Group for handling loads in automated warehouses, with embedded processing of data indicative of its operating status

Abstract

The present invention relates to a load handling system for automated warehouses, comprising at least one telescopic fork (F), which includes a longitudinally extended horizontal base (10) that can be mounted on a trolley or stacker crane, and at least one telescopically extendable slide (20, 30) in a longitudinal direction relative to the base. The system further includes sensors (S) associated with the base (10) or the slide (20, 30) and a processing module (E). The processing module (E) includes a processor (P) communicating with the sensors (S) to receive signals or data (SM) detected by the sensors (S) and indicative of measured values ​​of a physical quantity associated with an element of the base (10) or the slide (20, 30), and a memory (M) for storing the data or signals (SM) indicative of said physical quantity.The processor (P) is further designed to process stored data and compare the processed data with alert threshold values, and to produce signals or status data (SS) indicating the operating state of the generator set based on the comparison result. The processing module (E) is further designed to transmit the signals or data (SS) indicating the operating states of the generator set to a remote control unit (50). Figure 2.

Description

Title of the invention: Group for handling loads in automated warehouses, with on-board processing of data indicative of its operating state Technical field

[0001] The present invention relates generally to the handling of loads, for example crates, in automated warehouses and more particularly relates to a group for handling loads in automated warehouses comprising at least one telescopic fork, which comprises a longitudinally extended horizontal base, which can be mounted on a trolley or a stacker crane, and at least one slide extendable telescopically in a longitudinal direction relative to said base. Prior art

[0002] Telescopic forks are used in the fields of automated handling and industrial automation and are for example widely used in automated warehouses, generally associated with stacker cranes and trolleys intended for handling loads, such as crates, pallets, for example. The crates can be stored on single, double and triple depth racks.

[0003] As is known, telescopic forks are machines consisting of a base intended to be mounted on a trolley or stacker crane and one or more superimposed extendable elements, which move in a bilateral telescopic manner to move the loads. The number of movable telescopic elements (one, two, three or four) is chosen according to the total stroke that is to be achieved and the importance of the loads to be supported.

[0004] A telescopic fork of known type is described in EP 2261168 Bl. Such a fork comprises a fixed base and a plurality of telescopically extendable movable slides. The distal movable slide (the term "distal" designating the slide furthest from the base in the maximum extension position of the fork) is shaped so as to receive on its upper part and support a load. Each slide slides on rollers and is set in motion by chain transmissions or, alternatively, mixed chain / sprocket transmissions. The fork can reach a fully retracted position, in which the slides are superimposed and aligned on the base, and a fully extended position, in which the slides are extended longitudinally and cantilevered relative to each other and relative to the base.

[0005] Handling groups are also known which comprise a pair of telescopic forks which can be placed on the side of boxes, which define between them an interior space for receiving at least one box to be moved.

[0006] These telescopic forks also each comprise a fixed base and a plurality of telescopically extendable movable slides. Each fork can reach a fully retracted position, in which the slides are superimposed and aligned transversely to the base, and a fully extended position, in which the slides are longitudinally extended and transversely cantilevered relative to each other and to the base.

[0007] These forks are provided with pushing means configured to push the boxes into the rack and to remove them from it. The pushing means are actuated by actuators consisting for example of electric geared motors installed on the distal slide of the fork and are intended to be set in motion between an active position projecting into the space located between the two forks to move the box and a passive position of non-interference with the interior space between the forks. Sensor means are generally installed on the slide and operatively associated with the pushing means, to detect the operational position of said pushing means.

[0008] Disadvantageously, the diagnosis of the operational state of the fork must be carried out periodically by an operator on site, which requires stopping the machine.

[0009] Furthermore, unforeseen or undetected signs of wear of components intended for continuous use and / or environmental factors may cause machine downtime, thereby reducing warehouse efficiency and generating additional repair costs. Summary of the invention

[0010] The object of the present invention is to provide a group for handling loads in automated warehouses, comprising at least one telescopic fork capable of overcoming the drawbacks of the prior art described above, in particular a group which allows real-time diagnosis of the operational state of the fork or forks included in such a group.

[0011] Another object of the invention is to provide historical data, indicative of the operation of the handling group.

[0012] The above-mentioned objects and advantages, as well as others, which will be better understood hereinafter, are achieved, according to the present invention, by a group for handling loads in automated warehouses having the characteristics defined in the appended claim 1.

[0013] Particular embodiments are described in the dependent claims, the content of which should be considered as forming an integral part of the present description.

[0014] In summary, the group for handling loads in automated warehouses according to the invention is provided with on-board sensors for detecting or measuring physical quantities associated with various elements of the group, whether the base, the slides, their sections or their components. The group further comprises an on-board processing module for storing the measured data in a local database. This module is further provided for processing these data, for example a time series of these data, for generating signals or data indicative of an operating state of one or more components of the group and for transmitting these signals or data to a central remote control unit.

[0015] Advantageously, this allows a diagnosis of the handling group in real time or based on the history of events relating to the machine, by concentrating the on-board processing work of the group, without requiring continuous transmission of the signals or data obtained, by limiting the transmission of status signals or data, for example periodically, on demand or triggered by events, for example the detection of an anomaly. In addition, the system allows the contents of the local database to be transmitted to an external database, for example a cloud-type system, or to a computer via a wired connection. Brief description of the drawings

[0016] Some preferred but non-limiting embodiments will now be described of a group for handling loads in automated warehouses according to the invention, with reference to the attached drawings in which:

[0017] [Fig.l] [Fig.l] is a perspective view of a pair of telescopic forks of a group for handling loads in automated warehouses which is the subject of the invention, in the fully extended position;

[0018] [Fig.2] [Fig.2] is a functional diagram showing elements forming part of the group according to the invention and other units associated with it in operation;

[0019] [Fig.3] [Fig.3] is a flowchart representing a method of adjusting the automatic alert threshold settings. Detailed description

[0020] Referring now to [Fig.l], there is shown a group for handling loads in automated warehouses according to the invention, of which a pair of parallel telescopic forks F is illustrated, in the fully extended position. Each fork F comprises a base 10 capable of being mounted on a self-propelled trolley (not shown), in particular a stacker crane or a nacelle, a first intermediate slide 20, telescopically movable in the longitudinal direction relative to the base 10, and a second terminal or distal slide 30, telescopically movable relative to the first intermediate slide 20.

[0021] In this regard, the terms and expressions indicating relative orientations and positions such as "longitudinal" and "transverse", "external", "internal" must be understood as designating the "longitudinal" direction of extension of each fork and a vertical and longitudinal geometric plane, central or intermediate between the two telescopic forks.

[0022] According to the embodiment illustrated by way of example in [Fig. 1], the fork has two movable slides 20 and 30. The number of slides is not limiting for the implementation of the invention. The invention applies to forks comprising one, two, three or more movable slides.

[0023] In the example of [Fig.l], the telescopic forks are illustrated arranged "vertically", that is to say oriented in such a way that the end slides 30 of the respective forks each have their own vertical flat surface 31, facing the opposite fork. This configuration should not be considered as limiting.

[0024] Furthermore, in [Fig.l], the group comprises two telescopic forks. The number of forks should not be considered limiting, since the invention also applies to handling groups comprising a single telescopic fork or more than two, arranged "horizontally", that is to say oriented in such a way that the end slides of the respective forks each have its own horizontal flat load surface.

[0025] The general telescopic arrangement of the forks shown in the drawings should be considered as generally known. Therefore, the present description will now describe in detail only those elements which are of specific importance and interest for the purposes of implementing the present invention.

[0026] For the production of the parts and elements not illustrated in detail, reference may therefore be made to any telescopic fork of known type, such as that described and illustrated for example in EP 2261168 B1, incorporated herein by reference.

[0027] Referring now to [Fig. 2], there is shown a functional diagram representative of the features of the invention.

[0028] The group comprises one or more sensors S associated with the base 10 or the slide(s) 20, 30 of a telescopic fork F and associated in particular with structural parts thereof or with their functional components, for example mechanical handling members, electrical actuator devices, electromechanical, electromagnetic or optical detection devices, globally identified as elements.

[0029] For informational and non-limiting purposes, the sensors S may include at least one or any combination of the following elements: - optical sensors, for example to detect the position of the fork, i.e. the sliders relative to the base, during a work cycle; - accelerometric sensors, to detect vibrations of parts or components of the group;

[0030] - temperature sensors, for detecting the temperature of a room or a component of the base or slide(s); - incremental encoders for detecting rectilinear or angular movements as well as rotational speed and accelerations relative to a reference position in the movement of a slide or a member of the group; - current detectors to detect the current absorbed by an electric motor associated with the fork; - inductive sensors, to detect the position of fork elements.

[0031] The group further comprises a processing module E comprising: a processor P in communication with the sensors S from which it receives signals or data SM detected by the sensors and indicative of measured values ​​of a physical quantity associated with an element of the base 10 or the slide 20, 30; and a non-volatile memory M for storing signals and data SM received by the processor.

[0032] The elements arranged on board the handling group are grouped in block 40.

[0033] The processor E is configured to process the data stored in the non-volatile memory M by making a comparison with predetermined alert threshold values ​​and produce, as a function of said comparison, signals or status data Ss indicative of the operational status of the elements of the base 10 or of the slide 20, 30 of the fork.

[0034] Processing of stored SM signals and data is also possible by calculating a predetermined function of two or more measured physical quantities.

[0035] These alert thresholds can, for example, be set by the manufacturer of the group on the basis of technical characteristics of the handling group.

[0036] According to another advantageous embodiment, these comparison thresholds can be adjusted autonomously by the processor P by means of a test cycle, for example by calculating the average of the values ​​recorded by the sensors SM for a machine cycle which includes the movement and retraction of the fork with and without load.

[0037] [Fig. 3] illustrates, by way of example, a flowchart of the operations for setting an alert threshold. In step 81 a test machine cycle is carried out and the signals or data from a sensor or a predetermined combination of on-board sensors S are stored in the memory M within the time period for executing the test machine cycle. The test cycle may comprise, for example, the extension and retraction of a fork F without load followed by the extension and retraction of the fork F with a load. In step 82, the processor P processes the stored data by calculating a reference value, for example by calculating the time average of the values ​​of the physical quantity (or the different physical quantities) detected in step 81.In step 83, the processor P defines an alert threshold value on the basis of the reference value of the processed data calculated during the test cycle, for example by incrementing or reducing said reference value by a predetermined factor. These signals or status data Ss may for example indicate wear and / or mechanical deformation of a component associated with the base 10 or the slider 20, 30 of the fork.

[0038] The processing module E is further connected, for example by a field bus B, to a remote control unit 50 for the transmission of said signals or status data Ss.

[0039] According to another advantageous embodiment, the processing module E is provided to receive control data or signals SC coming from the remote control unit 50 to control the operation of actuators included in the group as a function of the status signals or data SS, for example by closing the handling group in the event of a wear signal from a component at risk of damage or in the event of continuous use without handling.

[0040] According to another advantageous embodiment, the processor P is adapted to execute the processing operations on a time series of stored data by associating for example a timestamp with the signals or data detected by the sensors. Consequently, the comparison with the alert threshold can for example be carried out on a moving average of the time series with a predetermined calculation window.

[0041] According to another embodiment, a user interface I, associated with the processor, is mounted on board the handling group for the entry of configuration data SCf, for example data for adjusting the alert thresholds, and the display of the status signals Ss indicative of the operational status of elements associated with the base 10 or the slide 20, 30 of the fork.

[0042] According to another advantageous embodiment, the processing module E is provided for a wireless connection to a telecommunications network, for example an internet network, to transmit the signals or data detected by the sensors SM and / or the stored signals or data and / or the status signals Ss produced by the processor to a connected database 60, for example a cloud-type system.

[0043] According to another advantageous embodiment, the processing module E is provided for a wired connection with an external memory 70, to transmit the signals or data SM detected by the sensors and / or the stored signals or data and / or the status signals SS produced by the processor.

[0044] Without prejudice to the principle of the invention, the embodiments and details of implementation of the invention may be modified to a large extent with respect to those described and illustrated here simply by way of non-limiting example, without however departing from the scope of the present invention as defined by the appended claims.

Claims

Claims

1. Group for handling loads in automated warehouses, comprising at least one telescopic fork, which comprises: a horizontal base (10) extended longitudinally, mountable on a trolley or a stacker crane; and at least one slider (20, 30) extendable telescopically in a longitudinal direction relative to said base; characterized in that the group further comprises: at least one sensor (S) associated with said base (10) or said at least one slider (20, 30);and at least one processing module (E) comprising a processor (P) in communication with said at least one sensor (S), intended to receive signals or data (SM) detected by said at least one sensor (S) and indicative of measured values of a physical quantity associated with an element of the base (10) or of the at least one slide (20, 30), and a non-volatile memory (M) for storing said data or signals (SM) indicative of said physical quantity; said processor (P) being provided to carry out a processing of said stored data and a comparison of the processed data with at least one predetermined alert threshold value and to produce status signals or data (Ss) indicative of an operating state of said group according to the result of said comparison;said processing module (E) being further provided for the transmission of said signals or data (Ss) indicative of operating states of said group to a remote control unit (50); in which said at least one predetermined alert threshold value is determined by the processor (P) as a function of signals or data detected by said at least one sensor (S) received during a test machine cycle.;

2. Group according to claim 1, in which said processor (P) is intended to receive signals or data (SM) acquired by said at least one sensor (S) and indicative of values measured over time of said physical quantity associated with a element of the base (10) or of the at least one slider (20, 30); and in which said processor (P) is provided for carrying out a processing of said time series of said signals or data.

3. Group according to any one of the preceding claims, wherein said at least one processing module (E) is provided to receive from the remote control unit (50) control data or signals (Sc) of the operational state of the group as a function of the status signals or data (Ss) indicative of the operating state of said group transmitted to said remote control unit (50).

4. Group according to any one of the preceding claims, wherein said at least one processing module (E) is further provided for transmitting, by wireless connection, at least one of the signals or data (SM) detected by the at least one sensor and / or the stored signals or data and / or the status signals or data (Ss) produced by the processor (P) to a network-connected remote database (60).

5. Group according to any one of the preceding claims, wherein said at least one processing module (E) is further provided for transmitting, by wired connection, at least one of the signals or data (SM) detected by the at least one sensor and / or the stored signals or data and / or the status signals or data (Ss) to an external logic unit (70).

6. Group according to any one of the preceding claims, further comprising a user interface (I) associated with said processor (P), intended for the entry of configuration data (SCf) and for the visualization of the signals or status data (Ss) produced by the processor (P).

7. Group according to any one of the preceding claims, wherein said status signals or data (Ss) indicative of an operating state of said group comprise at least one signal or set of data indicative of wear and / or mechanical deformation and / or the need for maintenance of an element of said group.

8. Group according to any one of the preceding claims, wherein said processor (P), provided to carry out a processing of said stored data, is configured to calculate at least one function of two or more measured physical quantities.

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