Patent Application
20220033188
The present application claims priority to German Patent Application No. 10 2020 115 816.5 filed on Jun. 16, 2020. The entire contents of the above-listed application is hereby incorporated by reference for all purposes.
The disclosure relates to a storage system and/or production system having a handling device with a lifting tool for the manipulation of workpiece holders.
Storage systems and/or production systems are automation solutions, for example, for the production, the machining, or the assembly of workpieces. Solutions for the automatic temporary storage of workpieces, workpiece holders, or tools are typically called storage systems. In the simplest sense, solutions for the automated supply of one or more machining stations, for example the automatic loading and unloading of a machine with workpieces, workpiece holders, or tools, are understood as production systems. In this respect, storage systems and production systems are automation solutions for both intermediate storage and production supply.
Known handling systems for the manipulation of workpiece holders in a storage system and/or production system, for example, comprise stacker cranes (STCs). Large storage systems and/or production systems are here frequently rail-bound vehicles for the manipulation of workpiece holders such as pallets, in a storage system and/or for loading and unloading machine tools and setup stations of a production system. The movement of a stacker crane typically takes place in three axes, namely in the longitudinal aisle direction of the storage system using the so-called travel unit of the stacker crane, in the vertical direction using the so-called lifting unit of the stacker crane, and in the transverse aisle direction using the load receiving unit of the stacker crane. Stacker cranes are typically fixed at one location in small storage systems and/or production systems. The stacker crane is typically arranged centrally between the further components of the storage system and/or production system, with the further components being able to comprise, for example, shelves, setup stations, or machines. The stacker crane can thereby typically manipulate the workpiece holders at the further components of the storage system and/or production system by movement in three axes, namely by a rotational movement of the travel unit of the stacker crane about its own axis, in the vertical direction using the so-called lifting unit of the stacker crane, and in the transverse direction using the load receiving unit of the stacker crane. The load receiving unit comprises a lifting tool in the form of, for example, a fork having two prongs. A handling device of the category is disclosed, for example, in EP 3 272 697 A1.
There are a plurality of machine pallets and material pallets that differ in form from one another due to the machine manufacturer and/or on the basis of individual machine or workpiece properties. It can thus occur on the connection of different machines and/or workpieces, with their respective individual machine pallets and/or workpiece pallets, to form a storage system and/or production system that the respective machine pallets and/or workpiece pallets cannot be handled by a single unchangeable lifting tool.
An obvious solution of this problem is the design of a pallet or of a general workpiece holder for the storage and/or production system, which represents a compromise between the different demands of machines and/or workpieces of a storage system and/or production system. However, the productivity of the storage system and/or production system usually suffers therefrom. A further disadvantage of this solution approach is that a pallet or a general workpiece holder cannot always be designed for the storage system and/or production system. Another approach known in the prior art is the use of attachment pallets in the machine tools of a production system. In this case, however, machine pallets remaining in the machine tool have to be adapted, which can result in additional costs. The storage system and/or production system can furthermore be divided into two separate systems, which is, however, as a rule associated with significant additional costs since a large number of components are required in duplicate.
To be able to handle workpiece holders or pallets of different constructions within the same storage system and/or production system, handling devices have already become known having a fork with two prongs in which the distance between the prongs can be adjusted. This solution, that is elegant per se, is however, only suitable for those systems in which the pallets to be handled only differ in their widths. If, however, not only forks having differently spaced apart prongs are required for the handling of the different pallets, but also generally different lifting tools such as forks having different prong lengths or having receiving pins, said solution does not provide any remedy.
It is the object of the disclosure to provide a storage system and/or production system and a corresponding handling device by which said disadvantages of the prior art are overcome.
Against this background, the disclosure relates to a storage system and/or production system having at least one handling device for the manipulation of workpiece holders, wherein the handling device is a rail-bound vehicle having a travel unit movable in a longitudinal direction of the system or a handling device fixed at the location and rotating about its own axis, having a lifting unit of the stacker crane movable in the vertical direction, and having a load receiving unit, which in some embodiments can be movable and/or rotatable in the transverse direction, wherein the load receiving device has a lifting tool, wherein the load receiving unit has an interface for the fastening of the lifting tool that is configured such that the lifting tool or a part of the lifting tool can be automatically changed or removed, wherein the handling device has a releasable latching device in whose closed state the lifting tool or its changeable part are secured against loss, and wherein the storage system and/or production system or the handling device has at least one storage space or placement station for lifting tools at which the releasable latching device of the handling device can be switched from a closed state to an open state and vice versa.
Provision is made in accordance with the disclosure that the loading receiving unit has an interface for fastening the lifting tool that is configured such that the lifting tool or a part of the lifting tool can be automatically changed or removed. The handling device has a releasable latching device for this purpose that secures the lifting tool or its changeable part against loss in the closed state. In addition, at least one storage space for lifting tools is provided in the storage system and/or production system at which the releasable latching device of the handling device can be switched from a closed state into an open state and vice versa.
In some embodiments, the handling device may be a stacker crane (STC). It serves the manipulation of workpiece holders such as pallets in a storage system and/or for loading and unloading machine tools and setup stations of a combined storage system and/or production system. The lifting tool coupled to the load receiving unit may be a fork having two prongs.
Only some part of the lifting tool can be changed in an embodiment of the disclosure. Individual prongs of a fork having two or more than two prongs can be removed or changed, for example.
In an embodiment the interface and the lifting tool or its changeable part may be secured against loss so that the lifting tool cannot release by accident after a collision with other components of the system, for instance, or cannot change its position or orientation at the handling device. Different latching devices can be provided for the securing that can work on a pneumatic, hydraulic, mechanical, or electrical basis or on a combined basis.
In an embodiment, the handling device comprises an actuating device that is configured to move the latching device from a closed state into an open state in which the lifting tool or its changeable part is no longer secured against loss. In some embodiments, the actuation device can be configured as a mechanical actuation device.
In an embodiment, the handling device comprises at least one sensor for determining the presence or the position of the lifting tool at the load receiving unit or at a specific interface. A plurality of sensors can be combined in a sensor array. The or a sensor or the or some sensors can additionally or alternatively be configured to monitor the state of the latching mechanism and/or to identify the coupled lifting tool or the coupled lifting tool part.
The sensors and/or the actuation device can be in signal communication with a control unit of the handling device or, with the aid of a corresponding interface, with a control unit of the system.
In an embodiment, the handling device comprises two or more load receiving units each having an interface as described or the load receiving unit comprises two or more interfaces as described. In this embodiment, the handling device is consequently configured as a double loader or multi-loader.
Against the initially named background, the disclosure further relates to a storage system and/or production system having at least one handling device in accordance with the disclosure and having a changing station that comprises at least one storage space for the changeable lifting tool of the handling device or its changeable part.
The changeable lifting tool or the changeable parts can be placed down and picked up automatically at the storage space by the handling device.
The changing station may comprise at least two storage spaces. A storage space can respectively receive a lifting tool or a lifting tool part so that a lifting tool or a lifting tool part of a first kind can be stored at a first storage space and a lifting tool or a lifting tool part of a second kind can be stored at a different storage space. The storages spaces can be arranged collected at a location within the system or can be distributed over the system.
The changing station or individual storage spaces of the changing station can be present as independent stations within the system or can be integrated in other components of the system, such as in stacks, setup stations, or machine tools.
The number of storage spaces can correspond to at least the number of lifting tools or lifting tool parts required for the operation of the system.
Alternatively or additionally to the storage spaces, at least one placement station for the lifting tools can be provided on the handling device. Any surface on which the lifting tools can be placed is generally suitable as a placement station. In accordance with an embodiment, the surface of an oil pan provided on the handling device can here serve as a placement station. Alternatively, the placement station on the oil pan of the handling device is formed as a storage space.
A lifting tool can be placed down at the storage spaces and removed therefrom by traveling the handling device or the load receiving unit of the handling device in the X direction, Y direction, and/or Z direction of the system. The device can be traveled in every direction on the placing down; but all the degrees of freedom are not used for some procedures depending on the design of the device and of the stacks.
The storage spaces can have positioning aids for lifting tools placed thereon, for example center pins or rails.
In an embodiment, the storage places have an actuation device that is configured to change a latching device formed at the handling device from a closed state in which the lifting tool or its changeable part is secured against loss into an open state in which the lifting tool or its changeable part is no longer secured against loss. A latching device can thus be released at the handling device at the storage space or only at the storage space. In certain embodiments, the actuation device may be configured as a mechanical actuation device.
Alternatively, the actuation device can also be located at the handling device, for example, at the load receiving unit.
In an embodiment, the storage spaces have at least one sensor and an interface for transferring a sensor signal to a control unit of the handling device or of the system. A plurality of sensors can be combined in a sensor array. The sensor or sensors can be configured to recognize the occupation of the storage space with a lifting tool or lifting tool part, the position of the lifting tool or of the lifting tool part at the storage space, and/or the kind of lifting tool or lifting tool part located at the storage space.
The handling device or the system can be configured such that a latching device for the lifting tool or a lifting tool part at the handling device is released or latched in response to a signal from sensors of the storage space and/or from sensors at the handling device. A signal can, for example, be transmitted to the control unit on the placing down of the lifting tool or of the lifting tool part at the storage space as soon as the lifting tool or the lifting tool part is correctly positioned. As a result, the control unit can transmit a signal to release the latching to an actuation device.
Alternatively, the actuation device can also be controlled independently of sensor signals and purely on the basis of a preprogrammed routine.
A plurality of workpiece holders, for instance, a plurality of pallets of at least two different types A and B, can be handled using a handling device in accordance with the disclosure or of a system in accordance with the disclosure. Workpiece holders of type A cannot be handled with the same lifting tool as workpiece holders of type B. Two types A′ and B′ of lifting tools are therefore required, with a lifting tool of type A′ being able to handle a tool holder of type A and a lifting tool of type B′ being able to handle a workpiece holder of type B. If the handling device is equipped with a lifting tool of type A′, but a workpiece holder of type B is to be handled, the handling device travels to a storage space of the changing station and automatically places the lifting tool of type A down. The handling device then travels to a different storage space of the changing station and automatically picks up the lifting tool of type B′ there. As a result, the handling device can then manipulate the workpiece holder of type B.
Further details of the disclosure result from the following embodiment described with reference to the Figures. There are shown in the Figures:
Respective views of different embodiments of storage systems and/or production systems 1 in accordance with the disclosure are shown in a bird's eye view in
System 1 in both embodiments comprises a plurality of stacks 2 and 10 having compartments for storing pallets 3, 13, and 23, two setup stations 5 and 6, and two machine tools 7 and 8. The stacks 2 and 10, the setup stations 5 and 6, and the machine tools 7 and 8 are arranged at both sides of an aisle in which a handling device 9 in accordance with the disclosure is located that can be traveled along rails 11 in the longitudinal direction of the aisle.
The handling device 9 is configured in accordance with the disclosure such that the lifting tools 4, 12, 14, and 24 are releasably fastened to an interface 15 of the handling device 9 and can be automatically changed.
The stacks 2 are regular stacks having storage compartments for receiving pallets 3 of a first type A and pallets 13 of a second type B. The pallets 3 and 13 serve as holders for workpieces and tools. The stacks 10 additionally comprise storage spaces 17 and 18 for changeable lifting tools 4, 12, 14, 24 of the handling device 9 and thus represent a part of a changing station of the system 1.
The setup station 6 is a regular setup station and the machine tool 8 is a regular machine tool, while setup station 5 and machine tool 7 additionally have storage spaces 17 and 18 for changeable lifting tools 4, 12, 1424 of the handling device 9 and thus likewise represent a part of the changing station of the system 1.
The embodiment of
The embodiment of
A stack 10 equipped with additional storage spaces 17 and 18 for changeable lifting tools 4, 12, 14, 24 of the handling device 9 is shown in more detail in the side view of
Two variants of a storage space 17 are shown in
The interface 15 of the handling device 9 at the top and at the bottom respective notches extending in the transverse direction and open to the top. Corresponding webs arranged at the top and at the bottom at the crossbar of the lifting tool 12 and directed to the bottom are seated in these two notches. The lifting tool 12 is secured by this shape matched connection against a release from the handling device 9 to the bottom and to the front as well as against a downwardly directed tilt movement. So that the lifting tool 12 cannot unintentionally release from the handling device 9 after an incident such as a collision with other components of the system 1 in that it is shifted upward or is tilted upward, the interface 15 furthermore comprises a spring loaded plunger that is preloaded toward a latching position in which it projects to the front over the plane of the interface 15, corresponding to the support plane for the lifting tool 12. A corresponding cutout into which the plunger engages is arranged at the crossbar of the lifting tool 12. The lifting tool 12 is fixed to the interface 15 in this manner. The corresponding notches and webs and the plunger and the cutout together form a fastening and simultaneously a latching mechanism 21 whose function will be explained in more detail in the following.
A procedure for storing a lifting tool 12 that is configured as shown in
As can be recognized in
This can easily be recognized in the right illustration of
Once the lifting tool 12 has thus been correctly positioned above the storage place 17, it is traveled downwardly in the direction of the arrow, as is shown in the left illustration of
If then the handling device 9 travels the interface 15 even further downward, as is shown in
The process shown in
An alternative embodiment of a fastening region of a lifting tool 12 at the handling device 9 is shown in
Finally, yet another embodiment of a fastening region of a lifting tool 12 at the handling device 9 is shown in
In accordance with an embodiment variant of the disclosure shown in
The following claims particularly point out certain combinations and sub-combinations regarded as novel and non-obvious. These claims may refer to “an” element or “a first” element or the equivalent thereof. Such claims should be understood to include incorporation of one or more such elements, neither requiring nor excluding two or more such elements. Other combinations and sub-combinations of the disclosed features, functions, elements, and/or properties may be claimed through amendment of the present claims or through presentation of new claims in this or a related application. Such claims, whether broader, narrower, equal, or different in scope to the original claims, also are regarded as included within the subject matter of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2020 115 816.5 | Jun 2020 | DE | national |
