STORAGE AND / OR MANUFACTURING SYSTEM WITH AT LEAST ONE HANDLING DEVICE

Description

[0001] The invention relates to a storage and / or manufacturing system with a handling device with a lifting tool for manipulating workpiece carriers.

[0002] Storage and / or manufacturing systems are automation solutions for, for example, the production, machining, or assembly of workpieces. Storage systems typically refer to solutions for the automatic temporary storage of workpieces, workpiece carriers, or tools. In the simplest sense, a manufacturing system refers to solutions for the automated supply of one or more processing stations, for example, the automatic loading and unloading of a machine with workpieces, workpiece carriers, or tools. Storage and manufacturing systems are automation solutions that combine both temporary storage and production supply.

[0003] Known handling devices for manipulating workpiece carriers in a storage and / or production system include, for example, stacker cranes (STCs). In large storage and / or production systems, these are often rail-guided vehicles for manipulating workpiece carriers, such as pallets, in a storage system and / or for loading and unloading processing machines and setup stations in a production system. The movement of a stacker crane typically occurs in three axes: 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-handling unit of the stacker crane. InIn small storage and / or production systems, storage and retrieval machines are usually fixed at one location. The storage and retrieval machine is usually arranged centrally between the other components of the storage and / or production system, whereby the other components can include, for example, shelves, setup stations or machines. As a result, the storage and retrieval machine can typically manipulate the workpiece carriers on the other components of the storage and / or production system by moving in three axes, namely by rotating the travel unit of the storage and retrieval machine about its own axis, in the vertical direction using the so-called lifting unit of the storage and retrieval machine, and in the transverse direction using the load-handling unit of the storage and retrieval machine. The load-handling unit comprises a lifting tool in the form of, for example, a fork with two tines. A handling device of this generic type is disclosed, for example, in EP 3 272 697 A1.

[0004] There are a multitude of machine and material pallets, each of which differs in shape due to the machine manufacturer and / or individual machine or workpiece characteristics. When connecting different machines and / or workpieces, with their respective individual machine and / or workpiece pallets, to a storage and / or production system, it may be the case that the respective machine and / or workpiece pallets cannot be handled by a single, fixed lifting device.

[0005] An obvious solution to this problem is the design of a pallet or a general workpiece carrier for the storage and / or manufacturing system, which represents a compromise between the different requirements of machines and / or workpieces in a storage and / or manufacturing system. However, the productivity of the storage and / or manufacturing system usually suffers as a result. A further disadvantage of this approach is that a pallet or a general workpiece carrier cannot always be designed for the storage and / or manufacturing system. Another approach known in the prior art is the use of add-on pallets in the processing machines of a manufacturing system. In this case, however, the machine pallets remaining in the processing machine must be adapted, which can lead to additional costs.Furthermore, the storage and / or manufacturing system can be split into two separate systems, but this usually involves significant additional costs because many components are required twice.

[0006] In order to handle workpiece carriers or pallets of different designs within the same storage and / or production system, handling devices with a fork with two prongs, in which the distance between the prongs can be adjusted, have already become known. However, this elegant solution is only suitable for systems in which the pallets to be handled only differ in their width. However, if handling the different pallets requires not only forks with differently spaced prongs, but generally different lifting tools, such as forks with different prong lengths or mounting pins, this solution is no solution.

[0007] The object of the invention is to provide a storage and / or production system and a corresponding handling device with which the aforementioned disadvantages of the prior art are overcome.

[0008] Against this background, the invention relates to a storage and / or manufacturing system according to claim 1.

[0009] Preferred embodiments are defined in dependent claims 2 to 9.

[0010] According to the invention, the load-handling unit has an interface for attaching the lifting tool, which interface is designed so that the lifting tool or a part of the lifting tool can be automatically changed or removed. For this purpose, the handling device has a releasable locking device that, when closed, secures the lifting tool or its replaceable part against loss. Furthermore, at least one storage location for lifting tools is provided in the storage and / or production system, where the releasable locking device of the handling device can be moved from a closed to an open state and vice versa.

[0011] The handling device is preferably a stacker crane (STC). It is used to manipulate workpiece carriers, particularly pallets, in a storage system and / or for loading and unloading processing machines and setup stations of a combined storage and production system. The lifting tool coupled to the load-handling unit is preferably a fork with two prongs.

[0012] In one embodiment of the invention, only a part of the lifting tool can be replaced. For example, individual tines of a fork with two or more tines can be removed or replaced.

[0013] The interface and the lifting tool, or its replaceable part, are preferably secured against loss, so that the lifting tool cannot accidentally become detached after a collision with other system components or change its position or orientation on the handling device. Various locking devices can be provided for security purposes, which can operate on a pneumatic, hydraulic, mechanical, or electrical basis, or a combination of these.

[0014] In an embodiment not according to the invention, the handling device comprises an actuating device designed to transfer the locking device from a closed to an open state, in which the lifting tool or its replaceable part is no longer secured against loss. The actuating device can be designed, in particular, as a mechanical actuating device.

[0015] In one embodiment, the handling device comprises at least one sensor for determining the presence or position of the lifting tool on the load-carrying unit or a specific interface. Several sensors can be combined in a sensor arrangement. The sensor(s) or several sensors can additionally or alternatively be configured to monitor the state of the locking mechanism and / or to identify the coupled lifting tool or the coupled lifting tool part.

[0016] The sensors and / or the actuating 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.

[0017] In one embodiment, the handling device comprises two or more load-carrying units, each with at least one interface as described, or the load-carrying unit comprises two or more interfaces as described. In this embodiment, the handling device is thus designed as a double or multiple loader.

[0018] Against the background mentioned at the outset, the invention further relates to a storage and / or production system with at least one handling device according to the invention and with a changing station which comprises at least one storage space for the exchangeable lifting tool of the handling device or an exchangeable part thereof.

[0019] The interchangeable lifting tool or the interchangeable part can be automatically placed and picked up by the handling device at a storage location.

[0020] The exchange station preferably comprises at least two storage locations. Each storage location can accommodate a lifting tool or lifting tool part, so that a lifting tool or lifting tool part of a first type can be stored in a first storage location and a lifting tool or lifting tool part of a second type can be stored in another storage location. The storage locations can be arranged collectively at one location within the system or distributed throughout the system.

[0021] The changing station or individual storage locations of the changing station can be present as independent stations within the system or integrated into other components of the system, in particular in storage racks, setup stations or processing machines.

[0022] Preferably, the number of storage locations corresponds at least to the number of lifting tools or lifting tool parts required for the operation of the system.

[0023] Alternatively or in addition to the storage spaces, at least one storage space for the lifting tools can be provided on the handling device. In principle, any surface on which the lifting tools can be placed is suitable as a storage space. According to a preferred embodiment, the surface of an oil pan provided on the handling device can serve as a storage space. Alternatively, the storage space on the oil pan of the handling device can be designed as a storage space.

[0024] By moving the handling device or the load-bearing unit of the handling device in the X-direction, Y-direction, and / or Z-direction of the system, lifting tools can be placed in and removed from the storage locations. The device can be moved in all directions during storage; however, depending on the design of the device and the racks, not all degrees of freedom are utilized for some operations.

[0025] The storage locations preferably have positioning aids for lifting tools placed on them, for example plug-in pins or rails.

[0026] According to the invention, the storage locations have an actuating device designed to transfer a locking device formed on the handling device from a closed state, in which the lifting tool or its replaceable part is secured against loss, to an open state in which the lifting tool or its replaceable part is no longer secured against loss. Thus, a locking device on the handling device can only be released at the storage location. The actuating device can be designed, in particular, as a mechanical actuating device.

[0027] In an alternative not according to the invention, the actuating device can also be located on the handling device, preferably on the load-carrying unit.

[0028] In one embodiment, the storage locations have at least one sensor and an interface for transmitting a sensor signal to a control unit of the handling device or the system. Multiple sensors can be combined in a sensor arrangement. The sensor or sensors can be configured to detect the occupancy of the storage location by a lifting tool or lifting tool part, the position of the lifting tool or lifting tool part at the storage location, and / or the type of lifting tool or lifting tool part located at the storage location.

[0029] The handling device or the system can be configured such that a locking device for the lifting tool or a lifting tool part on the handling device is released or locked in response to a signal from sensors in the storage location and / or from sensors on the handling device. For example, when the lifting tool or lifting tool part is placed in the storage location, a signal is transmitted to the control unit as soon as the lifting tool or lifting tool part is correctly positioned. The control unit can then transmit a signal to an actuating device to release the locking device.

[0030] Alternatively, the actuating device can also be controlled independently of sensor signals and purely on the basis of a pre-programmed routine.

[0031] Using a handling device or a system according to the invention, a plurality of workpiece carriers, in particular a plurality of pallets of at least two different types A and B, can be handled. Workpiece carriers of type A cannot be handled with the same lifting tool as workpiece carriers of type B. Therefore, two types A' and B' of lifting tools are required, whereby a lifting tool of type A' can handle a workpiece carrier of type A and a lifting tool of type B' can handle a workpiece carrier of type B. If the handling device is equipped with a lifting tool of type A', but a tool carrier of type B is to be handled, the handling device moves to a storage location of the changing station and automatically deposits the lifting tool of type A' there. The handling device then moves to another storage location of the changing station and automatically picks up the lifting tool of type B' there.As a result, the handling device can then manipulate type B workpiece carriers.

[0032] Further details and advantages of the invention will become apparent from the exemplary embodiment described below with reference to the figures. The figures show: Figure 1: a first embodiment of a storage and / or manufacturing system according to the invention; Figure 2: a second embodiment of a storage and / or manufacturing system according to the invention; Figure 3: a third embodiment of a storage and / or manufacturing system according to the invention; Figures 4a-4d: a handling device equipped with different lifting tools of such systems; Figure 5: a side view of a shelf with storage locations of a changing station; Figures 6a-6b: views of a first embodiment of such a storage location; Figure 7: a side view of a second embodiment of such a storage location; Figures 8a-8b: views of a fastening area of a lifting tool on the handling device in one embodiment; Figures 9a-9c: a process for depositing a lifting tool fastened as in Figures 7a-7b on a Figure 5illustrated storage space; Figures 10a-10c: Views of a fastening area of a lifting tool on the handling device in another embodiment; and Figures 11a-11b: Views of a fastening area of a lifting tool on the handling device in yet another embodiment; and Figure 12: An alternative embodiment of a handling device with an integrated storage space for accommodating the lifting tools.

[0033] In Figures 1 and 2 views of different embodiments of storage and / or production systems 1 according to the invention are shown in a bird's eye view.

[0034] In both embodiments, the system 1 comprises a plurality of racks 2 and 10 with compartments for storing pallets 3, 13 and 23, respectively, two setup stations 5 and 6 and two processing machines 7 and 8. The racks 2 and 10, the setup stations 5 and 6 and the processing machines 7 and 8 are arranged on both sides of an aisle in which a handling device 9 according to the invention is located, which can be moved along rails 11 in the longitudinal direction of the aisle.

[0035] According to the invention, the handling device 9 is designed such that the lifting tools 4, 12, 14, and 24 are detachably attached to an interface 15 of the handling device 9 and can be automatically exchanged. Figures 3a-3d show bird's-eye views of the handling device 9 equipped with different lifting tools 4, 13, 14, and 24, respectively.

[0036] The racks 2 are regular racks with shelves for accommodating pallets 3 of a first type A and pallets 13 of a second type B. The pallets 3 and 13 serve as supports for workpieces or tools. The racks 10 additionally include storage spaces 17 and 18 for interchangeable lifting tools 4, 12, 14, 24 of the handling device 9 and thus represent part of a changeover station of the system 1.

[0037] The setup station 6 is a regular setup station and the processing machine 8 is a regular processing machine, while setup station 5 and processing machine 7 additionally have storage locations 17 and 18 for interchangeable lifting tools 4, 12, 14, 24 of the handling device 9 and thus also represent part of the changing station of the system 1.

[0038] The design of the Figure 2 differs, apart from some minor differences in the layout of the individual devices and stations, from the embodiment according to Figure 1 , as the handling device 9 is designed there as a double loader and has a structure rotatable about a vertical axis with two load-carrying units, each having an interface 15 for attaching a lifting tool 4, 12, 14, 24. Furthermore, in the embodiment of the Figure 2 At one end of the aisle, a rotatable rack arrangement 22 is arranged, by means of which the storage capacity of the system can be increased, at which pallets 3 with workpieces can be transferred to another system, and at which lifting tools 4, 12, 14, 24 can be introduced into or removed from the system 1.

[0039] The design of the Figure 3shows the storage and / or production system with a handling device fixed at the location and a moving unit, whereby the moving unit allows a rotational movement around its own axis. The individual devices, such as shelves 2, setup stations 6, and processing machines 8, are arranged around the handling device 9. This allows the individual devices to be reached by the rotating movement of the moving unit and the further movements of the lifting unit and load handling unit with the storage and retrieval machine. In the Figure 3 The devices are arranged in a circle around the handling device 9. However, the devices can also be arranged in an oval shape or in other geometric shapes around the storage and retrieval device.

[0040] A shelf 10 equipped with additional storage spaces 17 and 18 for interchangeable lifting tools 4, 12, 14, 24 of the handling device 9 is shown in the side view of the Figure 5shown in greater detail. The upper two compartments of the rack 10 serve to store a pallet 3 with workpieces, while the lower two compartments are designed as storage spaces 17 and 18 for interchangeable lifting tools 4, 12, 14, 24 of the handling device 9.

[0041] Two variants of a storage location 17 are in the Figures 6a-6b as well as Figure 7 The variants differ in the types of positioning aids 19 for the lifting tools 4, 12, 14, 24. In the variant according to Figures 6a-6b The positioning aids 19 are designed as vertical plug-in pins. In the variant according to Figure 7The positioning aids 19 are designed in the form of rails running in the depth direction of the storage space 17. In both variants, the storage space 17 comprises an actuating device 20 in the form of a frontally protruding pressure pin in order to be able to release and lock a locking mechanism 21 formed on the handling device 9 for holding a lifting tool 4, 12, 14, 24, as will be described in more detail below. Furthermore, both variants of the storage space 17 comprise a sensor arrangement 25 (visible only in the top view of Figure 5b) in order to be able to detect the occupancy of the storage space 17 with a lifting tool 4, 12, 14, 24 and the correct positioning of the lifting tool 4, 12, 14, 24 in the storage space 17.

[0042] The Figures 8a-8bshow side and front views of an embodiment of the interface 15 of the handling device 9 and a crossbeam of the lifting tool 12. The fastening and in particular the locking mechanism 21 are clearly visible in these figures.

[0043] The interface 15 of the handling device 9 has notches at the top and bottom, each running transversely and open upwards. Corresponding webs arranged at the top and bottom of the crossbeam of the lifting tool 12 and pointing downwards are fitted into these two notches. This positive connection secures the lifting tool 12 against detachment from the handling device 9 downwards or forwards, as well as against a downward tilting movement. To prevent the lifting tool 12 from inadvertently detaching from the handling device 9 after an incident such as a collision with other components of the system 1 by being pushed upwards or tilted upwards, the interface 15 further comprises a spring-loaded plunger which is pretensioned towards a locking position in which it projects forwards beyond the plane of the interface 15, corresponding to the support plane for the lifting tool 12.A corresponding recess is arranged on the crossbeam of the lifting tool 12, into which the plunger engages. This secures the lifting tool 12 at the interface 15. The corresponding notches and webs, as well as the plunger and the recess, together form a fastening and, at the same time, a locking mechanism 21, the function of which will be explained in more detail below.

[0044] In Figures 9a-9c is a process for depositing a lifting tool 12, which as in Figures 8a-8b shown and is attached to the handling device9, to a device as shown in Figures 6a-6b shown storage location 17. On the left side of the figures, an overall view is shown, and on the right side, a schematic detailed view of the fastening area of the lifting tool 12 on the handling device 9.

[0045] As in Figure 8a can be seen, as in Figures 8a-8bshown, the lifting tool 12 attached to the interface 15 of the handling device 9 is moved translationally in the direction of the arrow over the storage location 17. The retraction height is selected such that the pressure pin of the actuating device 20 of the storage location 17 strikes the plunger of the locking mechanism 21 from the front in the last phase of the horizontal retraction movement and presses it against the pretension of the spring from the recess in the crossbeam of the lifting tool 12 into the interface 15.

[0046] This is shown in the right figure of the Figure 9b Instead of the plunger of the locking mechanism 21, the pressure pin of the actuating device 20 now engages in the recess in the cross member of the lifting tool 12. Since the pressure pin, as shown in particular in Figure 8bcan be clearly seen, has a significantly smaller vertical extension than the ram and the lifting tool can therefore be moved upwards relative to the interface in this state, the lifting tool 12 is released in the last phase of the retraction movement.

[0047] After the lifting tool 12 has been correctly positioned over the storage location 17, it is moved downwards in the direction of the arrow, as shown in the left illustration of the Figure 8b shown, until the vertical plug-in pins of the positioning aids 19 engage in corresponding holes on the underside of the lifting tool and rest on the bottom of these holes.

[0048] If the handling device 9 then moves the interface 15 even further downwards, as shown in Figure 9cAs shown, the webs of the crossbeam of the lifting tool 12 are lifted out of the notches of the interface 15, thus releasing the lifting tool from the interface 15. The interface 15 can be retracted without the lifting tool 12.

[0049] To equip the handling device 9 with a lifting tool 4, 12, 14, 24, the Figures 9a-9c The process shown can be reversed.

[0050] In Figures 10a-10c An alternative embodiment of a fastening area of a lifting tool 12 on the handling device 9 is shown. The webs, notches, tappets and recesses of the embodiment according to Figures 8a-8bIn this embodiment, they are replaced by a forward-facing bulge at the interface 15, a corresponding recess on the rear side of the crossbeam of the lifting tool 12, and lateral retaining clamps, which are movably attached to the interface 15 and can be placed laterally over the combined components of the lifting tool 12 and the interface 15 to fix the relative position and, together with the corresponding contours of the bulge and the recess, form a locking mechanism. The process for depositing and picking up the tines or a tine of the lifting tool can be analogous to that in Figures 9a-9c process shown.

[0051] Ultimately, in Figures 11a-11bYet another embodiment of a fastening area of a lifting tool 12 on the handling device 9 is shown. This embodiment is particularly suitable for a single fastening of fork tines of a fork without a crossbeam. Instead of a crossbeam, the individual tines of the lifting tool 12 each comprise a base plate that rests on the interface 15 of the handling device 9. On the upper side of the base plate, a rearwardly projecting roof is formed with downward-projecting fastening pins that can engage in corresponding holes on the upper side of the interface 15. The locking device 21 is represented by an electromagnet arranged in the interface 15. The actuating device 20 supplies the electromagnet with power to close the locking device and stops the power supply to open the locking device.For this purpose, additional sensors can be provided on the actuating device 20, which, for example, detect the presence of a lifting tool on the load-carrying device. The process for depositing and picking up the tines or a tine of the lifting tool can again be analogous to that shown in . Figures 9a-9c process shown.

[0052] According to a study published in Figure 12In the illustrated embodiment of the invention, the lifting tools 4 are placed on a storage location 26 of the handling device 9. The releasable locking device of the handling device 9 is moved from a closed to an open state and vice versa at this storage location. In an embodiment not shown, the oil pan of the handling device can serve as a storage location for the lifting tools to be changed. This design has the advantage that the lifting tools can be changed during the next position and thus at the same time as the position of the handling device is changed. List of reference symbols:

[0053] 1Storage and / or manufacturing system 2Shelf 3Type A pallet with workpiece or tool 4Type A lifting tool 5Setup station with storage space for the change station 6Setup station 7Processing machine with storage space for the change station 8Processing machine 9Handling device 10Shelf with storage space for the change station 11Floor rail for the handling device 12Lifting tool 13Type B pallet with workpiece or tool 14Type B lifting tool 15Interface on the handling device 16Standalone change station 17Storage space for a change station 18Storage space for a change station 19Positioning aid 20Actuating device 21Locking mechanism 22Rotatable shelf arrangement 23Type C pallet with workpiece or tool 24Type C lifting tool 25Sensor arrangement 26Storage space for lifting tool

Claims

1. Storage system and / or production system (1) having at least one handling device (9) which is a rail-bound vehicle having a travel unit movable in a longitudinal direction of the system (1) or a handling device (9) fixed at the location with a travel unit movable about its own axis, a lifting unit of the handling device (9) movable in the vertical direction, and a load receiving unit preferably movable and / or rotatable in the transverse direction, wherein the load receiving unit has an interface (15) for fastening a lifting tool (4, 12, 14, 24) that is configured such that the lifting tool (4, 12, 14, 24) or a part of the lifting tool (4, 12, 14, 24) can be automatically changed or removed, wherein the handling device (9) has a releasable latching device (21) in whose closed state the lifting tool (4, 12, 14, 24) or its changeable part is secured against loss, characterized in that the storage system and / or production system (1) or the handling device (9) has at least one storage space (17) or placing location (26) for lifting tools, wherein the releasable latching device (21) of the handling device (9) at a storage space (17) or placing location (26) can be displaced from a closed state into an open state and vice versa and wherein the storage system and / or production system (1) has at least two storage spaces (17, 18), wherein each storage space (17) has an actuation device (20) that displaces the latching device (21) of the handling device (9) from a closed state into an open state and vice versa, wherein the latching device is only releasable at the storage space (17).

2. Storage system and / or production system (1) in accordance with claim 1, wherein the actuation device (20) mechanically, hydraulically, pneumatically electrically or in combination of these effect mechanisms displaces the latching device (21) from a closed state into an open state and vice versa.

3. Storage system and / or production system (1) in accordance with one of the preceding claims, wherein the actuation device (20) emits a signal to open and / or close the latching device (21) of the handling device (9) to the control of the handling device (9) or to a higher ranking control.

4. Storage system and / or production system (1) in accordance with one of the preceding claims, characterized in that the at least two storage spaces (17, 18) are present in a changing station (10).

5. Storage system and / or production system (1) in accordance with one of the preceding claims, characterized in that the storage spaces (17, 18) are integrated in components of the storage system and / or production system (1), in particular in stacks (10) or machines (7) or setup stations (5).

6. Storage system and / or production system (1) in accordance with one of the preceding claims, characterized in that the storage spaces (17, 18) have positioning aids (19) for lifting tools (4, 12, 14, 24) placed thereon, preferably center pins or rails.

7. Storage system and / or production system (1) in accordance with one of the preceding claims, characterized in that the storage spaces (17, 18) have at least one sensor (25) for recognizing the occupancy of the storage space (17, 18) by a lifting tool (4, 12, 14, 24) or a lifting tool part, the position of the lifting tool or of the lifting tool part at the storage space (17, 18), and / or the kind of the lifting tool or lifting tool part located at the storage space.

8. Storage system and / or production system (1) in accordance with one of the preceding claims, characterized in that the handling device (9) has at least one sensor (25) for determining the presence or the position of the lifting tool at the load receiver.

9. Storage system and / or production system (1) in accordance with one of the preceding claims, characterized in that the handling device (9) comprises two or more load receiving units each having at least one described interface (15) or the load receiving unit comprises two or more interfaces (15) as described.