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WO1996002444A1 - Systeme d'entreposage permettant de rassembler et de preparer des marchandises a expedier - Google Patents

Systeme d'entreposage permettant de rassembler et de preparer des marchandises a expedier Download PDF

Info

Publication number
WO1996002444A1
WO1996002444A1 PCT/EP1995/002675 EP9502675W WO9602444A1 WO 1996002444 A1 WO1996002444 A1 WO 1996002444A1 EP 9502675 W EP9502675 W EP 9502675W WO 9602444 A1 WO9602444 A1 WO 9602444A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage system
storage
gripper
objects
gripper arms
Prior art date
Application number
PCT/EP1995/002675
Other languages
German (de)
English (en)
Inventor
Erich Dreier
Joseph Broquet
Original Assignee
Aft Automatisierungs- Und Fördertechnik Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aft Automatisierungs- Und Fördertechnik Gmbh filed Critical Aft Automatisierungs- Und Fördertechnik Gmbh
Publication of WO1996002444A1 publication Critical patent/WO1996002444A1/fr

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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • 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
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the lifting and lowering, one-part or multi-part lifting plate with the suction nozzles can be stroke-adjusted by means of pressure medium drives or vertical threaded spindles.
  • the vertical threaded spindles are mounted in nuts rotatably arranged on housings on a common mounting plate, and that the nuts are driven by at least one motor by means of toothed belt drives.
  • the difficulty - particularly with low package weights - give that when lifting the top package layer the packages of the layer below are lifted because they "stick" to the packages above. This interferes with the execution of the programmed issuing and must be stopped.
  • the "adhesive" packages must be released by hand and put back in their stacking position on the pallet.
  • each auxiliary gripper arm is articulated in a pivot point on a guide shoe which can be raised and lowered on the associated gripper arm or partial gripper arm and that its auxiliary clamping strips counteract by means of a pressing device acting on the free upper end of the auxiliary gripper arm the storage objects can be pressed on, and it is advantageous if, according to a further feature, the guide shoe is articulated to the sliding lever of a toggle lever arrangement, the steering lever of which gripper arm slide is pivotable in a bearing point and the knee point of which is angled by means of an adjusting device. or is stretchable.
  • Fig. 4 shows the device. 3 shows a side view in another functional position
  • Fig. 9 is a partial view of the device in another modified embodiment.
  • the picking warehouse KL is provided with a picking robot K in the form of a portal device with a gripper, with which the parking spaces 10, which are also located in the working area of the storage and retrieval machine 11, can be detected. Inside the picking warehouse KL there are parking spaces 10 provided for one picking pallet 9 each.
  • the order picking device K has the task of using the rack operating device 11 to remove the rack frames B storage objects 7, 7a and to collect them on the picking pallets 9 to form shipping units.
  • 5 and 6 show the picking robot K in two representations, from which the drive of the gripper arms 16 can be seen by way of example. These are rigidly connected to gripper arm slides 21 which are displaceable in parallel guides 6 and are driven by means of threaded spindles 5. With 22 the fixed threaded nuts are designated, which are fastened to the gripper arms 16. By means of toothed belts 4, the threaded spindles 5 are connected to the motor output shafts 23 and the drive motors 3 via toothed belt pulleys 24, 25.
  • FIGS. 7 to 9 Further details are shown in FIGS. 7 to 9. As can be seen from Fig. 7, the arrangement can be such be taken that the gripper device is divided into two (or more) partial gripper arms 20 with the partial clamping strips 19; the partial gripper arm pairs can be driven and moved independently of one another.
  • each auxiliary gripper arm 26 is articulated on a guide shoe 27 which can be raised and lowered on the associated gripper arm 16 or partial gripper arm 20 at a pivot point 28 and that its auxiliary adhesive strips 29 are attached to the free upper end 30 of the auxiliary gripper arm 16 acting pressing device 31 can be pressed against the bearing objects 7a and also that the guide shoe 27 is articulated to the slide lever 32 of a toggle lever arrangement, the steering lever 33 of which gripper arm slide 21 can be pivoted in a bearing point 34 and the knee point 35 by means of an adjusting device 36 is angled or stretchable.
  • This design variant can also be designed as a retrofit or add-on unit and retrofitted if the guide 37 on the gripper arm 16 is prepared or can be attached.
  • an eccentric lockable in two positions is provided as the pressing device 31, and a piston engine acting at the knee point 35 is arranged as the adjusting device 36 for the toggle lever arrangement 32-36.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Un système d'entreposage permet de rassembler et de préparer pour l'expédition une pluralité d'objets entreposés sur des palettes, à des emplacements situés dans des rayonnages. Le système comprend au moins un appareil de manutention pour rayonnages qui place les objets entreposés dans une zone d'accès d'un dispositif à rassembler des marchandises en unités d'expédition. Le dispositif à rassembler des marchandises en unités d'expédition comprend (1.a) un robot collecteur capable d'entrer dans la zone d'accès de l'appareil de manutention (11) pour rayonnages et pourvu d'une pince servant à la saisie des objets entreposés (7) et à leur transfert à une palette d'expédition. Le robot collecteur comprend (1.b) une plate-forme levable et abaissable (14), (1.c) des ventouses (15) réparties sur sa surface, dans lesquelles un vide peut être généré afin de saisir des objets entreposés (7), et (1.d) au moins deux bras de saisie (16) opposés et mutuellement espacés, capables de s'ouvrir et de se fermer afin de serrer par les deux côtés des objets (7) posés sur une palette.
PCT/EP1995/002675 1994-07-15 1995-07-08 Systeme d'entreposage permettant de rassembler et de preparer des marchandises a expedier WO1996002444A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19944425127 DE4425127A1 (de) 1994-07-15 1994-07-15 Lageranlage zum Kommissionieren
DEP4425127.0 1994-07-15

Publications (1)

Publication Number Publication Date
WO1996002444A1 true WO1996002444A1 (fr) 1996-02-01

Family

ID=6523308

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1995/002675 WO1996002444A1 (fr) 1994-07-15 1995-07-08 Systeme d'entreposage permettant de rassembler et de preparer des marchandises a expedier

Country Status (2)

Country Link
DE (1) DE4425127A1 (fr)
WO (1) WO1996002444A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999047439A1 (fr) * 1998-03-19 1999-09-23 Trevor Henry Craven Palettiseur perfectionne
GB2340817A (en) * 1998-07-28 2000-03-01 Mannesmann Ag Combined friction and suction grippers
US7665949B2 (en) 2003-05-16 2010-02-23 Layertech Holdings Pty Ltd Carton handling method and apparatus
DE102010034071A1 (de) * 2010-08-12 2012-02-16 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum automatisierten Vereinzeln und Zusammenstellen unterschiedlich strukturierter Gebinde von Kommisionsware
WO2018070923A1 (fr) * 2016-10-14 2018-04-19 Logevo Ab Agencement de stockage de marchandises à plusieurs étages, procédé d'actionnement d'un tel agencement et chariot de transfert de ramassage destiné à être utilisé dans celui-ci
US20190077615A1 (en) * 2017-09-11 2019-03-14 Ocme S.R.L. Gripping member for gripping a layer of products
CN116331719A (zh) * 2023-05-26 2023-06-27 无锡市爱维丝科技有限公司 一种硅片周转立体仓库及工作方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19817935A1 (de) * 1998-04-17 1999-11-04 Mannesmann Ag Aufnahmevorrichtung zur Lastaufnahme und Lastabgabe von Ladeeinheiten
GB2355447A (en) * 1999-10-23 2001-04-25 Mannesmann Dematic Ltd Goods handling device comprising suction lifting head
NL1027152C2 (nl) * 2004-09-30 2006-04-03 Ingbureaumoderniek B V Klem voor hantering van goederen.
DE102005012910A1 (de) * 2005-03-14 2006-09-21 Kht Kommissionier- Und Handhabungstechnik Gmbh System zum Ein- und Auslagern von Gütern, insbesondere von Kästen, Kartons, gefüllten Säcken und dergleichen
WO2013091012A1 (fr) * 2011-12-21 2013-06-27 Foodmach Pty Ltd Palettiseur
FR2989674B1 (fr) * 2012-04-19 2015-02-20 Stef Systeme de prehension, appareil de manutention le comportant et utilisation
CN115246546A (zh) * 2022-01-25 2022-10-28 郑州航空工业管理学院 一种物流管理用智能存放架

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FR2166242A1 (fr) * 1972-01-03 1973-08-17 Applic Procedes Electriq
GB2156762A (en) * 1984-03-26 1985-10-16 Stewart Systems Inc Transfer device for bakery products
EP0260128A2 (fr) * 1986-09-09 1988-03-16 Kabushiki Kaisha Yakult Honsha Dispositif pour plaque aspirante
EP0351571A2 (fr) * 1988-07-16 1990-01-24 Focke & Co. (GmbH & Co.) Dispositif de préhension de groupes d'objets emballés
EP0559604A1 (fr) * 1992-03-02 1993-09-08 Dreier-Robot Ag Dispositif de stockage et de commission de commandes

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FR2050212A1 (fr) * 1969-07-02 1971-04-02 Carmody Joseph
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DE2062845A1 (de) * 1970-12-21 1972-07-06 Pierau E Kommissionierungseinrichtung
US3716147A (en) * 1971-02-22 1973-02-13 Eaton Yale & Towne Stacker crane order picker
DE2429699A1 (de) * 1974-06-20 1976-01-08 Ehrhardt Dipl Ing Pierau Kommissionierungsanlage
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US4252497A (en) * 1977-08-22 1981-02-24 Heico Inc. Article handling system
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NL8302803A (nl) * 1983-08-09 1985-03-01 Hulo Pannerden B V Inrichting voor het verplaatsen van voorwerpen zoals voor het laden en lossen van een pallet en dergelijke.
DE3801133C2 (de) * 1988-01-16 1995-03-23 Kaup Gmbh & Co Kg Anbaugerät für einen Hublader
US5203666A (en) * 1988-05-18 1993-04-20 Fleetwood Systems, Inc. Automatic tray loading, unloading and storage system
DE3829681A1 (de) * 1988-09-01 1990-03-15 Laeis Gmbh Verfahren und vorrichtung zum automatischen umsetzen von formteilen, insbesondere steine in der feuerfest-industrie
GB2234957B (en) * 1989-08-07 1994-03-23 Totall Products Ltd Apparatus for handling packaged bottles,cans,or the like
DE4038544A1 (de) * 1990-12-04 1992-06-11 Krause Biagosch Gmbh Vorrichtung zur herstellung von druckplatten
DE4206038C2 (de) * 1992-02-27 1994-08-18 Khs Verpackungstechnik Gmbh Vorrichtung und Vorrichtung zum Auflösen und Bilden von Stückgutstapeln
DE4208174C2 (de) * 1992-03-13 1994-01-13 Schaefer Foerderanlagen Preßkopf für eine Palettieranlage
DE4218267A1 (de) * 1992-06-03 1993-12-09 Brodhag Angelika Selbsttätige Auspacklinie für foliengereifte Käseblöcke
DE4240958A1 (de) * 1992-12-05 1994-06-09 Hoelscher Ottokar Magazin mit einer Einrichtung zum steuerbaren Ein- bzw. Auslagern von Gütern
DE4242270A1 (de) * 1992-12-15 1994-06-16 Erwin Jenkner Plattenzuführeinrichtung für Plattenaufteilsägeanlagen
DE4302116C2 (de) * 1993-01-27 1995-08-03 Langenstein & Schemann Gmbh Vorrichtung zum Greifen und Absetzen von Steinformlingen unter Lückenverringerung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2166242A1 (fr) * 1972-01-03 1973-08-17 Applic Procedes Electriq
GB2156762A (en) * 1984-03-26 1985-10-16 Stewart Systems Inc Transfer device for bakery products
EP0260128A2 (fr) * 1986-09-09 1988-03-16 Kabushiki Kaisha Yakult Honsha Dispositif pour plaque aspirante
EP0396210A2 (fr) * 1986-09-09 1990-11-07 Kabushiki Kaisha Yakult Honsha Mécanisme à main
EP0351571A2 (fr) * 1988-07-16 1990-01-24 Focke & Co. (GmbH & Co.) Dispositif de préhension de groupes d'objets emballés
EP0559604A1 (fr) * 1992-03-02 1993-09-08 Dreier-Robot Ag Dispositif de stockage et de commission de commandes

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999047439A1 (fr) * 1998-03-19 1999-09-23 Trevor Henry Craven Palettiseur perfectionne
GB2340817A (en) * 1998-07-28 2000-03-01 Mannesmann Ag Combined friction and suction grippers
GB2340817B (en) * 1998-07-28 2001-11-28 Mannesmann Ag A method and a device for storing and removing piece goods
US7665949B2 (en) 2003-05-16 2010-02-23 Layertech Holdings Pty Ltd Carton handling method and apparatus
DE102010034071A1 (de) * 2010-08-12 2012-02-16 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum automatisierten Vereinzeln und Zusammenstellen unterschiedlich strukturierter Gebinde von Kommisionsware
DE102010034071B4 (de) 2010-08-12 2019-10-10 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum automatisierten Vereinzeln und Zusammenstellen unterschiedlich strukturierter Gebinde von Kommisionsware
WO2018070923A1 (fr) * 2016-10-14 2018-04-19 Logevo Ab Agencement de stockage de marchandises à plusieurs étages, procédé d'actionnement d'un tel agencement et chariot de transfert de ramassage destiné à être utilisé dans celui-ci
EP3526144A4 (fr) * 2016-10-14 2020-08-19 Logevo AB Agencement de stockage de marchandises à plusieurs étages, procédé d'actionnement d'un tel agencement et chariot de transfert de ramassage destiné à être utilisé dans celui-ci
US20190077615A1 (en) * 2017-09-11 2019-03-14 Ocme S.R.L. Gripping member for gripping a layer of products
US10710822B2 (en) * 2017-09-11 2020-07-14 Ocme S.R.L. Gripping member and telescopic vacuum champer for gripping a layer of products
CN116331719A (zh) * 2023-05-26 2023-06-27 无锡市爱维丝科技有限公司 一种硅片周转立体仓库及工作方法
CN116331719B (zh) * 2023-05-26 2023-09-26 无锡市爱维丝科技有限公司 一种硅片周转立体仓库及工作方法

Also Published As

Publication number Publication date
DE4425127A1 (de) 1996-01-18

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