EP2088116B1 - Electronic push safety and method for preventing unintentional push or pull of palettes in a storage shelf - Google Patents

Electronic push safety and method for preventing unintentional push or pull of palettes in a storage shelf Download PDF

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Publication number
EP2088116B1
EP2088116B1 EP09150146A EP09150146A EP2088116B1 EP 2088116 B1 EP2088116 B1 EP 2088116B1 EP 09150146 A EP09150146 A EP 09150146A EP 09150146 A EP09150146 A EP 09150146A EP 2088116 B1 EP2088116 B1 EP 2088116B1
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EP
European Patent Office
Prior art keywords
load
handling device
storage
safeguard
retrieval
Prior art date
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Not-in-force
Application number
EP09150146A
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German (de)
French (fr)
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EP2088116A3 (en
EP2088116A2 (en
Inventor
Gerhard Schäfer
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SSI Schaefer Noell GmbH Lager und Systemtechnik
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SSI Schaefer Noell GmbH Lager und Systemtechnik
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Application filed by SSI Schaefer Noell GmbH Lager und Systemtechnik filed Critical SSI Schaefer Noell GmbH Lager und Systemtechnik
Priority to SI200930636T priority Critical patent/SI2088116T1/en
Priority to PL09150146T priority patent/PL2088116T3/en
Publication of EP2088116A2 publication Critical patent/EP2088116A2/en
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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"
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Definitions

  • the present invention relates to an electronic fürschubêt for a storage and retrieval device and a method for preventing unintentional pushing or pulling a loading aid, such as a pallet, in or out of a parking space of a storage rack, the storage and retrieval device automatically stores the loading equipment in the parking space or automated outsourced to the pitch.
  • the DE 10 2006 039 382 A1 discloses a stacker crane.
  • RBG storage and retrieval units
  • An RBG usually has three degrees of freedom of movement, namely, along an x-axis (lane direction, travel direction, travel unit), a y-axis (vertical direction, stroke direction), and a z-axis (lateral gait, load pickup).
  • An RBG is usually a vehicle which is a ground-based, freely movable on or along a rail conveyor, which essentially horizontal and vertical in-house transport of goods, articles, loads and / or - if appropriate facilities - of people is used ,
  • the RBG is often moved in a corridor or an alley between two shelves on rails.
  • shelf-bound RBG More detailed information on the structure of an RBG can be found in the patent DE 10 2006 037 719 ,
  • An RBG normally includes a landing gear, a mast, a hoist, a lift truck and a load handling attachment. With the chassis, the RBG can be moved along the lane.
  • a lift truck which has the lifting device, is moved by means of the hoist in a substantially vertical direction along the mast.
  • the load receiving means serves to receive and deliver storage units, which are usually stored on a loading aid.
  • a load handling attachment is understood to mean a part of the RBG that receives and delivers storage units.
  • a typical LAM for pallets is eg a lifting fork.
  • a storage unit provides a handling unit (loaded pallet, Containers, trays, etc.), which are stored for example in a high-bay warehouse or an AKL.
  • a loading aid is used to form bearing units. Depending on their function, a distinction is made between loading aids with a supporting function (eg pallets), carrying and enclosing functions (eg grid box pallets, containers, trays, etc.) as well as supporting, enclosing and terminating functions (eg containers).
  • Article-only storage units contain only items of one type or type.
  • load bearing of the storage units generally takes place via a telescopic fork pair, in the case of containers via e.g. rolling up with a belt conveyor, drawbars such as hooks, lasso or swivel arm, or with a lift table or shuttle.
  • LVR warehouse management computer
  • the LVR is subordinated to a large number of hierarchically structured control units.
  • An RBG receives its commands to load and unload LHM, e.g. from a programmable logic controller (PLC).
  • PLC programmable logic controller
  • a PLC is an assembly that is commonly used to control and / or regulate machinery. As a rule, such an assembly is made electronically and resembles components of a computer.
  • encoders sensors
  • actuators actuators
  • An associated operating system ensures that a user program always has a current status of an encoder. Based on this information, the user program can turn the actuators on or off so that the RBG functions as desired, e.g. to put a pallet in or out.
  • Another way to at least detect push through is to use e.g. a telescopic fork in it to monitor a required drive torque when retracting or extending the fork. If a pallet to be delivered encounters a pallet already on the shelf because the pallet to be delivered is moved too far away from the LAM, the required torque increases as both pallets are moved onto the shelf. Based on this principle of torque monitoring electronic fürschubêten with so-called. Snap-through clutches or with friction clutches. However, this type of electronic push-through fuse has the disadvantage that it is moment-limited, i. among other things depending on a friction between the involved components (shelf, pallet, fork, etc.).
  • the electronic fürschub Anlagen for a storage and retrieval unit, which automatically emits a loading equipment, especially a pallet or container, to a parking space in a storage rack or picks up from there, the storage and retrieval unit a substantially vertically movable pallet truck with a substantially horizontally movable load-receiving means is provided with a load receiving means control means, wherein the load receiving means control means is connected to a position detection means to detect a position of a clarlagernden or to be stored loading aid relative to the parking space, wherein the position detection means is arranged, a deviation of an actual position from a target position of the loading means, preferably by means of a distance measurement, to output a deviation signal to the load receiving means control means, and wherein the load receiving means control means is adapted to stop receiving the deviation signal, a horizontal movement of the receiving means.
  • this object is achieved with a method for preventing unintentional pushing through or pulling out of a loading aid, which is to be delivered with a storage and retrieval unit to a parking space in a storage rack from there, the storage control unit automatically stores the loading equipment in the parking space or automated from the parking space outsourced, wherein the storage and retrieval device comprises a substantially vertically movable lift truck with a substantially horizontally movable load-carrying means, comprising the following steps: determining a relative distance between parked on the parking load support and the lift truck to define a desired position of the loading aid; Activating position monitoring when the lift truck is positioned in a stowed position or a stowed position in front of the staging area to define an actual position of the load carrier; Method of the load-receiving means such that the load receiving means is moved during the removal of the loading aid into the parking space in order to subsequently lift the loading aid on the extended load-receiving means, or such that the load-receiving means during storage of the loading
  • a logic integrated into the sensor detects an unintentional shifting of the LHM relative to the parking space in the rack and generates a corresponding deviation signal.
  • the deviation signal is applied to, in particular direct, paths to a load handling means control means, e.g. to a converter, which controls a drive of the LAM. Since the inverter waits for such deviation signals, the logic contained in the inverter can react immediately, e.g. Using a so-called zero-ramp, the power supply from the drive of the LAM as quickly as possible take away by the energy is reduced to zero.
  • the communication between sensor and inverter is preferably done directly, i. without detour via a PLC, so that the time interval required for the evaluation and implementation of the error signal is extremely short.
  • the load-carrying means moves horizontally into the parking space or out of the parking space in order to store or outsource the loading aid.
  • Another advantage is the fact that the position detection device is fixedly mounted on the pallet truck and laterally spaced from the LAM, that the position detection device does not move relative to the storage rack during horizontal movement of the LAM and that the position detection device in the vertical process of the lift truck synchronously with moved the truck relative to the storage rack.
  • the LAM Since unintentional pushing through or pulling out is caused by the LAM of the storage and retrieval unit, it is recommended to determine the relative distance between the pallet truck and the LHM. As is known, the LAM moves during a storage and retrieval process. The LAM can not serve as a reference. The pallet truck, on the other hand, is at rest.
  • the position detection means i. for example, a laser distance sensor, also on the LAM, such as the LAM. attached to a telescopic fork.
  • the relative distance between the laser sensor and LHM such as that shown in FIG. a palette, change. Since it is known at what speed the fork is moved, so the expected distance between the sensor and pallet could be calculated. If the expected value deviates from the actual value, the pallet is either pushed or pulled unintentionally.
  • this solution is somewhat slower than the solution described above, since data must constantly be exchanged and calculated between the sensor and the control device. Furthermore, acceleration and braking effects have to be considered, which makes the monitoring more complex.
  • the LAM control device is a converter with integrated logic, in which a zero-ramp for stopping the movement of the LAM is stored.
  • the evaluation no longer takes place, as usual, in the PLC, but directly at the RBG.
  • the reaction time at detected error is very short.
  • the LAM is a telescoping fork for pallet handling or a horizontally movable lifting table for container handling.
  • the position detecting device is a distance sensor, such as a distance sensor. a laser sensor or a light sensor.
  • a further control device is provided for the global coordination of an emplacement process or an embarrassing process. This control device is e.g. a higher-level programmable controller.
  • a bus system allows the addressed control of several components in compliance with special security requirements, as they exist in connection with the automated LHM handling.
  • the LAM control device is connected directly to the position detection device in order to be able to receive the deviation signal without interposition of the further control device.
  • an “electronic push-through fuse” it is meant not only to prevent inadvertent push-through of an LHM, but also to prevent unintentional pull-out of an LHM.
  • the push-through fuse according to the present invention is “electronic” because it is not a “mechanical” push-through fuse of the kind mentioned in the opening paragraph, e.g. a stop, acts.
  • Fig. 1 shows a schematic block diagram of a rack system 10, as used for example in picking systems.
  • the racking system 10 is controlled by a warehouse management computer (LVR) 12.
  • LVR 12 coordinates the movement of storage machines, such as e.g. from RBG, inside the warehouse.
  • the LVR 12 also manages all data associated with the warehouse, such as Information about which goods are located in the warehouse, how many goods of a particular type are stored in the warehouse, which order picking orders have to be processed, which is the best order for processing the orders, etc.
  • material flow computers can be used which are not are shown.
  • the LVR 12 is over wired lines 14, and alternatively via wireless links 15, which are in Fig. 1 are indicated by a double arrow, with hierarchically subordinate control devices in connection.
  • Fig. 1 By way of example, two programmable logic controllers (PLC) 16 are shown as subordinate control devices.
  • PLC programmable logic controllers
  • the LVR 12 may communicate with other slave controllers, which need not necessarily be PLC 16, as indicated by unfinished connections 14.
  • the PLC 16 is connected via connections 18, inter alia, with stacker cranes (RBGs) 20 in connection.
  • the connections 18 are wired lines that implement a bus system (eg fieldbus, CAN bus, etc.).
  • An RGB 20 comprises, in addition to the components mentioned at the outset, such as e.g. a z-directional traveling gear, a mast extending in the y-direction, a lift truck movable along the mast and a load handling device (LAM) also comprise a position detector or sensor 22 and a LAM controller 24, e.g. an inverter.
  • the inverter 24 has logic and usually controls the drive current.
  • the inverter 24 and the sensor 22 may be directly connected to each other via a connection 26.
  • a loading equipment LHM
  • the RBG 20 is shown in the lower half of the drawing.
  • the RBG 20 has a lift truck 28 on which a load handling device (LAM) 30 is mounted.
  • the LAM 30 is for example a telescopic fork 32 with two prongs.
  • the lift truck 28 is vertically movable in the rack system along the (not shown) mast.
  • the vertical direction corresponds in the Fig. 2 the y direction.
  • the chassis of the RBG 20, also not shown, is moved in the aisle along the y-direction.
  • the telescopic fork 32 is movable transversely to the storage lane in the shelf along the z-direction. This is illustrated by double arrows 34.
  • the position detection device 22 which is exemplarily a laser distance sensor, is fixedly mounted on the lift truck 28 between the tines of the telescopic fork 32. It is understood that the sensor 22 could also be attached to the left or right of the tines. The sensor 22 could also be located remotely from the lift truck 28, as long as it is firmly connected to the lift truck 28 to synchronously, for example, in a vertical travel of the lift truck 28 to be moved with the same.
  • the pallet 38 is assigned to an isolated, schematically illustrated parking space 40.
  • the parking space 40 is a part of the shelf, not shown here in detail, which consists of a plurality of cross members 42 and longitudinal members 44 on which the pallet 38 can be parked for storage purposes. It is understood that several pallets 38 can be stored in the z-direction one behind the other. One speaks then of multiple deep storage. Furthermore, it is understood that several parking spaces could be arranged on the left and / or right of the individual parking space 40 shown. To simplify the illustration and the explanation, only the isolated parking space 40 will be considered below.
  • the parking space 40 or the shelf can only consist of side rails (Avemlagerriegeln).
  • the structure of the parking space 40 is arbitrary.
  • the sensor 22 measures a distance or a distance 36 between the pallet truck 28 brought into position and the pallet 38 parked on the parking space 40. It is understood that the pallet truck 28 or the storage and retrieval unit 20 is placed in a predetermined position before an emplacement process Transfer position is brought to move the LAM 30 in the z-direction can.
  • the RBG 20 is from the PLC 16 of the Fig. 1 (roughly) controlled to the transfer position.
  • reference marks can be provided on the shelf in order to make a fine adjustment of the RBG 20 relative to the parking space 40, since tolerances always have to be taken into account when activating predetermined positions.
  • Fig. 2A the RBG 20 is shown in a takeover position relative to the parking space 40.
  • the telescopic fork 32 In order to outsource the pallet 38, the telescopic fork 32 must be moved in the z direction under the pallet 38, as indicated by dark arrows within the fork Fig. 2B is indicated.
  • the pallet 38 has to corresponding, extending in the z-direction recesses for receiving the fork 32, which in the Fig. 2 Not are shown in more detail. If a container is used as an LHM, gripper arms or a lifting table (as a LAM) could be extended in z-direction.
  • the lift table 28, including the sensor 22, can be lifted slightly to raise the pallet 38 in the rack. Subsequently, the fork 32 is retracted in the reverse direction to get the pallet 38 on the truck 28.
  • the RBG 20 may return the pallet 38 at a remote transfer position.
  • a situation is shown in which the extension of the fork 32, however, does not proceed without errors.
  • the pallet 38 pushes the extending fork 32, the pallet 38, for example due to a protruding obstacle below the range 38 deeper into the pitch 40 inside. This is indicated by an arrow 46. This push through is usually unintentional and should be prevented.
  • the sensor 22 detects when pushing through a growing distance 36 'between the sensor 22 and the lift truck 28 and the pallet 38. This offset is between the Figs. 2B and 2C schematically indicated by V.
  • the controller 24 responsible for controlling the LAM 30 must now stop the movement of the forks 32 as quickly as possible to prevent the pallet 38 from being pushed through.
  • FIGS. 3A and 3B show a storage process.
  • the pallet 38 is in the Fig. 3A already successfully parked on pitch 40.
  • the distance between sensor 22 and pallet 38 is also indicated by reference numeral 36.
  • the LAM controller 24 interrupts the extension or retraction of the fork 32.
  • a so-called "zero ramp” is applied to the drive of the LAM 30.
  • a corresponding zero ramp is exemplary in Fig. 4 shown.
  • the zero ramp is stored in a memory, not shown, of the LAM controller 24 and causes the drive energy, here in the form of a current, is reduced as quickly as possible to zero. In Fig. 4 this happens by way of example at the time t '.
  • the LAM controller 24 receives a signal from the sensor 22 that a change in distance, ie, a deviation of the actual position of the LHM 38 from the desired position of the LHM 38, is present.
  • Fig. 5 shows the connections between the individual components of the Fig. 1 who are directly involved in an import or export procedure. In addition, let the Fig. 5 Read signals that are exchanged between the individual components.
  • control technology sequence is shown as an example for the converter 24.
  • the PLC 16 requests the RBG 20, not shown here, to drive to the transfer position. Once the RBG 20 has reached the transfer position, the PLC 16 instructs the sensor 22 to determine the distance 36 between itself and the pallet 38. Out For this reason, the PLC 16 sends a so-called teach signal 48 to the sensor 22. In a paging operation, the teach signal 48 is sent when the lift truck 28 has reached its takeover position and before the LAM 30 is extended. In a storage process, the transmission of the teach signal 48, as soon as the pallet 38 is deposited on the parking space and before the LAM 30 is to be withdrawn to the truck 28.
  • the distance 36 determined by the sensor 22 on the basis of the teach signal 48 between the sensor 22 / lifting carriage 28 and the pallet 38 represents the desired position of the pallet 38. This value can be stored in the sensor 22.
  • the teach signal 48 also causes the sensor 22 to monitor the distance 36 and, upon a significant change in the distance, a corresponding sensor feedback, i. a deviation signal 50 to send to the LAM controller 24.
  • the LAM controller 24 receives via the bus 18 from the PLC 16 a signal with which it gets informed that the controller 24 has to pay attention to deviation signals 50 of the sensor 22. The monitoring is activated.
  • the PLC 16 causes the control device 24 for extending or retracting the forks 32.
  • the control device 24 transmits a signal to a motor connection of a drive 51 of the LAM 30.
  • the drive 51 is fed back to the control device 24 to bearing return signals 52 and speed feedback signals 54 at to transmit the controller 24.
  • FIG. 6 an operation in the LAM controller 24 is shown.
  • a first step 60 the control device 24 is informed that the push-through protection is to be activated because the fork 32 is to be retracted or extended in the Z-direction.
  • the sensor 22 or the control device 24 is responsible for detecting a deviation
  • parameters for monitoring are stored. One parameter is, for example, the distance 36, which was determined by the sensor 22. If the controller 24 is responsible for detecting a push-through, the sensor 22 provides a value corresponding to the actual position of the pallet 38 to the control device 24, which in turn decides whether or not there has been a significant deviation.
  • steps 62, 62 ' are performed equivalently when the position monitoring is performed by the sensor 22, in which case the corresponding parameters are stored in the sensor 22.
  • step 64 the PLC 16 notifies the controller 24 via the bus 18 that an extension or retraction of the fork 32 is imminent, i. the monitoring is activated on the part of the LAM controller 24.
  • step 66 the controller 24 then monitors a port over which the deviation signal 50 is sent. Since the deviation signal 50 is preferably transmitted directly from the sensor 22 to the control device 24, the transmission is much faster than via the detour of the PLC 16.
  • the push-through protection is deactivated again in step 68.
  • the controller 24 determines in a step 70 that the sensor 22 has sent the deviation signal 50.
  • existing logic detects this situation and solves the zero ramp (see. FIG. 4 ) to stop the drive 51 as fast as possible.
  • braking devices can be used, which are not shown in the figures.
  • the profile of the zero ramp of the Fig. 4 is freely changeable, depending on the specific requirement.
  • step 74 the controller 24 sends a signal to the PLC 16 to indicate that there is a failure (push-through or pull-out).
  • FIG. 7 Various steps are shown that occur when loading or unloading an LHM 38.
  • a paging operation is shown in the left branch of the Fig. 7 .
  • an emplacement process is shown in the right branch of the Fig. 7 .
  • the Fig. 7 essentially shows such actions that are coordinated by the PLC 16.
  • a first step 76 the PLC 16 queries whether an emplacement process or a removal process is present.
  • step 78 If it is determined in step 78 that a paging order is present, the lift truck 28 is moved to the takeover position. Subsequently, the sensor 22 is instructed to determine the desired position of the LHM 38 (see step 80). In step 82, the monitoring is then activated by the sensor 22 and / or the controller 24 are sent corresponding signals from the PLC 16. Subsequently, in a step 84, the extension of the fork 32 is caused. The fork is usually extended very quickly, as it is empty at this time and should only be driven under the pallet to be picked.
  • step 86 it is checked whether the fork 32 has been driven completely under the pallet 38. If this is the case, the monitoring can be deactivated in step 88. The fork 32 is then lifted and the pallet 38 sits securely on it.
  • step 92 it is determined whether the lift truck 28 has reached its Hubendposition. If this is the case, the fork 32 is preferably retracted slowly (see step 94) since it is now loaded with the LHM 38. Once the fork 32 is in its center position relative to the RBG 20 (see step 96), the swap is completed (see step 98).
  • step 78 ' the loaded lift truck 28 is brought into the transfer position.
  • step 100 the fork 32 is extended.
  • step 102 it is checked whether the fork 32 is fully extended (see step 102). If the fork 32 is fully extended, the sensor 22 is commanded in step 104 to determine the desired position of the LHM 38.
  • step 106 the lift truck 28 is lowered. This can be done simultaneously to the distance determination of step 104, since the lift truck 28 and sensor 22 move synchronously.
  • step 108 It is then checked in a step 108 whether the lift truck 28 is lowered far enough to settle the LHM 38 on the pitch 40. If the LHM 38 is deposited on the parking space 40, the position or distance monitoring is activated in a step 110. In step 112, the fork is then retracted. If it is determined in step 114 that the fork is retracted, the monitoring can be switched off in step 116. The putaway process is then completed in step 118.
  • a laser sensor e.g.
  • a light sensor could be used, which determines that the pallet has been moved. The light sensor would then provide a suitable location, so that it is not unintentionally obscured the view.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Civil Engineering (AREA)
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Description

Die vorliegende Erfindung betrifft eine elektronische Durchschubsicherung für ein Regalbediengerät sowie ein Verfahren zum Verhindern eines unbeabsichtigten Durchschiebens oder Herausziehens eines Ladehilfsmittels, wie z.B. einer Palette, in einem oder aus einem Stellplatz eines Lagerregals, wobei das Regalbediengerät das Ladehilfsmittel automatisiert in den Stellplatz einlagert oder automatisiert aus dem Stellplatz auslagert.The present invention relates to an electronic Durchschubsicherung for a storage and retrieval device and a method for preventing unintentional pushing or pulling a loading aid, such as a pallet, in or out of a parking space of a storage rack, the storage and retrieval device automatically stores the loading equipment in the parking space or automated outsourced to the pitch.

Die DE 10 2006 039 382 A1 offenbart ein Regalbediengerät.The DE 10 2006 039 382 A1 discloses a stacker crane.

Die US 2007/0215412 A1 und die DE 201 19 110 U1 offenbaren Abstandsmessverfahren.The US 2007/0215412 A1 and the DE 201 19 110 U1 disclose distance measuring method.

Im Stand der Technik sind Regalbediengeräte (RBG) als schienengeführte Fahrzeuge zur Handhabung von Waren in einem Hochregallager bekannt. Ein RBG hat üblicherweise drei Bewegungsfreiheitsgrade, nämlich entlang einer x-Achse (Gassenrichtung; Bewegungsrichtung Fahreinheit), einer y-Achse (vertikale Richtung; Bewegungsrichtung Hubeinheit) und einer z-Achse (Gangquerrichtung; Bewegungsrichtung Lastaufnahmemittel).In the prior art, storage and retrieval units (RBG) are known as rail-guided vehicles for handling goods in a high-bay warehouse. An RBG usually has three degrees of freedom of movement, namely, along an x-axis (lane direction, travel direction, travel unit), a y-axis (vertical direction, stroke direction), and a z-axis (lateral gait, load pickup).

Ein RBG ist üblicherweise ein Fahrzeug, welches ein bodengebundenes, frei bzw. auf oder entlang einer Schiene verfahrbares Fördermittel darstellt, welches im Wesentlichen einem horizontalen und vertikalen innerbetrieblichen Transport von Waren, Artikeln, Lasten und/oder - bei Vorhandensein entsprechender Einrichtungen - von Personen dient. Das RBG wird oft in einem Gang bzw. einer Gasse zwischen zwei Regal auf Schienen geführt verfahren. Es sind jedoch auch regalgebundene RBG bekannt. Genauere Informationen zum Aufbau eines RBGs finden sich im Patent DE 10 2006 037 719 .An RBG is usually a vehicle which is a ground-based, freely movable on or along a rail conveyor, which essentially horizontal and vertical in-house transport of goods, articles, loads and / or - if appropriate facilities - of people is used , The RBG is often moved in a corridor or an alley between two shelves on rails. However, there are also known shelf-bound RBG. More detailed information on the structure of an RBG can be found in the patent DE 10 2006 037 719 ,

Ein RBG umfasst normalerweise ein Fahrwerk, einen Mast, ein Hubwerk, einen Hubwagen sowie ein Lastaufnahmemittel. Mit dem Fahrwerk lässt sich das RBG entlang der Gasse verfahren. Ein Hubwagen, der das Lastaufnahmemittel aufweist, wird mittels des Hubwerks im Wesentlichen in vertikaler Richtung entlang des Masts verfahren. Das Lastaufnahmemittel dient zur Aufnahme und Abgabe von Lagereinheiten, die üblicherweise auf einem Ladehilfsmittel gelagert sind.An RBG normally includes a landing gear, a mast, a hoist, a lift truck and a load handling attachment. With the chassis, the RBG can be moved along the lane. A lift truck, which has the lifting device, is moved by means of the hoist in a substantially vertical direction along the mast. The load receiving means serves to receive and deliver storage units, which are usually stored on a loading aid.

Unter einem Lastaufnahmemittel (LAM) wird ein Teil des RBGs verstanden, der Lagereinheiten aufnimmt und abgibt. Ein typisches LAM für Paletten ist z.B. eine Hubgabel. Eine Lagereinheit stellt eine Handhabungseinheit (beladene Palette, Behälter, Tablare, etc.) dar, die z.B. in einem Hochregallager oder einem AKL gelagert werden. Ein Ladehilfsmittel wird zur Bildung von Lagereinheiten eingesetzt. Hierbei unterscheidet man - abhängig von ihrer Funktion - Ladehilfsmittel mit tragender Funktion (z.B. Paletten), tragender und umschließender Funktion (z.B. Gitterboxpaletten, Behälter, Tablare, etc.) sowie tragender, umschließender und abschließender Funktion (z.B. Container). Artikelreine Lagereinheiten enthalten nur Artikel eines Typs oder einer Sorte.A load handling attachment (LAM) is understood to mean a part of the RBG that receives and delivers storage units. A typical LAM for pallets is eg a lifting fork. A storage unit provides a handling unit (loaded pallet, Containers, trays, etc.), which are stored for example in a high-bay warehouse or an AKL. A loading aid is used to form bearing units. Depending on their function, a distinction is made between loading aids with a supporting function (eg pallets), carrying and enclosing functions (eg grid box pallets, containers, trays, etc.) as well as supporting, enclosing and terminating functions (eg containers). Article-only storage units contain only items of one type or type.

Bei Verwendung von Paletten als Ladehilfsmittel erfolgt eine Lastaufnahme der Lagereinheiten im Allgemeinen über ein teleskopierbares Gabelpaar, bei Behältern über z.B. ein Aufwälzen per Gurtförderer, Zugeinrichtungen, wie Haken, Lasso oder Schwenkarm, oder mit einem Hubtisch oder Shuttle.When pallets are used as loading aids, load bearing of the storage units generally takes place via a telescopic fork pair, in the case of containers via e.g. rolling up with a belt conveyor, drawbars such as hooks, lasso or swivel arm, or with a lift table or shuttle.

Eine Koordinierung der Bewegungsabläufe in einem Regallager, das mit einem RBG automatisiert betrieben wird, erfolgt üblicherweise durch einen Lagerverwaltungsrechner (LVR). Dem LVR sind eine Vielzahl von hierarchisch strukturierten Steuereinheiten untergeordnet. Ein RBG erhält seine Befehle zum Ein- und Auslagern von LHM z.B. von einer speicherprogrammierbaren Steuereinheit (SPS). Eine SPS ist eine Baugruppe, die allgemein zur Steuerung und/oder Regelung von Maschinen eingesetzt wird. In der Regel ist eine solche Baugruppe elektronisch ausgeführt und ähnelt Baugruppen eines Computers. Üblicherweise sind Geber (Sensoren) und Stellglieder (Aktoren) mit dieser Baugruppe verbunden. Ein zugehöriges Betriebssystem (Firmware) stellt sicher, dass einem Anwenderprogramm immer ein aktueller Zustand eines Gebers zur Verfügung steht. Anhand dieser Informationen kann das Anwenderprogramm die Stellglieder so ein- oder ausschalten, dass das RBG in der gewünschten Weise funktioniert, z.B. eine Palette ein- oder auslagert.A coordination of the movements in a rack warehouse, which is operated automatically with an RBG, is usually carried out by a warehouse management computer (LVR). The LVR is subordinated to a large number of hierarchically structured control units. An RBG receives its commands to load and unload LHM, e.g. from a programmable logic controller (PLC). A PLC is an assembly that is commonly used to control and / or regulate machinery. As a rule, such an assembly is made electronically and resembles components of a computer. Usually encoders (sensors) and actuators (actuators) are connected to this module. An associated operating system (firmware) ensures that a user program always has a current status of an encoder. Based on this information, the user program can turn the actuators on or off so that the RBG functions as desired, e.g. to put a pallet in or out.

Da die Abgabe und Aufnahme von Paletten wünschenswerterweise automatisiert erfolgen soll, ist es erforderlich, sog. Durchschubsicherungen vorzusehen, die z.B. ein Durchschieben einer Palette, bei Abgabe der Palette an das Regal, verhindert. Zum Verhindern des Durchschiebens werden üblicherweise mechanische Anschläge verwendet, wie sie exemplarisch in dem deutschen Gebrauchsmuster DE 90 13 721 U1 offenbart sind.Since the dispensing and receiving of pallets should desirably be automated, it is necessary to provide so-called push-through safeguards which, for example, prevent a pallet from being pushed through when the pallet is delivered to the rack. To prevent the pushing through are usually mechanical attacks used, as exemplified in the German utility model DE 90 13 721 U1 are disclosed.

Eine weitere Möglichkeit, ein Durchschieben zumindest zu detektieren, besteht bei der Verwendung z.B. einer Teleskopgabel darin, ein erforderliches Antriebsmoment beim Ein- oder Ausfahren der Gabel zu überwachen. Stößt eine abzugebende Palette an eine bereits im Regal befindliche Palette, weil die abzugebende Palette vom LAM zu weit ins Regal bewegt wird, steigt das erforderliche Drehmoment, da beide Paletten ins Regal bewegt werden. Auf diesem Prinzip der Drehmomentsüberwachung beruhen elektronische Durchschubsicherungen mit sog. Durchrastkupplungen bzw. mit Rutschkupplungen. Diese Art der elektronischen Durchschubsicherung hat aber den Nachteil, dass sie momentbegrenzt ist, d.h. unter anderem abhängig von einer Reibung zwischen den beteiligten Komponenten (Regal, Palette, Gabel, usw.) ist.Another way to at least detect push through is to use e.g. a telescopic fork in it to monitor a required drive torque when retracting or extending the fork. If a pallet to be delivered encounters a pallet already on the shelf because the pallet to be delivered is moved too far away from the LAM, the required torque increases as both pallets are moved onto the shelf. Based on this principle of torque monitoring electronic Durchschubsicherungen with so-called. Snap-through clutches or with friction clutches. However, this type of electronic push-through fuse has the disadvantage that it is moment-limited, i. among other things depending on a friction between the involved components (shelf, pallet, fork, etc.).

Es besteht deshalb ein Bedürfnis nach einer Durchschubsicherung ohne mechanischen Anschlag, die unabhängig von der Größe, dem verwendeten Material, der Dimensionierung und dem Gewicht des LHM bzw. der Lagereinheit ist und die schnellstmöglich bei einem Fehler reagiert. Ferner wäre es wünschenswert, nicht nur ein Durchschieben verhindern zu können, sondern auch ein unbeabsichtigtes Herausziehen verhindern zu können, da es grundsätzlich möglich ist, dass das LHM beim Zurückziehen des LAM von diesem mitgenommen wird, weil das LHM z.B. nicht richtig abgesetzt wurde.There is therefore a need for a push-through without mechanical stop, which is independent of the size, the material used, the dimensions and weight of the LHM or the storage unit and the fastest possible reaction to a fault. Further, it would be desirable to be able to prevent not only push through, but also to prevent inadvertent pull out, since it is basically possible for the LHM to be taken along by the LAM when pulling it back because the LHM is e.g. was not properly discontinued.

Ferner ist es eine Aufgabe, ein Verfahren zum Verhindern eines unbeabsichtigten Durchschiebens oder Herausziehens eines LHM bereitzustellen.It is a further object to provide a method for preventing unintentional pushing or pulling out of an LHM.

Diese Aufgabe wird mit einer elektronischen Durchschubsicherung gelöst, wobei die elektronische Durchschubsicherung für ein Regalbediengerät, welches ein Ladehilfsmittel, insbesondere eine Palette oder einen Behälter, automatisiert an einen Stellplatz in einem Lagerregal abgibt oder von dort abholt, wobei das Regalbediengerät einen im Wesentlichen vertikal verfahrbaren Hubwagen mit einem im Wesentlichen horizontal verfahrbaren Lastaufnahmemittel aufweist, mit einer Lastaufnahmemittel-Steuereinrichtung versehen ist, wobei die Lastaufnahmemittel-Steuereinrichtung mit einer Positionserfassungseinrichtung verbunden ist, um eine Position eines einzulagernden oder auszulagernden Ladehilfsmittels relativ zum Stellplatz zu erfassen, wobei die Positionserfassungseinrichtung eingerichtet ist, eine Abweichung einer Ist-Position von einer Soll-Position des Ladehilfsmittels, vorzugsweise mittels einer Abstandsmessung, zu erfassen, um ein Abweichungssignal an die Lastaufnahmemittel-Steuereinrichtung auszugeben, und wobei die Lastaufnahmemittel-Steuereinrichtung eingerichtet ist, bei einem Empfang des Abweichungssignals eine horizontale Bewegung des Aufnahmemittels zu stoppen.This object is achieved with an electronic Durchschubsicherung, the electronic Durchschubsicherung for a storage and retrieval unit, which automatically emits a loading equipment, especially a pallet or container, to a parking space in a storage rack or picks up from there, the storage and retrieval unit a substantially vertically movable pallet truck with a substantially horizontally movable load-receiving means is provided with a load receiving means control means, wherein the load receiving means control means is connected to a position detection means to detect a position of a einzulagernden or to be stored loading aid relative to the parking space, wherein the position detection means is arranged, a deviation of an actual position from a target position of the loading means, preferably by means of a distance measurement, to output a deviation signal to the load receiving means control means, and wherein the load receiving means control means is adapted to stop receiving the deviation signal, a horizontal movement of the receiving means.

Ferner wird diese Aufgabe mit einem Verfahren zum Verhindern eines unbeabsichtigten Durchschiebens oder Herausziehens eines Ladehilfsmittels gelöst, das mit einem Regalbediengerät an einen Stellplatz in einem Lagerregal abzugeben oder von dort abzuholen ist, wobei das Lagerbediengerät das Ladehilfsmittel automatisiert in den Stellplatz einlagert oder automatisiert aus dem Stellplatz auslagert, wobei das Regalbediengerät einen im Wesentlichen vertikal verfahrbaren Hubwagen mit einem im Wesentlichen horizontal verfahrbaren Lastaufnahmemittel aufweist, mit den folgenden Schritten: Bestimmen eines relativen Abstands zwischen dem auf dem Stellplatz abgestellten Ladehilfsmittel und dem Hubwagen, um eine Soll-Position des Ladehilfsmittels zu definieren; Aktivieren einer Positionsüberwachung, wenn der Hubwagen in einer Einlagerungsposition oder einer Auslagerungsposition vor dem Stellplatz positioniert ist, um eine Ist-Position des Ladehilfsmittels zu definieren; Verfahren des Lastaufnahmemittels derart, dass das Lastaufnahmemittel beim Auslagern des Ladehilfsmittels in den Stellplatz hinein gefahren wird, um das Ladehilfsmittel anschließend auf das ausgefahrene Lastaufnahmemittel zu heben, bzw. derart, dass das Lastaufnahmemittel beim Einlagern des Ladehilfsmittels nach einem erfolgten Absetzen des Ladehilfsmittels auf dem Stellplatz aus dem Stellplatz herausgefahren wird; Bestimmen, ob es während des Verfahrens des Lastaufnahmemittels zu einer signifikanten Abweichung der Ist-Position von der Soll-Position kommt; und wenn eine signifikante Abweichung vorliegt, Erzeugen eines Abweichungssignals, um ein sofortiges Stoppen der Bewegung des Lastaufnahmemittels zu veranlassen; oder wenn keine signifikante Abweichung vorliegt, Fortsetzen der Bewegung des Lastaufnahmemittels.Furthermore, this object is achieved with a method for preventing unintentional pushing through or pulling out of a loading aid, which is to be delivered with a storage and retrieval unit to a parking space in a storage rack from there, the storage control unit automatically stores the loading equipment in the parking space or automated from the parking space outsourced, wherein the storage and retrieval device comprises a substantially vertically movable lift truck with a substantially horizontally movable load-carrying means, comprising the following steps: determining a relative distance between parked on the parking load support and the lift truck to define a desired position of the loading aid; Activating position monitoring when the lift truck is positioned in a stowed position or a stowed position in front of the staging area to define an actual position of the load carrier; Method of the load-receiving means such that the load receiving means is moved during the removal of the loading aid into the parking space in order to subsequently lift the loading aid on the extended load-receiving means, or such that the load-receiving means during storage of the loading aid after a successful settling of the loading aid on the pitch is moved out of the parking space; Determining whether there is a significant deviation of the actual position from the desired position during the process of the lifting device; and if there is a significant deviation, generating a deviation signal to an immediate one Stopping the movement of the lifting device to cause; or if there is no significant deviation, continue the movement of the lifting device.

Aufgrund des Vergleichs einer Ist-Position mit einer Soll-Position des LHM kann z.B. eine in den Sensor integrierte Logik ein unabsichtliches Verschieben des LHM relativ zum Stellplatz im Regal feststellen und ein entsprechendes Abweichungssignal generieren. Das Abweichungssignal wird auf, insbesondere direktem, Wege zu einer Lastaufnahmemittel-Steuereinrichtung, wie z.B. zu einem Umrichter, geleitet, der einen Antrieb des LAM regelt. Da der Umrichter auf solche Abweichungssignale wartet, kann die im Umrichter enthaltene Logik sofort reagieren und z.B. mittels einer sog. Null-Rampe die Energieversorgung vom Antrieb des LAM schnellstmöglich wegnehmen, indem die Energie auf Null heruntergefahren wird. Auf diese Weise ist es möglich, dass das LAM während des horizontalen Hineinbewegens in das Regal bzw. während des horizontalen Herausbewegens aus dem Regal sofort - ohne Verwendung einer (zusätzlichen) Bremseinrichtung - angehalten wird, so dass das LHM nicht aus dem Regal fällt bzw. ein anderes LHM nur unwesentlich tiefer in das Regal schiebt.Due to the comparison of an actual position with a desired position of the LHM, e.g. a logic integrated into the sensor detects an unintentional shifting of the LHM relative to the parking space in the rack and generates a corresponding deviation signal. The deviation signal is applied to, in particular direct, paths to a load handling means control means, e.g. to a converter, which controls a drive of the LAM. Since the inverter waits for such deviation signals, the logic contained in the inverter can react immediately, e.g. Using a so-called zero-ramp, the power supply from the drive of the LAM as quickly as possible take away by the energy is reduced to zero. In this way, it is possible that the LAM during the horizontal moving into the shelf or during horizontal removal from the shelf immediately - without the use of (additional) braking device - is stopped, so that the LHM does not fall off the shelf or another LHM pushes only insignificantly deeper into the shelf.

Die Kommunikation zwischen Sensor und Umrichter erfolgt vorzugsweise direkt, d.h. ohne Umweg über eine SPS, so dass das für die Auswertung und Umsetzung des Fehlersignals benötigte Zeitintervall äußerst kurz ist.The communication between sensor and inverter is preferably done directly, i. without detour via a PLC, so that the time interval required for the evaluation and implementation of the error signal is extremely short.

Mechanische Durchschubsicherungen, wie sie eingangs erwähnt wurden, werden nicht mehr benötigt, so dass die Investitionskosten bei der Anschaffung eines entsprechenden Regals entsprechend geringer sind. Zusätzlich zum Durchschieben, wie es von den mechanischen Durchschubsicherungen verhindert wird, verhindert die Vorrichtung bzw. das Verfahren gemäß der vorliegenden Erfindung zusätzlich auch ein unbeabsichtigtes Herausziehen eines LHM aus dem Regal.Mechanical Durchschubsicherungen, as mentioned above, are no longer needed, so that the investment costs for the purchase of a corresponding shelf are correspondingly lower. In addition to pushing through, as is prevented by the mechanical Durchschubsicherungen, the device or the method according to the present invention also prevents inadvertent withdrawal of a LHM from the shelf.

Gemäß einer bevorzugten Ausführungsform fährt das Lastaufnahmemittel horizontal in den Stellplatz hinein bzw. aus dem Stellplatz heraus, um das Ladehilfsmittel einzulagern oder auszulagern.According to a preferred embodiment, the load-carrying means moves horizontally into the parking space or out of the parking space in order to store or outsource the loading aid.

Ein weiterer Vorteil ist darin zu sehen, dass die Positionserfassungseinrichtung fest am Hubwagen und derart seitlich beabstandet zu dem LAM angebracht ist, dass sich die Positionserfassungseinrichtung beim horizontalen Verfahren des LAM nicht gegenüber dem Lagerregal bewegt und dass sich die Positionserfassungseinrichtung beim vertikalen Verfahren des Hubwagens synchron mit dem Hubwagen relativ zum Lagerregal bewegt.Another advantage is the fact that the position detection device is fixedly mounted on the pallet truck and laterally spaced from the LAM, that the position detection device does not move relative to the storage rack during horizontal movement of the LAM and that the position detection device in the vertical process of the lift truck synchronously with moved the truck relative to the storage rack.

Da ein unbeabsichtigtes Durchschieben oder Herausziehen durch das LAM des Regalbediengeräts hervorgerufen wird, empfiehlt es sich, den relativen Abstand zwischen dem Hubwagen und dem LHM zu bestimmen. Das LAM bewegt sich bekanntlich während eines Einlagerungs- bzw. Auslagerungsvorgangs. Das LAM kann somit nicht als Referenz dienen. Der Hubwagen dagegen ist in Ruhe.Since unintentional pushing through or pulling out is caused by the LAM of the storage and retrieval unit, it is recommended to determine the relative distance between the pallet truck and the LHM. As is known, the LAM moves during a storage and retrieval process. The LAM can not serve as a reference. The pallet truck, on the other hand, is at rest.

Alternativ könnte die Positionserfassungseinrichtung, d.h. zum Beispiel ein Laserabstandssensor, auch an dem LAM, wie z.B. an einer Teleskopgabel, befestigt werden. Beim Ein- und Ausfahren der Gabel würde sich der relative Abstand zwischen Lasersensor und LHM, wie z.B. einer Palette, ändern. Da bekannt ist, mit welcher Geschwindigkeit die Gabel verfahren wird, könnte so der zu erwartende Abstand zwischen Sensor und Palette errechnet werden. Weicht der erwartete Wert vom tatsächlichen Wert ab, wird die Palette entweder unbeabsichtigt durchgeschoben oder herausgezogen. Diese Lösung ist jedoch etwas langsamer als die zuvor beschriebene Lösung, da permanent Daten zwischen Sensor und Steuereinrichtung ausgetauscht und berechnet werden müssen. Ferner sind Beschleunigungs- und Bremseffekte zu berücksichtigen, was die Überwachung aufwendiger macht.Alternatively, the position detection means, i. for example, a laser distance sensor, also on the LAM, such as the LAM. attached to a telescopic fork. As the fork extends and retracts, the relative distance between the laser sensor and LHM, such as that shown in FIG. a palette, change. Since it is known at what speed the fork is moved, so the expected distance between the sensor and pallet could be calculated. If the expected value deviates from the actual value, the pallet is either pushed or pulled unintentionally. However, this solution is somewhat slower than the solution described above, since data must constantly be exchanged and calculated between the sensor and the control device. Furthermore, acceleration and braking effects have to be considered, which makes the monitoring more complex.

Außerdem ist es von Vorteil, wenn beim Stoppen der Bewegung des LAM eine Antriebsenergie eines Lastaufnahmemittelantriebs auf Null heruntergefahren wird.In addition, it is advantageous if, when stopping the movement of the LAM, a drive energy of a load-receiving means drive is reduced to zero.

Aufgrund dieser Maßnahme ist es nicht erforderlich, zusätzlich aktiv mit Bremsen zu bremsen vorzusehen. Dies verringert den Verschleiß. Nichtsdestotrotz lässt sich die Bewegung des LAM schnell und zuverlässig stoppen.Due to this measure, it is not necessary to additionally provide braking actively with brakes. This reduces the wear. Nevertheless, the movement of the LAM can be stopped quickly and reliably.

Gemäß einer weiteren vorteilhaften Ausgestaltung ist die LAM-Steuereinrichtung ein Umrichter mit integrierter Logik, in welchem eine Null-Rampe zum Stoppen der Bewegung des LAM gespeichert ist.According to a further advantageous embodiment, the LAM control device is a converter with integrated logic, in which a zero-ramp for stopping the movement of the LAM is stored.

Durch das Vorsehen eines Umrichters mit integrierter Logik erfolgt die Auswertung nicht mehr, wie üblich, in der SPS, sondern direkt beim RBG. Die Reaktionszeit bei festgestelltem Fehler ist sehr kurz.By providing a converter with integrated logic, the evaluation no longer takes place, as usual, in the PLC, but directly at the RBG. The reaction time at detected error is very short.

Vorzugsweise ist das LAM eine teleskopierbare Gabel zur Palettenhandhabung oder ein in horizontaler Richtung verfahrbarer Hubtisch zur Behälterhandhabung. Insbesondere ist die Positionserfassungseinrichtung ein Abstandssensor, wie z.B. ein Lasersensor oder ein Lichttaster. Gemäß einer weiteren bevorzugten Ausgestaltung ist eine weitere Steuereinrichtung zum globalen Koordinieren eines Einlagerungsvorgangs bzw. eines Auslagerungsvorgangs vorgesehen. Diese Steuereinrichtung ist z.B. eine übergeordnete speicherprogrammierbare Steuereinrichtung.Preferably, the LAM is a telescoping fork for pallet handling or a horizontally movable lifting table for container handling. In particular, the position detecting device is a distance sensor, such as a distance sensor. a laser sensor or a light sensor. According to a further preferred refinement, a further control device is provided for the global coordination of an emplacement process or an embarrassing process. This control device is e.g. a higher-level programmable controller.

Außerdem hat es sich als vorteilhaft herausgestellt, wenn die beiden Steuereinrichtungen über ein Bussystem miteinander verbunden sind.In addition, it has proven to be advantageous if the two control devices are connected to each other via a bus system.

Ein Bussystem ermöglicht die adressierte Ansteuerung von mehreren Komponenten unter Beachtung besonderer Sicherheitsanforderungen, wie sie im Zusammenhang mit der automatisierten LHM-Handhabung existieren.A bus system allows the addressed control of several components in compliance with special security requirements, as they exist in connection with the automated LHM handling.

Gemäß einer weiteren Ausgestaltung ist die LAM-Steuereinrichtung direkt mit der Positionserfassungseinrichtung verbunden, um das Abweichungssignal ohne Zwischenschaltung der weiteren Steuereinrichtung empfangen zu können.According to a further embodiment, the LAM control device is connected directly to the position detection device in order to be able to receive the deviation signal without interposition of the further control device.

Diese Maßnahme erhöht die Bearbeitungsgeschwindigkeit. Die fehlerhafte Betätigung des LAM wird direkt ohne Zwischenschaltung einer SPS verarbeitet. Die Reaktionszeit verkürzt sich dadurch. Reaktionszeiten im ms-Bereich sind möglich.This measure increases the processing speed. The faulty operation of the LAM is processed directly without the interposition of a PLC. The reaction time is shortened. Reaction times in the ms range are possible.

Es versteht sich, dass die vorstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der vorliegenden Erfindung zu verlassen.It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

Ausführungsbeispiele der Erfindung sind in der Zeichnung dargestellt und werden in der nachfolgenden Beschreibung näher erläutert. Es zeigen:

Fig. 1
zeigt ein schematisches Blockdiagramm einer Regalanlage mit elektronischer Durchschubsicherung gemäß der vorliegenden Erfindung.
Fig. 2
zeigt einzelne Schritte A bis C eines fehlerhaften Auslagerungsvorgangs.
Fig. 3
zeigt zwei schematische Schritte eines fehlerhaften Einlagerungsvorgangs.
Fig. 4
zeigt eine sog. Null-Rampe.
Fig. 5
zeigt ein schematisches Blockdiagramm inklusive Signalaustausch zwischen beteiligten Komponenten gemäß der vorliegenden Erfindung.
Fig. 6
zeigt ein schematisches Flussdiagramm in einer LAM-Steuereinrichtung zur elektronischen Durchschubsicherung gemäß der vorliegenden Erfindung.
Fig. 7
zeigt ein schematisches Flussdiagramm eines Funktionsablaufes in einer übergeordneten Steuereinrichtung zur Durchschubsicherung gemäß der vorliegenden Erfindung.
Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description. Show it:
Fig. 1
shows a schematic block diagram of a rack system with electronic push-through protection according to the present invention.
Fig. 2
shows individual steps A to C of a faulty paging operation.
Fig. 3
shows two schematic steps of a faulty storage process.
Fig. 4
shows a so-called zero ramp.
Fig. 5
shows a schematic block diagram including signal exchange between participating components according to the present invention.
Fig. 6
shows a schematic flow diagram in a LAM control device for electronic push-through protection according to the present invention.
Fig. 7
shows a schematic flowchart of a functional sequence in a parent control device for push-through protection according to the present invention.

In den Figuren sind gleiche Merkmale mit den gleichen Bezugszeichen versehen. Wenn nachfolgend von einer "elektronischen Durchschubsicherung" gesprochen wird, so ist damit nicht nur das Verhindern eines unbeabsichtigten Durchschiebens eines LHMs, sondern auch das Verhindern eines unbeabsichtigten Herausziehens eines LHMs gemeint. Die Durchschubsicherung gemäß der vorliegenden Erfindung ist "elektronisch", weil es sich nicht um eine "mechanische" Durchschubsicherung der eingangs erwähnten Art, wie z.B. einen Anschlag, handelt.In the figures, the same features are provided with the same reference numerals. When referring to an "electronic push-through fuse", it is meant not only to prevent inadvertent push-through of an LHM, but also to prevent unintentional pull-out of an LHM. The push-through fuse according to the present invention is "electronic" because it is not a "mechanical" push-through fuse of the kind mentioned in the opening paragraph, e.g. a stop, acts.

Fig. 1 zeigt ein schematisches Blockdiagramm einer Regalanlage 10, wie sie z.B. in Kommissionieranlagen eingesetzt wird. Fig. 1 shows a schematic block diagram of a rack system 10, as used for example in picking systems.

Die Regalanlage 10 wird von einem Lagerverwaltungsrechner (LVR) 12 gesteuert. Der LVR 12 koordiniert die Bewegung von Lagermaschinen, wie z.B. von RBG, innerhalb des Lagers. Der LVR 12 verwaltet ferner alle im Zusammenhang mit dem Lager stehenden Daten, wie z.B. Angaben darüber, welche Waren sich wo im Lager befinden, wie viele Waren eines bestimmten Typs im Lager gelagert sind, welche Kommissionieraufträge gerade abgearbeitet werden müssen, was die beste Reihenfolge zur Abarbeitung der Aufträge ist, usw. Zusätzlich können Materialflussrechner eingesetzt werden, die hier nicht dargestellt sind.The racking system 10 is controlled by a warehouse management computer (LVR) 12. The LVR 12 coordinates the movement of storage machines, such as e.g. from RBG, inside the warehouse. The LVR 12 also manages all data associated with the warehouse, such as Information about which goods are located in the warehouse, how many goods of a particular type are stored in the warehouse, which order picking orders have to be processed, which is the best order for processing the orders, etc. In addition, material flow computers can be used which are not are shown.

Der LVR 12 steht über verdrahtete Leitungen 14, und alternativ über drahtlose Verbindungen 15, die in Fig. 1 mit einem Doppelpfeil angedeutet sind, mit hierarchisch untergeordneten Steuereinrichtungen in Verbindung. In der Fig. 1 sind exemplarisch zwei speicherprogrammierbare Steuerungen (SPS) 16 als untergeordnete Steuereinrichtungen gezeigt. Der LVR 12 kann mit weiteren untergeordneten Steuereinrichtungen, die nicht zwingend SPS 16 sein müssen, in Verbindung stehen, wie es durch unvollendet dargestellte Verbindungen 14 angedeutet ist.The LVR 12 is over wired lines 14, and alternatively via wireless links 15, which are in Fig. 1 are indicated by a double arrow, with hierarchically subordinate control devices in connection. In the Fig. 1 By way of example, two programmable logic controllers (PLC) 16 are shown as subordinate control devices. The LVR 12 may communicate with other slave controllers, which need not necessarily be PLC 16, as indicated by unfinished connections 14.

Die SPS 16 steht über Verbindungen 18 u.a. mit Regalbediengeräten (RBGs) 20 in Verbindung. Vorliegend handelt es sich bei den Verbindungen 18 um verdrahtete Leitungen, die ein Bussystem (z.B. Feldbus, CAN-Bus, etc.) implementieren.The PLC 16 is connected via connections 18, inter alia, with stacker cranes (RBGs) 20 in connection. In the present case, the connections 18 are wired lines that implement a bus system (eg fieldbus, CAN bus, etc.).

Ein RGB 20 umfasst neben den eingangs erwähnten Komponenten, wie z.B. einem in z-Richtung verfahrbaren Fahrwerk, einem sich in y-Richtung erstreckenden Mast, einem entlang des Masts mit Hilfe eines Hubwerks verfahrbaren Hubwagen und einem Lastaufnahmemittel (LAM) auch eine Positionserfassungseinrichtung bzw. einen Sensor 22 und eine LAM-Steuereinrichtung 24, wie z.B. einen Umrichter. Der Umrichter 24 verfügt über Logik und regelt üblicherweise den Antriebstrom.An RGB 20 comprises, in addition to the components mentioned at the outset, such as e.g. a z-directional traveling gear, a mast extending in the y-direction, a lift truck movable along the mast and a load handling device (LAM) also comprise a position detector or sensor 22 and a LAM controller 24, e.g. an inverter. The inverter 24 has logic and usually controls the drive current.

Der Umrichter 24 und der Sensor 22 können über eine Verbindung 26 direkt miteinander verbunden sein.The inverter 24 and the sensor 22 may be directly connected to each other via a connection 26.

Bezug nehmend auf Fig. 2A bis C wird ein Auslagerungsvorgang beschrieben werden, bei dem ein Ladehilfsmittel (LHM) aus einem Stellplatz im Regal des RBG 20 abgeholt werden soll.Referring to Fig. 2A to C will be described an outsourcing process in which a loading equipment (LHM) is to be picked up from a parking space on the shelf of the RBG 20.

In Fig. 2A ist das RBG 20 in der unteren Hälfte der Zeichnung dargestellt. Das RBG 20 weist einen Hubwagen 28 auf, auf dem ein Lastaufnahmemittel (LAM) 30 angebracht ist. Das LAM 30 ist z.B. eine Teleskopgabel 32 mit zwei Zinken.In Fig. 2A the RBG 20 is shown in the lower half of the drawing. The RBG 20 has a lift truck 28 on which a load handling device (LAM) 30 is mounted. The LAM 30 is for example a telescopic fork 32 with two prongs.

In der Darstellung der Fig. 2 blickt man von oben auf die bei einem Auslagerungsvorgang beteiligten Komponenten. Der Hubwagen 28 ist in der Regalanlage vertikal entlang des (nicht dargestellten) Masts verfahrbar. Die vertikale Richtung entspricht in der Fig. 2 der y-Richtung. Das ebenfalls nicht dargestellte Fahrwerk des RBG 20 wird in der Regalgasse entlang der y-Richtung verfahren. Die Teleskopgabel 32 ist quer zur Lagergasse in das Regal entlang der z-Richtung verfahrbar. Dies ist durch Doppelpfeile 34 veranschaulicht.In the presentation of the Fig. 2 Looking from above at the components involved in a paging operation. The lift truck 28 is vertically movable in the rack system along the (not shown) mast. The vertical direction corresponds in the Fig. 2 the y direction. The chassis of the RBG 20, also not shown, is moved in the aisle along the y-direction. The telescopic fork 32 is movable transversely to the storage lane in the shelf along the z-direction. This is illustrated by double arrows 34.

Die Positionserfassungseinrichtung 22, die hier exemplarisch ein Laserabstandssensor ist, ist zwischen den Zinken der Teleskopgabel 32 fest am Hubwagen 28 angebracht. Es versteht sich, dass der Sensor 22 auch links oder rechts von den Zinken angebracht sein könnte. Der Sensor 22 könnte auch entfernt vom Hubwagen 28 angeordnet sein, solange er fest mit dem Hubwagen 28 verbunden ist, um synchron, z.B. bei einer Vertikalfahrt des Hubwagens 28, mit demselben bewegt zu werden.The position detection device 22, which is exemplarily a laser distance sensor, is fixedly mounted on the lift truck 28 between the tines of the telescopic fork 32. It is understood that the sensor 22 could also be attached to the left or right of the tines. The sensor 22 could also be located remotely from the lift truck 28, as long as it is firmly connected to the lift truck 28 to synchronously, for example, in a vertical travel of the lift truck 28 to be moved with the same.

Oberhalb des Regalbediengeräts 20 bzw. des Hubwagens 28 ist in den Abbildungen A bis C der Fig. 2 eine Palette 38 als LHM gezeigt. Die Palette 38 ist einem isolierten, schematisch dargestellten Stellplatz 40 zugeordnet. Der Stellplatz 40 ist ein Teil des hier nicht genauer dargestellten Regals, das aus einer Vielzahl von Querträgern 42 und Längsträgern 44 besteht, auf denen die Palette 38 zu Lagerzwecken abgestellt werden kann. Es versteht sich, dass mehrere Paletten 38 in z-Richtung hintereinander gelagert werden können. Man spricht dann von mehrfachtiefer Lagerung. Ferner versteht es sich, dass mehrere Stellplätze links und/oder rechts vom gezeigten Einzelstellplatz 40 angeordnet sein könnten. Zur Vereinfachung der Darstellung und der Erklärung wird nachfolgend lediglich der isolierte Stellplatz 40 betrachtet werden. Der Stellplatz 40 bzw. das Regal kann auch nur aus Längsträgern (Auflagerriegeln) bestehen. Der Aufbau des Stellplatzes 40 ist beliebig.Above the stacker crane 20 and the lift truck 28 is in the figures A to C of Fig. 2 a palette 38 shown as LHM. The pallet 38 is assigned to an isolated, schematically illustrated parking space 40. The parking space 40 is a part of the shelf, not shown here in detail, which consists of a plurality of cross members 42 and longitudinal members 44 on which the pallet 38 can be parked for storage purposes. It is understood that several pallets 38 can be stored in the z-direction one behind the other. One speaks then of multiple deep storage. Furthermore, it is understood that several parking spaces could be arranged on the left and / or right of the individual parking space 40 shown. To simplify the illustration and the explanation, only the isolated parking space 40 will be considered below. The parking space 40 or the shelf can only consist of side rails (Auflagerriegeln). The structure of the parking space 40 is arbitrary.

Der Sensor 22 misst einen Abstand bzw. eine Entfernung 36 zwischen dem in Position gebrachten Hubwagen 28 und der auf dem Stellplatz 40 abgestellten Palette 38. Es versteht sich, dass der Hubwagen 28 bzw. das Regalbediengerät 20 vor einem Einlagerungsvorgang bzw. Auslagerungsvorgang in eine vorbestimmte Übergabeposition gebracht wird, um das LAM 30 in z-Richtung bewegen zu können. Üblicherweise wird das RBG 20 von der SPS 16 der Fig. 1 (grob) zur Übergabeposition gesteuert. Am Regal können zusätzlich Bezugsmarken vorgesehen sein, um eine Feineinstellung des RBG 20 relativ zum Stellplatz 40 vorzunehmen, da immer Toleranzen beim Ansteuern von vorbestimmten Positionen berücksichtigt werden müssen. In Fig. 2A ist das RBG 20 in einer Übernahmeposition relativ zum Stellplatz 40 gezeigt.The sensor 22 measures a distance or a distance 36 between the pallet truck 28 brought into position and the pallet 38 parked on the parking space 40. It is understood that the pallet truck 28 or the storage and retrieval unit 20 is placed in a predetermined position before an emplacement process Transfer position is brought to move the LAM 30 in the z-direction can. Typically, the RBG 20 is from the PLC 16 of the Fig. 1 (roughly) controlled to the transfer position. In addition, reference marks can be provided on the shelf in order to make a fine adjustment of the RBG 20 relative to the parking space 40, since tolerances always have to be taken into account when activating predetermined positions. In Fig. 2A the RBG 20 is shown in a takeover position relative to the parking space 40.

Um die Palette 38 auslagern zu können, muss die Teleskopgabel 32 in z-Richtung unter die Palette 38 gefahren werden, wie es durch dunkle Pfeile innerhalb der Gabel der Fig. 2B angedeutet ist. Die Palette 38 weist dazu entsprechende, in z-Richtung verlaufende Ausnehmungen zur Aufnahme der Gabel 32 auf, die in der Fig. 2 nicht näher gezeigt sind. Wird ein Behälter als LHM verwendet, könnten Greifarme oder ein Hubtisch (als LAM) in z-Richtung ausgefahren werden.In order to outsource the pallet 38, the telescopic fork 32 must be moved in the z direction under the pallet 38, as indicated by dark arrows within the fork Fig. 2B is indicated. The pallet 38 has to corresponding, extending in the z-direction recesses for receiving the fork 32, which in the Fig. 2 Not are shown in more detail. If a container is used as an LHM, gripper arms or a lifting table (as a LAM) could be extended in z-direction.

Wenn der Vorgang des Ausfahrens der Gabel 32 normal verläuft, ändert sich der Abstand 36 zwischen dem Sensor 22 und der Palette 38 nicht. Sobald die Gabeln 32 vollständig ausgefahren sind, kann der Hubtisch 28 inklusive dem Sensor 22 leicht angehoben werden, um die Palette 38 im Regal anzuheben. Anschließend wird die Gabel 32 in umgekehrter Richtung wieder eingezogen, um die Palette 38 auf den Hubwagen 28 zu holen. Das RBG 20 kann die Palette 38 an einer entfernt gelegenen Übergabeposition wieder abgeben.When the process of extending the fork 32 is normal, the distance 36 between the sensor 22 and the pallet 38 does not change. Once the forks 32 are fully extended, the lift table 28, including the sensor 22, can be lifted slightly to raise the pallet 38 in the rack. Subsequently, the fork 32 is retracted in the reverse direction to get the pallet 38 on the truck 28. The RBG 20 may return the pallet 38 at a remote transfer position.

Bezug nehmend auf Fig. 2C ist eine Situation gezeigt, bei der das Ausfahren der Gabel 32 jedoch nicht fehlerfrei abläuft. Bei der in der Fig. 2C gezeigten Situation schiebt die ausfahrende Gabel 32 die Palette 38 z.B. aufgrund eines vorstehenden Hindernisses unterhalb der Palette 38 tiefer in den Stellplatz 40 hinein. Dies ist mit einem Pfeil 46 angedeutet. Dieses Durchschieben erfolgt in der Regel unbeabsichtigt und ist zu verhindern.Referring to Fig. 2C a situation is shown in which the extension of the fork 32, however, does not proceed without errors. When in the Fig. 2C shown situation pushes the extending fork 32, the pallet 38, for example due to a protruding obstacle below the range 38 deeper into the pitch 40 inside. This is indicated by an arrow 46. This push through is usually unintentional and should be prevented.

Der Sensor 22 erfasst beim Durchschieben einen größer werdenden Abstand 36' zwischen dem Sensor 22 bzw. dem Hubwagen 28 und der Palette 38. Dieser Versatz ist zwischen den Fig. 2B und 2C schematisch mit V angedeutet. Die für die Steuerung des LAM 30 verantwortliche Steuereinrichtung 24 muss nun so schnell wie möglich die Bewegung der Gabeln 32 stoppen, um das Durchschieben der Palette 38 zu unterbinden.The sensor 22 detects when pushing through a growing distance 36 'between the sensor 22 and the lift truck 28 and the pallet 38. This offset is between the Figs. 2B and 2C schematically indicated by V. The controller 24 responsible for controlling the LAM 30 must now stop the movement of the forks 32 as quickly as possible to prevent the pallet 38 from being pushed through.

Ähnlich verhält es sich bei Einlagervorgängen, wobei hier exemplarisch auf die Fig. 3A und 3B verwiesen wird. Die Fig. 3A und B zeigen einen Einlagerungsvorgang. Die Palette 38 ist in der Fig. 3A bereits auf dem Stellplatz 40 erfolgreich abgestellt worden. Der Abstand zwischen Sensor 22 und Palette 38 ist ebenfalls mit dem Bezugszeichen 36 angegeben.The situation is similar with storage operations, with examples of the FIGS. 3A and 3B is referenced. The FIGS. 3A and B show a storage process. The pallet 38 is in the Fig. 3A already successfully parked on pitch 40. The distance between sensor 22 and pallet 38 is also indicated by reference numeral 36.

Kommt es nun beim Zurückziehen der Gabeln 32 zu einem Fehler, weil sich z.B. eine der Gabeln 32 an der Unterseite der Palette verhakt, so bewirkt das Zurückfahren der Gabeln 32 ein unbeabsichtigtes Herausziehen der Palette 38. Dies äußert sich wiederum in einer Verkürzung des Abstands 36' zwischen dem Sensor 22 und der Palette 38 (vgl. auch Versatz V).If, when the forks 32 are retracted, an error occurs because e.g. one of the forks 32 hooked to the underside of the pallet, the retraction of the forks 32 causes unintentional withdrawal of the pallet 38. This in turn manifests itself in a shortening of the distance 36 'between the sensor 22 and the pallet 38 (see also offset V ).

Sobald die LAM-Steuereinrichtung 24 (vgl. Fig. 1) eine derartige Situation, wie sie in den Fig. 2 und 3 dargestellt ist, erkennt, indem sie Abstandsänderungssignale vom Sensor 22 geliefert bekommt, unterbricht die LAM-Steuereinrichtung 24 das Ausfahren bzw. Zurückziehen der Gabel 32.Once the LAM controller 24 (see FIG. Fig. 1 ) such a situation, as described in the Fig. 2 and 3 by receiving distance change signals from the sensor 22, the LAM controller 24 interrupts the extension or retraction of the fork 32.

Aus diesem Grund wird z.B. eine sog. "Null-Rampe" auf den Antrieb des LAM 30 angewendet. Eine entsprechende Null-Rampe ist exemplarisch in Fig. 4 gezeigt. Die Null-Rampe ist in einem nicht dargestellten Speicher der LAM-Steuereinrichtung 24 hinterlegt und bewirkt, dass die Antriebsenergie, hier in Form eines Stroms, so schnell wie möglich auf Null reduziert wird. In Fig. 4 geschieht dies exemplarisch zum Zeitpunkt t'. Zum Zeitpunkt t' erhält die LAM-Steuereinrichtung 24 ein Signal vom Sensor 22, dass eine Abstandsänderung, d.h. eine Abweichung der Ist-Position des LHM 38 von der Soll-Position des LHM 38, vorliegt.For this reason, for example, a so-called "zero ramp" is applied to the drive of the LAM 30. A corresponding zero ramp is exemplary in Fig. 4 shown. The zero ramp is stored in a memory, not shown, of the LAM controller 24 and causes the drive energy, here in the form of a current, is reduced as quickly as possible to zero. In Fig. 4 this happens by way of example at the time t '. At time t ', the LAM controller 24 receives a signal from the sensor 22 that a change in distance, ie, a deviation of the actual position of the LHM 38 from the desired position of the LHM 38, is present.

Fig. 5 zeigt die Verbindungen zwischen den einzelnen Komponenten der Fig. 1, die unmittelbar an einem Ein- oder Auslagervorgang beteiligt sind. Außerdem lassen sich aus der Fig. 5 Signale ablesen, die zwischen den einzelnen Komponenten ausgetauscht werden. Fig. 5 shows the connections between the individual components of the Fig. 1 who are directly involved in an import or export procedure. In addition, let the Fig. 5 Read signals that are exchanged between the individual components.

Bezug nehmend auf Fig. 6 ist der steuerungstechnische Ablauf im Wesentlichen für den Umrichter 24 exemplarisch gezeigt.Referring to Fig. 6 For example, the control technology sequence is shown as an example for the converter 24.

Die SPS 16 fordert das hier nicht dargestellte RBG 20 auf, an die Übergabeposition zu fahren. Sobald das RBG 20 die Übergabeposition erreicht hat, weist die SPS 16 den Sensor 22 an, den Abstand 36 zwischen sich und der Palette 38 zu bestimmen. Aus diesem Grund sendet die SPS 16 ein sog. Teach-Signal 48 an den Sensor 22. Bei einem Auslagerungsvorgang, wird das Teach-Signal 48 gesendet, wenn der Hubwagen 28 seine Übernahmeposition erreicht hat und bevor das LAM 30 ausgefahren wird. Bei einem Einlagerungsvorgang erfolgt die Übermittlung des Teach-Signals 48, sobald die Palette 38 auf dem Stellplatz abgesetzt ist und bevor das LAM 30 zum Hubwagen 28 zurückgezogen werden soll.The PLC 16 requests the RBG 20, not shown here, to drive to the transfer position. Once the RBG 20 has reached the transfer position, the PLC 16 instructs the sensor 22 to determine the distance 36 between itself and the pallet 38. Out For this reason, the PLC 16 sends a so-called teach signal 48 to the sensor 22. In a paging operation, the teach signal 48 is sent when the lift truck 28 has reached its takeover position and before the LAM 30 is extended. In a storage process, the transmission of the teach signal 48, as soon as the pallet 38 is deposited on the parking space and before the LAM 30 is to be withdrawn to the truck 28.

Der vom Sensor 22 aufgrund des Teach-Signals 48 bestimmte Abstand 36 zwischen dem Sensor 22/Hubwagen 28 und der Palette 38 stellt die Soll-Position der Palette 38 dar. Dieser Wert kann im Sensor 22 hinterlegt werden. Das Teach-Signal 48 veranlasst den Sensor 22 auch dazu, den Abstand 36 zu überwachen und bei einer signifikanten Änderung des Abstands eine entsprechende Sensorrückmeldung, d.h. ein Abweichungssignal 50, an die LAM-Steuereinrichtung 24 zu senden. Die LAM-Steuereinrichtung 24 erhält über den Bus 18 von der SPS 16 ein Signal, mit dem sie mitgeteilt bekommt, dass die Steuereinrichtung 24 auf Abweichungssignale 50 des Sensors 22 zu achten hat. Die Überwachung wird aktiviert.The distance 36 determined by the sensor 22 on the basis of the teach signal 48 between the sensor 22 / lifting carriage 28 and the pallet 38 represents the desired position of the pallet 38. This value can be stored in the sensor 22. The teach signal 48 also causes the sensor 22 to monitor the distance 36 and, upon a significant change in the distance, a corresponding sensor feedback, i. a deviation signal 50 to send to the LAM controller 24. The LAM controller 24 receives via the bus 18 from the PLC 16 a signal with which it gets informed that the controller 24 has to pay attention to deviation signals 50 of the sensor 22. The monitoring is activated.

Anschließend veranlasst die SPS 16 die Steuereinrichtung 24 zum Ein- oder Ausfahren der Gabeln 32. Dazu übermittelt die Steuereinrichtung 24 ein Signal an einen Motoranschluss eines Antriebs 51 des LAM 30. Der Antrieb 51 ist rückgekoppelt zur Steuereinrichtung 24, um Lagerückführsignale 52 und Drehzahlrückführsignale 54 an die Steuereinrichtung 24 zu übertragen.Subsequently, the PLC 16 causes the control device 24 for extending or retracting the forks 32. For this purpose, the control device 24 transmits a signal to a motor connection of a drive 51 of the LAM 30. The drive 51 is fed back to the control device 24 to bearing return signals 52 and speed feedback signals 54 at to transmit the controller 24.

Bezug nehmend auf Fig. 6 ist ein Ablauf in der LAM-Steuereinrichtung 24 gezeigt.Referring to Fig. 6 an operation in the LAM controller 24 is shown.

In einem ersten Schritt 60 bekommt die Steuereinrichtung 24 mitgeteilt, dass die Durchschubsicherung zu aktivieren ist, weil die Gabel 32 in Z-Richtung ein- oder auszufahren ist. Man unterscheidet dabei zwei Fälle, nämlich ob die Palette 38, in Bezug auf das RBG 20, nach links oder nach rechts abgegeben wird (positive oder negative Z-Richtung). Je nachdem, ob der Sensor 22 oder die Steuereinrichtung 24 für das Erkennen einer Abweichung verantwortlich ist, können in der Steuereinrichtung 24 Parameter für die Überwachung hinterlegt werden. Ein Parameter ist z.B. der Abstand 36, der vom Sensor 22 ermittelt wurde. Wenn die Steuereinrichtung 24 für das Erkennen eines Durchschiebens verantwortlich ist, liefert der Sensor 22 einen der Ist-Position der Palette 38 entsprechenden Wert an die Steuereinrichtung 24, die dann wiederum entscheidet, ob es zu einer signifikanten Abweichung gekommen ist oder nicht.In a first step 60, the control device 24 is informed that the push-through protection is to be activated because the fork 32 is to be retracted or extended in the Z-direction. A distinction is made between two cases, namely whether the pallet 38, with respect to the RBG 20, is delivered to the left or to the right (positive or negative Z direction). Depending on whether the sensor 22 or the control device 24 is responsible for detecting a deviation, in the control device 24 parameters for monitoring are stored. One parameter is, for example, the distance 36, which was determined by the sensor 22. If the controller 24 is responsible for detecting a push-through, the sensor 22 provides a value corresponding to the actual position of the pallet 38 to the control device 24, which in turn decides whether or not there has been a significant deviation.

Es versteht sich, dass nicht jede Abweichung zwingend zu einer Notausschaltung führen muss. Üblicherweise definiert man ein gewisses Spiel, z.B. ± 15 mm, innerhalb dem noch keine Notausschaltung erfolgt. Erst wenn diese signifikante Grenze überschritten wird, kommt es zu einer Abschaltung des LAM-Antriebs 51.It is understood that not every deviation necessarily leads to an emergency shutdown. Usually one defines a certain game, e.g. ± 15 mm, within which there is still no emergency shutdown. Only when this significant limit is exceeded, there is a shutdown of the LAM drive 51st

Es versteht sich, dass die Schritte 62, 62' äquivalent durchgeführt werden, wenn die Positionsüberwachung vom Sensor 22 durchgeführt wird, wobei dann die entsprechenden Parameter im Sensor 22 hinterlegt werden.It is understood that the steps 62, 62 'are performed equivalently when the position monitoring is performed by the sensor 22, in which case the corresponding parameters are stored in the sensor 22.

Im Schritt 64 teilt die SPS 16 der Steuereinrichtung 24 über den Bus 18 mit, dass ein Ein- oder Ausfahren der Gabel 32 unmittelbar bevorsteht, d.h. die Überwachung wird auf Seiten der LAM-Steuereinrichtung 24 aktiviert.In step 64, the PLC 16 notifies the controller 24 via the bus 18 that an extension or retraction of the fork 32 is imminent, i. the monitoring is activated on the part of the LAM controller 24.

Im Schritt 66 überwacht die Steuereinrichtung 24 dann einen Anschluss, über den das Abweichungssignal 50 gesendet wird. Da das Abweichungssignal 50 vorzugsweise direkt vom Sensor 22 an die Steuereinrichtung 24 übertragen wird, ist die Übertragung viel schneller als über den Umweg der SPS 16.In step 66, the controller 24 then monitors a port over which the deviation signal 50 is sent. Since the deviation signal 50 is preferably transmitted directly from the sensor 22 to the control device 24, the transmission is much faster than via the detour of the PLC 16.

Kommt es während des Bewegens der Gabel 32 in Z-Richtung zu keinen Störungen, so wird die Durchschubsicherung im Schritt 68 wieder deaktiviert.If there is no interference during movement of the fork 32 in the Z direction, the push-through protection is deactivated again in step 68.

Kommt es jedoch zu Störungen, so stellt die Steuereinrichtung 24 in einem Schritt 70 fest, dass der Sensor 22 das Abweichungssignal 50 gesendet hat. In der Steuereinrichtung 24 vorhandene Logik erkennt diese Situation und löst die Null-Rampe (vgl. Fig. 4) aus, um den Antrieb 51 möglichst schnell zu stoppen. Es versteht sich, dass alternativ zum isolierten Abschalten des Antriebs 51 zusätzlich auch Bremseinrichtungen verwendet werden können, die in den Figuren nicht gezeigt sind. Ferner versteht es sich, dass das Profil der Null-Rampe der Fig. 4 beliebig abänderbar ist, je nach spezifischer Anforderung.If, however, faults occur, the controller 24 determines in a step 70 that the sensor 22 has sent the deviation signal 50. In the controller 24 existing logic detects this situation and solves the zero ramp (see. FIG. 4 ) to stop the drive 51 as fast as possible. It is understood that as an alternative to the isolated shutdown of the drive 51 in addition also braking devices can be used, which are not shown in the figures. Furthermore, it is understood that the profile of the zero ramp of the Fig. 4 is freely changeable, depending on the specific requirement.

Im Schritt 74 sendet die Steuereinrichtung 24 ein Signal an die SPS 16, um mitzuteilen, dass eine Störung (Durchschieben oder Herausziehen) vorliegt.In step 74, the controller 24 sends a signal to the PLC 16 to indicate that there is a failure (push-through or pull-out).

Bezug nehmend auf Fig. 7 sind verschiedene Arbeitsschritte gezeigt, die sich beim Ein- oder Auslagern einer LHM 38 ereignen. Im linken Ast der Fig. 7 ist ein Auslagerungsvorgang gezeigt. Im rechten Ast der Fig. 7 ist ein Einlagerungsvorgang gezeigt. Die Fig. 7 zeigt im Wesentlichen solche Aktionen, die von der SPS 16 koordiniert werden.Referring to Fig. 7 Various steps are shown that occur when loading or unloading an LHM 38. In the left branch of the Fig. 7 a paging operation is shown. In the right branch of the Fig. 7 an emplacement process is shown. The Fig. 7 essentially shows such actions that are coordinated by the PLC 16.

In einem ersten Schritt 76 fragt die SPS 16 ab, ob ein Einlagerungsvorgang oder ein Auslagerungsvorgang anliegt.In a first step 76, the PLC 16 queries whether an emplacement process or a removal process is present.

Wird im Schritt 78 festgestellt, dass ein Auslagerungsauftrag vorliegt, wird der Hubwagen 28 in die Übernahmeposition verfahren. Anschließend wird der Sensor 22 instruiert, die Soll-Position des LHM 38 zu bestimmen (vgl. Schritt 80). Im Schritt 82 wird dann die Überwachung aktiviert, indem der Sensor 22 und/oder die Steuereinrichtung 24 entsprechende Signale von der SPS 16 gesendet bekommen. Anschließend wird in einem Schritt 84 das Ausfahren der Gabel 32 veranlasst. Die Gabel wird in der Regel sehr schnell ausgefahren, da sie zu diesem Zeitpunkt leer ist und nur unter die abzuholende Palette gefahren werden soll.If it is determined in step 78 that a paging order is present, the lift truck 28 is moved to the takeover position. Subsequently, the sensor 22 is instructed to determine the desired position of the LHM 38 (see step 80). In step 82, the monitoring is then activated by the sensor 22 and / or the controller 24 are sent corresponding signals from the PLC 16. Subsequently, in a step 84, the extension of the fork 32 is caused. The fork is usually extended very quickly, as it is empty at this time and should only be driven under the pallet to be picked.

Im Schritt 86 wird überprüft, ob die Gabel 32 vollständig unter die Palette 38 gefahren wurde. Ist dies der Fall, kann die Überwachung im Schritt 88 deaktiviert werden. Die Gabel 32 wird dann angehoben und die Palette 38 sitzt sicher darauf.In step 86 it is checked whether the fork 32 has been driven completely under the pallet 38. If this is the case, the monitoring can be deactivated in step 88. The fork 32 is then lifted and the pallet 38 sits securely on it.

Anschließend wird der Hubwagen 28 im Schritt 90 angehoben. Im Schritt 92 wird festgestellt, ob der Hubwagen 28 seine Hubendposition erreicht hat. Ist dies der Fall, so wird die Gabel 32 vorzugsweise langsam eingefahren (vgl. Schritt 94) da sie nunmehr mit dem LHM 38 beladen ist. Sobald die Gabel 32 in ihrer Mittelstellung, relativ zum RBG 20, ist (vgl. Schritt 96), ist die Auslagerung beendet (vgl. Schritt 98).Subsequently, the lift truck 28 is raised in step 90. In step 92, it is determined whether the lift truck 28 has reached its Hubendposition. If this is the case, the fork 32 is preferably retracted slowly (see step 94) since it is now loaded with the LHM 38. Once the fork 32 is in its center position relative to the RBG 20 (see step 96), the swap is completed (see step 98).

Liegt ein Einlagerungsauftrag vor (Schritt 78') wird der beladene Hubwagen 28 in die Übergabeposition gebracht. Im Schritt 100 wird die Gabel 32 ausgefahren. Im Schritt 102 wird überprüft, ob die Gabel 32 vollständig ausgefahren ist (vgl. Schritt 102). Ist die Gabel 32 vollständig ausgefahren, so erhält der Sensor 22 im Schritt 104 den Befehl, die Soll-Position des LHM 38 zu bestimmen. Im Schritt 106 wird der Hubwagen 28 abgesenkt. Dies kann gleichzeitig zur Abstandsbestimmung des Schritts 104 erfolgen, da sich Hubwagen 28 und Sensor 22 synchron bewegen.If there is an emplacement order (step 78 '), the loaded lift truck 28 is brought into the transfer position. In step 100, the fork 32 is extended. In step 102 it is checked whether the fork 32 is fully extended (see step 102). If the fork 32 is fully extended, the sensor 22 is commanded in step 104 to determine the desired position of the LHM 38. In step 106, the lift truck 28 is lowered. This can be done simultaneously to the distance determination of step 104, since the lift truck 28 and sensor 22 move synchronously.

Anschließend wird in einem Schritt 108 überprüft, ob der Hubwagen 28 weit genug abgesenkt ist, um das LHM 38 auf dem Stellplatz 40 abzusetzen. Ist das LHM 38 auf dem Stellplatz 40 abgesetzt, wird in einem Schritt 110 die Positions- bzw. Abstandsüberwachung aktiviert. Im Schritt 112 wird dann die Gabel eingefahren. Wird im Schritt 114 festgestellt, dass die Gabel eingefahren ist, kann im Schritt 116 die Überwachung abgeschaltet werden. Der Einlagerungsvorgang ist dann im Schritt 118 beendet.It is then checked in a step 108 whether the lift truck 28 is lowered far enough to settle the LHM 38 on the pitch 40. If the LHM 38 is deposited on the parking space 40, the position or distance monitoring is activated in a step 110. In step 112, the fork is then retracted. If it is determined in step 114 that the fork is retracted, the monitoring can be switched off in step 116. The putaway process is then completed in step 118.

Es versteht sich, dass anstatt eines Lasersensor z.B. auch ein Lichttaster eingesetzt werden könnte, der feststellt, dass die Palette verschoben wurde. Der Lichttaster wäre dann einen einem geeigneten Ort vorzusehen, so dass ihn nicht unbeabsichtigt die Sicht verdeckt wird.It is understood that instead of a laser sensor e.g. Also, a light sensor could be used, which determines that the pallet has been moved. The light sensor would then provide a suitable location, so that it is not unintentionally obscured the view.

Claims (17)

  1. Electronic push-through safeguard for a storage and retrieval device (20), which automatically delivers a load support (38), in particular a pallet (38) or a container, to a storage location (40) within a storage rack (42, 44) or retrieves same therefrom, wherein the storage and retrieval device (20) comprises a lifting trolley (28), which is substantially movable in a vertical direction and comprises a load-handling device (30) being movable substantially in a horizontal direction and having a load-handling device control (24), wherein the load-handling device control (24) is connected to a position-detecting device (22) for detecting a position of a load support (38), which is to be stored or retrieved, relative to the storage position (40), wherein the position-detecting device (22) is adapted to detect a deviation of an actual position from a nominal position of the load support (38), preferably by means of a distance measurement, in order to output a deviation signal to the load-handling device control (24), and wherein the load-handling device control is adapted to stop a horizontal movement of the load-handling device (30) when the deviation signal is received.
  2. Electronic push-through safeguard of claim 1, wherein the load-handling device (30) can enter the storage location (40) and can be retracted from the storage location (40) horizontally for storing or retrieving the load support (38).
  3. Electronic push-through safeguard of claim 1 or 2, wherein the position detecting device (22) is fixedly attachable to the lifting trolley (28) and is attachable laterally with a distance to the load handling device (30) so that the position detecting device (22) does not move relative to the storage rack (42, 44) while the load-handling device (30) is moved horizontally, and so that the position detecting device (22) moves synchronously with the lifting trolley (28) relative to the storage rack (40, 42) while being moved vertically.
  4. Electronic push-through safeguard of one of the claims 1 to 3, wherein drive energy of a load-handling device drive is reduced to zero while the movement of the load handling device (30) is stopped.
  5. Electronic push-through safeguard of claim 4, wherein the load-handling device control device (24) is a transverter (24) having an integrated logic, wherein the transverter (24) has recorded a zero ramp for stopping the movement of the load-handling device (30).
  6. Electronic push-through safeguard of any of the preceding claims, wherein the load-handling device (30) is a telescopic fork (32) for handling pallets or a lifting platform being movable in a horizontal direction for handling containers.
  7. Electronic push-through safeguard of any of the preceding claims wherein the position detecting device (22) is a distance sensor, preferably a laser sensor or a light-reflective sensor.
  8. Electronic push-through safeguard of any of the preceding claims, wherein an additional control device (16), which is preferably a super-ordinated storage-programmed control device, is provided for globally coordinating a storage process or a retrieval process.
  9. Electronic push-through safeguard of claim 8, wherein the two control devices are connected to each other via a bus system (18).
  10. Electronic push-through safeguard of one of the claims 8 or 9, wherein the load-handling device control unit (24) is connected directly to the position-detecting device (22) allowing transmittal of the deviation signal without interconnection of an additional control device (16).
  11. Storage and retrieval device (20) having a load-handling device (30), a lifting trolley (28) which is substantially movable vertically, and an electronic push-through safeguard of one of the claims 1 to 10.
  12. Rack system (10) having a warehouse-management computer (12) and at least one storage and retrieval device (20) of claim 11.
  13. Method for preventing an unintented push-through or pull-out of a load support (38), which is to be delivered by the storage and retrieval device (20) to a storage location (40) in the storage rack (42, 44) or which is to be retrieved therefrom, wherein the storage and retrieval device (20) automatically stores the load support (38) in the storage location (40) or automatically retrieves same from the storage location (40), wherein the storage and retrieval device (20) comprises a lifting trolley (28), which is substantially movable in a vertical direction and has a load-handling device (30) being substantially movable in a horizontal direction, the method comprising the steps of:
    determining a relative distance (36) between the load support (38) disposed on the storage location (40) and the lifting trolley (28) for defining a nominal position of the load support (38);
    activating a position surveillance if the lifting trolley (28) is positioned in a storage position or a retrieval position in front of the storage location for defining an actual position of the load support (38);
    moving the load-handling device (30) so that the load-handling device (30) enters the storage location (40) during retrieval of the load support (38) for subsequently lifting the load support (38) onto the extracted load-handling device (30), or so that the load-handling device (30) is retracted from the storage location (30), after the load support (38) is successfully set on the storage location (40);
    determining whether a significant deviation of the actual position from the nominal position has occurred during the movement of the load-handling device (30); and
    if a significant deviation is present, generating a deviation signal (50) for causing an immediate stop of the movement of the load-handling device (30); or
    if no significant deviation is present, continuing the movement of the load-handling device (30).
  14. Method of claim 13, wherein the deviation signal (50) is transmitted directly to a load-handling device control (24).
  15. Method of any of the claims 13 or 14, wherein a zero ramp is stored in the load-handling device control device (24).
  16. Method of any of the claims 13 to 15, wherein the position surveillance (22) can only be activated during horizontal movement of the load-handling device (30).
  17. Method of any of the claims 13 to 16, wherein the activation of the position surveillance is initiated by a super-ordinated control device (16) of the storage and retrieval device, preferably connected to a warehouse-management computer (12).
EP09150146A 2008-02-08 2009-01-07 Electronic push safety and method for preventing unintentional push or pull of palettes in a storage shelf Not-in-force EP2088116B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SI200930636T SI2088116T1 (en) 2008-02-08 2009-01-07 Electronic push safety and method for preventing unintentional push or pull of palettes in a storage shelf
PL09150146T PL2088116T3 (en) 2008-02-08 2009-01-07 Electronic push safety and method for preventing unintentional push or pull of palettes in a storage shelf

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008009841A DE102008009841B3 (en) 2008-02-08 2008-02-08 Electronic push-through protection and method for preventing unintentional push-through or pull-out of pallets in a storage rack

Publications (3)

Publication Number Publication Date
EP2088116A2 EP2088116A2 (en) 2009-08-12
EP2088116A3 EP2088116A3 (en) 2011-12-14
EP2088116B1 true EP2088116B1 (en) 2013-03-20

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Application Number Title Priority Date Filing Date
EP09150146A Not-in-force EP2088116B1 (en) 2008-02-08 2009-01-07 Electronic push safety and method for preventing unintentional push or pull of palettes in a storage shelf

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EP (1) EP2088116B1 (en)
DE (1) DE102008009841B3 (en)
ES (1) ES2407961T3 (en)
PL (1) PL2088116T3 (en)
SI (1) SI2088116T1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5842276B2 (en) * 2012-02-28 2016-01-13 株式会社ダイフク Article transfer device
CN110606448A (en) * 2019-08-22 2019-12-24 河南宝合元汽车配件有限公司 High-pile machine with automatic acousto-optic alarm

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9013721U1 (en) * 1990-10-02 1990-12-06 Helo-Norm Metall-Vertrieb GmbH, 4405 Nottuln Double pallet rack with push-through protection
DE10015009B4 (en) * 2000-03-20 2006-02-23 Jungheinrich Ag Industrial truck with a display, control and monitoring system
JP2002087794A (en) * 2000-09-13 2002-03-27 Tcm Corp Cargo handling safety device for industrial vehicle
DE20119110U1 (en) * 2001-11-23 2003-01-09 Janssen Wolfgang Industrial truck has safety unit with position measuring device to record position of load installed on load carrier, and identification unit to compare recorded position of load with reference positions
JP4577568B2 (en) * 2005-09-09 2010-11-10 株式会社ダイフク Article conveying device in article storage facility
DE102006010290A1 (en) * 2006-03-03 2007-09-06 Jungheinrich Ag Floor conveyor for use in stock management system has on-board computer for generating data about goods to be conveyed and goods position, and radio unit for transmitting generated data to central data processing system for stock management
US7699141B2 (en) * 2006-03-20 2010-04-20 Fossier David A Pallet distance ranging device for forklift
DE102006037719B4 (en) * 2006-08-03 2009-07-02 SSI Schäfer Noell GmbH Lager- und Systemtechnik Storage and retrieval unit

Also Published As

Publication number Publication date
DE102008009841B3 (en) 2009-08-06
EP2088116A3 (en) 2011-12-14
EP2088116A2 (en) 2009-08-12
SI2088116T1 (en) 2013-07-31
ES2407961T3 (en) 2013-06-17
PL2088116T3 (en) 2013-07-31

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