GB2424867A - System for storage and retrieval of goods, in particular of crates and sacks - Google Patents

System for storage and retrieval of goods, in particular of crates and sacks Download PDF

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Publication number
GB2424867A
GB2424867A GB0604821A GB0604821A GB2424867A GB 2424867 A GB2424867 A GB 2424867A GB 0604821 A GB0604821 A GB 0604821A GB 0604821 A GB0604821 A GB 0604821A GB 2424867 A GB2424867 A GB 2424867A
Authority
GB
United Kingdom
Prior art keywords
goods
storage
gripping
case
item
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB0604821A
Other versions
GB2424867B (en
GB0604821D0 (en
Inventor
Andreas Baumann
Hans-Juergen Schmiegel
Christian Von Schneidemesser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kht Kommissionier & Handhabung
Original Assignee
Kht Kommissionier & Handhabung
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kht Kommissionier & Handhabung filed Critical Kht Kommissionier & Handhabung
Publication of GB0604821D0 publication Critical patent/GB0604821D0/en
Publication of GB2424867A publication Critical patent/GB2424867A/en
Application granted granted Critical
Publication of GB2424867B publication Critical patent/GB2424867B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/181—Load gripping or retaining means by suction means

Landscapes

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

Abstract

System for storage and retrieval of goods, in particular of crates, cardboard boxes, filled sacks and the like. A high-bay racking storage unit with an extendable and retractable gripper with gripping surface (2a,2b) lying opposite one another. The system for storage of goods, is proposed that the readying location (20) and the storage locations (24,25,26) are in each case assigned a vertical positioning plane (22) extending in the storage and retrieval direction, which plane is in each case located on the same side seen in the storage direction and in case of a stored item (23) in each case forms the lateral delimitation thereof, and that, for clamping gripping of an item (23), in each case the gripping surface (2a) located on the same side as the positioning plane (22) seen in the storage direction is brought into the positioning plane (22) and the opposite gripping surface (2b) is then moved against the item. An advantageous embodiment is that suckers are provided for gripping the goods on the end side.

Description

SYST FOR STORAGE AND RETRIEV OF GOODS, IN PARTICtjT OF CRATES, CARDBOARD
BOXES, FILLED SACKS AND THE LIKE The invention relates to a system for storage and retrieval of goods, in particular of crates, cardboard boxes, filled sacks and the like, according to the Precharacterizing clause of Claim 1.
Storage and retrieval devices for goods are known, in which the goods can be crates and also cardboard boxes. In this connection it is also Possible to convey filled sacks. The goods are in most cases readied in an appropriate location, readying in a predetermined Position being usual. By means of a rack storage and retrieval unit, the readying location is approached and the item of goods to be conveyed is taken from there to a designated storage location of a rack. For picking up and setting down the item of goods, grippers are provided, which comprise gripping surfaces lying Opposite one another and can grip the goods in a clamping fashion. The grippers themselves can be extended and retracted so as to be capable of retrieving the goods from and storing them in the storage locations in this way.
It is desirable to indicate a system for storage and retrieval of goods, in particular of crates, cardboard boxes and also filled sacks, which is constructed technically simply and robustly.
The invention is defined in the independent claims, to which reference Should now be made. Advantageous embodiments are set out in the sub claims.
There is provided a system for storage and retrieval of goods, in particular of crates, cardboard boxes, filled sacks and the like, with a readying location, in which the goods are in each case readied in a predetermined position, with a high-bay rack with storage locations for storage of the goods, with a high-bay racking storage and retrieval unit for approaching the readying location and the storage locations, and with an extendabje and retractable gripper (in storage and retrieval directions) with gripping surfaces lying Opposite one another.
The Solution proposes that the readying location and each of the storage locations are assigned a vertical Positioning plane extending in horizontal, Opposite storage and retrieval directions, which plane is in each case located on the same side of the location seen in the storage direction and in the case of a stored item of goods in each case forms the lateral delimitation thereof (in a direction perpendicular to the storage and retrieval directions) and that, for clamping gripping of an item of goods, in each case the gripping surface located on the same side of the location as the Positioning plane seen in the storage direction S brought into the Positioning plane and the Opposite gripping surface is then moved against the item of goods. The solution therefore proposes maintaining the relative horizontal POsitioning of the goods in each case and in this way simplifying the entire storage and retrieval operation This is of great advantage in particular in the case of goods with identical dimensions as with these better use can in addition be made of the storage space.
In order to grip very different goods, the Opposite gripping surface is moved against the item of goods until a Predetermined clamping force is reached.
Better utilization of the storage space is achieved if the Positioning planes of the storage locations are in each case located in the same relative width Position.
It is technically simple if the Positioning of the goods in the readying location is effected by means of a contact surface.
The system can be further simplified if all the storage locations have the same width.
It is technically simple and cost-effective if the gripping surfaces are in each case driven by a pneumatic piston/cylinder unit.
Simple width determination of the item of goods is brought about if the gripping surfaces are in each case driven by a servomotor the width of the item of goods being determined by means of the servomotor when the predetermined clamping force is reached.
Better utilization of the storage space is brought about if the storage locations have different widths and an appropriate free storage location is selected on the basis of the width of the item of goods.
A simple solution for the contact surface proposes that this is formed by a contact edge, the goods are moved against the contact edge by means of a conveyor and the contact edge is then moved out of the contact region.
In a simple embodiment, the gripping surfaces are of plate- shaped design and their ends are directed towards one another.
A further improvement is brought about if suckers are provided for gripping he goods on the end side.
The invention is described in greater detail below with reference to the drawings, in which: Figure 1 shows a top view of a gripper located in front of a storage location; Figure 2 shows a side view of the gripper according to Figure 1; Figure 3 shows a diagra0 illustration of an empty readying location with a gripper arranged in front of it; Figures 4 - 7 show a diagrat0 illustration of retrieval of a cardboard box from the readying location, and Figures 8 - ii show a diagraa0 illustration of storage of the cardboard box in a racking location.
Figure 1 shows a gripper of a system for storage and retrieval of goods in the form of crates, cardboard boxes but also filled sacks. The goods are readied in a readying location and gripped by the gripper, which can be extended and retracted in the storage and retrieval direction and is arranged Vertically movably on a rack storage and retrieval unit. By means of the rack storage and retrieval unit, the item of goods is taken to a desired storage location of a rack and Stored there. For this purpose, the rack storage and retrieval unit approaches this storage location, the gripper being moved into the appropriate Vertical Position.
The gripper comprises two gripping cheeks la, lb with gripping surfaces 2a, 2b lying Opposite one another. The gripping surfaces 2a, 2b are additionally provided with friction plates 3a, 3b in the rear region. The Plate-shaped gripping surfaces 2a, 2b are slightly angled, facing towards one another, at their front ends. The rear ends of the gripping cheeks la, lb in the extension direction of the gripper are in each case attached to a carriage 4. The carriages 4 can be moved longitudinally on a guide rail 5 transversely to the retraction and extension direction, so that the gripping cheeks la, lb can be moved towards one another and away from one another. The carriages 4 are in each case driven by a connecting rod 6, 7, which rods in each case belong to a pneumatic PiSton/cylinder unit, the pneumatic Cylinders 8, 9 of which can be seen in Figure 1.
FurLhermore another carriage 10 can be moved along the guide rail 5 between the two carriages 4 of the gripping cheeks la, lb. The carriage io is Connected to a guide rail 11 which extends transversely to the guide rail 5 (see Figure 2) . A sucker plate 12 with two suckers 13 can be moved longitudinally on this guide rail 11. The two suckers 13 face with their openings away from the guide rail 5 in the storage direction. A slide (or pusher) 14 in the form of a plate, which is likewise displaceable along the guide rail 11, is located below the suckers 13 at approximately the same height.
Figure 1 shows the gripping surfaces 2a, 2b in their moved- apart Position and their moved-together position. The maximum opening of the gripping surfaces 2a, 2b 5 limited by a centring rod 15, which centres them simultaneously As can be seen from Figure 1, the gripping surface 2a first moves a little way inwards during gripping (and correspondingly outwards during release) so as not to displace the item of goods with regard to its Position. The gripping surface 2b is moved until it lies against the item of goods to be gripped on the left side referring to Figure 1. It is moved against the item of goods until a predetermined clamping force is reached. The clamping gripping of the goods is effected in this way. In this connection, the goods thus gripped lie against the contact surface 16 of the slide 14 and compress the suckers 13. In this state, the goods are additionally attached by suction, which is of course associated with an appropriate suction force only when flat surfaces lie Opposite the suckers 13.
Figure 2 shows a side view of the gripper according to Figure 1, where it can be seen clearly that the two pneumatic cylinders 8, 9 are staggered one above the other. Moreover, another pneumatic Cylinder 17, which moves the sucker plate 12 along the guide rail 11, can be seen in Figure 2. In order that the slide 14 does not Stop the gripping cheeks la, ib, moving together corresponding through_openings 18 are provided in the gripping cheeks la, lb. Furthermore Figure 2 also shows a sliding plate 19, on which the goods are displaced during storage and retrieval.
Servomotors with which the width of the gripped item of goods can additionally be determined if required, can also be provided as an alternative to the pneumatic cylinders 8, 9.
The system is intended Primarily for racking with storage locations of the same width; however, storage locations can also have different widths, an appropriate free storage location being selected on the basis of the width of the item of goods determined by means of a servomotor for example.
Figure 3 shows a diagra0 illustration of an empty readying location 20 with a gripper arranged in front of it, of the gripper only the gripping cheeks la, lb with the gripping surfaces 2a, 2b and the slide 14 with the suckers 13 being illustrated In Figure 3, the gripper is Positioned directly at the front edge 21 of the setting-down surface of the readying location 20. In this connection, the dashed line illustrates a vertical Positioning plane 22 which is aligned with the gripping surface 2a. In other words, the gripping surface 2a lies in the Positioning plane 22. For better understanding of the basic principle, the front ends of the Plate-shaped gripping surfaces 2a, 2b are not angled here.
Figure 4 shows the same situation as Figure 3; however, an item of goods 23 in the form of a cardboard box 23a is located in the readying location 20. Alignme of the cardboard box 23a is effected by means of a contact edge (not shown) with a contact surface lying in the Positioning plane 22, against which the cardboard box 23a is moved, for example by means of a conveyor (likewise not shown) . The contact edge is removed from the contact region or the gripping region before extension of the gripper or is located outside the gripping cheeks la, lb. The cardboard box 23a has a square cross_section and its right side surface referring to Figure 4 consequently lies in the vertical POSitioning plane 22, which forms the lateral delimitation of the cardboard box 23a. The gripper is Positioned in such a way in the readying location 20 that the gripping surface 2a likewise lies in the PoSitioning plane 22.
In Figure 5, the gripper which can be extended towards the readying location 20 has been extended, the right gripping surface 2a lying against that side surface of the cardboard box 23a lying in the Positioning plane 22. Moreover, the slide 14 lies against the front side of the cardboard box 23a, the suckers 13 being compressed (see Figure 1) and the cardboard box 23a being attached by suction.
The left gripping cheek lb referring to Figure 5 is then moved towards the cardboard box 23a until it lies against the left side surface of the cardboard box 23a and a predetermined clamping force is reached. This situation is illustrated in Figure 6. The cardboard box 23a is then pulled onto the gripper sliding plate 19 by moving the gripper backwards which can be seen in Figure 7.
Figure 8 shows the gripper with the gripped cardboard box 23a at the edge of a storage location 24. This empty storage location 24 has two adjacent storage locations 25, 26. The storage location 24 is likewise assigned a vertical Positioning plane 22, and, for storage, the right gripping cheek la referring to Figure 8 lies with its gripping surface 2a in this Positioning plane 22. The Positioning plane of the storage location 24 thus lies, seen in the storage direction, on the same side as the Positioning plane 22 of the readying location 20. Such a positioning plane is assigned to every storage location; in Figure 8, the Positioning planes 22 of the storage locations 25, 26 are also drawn.
In Figure 9, the gripper has been moved into the storage location 24, and the cardboard box 23a has been pushed onto the setting-doWn surface of the storage location 24. The left gripping cheek lb is then moved to the side, which is illustrated in Figure 10, then the gripper moves back, and the cardboard box 23a to be stored remains in the storage location 24 (illustrated in Figure 11).
In particular in the case of filled sacks, but also in the case of crates and cardboard boxes, it may also be necessary to move the gripping surface 2a outwards slightly first before gripping and after setting_down, that is to provide a gripping travel (or stroke), so as not to displace the item of goods. The gripping travel is also necessary in the case of gripping surfaces 2a, 2b with angled front ends (see Figure 1) In Figures 3 and 4, the gripping surface 2a would then be shifted Outwards by the gripping travel in relation to the POsitioning plane 22. Accordingly the right gripping surface 2a would be shifted in relation to the Positioning plane 22 in Figure 5 and would only subsequently move into the Positioning plane 22 and thus against the side surface of the cardboard box 23a. In Figure 9, the gripper has been moved into the storage location 24, and the cardboard box 23a has been pushed onto the setting- down surface of the storage location 24. Then, the right gripping cheek la would also be moved to the side in addition to the left gripping cheek ib, but only by the gripping travel.
For reaching both sides of two racks forming a racking aisle in which the (high-bay) racking storage and retrieval unit travels, the gripper can be designed so as to be pivotabje by 1800.

Claims (12)

  1. -
    Claims 1. System for storage and retrieval of goods, comprising: a readying location, in which the goods are in each case readied in a predetermined position; a rack with storage locations for storage of the goods; and a racking storage and retrieval unit for approaching the readying location and the storage locations; the rack storage and retrieval unit including a gripper, which can be extended and retracted in storage and retrieval directions, with gripping surfaces lying Opposite one another for gripping the goods, wherein: the readying location and the storage locations are in each case assigned a vertical Positioning plane extending in the storage and retrieval direction, which plane is in each case located on the same side seen in the storage direction and in the case of a stored item of goods in each case forms a lateral delimitation thereof; and wherein for clamping gripping of an item of goods, in each case the gripping surface located on the same side as the POsitioning plane seen in the storage direction is brought into the Positioning plane and the Opposite gripping surface is then moved against the item of goods.
  2. 2. System according to Claim 1, characterized in that the Opposite gripping surface is moved against the item of goods until a predetermined clamping force is reached.
  3. 3. System according to Claim 1 or 2, characterized in that the POsitioning planes of the storage locations are in each case located in the same relative width Position.
  4. 4. System according Lo any of Claims i - characterized in that the Positioning of the goods in the readying location is effected by means of a contact surface.
    - 11 -
  5. 5. System according to any of Claims 1 - 4, characterized in that all the storage locations have the same width.
  6. 6. System according to any of Claims 1 - 5, characterized in that the gripping surfaces are in each case driven by a pneumatic piston/cylinder unit.
  7. 7. System according to any of Claims 1 - 5, characterized in that the gripping surfaces are in each case driven by a servomotor, the width of the item of goods being determined by means of the servomotor when the predetermined clamping force is reached.
  8. 3. System according to any of Claims 1-4, or 6, characterized in that the storage locations have different widths and an appropriate free storage location is selected on the basis of the width of the item of goods.
  9. 9. System according to any of Claims 1 - 8, characterized in that the contact surface is formed by a contact edge, the goods are moved against the contact edge and the contact edge is then moved out of the contact region.
  10. 10. System according to any of Claims 1 - 9, characterized in that the gripping surfaces are of plate- shaped design and are directed towards one another at the free ends.
  11. 11. System according to any of Claims 1 - 10, characterized in that suckers are provided for gripping the goods on the end side.
  12. 12. System substantially according to an embodiment described in the description and/or shown in the figures.
GB0604821A 2005-03-14 2006-03-09 System for storage and retrieval of goods, in particular of crates, cardboard boxes, filled sacks and the like Expired - Fee Related GB2424867B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005012910A DE102005012910A1 (en) 2005-03-14 2005-03-14 Goods e.g. boxes, putting in and taking out system, has gripping surface moved to positioning plane and another gripping surface moved against goods for exerting clamp-like gripping of goods

Publications (3)

Publication Number Publication Date
GB0604821D0 GB0604821D0 (en) 2006-04-19
GB2424867A true GB2424867A (en) 2006-10-11
GB2424867B GB2424867B (en) 2008-08-27

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GB0604821A Expired - Fee Related GB2424867B (en) 2005-03-14 2006-03-09 System for storage and retrieval of goods, in particular of crates, cardboard boxes, filled sacks and the like

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DE (1) DE102005012910A1 (en)
GB (1) GB2424867B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021004093A1 (en) 2021-08-10 2023-02-16 Knapp Smart Solutions Gmbh Method for repairing an order-picking device
DE202021106835U1 (en) 2021-08-10 2022-06-27 Knapp Smart Solutions Gmbh picking device
DE202021106858U1 (en) 2021-08-10 2022-06-28 Knapp Smart Solutions Gmbh picking device
DE102022114943B4 (en) 2022-04-08 2024-04-11 Knapp Ag Repackaging device for repackaging medicaments in tablet form and method for operating a repackaging device
EP4273060A1 (en) 2022-04-08 2023-11-08 Knapp AG Method for operating a packaging device for packaging medicaments in tablet form and method for operating a packaging device
WO2023194555A1 (en) 2022-04-08 2023-10-12 Knapp Ag Method for operating a packaging device for packaging medicaments provided in tablet form, and method for operating a packaging device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4726729A (en) * 1986-05-02 1988-02-23 Cascade Corporation Electric motor-actuated load clamp with clamping force control
DE4425127A1 (en) * 1994-07-15 1996-01-18 Dreier Systemtechnik Ag Storage system for order picking
JPH10309686A (en) * 1997-05-07 1998-11-24 Okura Yusoki Co Ltd Transferring article holding device
DE19834927A1 (en) * 1998-07-28 2000-02-10 Kht Kommissionier & Handhabung Method for storing and removing piece goods in particular packets, cartons and containers, has suction element associated with the gripping and pulling element to allow handling of soft cartons

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8900536U1 (en) * 1989-01-19 1989-03-16 Siemag Transplan Gmbh, 5902 Netphen Device for storing and retrieving piece goods
CH687460A5 (en) * 1993-11-25 1996-12-13 Fritschi Ag Hugo A method and apparatus for handling the loading and unloading of containers stueckgutfoermigen in high-bay warehouses.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4726729A (en) * 1986-05-02 1988-02-23 Cascade Corporation Electric motor-actuated load clamp with clamping force control
DE4425127A1 (en) * 1994-07-15 1996-01-18 Dreier Systemtechnik Ag Storage system for order picking
JPH10309686A (en) * 1997-05-07 1998-11-24 Okura Yusoki Co Ltd Transferring article holding device
DE19834927A1 (en) * 1998-07-28 2000-02-10 Kht Kommissionier & Handhabung Method for storing and removing piece goods in particular packets, cartons and containers, has suction element associated with the gripping and pulling element to allow handling of soft cartons

Also Published As

Publication number Publication date
GB2424867B (en) 2008-08-27
DE102005012910A1 (en) 2006-09-21
GB0604821D0 (en) 2006-04-19

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732E Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977)
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20180309