• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    11SANIMANDRAG - ~ - 'A shuttle 1 comprises chains 10, 11 which extend along the side edges of the shuttle. The chains are individually drivable by means of second and third motors 13, 15, which are connected to at least one motor control unit 40 which causes the motors to rotate. The motors have or cooperate with signal transducers 13 "and 15" which emit first signals depending on the current rotations. Other signals ig and 110 in dependent actuation emitting sensors 17, 18, 19, 20 are located one after the other next to the side edges (C, D) for sensing the positions of the front parts 36a of the pallet during the ongoing loading of the pallet on the chains. The motor controller 40, the signal transmitters and the sensors are connected to a computing or computer unit 38 arranged to assist the first and second signals and a third signal in during the feeding; from the engine control unit recalculate and redirect the rotational speed of the second and / or the third engine in the event of a skew of the goods support unit in its horizontal plane. Safe and fast feeding can take place without the risk of the pallet with goods tipping off.
    公开号:SE1000947A1
    申请号:SE1000947
    申请日:2010-09-21
    公开日:2012-03-22
    发明作者:Bo Lindblom
    申请人:Texo Applic Ab；
    IPC主号:
    专利说明:

    15 20 25 2 There is also a need for the loading, unloading and relocation functions to be adapted to different sizes and types of pallets or the like. So t.eX. they are highly desirable that the systems and shuttles can serve the cases with 800 and 1000 cm pallets, without changes in the facilities having to take place.
    The invention also solves this problem.
    There is also a need for technically simpler and more economically advantageous principles for entry and support functions in connection with shuttles.
    The invention also solves this problem.
    What can mainly be considered to be characteristic of a vessel according to the invention is, among other things, that the entry and support parts comprise chains extending along the side edges and that the chains are individually drivable by means of second and third motors. The motors are then connected to at least one motor control unit which causes the motors to rotate. The motors exhibit or interact with signal transmitters that emit initial signals depending on the current rotations. In addition, other signals, depending on their activations, emit sensors which are located one after the other next to the side edges for sensing the positions of the front parts of the goods support unit during the goods loading unit's ongoing feed on the support parts. The motor control unit, the signal transducers and the sensors shall be connected to a calculation or computer unit which, during the feeding by means of the first and second signals and a third signal from the motor control unit, recalculates and reverses the rotational speed of the second and / or third motor. of the goods cargo unit in its horizontal plane.
    Further developments of the invention include that the first, second and third signals include pulse trains with the same distance between and length of the pulses.
    Furthermore, the shuttle at each side edge comprises two sensors which are located at the front and rear of the corner parts of the shuttle seen in the horizontal plane. The two sensors at the front corner portions are located at substantially the same distance from the leading edge and the two sensors at the rear corner portions are located at substantially the same distance from the rear leading edge. The same applies to the distances to the side edges. Further developments of the inventive concept include that in connection with the change of the cargo storage unit, the directions of rotation of the first engine on the one hand and the second and third engines on the other hand are reversed, the drive of the shuttle on the web being directed towards the cargo carrying unit while the chain direction is opposite to allow entry. At the initial interaction of the shuttle and the goods storage unit, there is control in the calculation or computer unit partly of the pulses in the pulse trains, partly of utilized effects in the first, second and third motors, the control of the pulses including control of the number of pulses. Furthermore, the sensors in the goods support unit, which can be met at the front or rear edge, are included in mutual cooperation.
    Said further developments also note that when abutting the front parts of the goods carrying unit against only one of the pair's cooperating sensors, the start of pulse counting occurs when said front parts achieve a hit or abutment also against the couple's other sensor. The number of pulses achieved during the pulse count forms the basis for the calculation or computer unit to increase the chain speed on the trailing side so that when the goods storage unit reaches the cooperating sensors on the other two corners of the shuttle, the goods carrying unit assumes a desired or straight or upright position on the shuttle parts. The calculation or computer unit can be located in the shuttle or outside the shuttle, the connection to and from the calculation unit being wireless.
    The invention enables a functionally advantageous entry function for the pallets on the shuttle in a traction-intensive goods warning system. With a computer unit, pulses obtained from the shuttle's drive motor (drive motor) and the two chain motors can be counted at the same time as the power is checked on all three motors when the pallet or equivalent hits the sensor in the respective cooperating pair of sensors. The pulses obtained at the time from the hit with the first sensor until the hit with the second sensor in the pair can be counted. The speed on the rear side can be increased so that when the front parts of the pallet reach the other pair of sensors in the rear corners in relation to the direction of movement of the shuttle, the pallet is straight. For example, if there is a difference between the pair's sensors of 1000 pulses and the podium, one of the pair's sensors first hits while 9000 pulses have been calculated between the pair's two sensors, the date states that the ratio 1000/9000 pulses gives 0.9 pulses, which means that it one 10 15 20 25 30 4 motor runs at 0.9 pulses when the other motor runs with 1 pulse, ie 1.111 times faster.
    A presently proposed embodiment which exhibits the features significant to the invention shall be described in the following with simultaneous reference to the accompanying drawings where fi g.1 in horizontal view shows i.a. the internal components and supporting parts of the shuttle for goods-supporting pallets or the like in the form of chains arranged at and extending along the sides of the shuttle, fi g. 2a-2b in vertical views, the shuttle shows occupying different positions in relation to pallets in a principally specified goods storage system, in folded lanes, e.g. in the form of rail parts, the shuttle is drivable or drivable, and Fig. 3 in horizontal view shows the shuttle and its electrical and telecommunications components.
    In Figure 1, the shuttle as a whole is indicated by 1. The front of the shuttle is indicated by A, the back with B, the left with C and the right with D. The shuttle can be driven in a forward direction indicated by arrow 2 and the reverse direction indicated by arrow 3. Left front corner parts are indicated by 4, right front corner parts by 5, left rear corner part by 6 and right rear corner part by 7. The shuttle is provided at its front side A with a part 8 extending along and outside the side A which in a embodiment can be resiliently attached .
    A corresponding part 9 is arranged at the rear B. The shuttle can, in accordance with the following, support a pallet or the corresponding drivable parts arranged in the form of chains 10 and 11 at and along the left and right sides C and D, respectively.
    The chains are driven by drive motors. Left drive motor with gearbox for sprocket 12 and chain 10 is indicated by 13. A drive motor with gearbox for sprocket 14 and chain 11 is indicated by 15. Right drive motor with gearbox for shuttle movement is indicated by 16. Sensors for detecting entering pallet via front and the backs are indicated by 17, 18, 19 and 20. The sensor 17 detects the left edge of the pallet entering from the B direction. If the pallet enters from the A direction, it detects a stop of the left drive motor 13.
    The sensor 18 detects the left edge of the entering stool coming from the A-direction. If the pallet comes from the B-direction, it detects a stop of the left drive motor 13. The sensor 19 detects the right edge of the pallet coming from the B-direction. If the pallet comes from the A-direction, it detects a stop of the right drive motor 15. The sensor 20 detects the right edge of the pallet coming from the A-direction. If the pallet comes from the B-direction, it detects stops of the right drive motor 15. The shuttle's left and right front wheels are shown with 21 and 22, respectively. The left rear wheel is shown with 23 and the right rear wheel with 24. These motors consist of AC or DC motors. Side wheels 25 are arranged along the side edges of the shuttle to stabilize the movement of the shuttle in the goods storage system. The shuttle is provided with space 26 and panels 27 for electrical components. In addition, a drive belt 33 is included. Figures 2a, 2b and 2c show the shuttle in a symbolically indicated goods piling system 33 which may be of a known type. The system includes paths 34, e.g. rail parts, on which the shuttles are drivable. At the tracks, there are also arranged storage areas 35 for goods support units. In the present case, such a unit is in the form of a pallet which can be empty or loaded with goods which in symbol 2a is symbolically indicated by 37. The shuttle is driven in figure 2a by its drive motor in the rearward direction 3 and approaches the stationary pallet.
    The support parts 10 and 11 of the shuttle (see figure 4) must co-operate with lower surfaces 36b of the pallet so that it enters over the support parts. The upper surfaces of the support members (chains) co-operate with the lower surfaces 36b and by the chains rotating clockwise in Figure 2a, the pallet will be pulled over the chains while simultaneously driving the shuttle under the pallet, which can thus be considered to enter the support members. The drive motor thus runs in one direction which drives the shuttle in direction B, while the chain motors are driven in the opposite direction. When the shuttle thus hits the stool, it begins to climb up the chains.
    Figure 2b shows that the pallet 36 has climbed or entered halfway and Figure 2c shows that the pallet has finally been placed on the shuttle. During the climb, the pulses from the drive motor and the two chain motors are sensed at the same time as the power on all three motors is checked.
    When the pallet hits one sensor 17 or 19 in the rear pair of sensors, the signals from all three motors are sensed so that the relationship between the drive motor and the chain motors is correct and no slippage is present when the other sensor 17 or 19 in said sensor pairs hits. In the event of a difference, the speed on the trailing side is increased so that when the pallet reaches the sensor pair 18 and 20, the pallet is straight. 10 15 20 25 6 If e.g. pulses are used as signals and there is a difference between the sensors 17 and 19 of 1000 pulses. The pallet is assumed to hit the sensor 8 first and there are 9000 pulses between the sensors 8 and 11 are calculated according to the following ratio. 1000/9000 pulses gives 0.9 pulses, which means that motor 13 must go with 0.9 pulses when the motor 15 goes with 1 pulse, which means 1.111 times faster. Thus, the drive speed of the chain on the side behind must be increased depending on the lag.
    The motor 16 runs in the A direction and the motors 13 and 16 run in the opposite direction. When the shooter hits the stool, the stool begins to climb up the chains. When the pallet hits the first sensor 18 or 20, pulses are counted until the last sensor 18 or 20 hits. If there is a difference in speed, this is increased on the side that lies behind so that when the pallet reaches sensors 17 and 19, the pallet is straight.
    Figure 3 shows with 38 a computer unit placed in the shuttle. Alternatively or in addition, the unit can be placed outside the shuttle and such an outside computer unit is indicated with 38 ”. The connection 39 is then wireless. The computer unit is connected to a motor control unit 40 and to the sensors 17, 18, 19 and 20 (see Figure 1). In addition, the computer is connected to encoders 131 15 °, 16 ”on motors 13, 15 and 16. The computer unit controls the motor control unit with signals il and receives signals iz. The motor control unit controls the motors with signals i3, i4 and i5. The computer unit senses signals ió, i7, ig, ig, im, in and in from said sensors and encoders. The system operates with pulses 42 with the same pulse length 42 "and pulse distance 42". By sensing the pulses from the motors' encoders and the connection to the motor control unit, the current motor effects during pallet application can be read and included in the calculation of chain speeds when skews are present or tendencies occur. The number of pulses initiated at different sensor influences is also included in the control of the feeding process of the pallet on the shuttle, see also above. The computer unit can be of a per se known type which can be programmed with a conventional program which is symbolically represented by 41. In the embodiment shown, the motors 13, 15 and 16 consist of direct current motors which are driven by a battery arrangement 26. Drivers 27 and brushes 27 'are included with known functions. The vessel and its chains 10 and ll are operatively separated from each other according to Figures 1 and Za. The sprockets 30 and 31 are free-rolling in relation to the drive functions of the shuttle effected by the motor 16. In accordance with the above, the chains 10 and 11 are driven individually with the motors 13 and 15, respectively, with associated gearboxes. The computer unit is equipped with program 41 and calculation unit which is included in unit 38a and determines the speeds of the motors 13, 15 and 16 and thus the speeds of the shuttle In both directions of the shuttle, the shuttle and the chains assume opposite directions of movement. In situations where the shuttle is picking up cargo (pallet), the shuttle is operated at a higher speed which can be in the range 9.75-1.25 Meters / second and preferably be about 1.0 meters / second.
    When the shuttle approaches the pallet or equivalent that it is to pick up, the speed is reduced by approximately half the intake speed, ie. if the shuttle travels at 1.0 meters / second, the speed is reduced to about 0.5 meters / second. At the same time, the speeds of the chains are controlled by the computer unit and the written program and the chains, respectively, during different stages. to about 0.5 meters / second at and during the interaction with the stool. The chains may have had a higher speed when unloading the previous cage and moved the pallet. The arrangement with the speed changes on the shuttle and the chains overturns or is damaged during loading. Thus, in accordance with the above, the calculation unit in 38a shall control the shuttle and chain speeds via the motor unit so that gentle loading takes place at the same time as the loading takes place quickly by allowing the shuttle to run under and propel while the chains effect traction or the equivalent on the shuttle. The movement pattern on or for the shuttle and the pallet includes the selected value of the shuttle and chain speeds. The computer unit comprises the movement pattern that determines the structure. The unit 38a also includes known per se signal-opposite means with signal-adapting means 40a to the computer unit and 40b to the motors 13, 15 and 16. The control unit receives signals from sensors and sensors. in accordance with the above.
    The computer unit comprises signal matching means 38b, via which data
    权利要求:
    Claims (10)
    [1]
    On a track (34) in a goods storage system by means of a first motor (16) a shuttle (1) movable in opposite directions for moving the goods carrying unit (36), preferably a pallet, and comprising front, rear and side edges (A, B , C, D) and inlet and support parts intended for the goods support unit, characterized in that the inlet and support parts comprise chains (10, 11) extending along the side edges (C, D), that the chains are individually drivable by means of second and third motors (13, 15), that said motors are connected to at least one motor control unit (40) which causes the rotations of the motors, that said motors have or cooperate with signal transducers (13 °, 14 ", 16 °) which emit first signals depending on the current rotations, that other signals depending on their activation emitting sensors (17, 18, 19, 20) are located one after the other next to the side edges (C, D) for sensing the positions of the front parts (3) of the goods carrying unit (3). 6a) u during the ongoing feeding of the goods support unit to the support parts, and that the motor control unit, the signal transmitters and the sensors are connected to a calculation or computer unit (38) arranged during the operation by means of the first and second signals and a third signal from the motor control unit. recalculate and redirect the rotational speed of the second and / or the third motor in the event of any inclination of the goods support unit in its horizontal plane.
    [2]
    2. A shuttle according to claim 1, characterized in that the first, second and third signals comprise pulse trains (42) with the same distance (42 ") between and length (42") of the pulses.
    [3]
    3. A shuttle according to claim 1 or 2, characterized in that the shuttle at each side edge (C, D) has two sensors located at the front (4, 5) and rear (6, 7) of the corner portions of the shuttle seen in the horizontal plane. .
    [4]
    Shuttle according to claim 3, characterized in that the two sensors (18, 20) at the front corner parts (4, 5) are located at substantially the same distance from the front edge and the two sensors (17, 19) at the rear the corner parts (6, 7) are located at substantially the same distance from the rear edge. 10 15 20 25
    [5]
    Shuttle according to one of the preceding claims, characterized in that, in connection with the entry of the goods support unit (36), the directions of rotation of the first motor (16) on the one hand and the second and third motors (13, 15) on the other hand are reversed, the drive of the shuttle on the web (34) being directed towards the goods carrying unit (36) and the chain direction being opposite to allow entry.
    [6]
    Shuttle according to one of the preceding claims, characterized in that during the initial interaction of the shuttle (1) and the goods support unit (36), control is included in the calculation or computer unit (40) of the pulses (14) in the pulse trains, wherein the control of the pulses (14) includes control of the number of pulses.
    [7]
    Shuttle according to one of the preceding claims, characterized in that during the initial interaction of the shuttle (1) and the goods storage unit (36) control is included in the calculation or computer unit (38) of utilized effects in the first, second and third motors (13, 15, 16) to determine any slippage tendencies.
    [8]
    Shuttle according to claim 7, characterized in that when abutting the inner parts (36a) of the goods carrying unit against only one of the pair of cooperating sensors (eg 18, 20) start of pulse counting occurs until said front parts reach hit or abutment also against the pair's other sensor, whereby the number of pulses obtained during the pulse count forms the basis for the calculation or computer unit (3 8) to increase the chain chastity on the trailing side so that when the goods carrying unit reaches the cooperating sensors on the shuttle's other two occupies a desired, straight or upright position on the support parts of the shuttle. 10 15 10
    [9]
    Shuttle according to one of the preceding claims, characterized in that the computer unit (38) comprises a movement pattern for traveling speeds on the shuttle (1) and driving speeds on the chains (10, 11), that in the respective unobstructed rides and drive trajectory the movement pattern includes values for controlling via the motor control of shuttle velocities and the chain velocities in opposite directions during the incoming run of the shuttle opposite good support unit (36) and incoming run-in into the goods support unit with simultaneous tightening with the goods support unit, values for the shuttle's travel speeds of approx. 1.0 meters / second during said incoming run and approx. 0.5 meters / second during said run-in and initial values for the chains of approx. 0.5 meters / second, which initial values are adherent at future feed due to any slippage, uneven loads, skew, etc.
    [10]
    Shuttle according to one of the preceding claims, characterized in that the program unit's movement-based movement pattern of the computer unit is controlled by a program part which initiates sensing of the power requirements of the motors (13, 15 and 16) at different operating stages.
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    同族专利:
    公开号 | 公开日
    SE535172C2|2012-05-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1000947A|SE535172C2|2010-09-21|2010-09-21|Shuttle included in freight storage system|SE1000947A| SE535172C2|2010-09-21|2010-09-21|Shuttle included in freight storage system|
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