detailed view fig. 8 of the drawing shows the arrangement of the lower rails 7 on vertically extending rack columns 118 of the small components rack system 100. In the shown form of embodiment the rails 7 are attached to the rack columns 118 by means of support devices in the form of support brackets 119. The support brackets 119 are attached by means of screw connections to the rack columns 118 by way of vertical limbs 120 and for the precise alignment of the rails 7, between a respective vertically extending limb 120 and the vertically extending limb of the rail 7 and well as the horizontal limb 121 of the support bracket 110, washers 123 can be provided for tolerance correction in the horizontal and vertical direction. In a similar manner the upper rails 8 can be attached and aligned on the rack columns 118.
Fig. 9 of the drawing shows a perspective view of the lifting platform 4 with a carrier frame 124 which constitutes a screw-type construction of lightweight profile longitudinal carriers and has several lateral guide rollers 47 which roll on corresponding guide surfaces of the guide masts 3. In addition the lifting platform 4 has a guide frame 45 on the face side of which further guide rollers 46 are envisaged which roll on corresponding guide surfaces of the guide masts 3. On one side of the lifting platform 4 control cabinets 48 are provided which have control components for the load bearing means 5. One of the two lifting cables 37 can be attached to a load measuring bolt 50 which can act on a measuring device for determining a possible overload situation and underload situation of the lifting platform 4. The other lifting cable 37 can be attached to an upper profile of the lifting platform 4. A current collector 18 is in contact with the vertical conductor line 17 to supply power to the control cabinets 48 and the load bearing means 5.
Fig. 10 of the drawing shows a drive motor 49 of the load bearing means 5 and in connection with fig. 11 of the drawing a reflector 40 with cooperates with a distance measuring system 39 arranged on the lower running gear 1 for measuring the vertical position of the lifting platform 4 and a module 21 which is designed as an emitter-receiver unit and cooperates with the corresponding unit 21 on the lower running gear 1 for data transmission.
Fig. 12 of the drawing shows the drive motor 9 for the horizontal displacement of the lower running gear 1, which is arranged on a frame 51 and has an emergency braking system 22 the details of which are set out more closely in fig. 13 of the drawing. The electrical drive motor 9 is connected to a gearing 56 which via a drive shaft 52, which is supported in a bearing 53, drives the toothed belt disc 54 with which the lower toothed belt 11 can be driven. Arranged on the drive shaft 52 is a brake disc 55 which is spanned by brake pads 125 which are held open by an electric actuator 126 while this is being energised.
If the power supply to the electrical actuator 126 is interrupted, either through active interruption by a control after detecting an emergency situation or through a general interruption to the power supply, the brake pads 125 engage automatically with the brake disc in a spring-loaded manner and thus ensure that a displacement movement of the lower running gear 1 is immediately interrupted. As on the upper drive motor 10 an identical emergency braking system 22 is envisaged, in such a situation the upper drive motor 10 also immediately comes to a standstill and therefore also the upper running gear 2.
Fig. 14 of the drawing shows the deflection stations 13, 14 with a respective frame 57 on which the deflection roller 58, via which the toothed belt 11, 12 is deflected, is arranged by means of a bearing.
The toothed belts 11, 12 are pre-tensioned by means of tensioning devices, not shown in more detail, on the drive stations accommodating the drive motors, in order to reduce the elastic form changes of the toothed belt and to increase the positioning accuracy of the running gears 1, 2 and to prevent the toothed belts from sagging. Additionally, through pre-tensioning the belts it is also ensured that the belts do not skip teeth on the drive-side toothed belt wheel 54.
Pre-tensioning the toothed belts produces a reaction force which has to be supported. In the area of the lower drive motor 9 the pre-tensioning force can be supported against the hall floor 102, whereas this possibility is not available in the area of the upper drive motor 10 as this, together with the deflection roller is arranged on the rack structure. Supporting the pre-tensionin force via the rack structure would however increase the strength of the rack structure, which is disadvantageous in cost terms.
In order to eliminate this problem it is also envisaged in the small components rack system to use the upper rails 8 to support the pre-tensioning force. Fig. 15 of the drawing shows that the rails 8 are composed of rail sections 127 which are connected by means of a connector plate in the gap area. The connector plate 128 is connected by means of screw connections 130 to the rail sections 127, both in the area of the horizontal and in the area of the vertical segments of the rail sections 127. In this way, through the rail sections a pressure-loaded beam can be formed which in addition to taking up the forces through the displacement of the upper running gear 2 also takes up the pretensioning force of the toothed belt.
Compared with known small components devices, the small components device according to the invention is characterised by a considerably improved payload ratio, as with a comparable payload to be handled the small components device has a considerably lower dead weight. This results in the fact that the drive motors for the displacement operations of the small components device require considerably less drive output in order move it than is the case in the known small components racks. The small component rack system provided with the small components device according to the invention therefore requires less energy to operate it that is the case in the known small components rack systems and is characterised by high energy efficiency.
The lifting platform of the small components device is symmetrically arranged on the guide system as a result of which the loading the guide system with a bending moment during the storing and retrieval of items relative to the rack storage places is reduced, which means that the guide system has to take up considerably smaller forces than in the case in known small component devices. Consequently the guide system can be designed to be slimmer and lighter through which in turn the drive output to be generated by the drive motors can be reduced.
The drives and essential control components for the operation of the small components rack and the small components device are not designed as components that also travel so that the travelling weight of the small components device can in turn be reduced. The travel and guide rails are arranged in the rack structure so that separate assemblies for arranging the rails in the hall floor of the warehouse accommodating the small components rack system provided with the small components device are not required.
The design of the drives with circulating belts makes it possible to implement a buffer-less braking system which in turn means that loads acting on the hall floor and the rack structure can be reduced.
Otherwise, with regard to above features of the invention not explained in more detail, reference is expressly made to the claims and the drawing.
REFERENCE LIST 1 Lower running gear 2 Upper running gear 3 Guide mast, ladder mast 4 Lifting platform 5 Load bearing means 6 Rack storage place 7 Rail 8 Rail 9 Drive motor 10 Drive motor 11 Toothed belt 12 Toothed belt 13 Deflection station 14 Deflection station 15 Fixed bearing 16 Floating bearing 17 Conductor line 18 Current collector 19 Control cabinet 20 Cable carrier 21 Transmitter 22 Emergency braking system 23 Profile longitudinal carrier 24 Profile longitudinal carrier 25 Running wheel 26 Guide roller 27 Clamping device 28 Gear motor 29 Drive shaft 30 Toothed gear wheel 31 Bearing 32 Toothed belt 33 Toothed belt 34 Cable drum 35 Toothed belt wheel 36 Bearing 37 Lifting cable 38 Deflection roller 39 Distance measuring device 40 Reflector 41 Reflector 42 Distance measuring device 43 Distance measuring device 44 Control cabinet 45 Guide frame 46 Guide roller 47 Guide roller 48 Control cabinet 49 Drive motor 50 Load measuring bolt 51 Frame 52 Drive shaft 53 Bearing 54 Toothed belt disc 55 Brake disc 56 Gear 57 Frame 58 Deflection roller 59 Guide channel 60 Maintenance platform 61 Support roller 62 Receptacle 63 Joint bolt 100 Small components rack system 101 Small components device 102 Hall floor 103 Guide system 104 Intermediate space 105 Vertical rod 106 Strut 107 Assembly plate 108 Joint bolt 109 Travelling frame 110 Double arrow 110A Plate 111 Elongated hole 112 Horizontal stabiliser 114 Vertical stabiliser 115 Profile longitudinal carrier 116 Horizontal limb 117 Vertical limb 118 Rack column 119 Support bracket 120 Vertical limb 121 Horizontal limb 122 Vertical limb 123 Washer 124 Bearing frame 125 Brake pad 126 Electrical drive 127 Rail section 128 Connector plate 129 Container 130 Screw connection 150 Bracket 151 Receptacle 152 Plastic bar 153 Fall-arrest rope 154 Spacer 155 Diagonal strut 156 Assembly block 157 Receiving groove 158 Joint bolt 159 Spacer 160 Guide mast section 161 Connector section, connector plate 162 End face 163 Screw bolt 164 Groove 165 Strike plate 166 Groove 167 Carrier 168 Carrier
Claims (18)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013113798.9A DE102013113798A1 (en) | 2013-12-10 | 2013-12-10 | Small parts unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK2883831T3 true DK2883831T3 (en) | 2017-01-16 |
Family
ID=52020988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK14196033.6T DK2883831T3 (en) | 2013-12-10 | 2014-12-03 | Device for small parts |
Country Status (7)
| Country | Link |
|---|---|
| EP (1) | EP2883831B1 (en) |
| DE (1) | DE102013113798A1 (en) |
| DK (1) | DK2883831T3 (en) |
| ES (1) | ES2611188T3 (en) |
| PL (1) | PL2883831T3 (en) |
| PT (1) | PT2883831T (en) |
| SI (1) | SI2883831T1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217410B (en) * | 2016-08-25 | 2018-06-19 | 宁波朝平智能科技有限公司 | Axis is moved for the section of full-automatic compact shelving repository box taking machine tool hand |
| CN106219125B (en) * | 2016-08-25 | 2018-06-22 | 宁波朝平智能科技有限公司 | Full-automatic compact shelving repository |
| AT519139B1 (en) * | 2016-10-10 | 2018-09-15 | Tgw Mechanics Gmbh | Storage and retrieval unit and shelf storage system with improved accessibility and weight distribution |
| CN109607014B (en) * | 2018-12-27 | 2024-03-15 | 湖北科德智能装备有限公司 | Wheel adjusting device and four-way carrier thereof |
Family Cites Families (11)
| 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 (en) * | 1969-07-22 | 1971-02-04 | ||
| DE4202668C2 (en) | 1992-01-28 | 1994-02-24 | Mannesmann Ag | Storage and retrieval machine |
| SG94674A1 (en) * | 1992-09-10 | 2003-03-18 | Daifuku Kk | Handling apparatus for automatic warehousing |
| DE19534291C2 (en) | 1995-09-15 | 2002-02-21 | Mannesmann Ag | Shelf system with a storage and retrieval unit guided on rails |
| DE19614660A1 (en) | 1996-04-13 | 1997-10-16 | Mannesmann Ag | Shelf rack servicing apparatus |
| AT500378B1 (en) * | 2001-06-13 | 2006-12-15 | Tgw Transportgeraete Gmbh | STACKER UNIT |
| DE202004002337U1 (en) | 2004-02-16 | 2004-05-19 | Knapp Logistik Automation Ges.M.B.H. | Automated warehouse order-picking rail-mounted fork lift trolley has base pivot for rear shift in centre of gravity during motion and braking |
| JP4577568B2 (en) * | 2005-09-09 | 2010-11-10 | 株式会社ダイフク | Article conveying device in article storage facility |
| CN103039022B (en) * | 2010-07-01 | 2016-04-27 | 北阳电机株式会社 | Light data transmission set, optical communication equipment and automatic transportation equipment |
| ES2364685B1 (en) * | 2011-04-15 | 2012-05-22 | Mecalux, S.A. | ELEVATION AND CROSSBODY CRADLE FOR CARGO TRANSPORTATION. |
-
2013
- 2013-12-10 DE DE102013113798.9A patent/DE102013113798A1/en not_active Withdrawn
-
2014
- 2014-12-03 PL PL14196033T patent/PL2883831T3/en unknown
- 2014-12-03 DK DK14196033.6T patent/DK2883831T3/en active
- 2014-12-03 PT PT141960336T patent/PT2883831T/en unknown
- 2014-12-03 ES ES14196033.6T patent/ES2611188T3/en active Active
- 2014-12-03 EP EP14196033.6A patent/EP2883831B1/en active Active
- 2014-12-03 SI SI201430132A patent/SI2883831T1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| EP2883831B1 (en) | 2016-10-19 |
| PT2883831T (en) | 2016-12-27 |
| EP2883831A1 (en) | 2015-06-17 |
| SI2883831T1 (en) | 2017-03-31 |
| DE102013113798A1 (en) | 2015-06-11 |
| PL2883831T3 (en) | 2017-05-31 |
| ES2611188T3 (en) | 2017-05-05 |
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