EP3044155B1 - Dispositif de sécurité pour gerbeur, gerbeur et procédé de surveillance d'un gerbeur - Google Patents

Dispositif de sécurité pour gerbeur, gerbeur et procédé de surveillance d'un gerbeur Download PDF

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Publication number
EP3044155B1
EP3044155B1 EP14762035.5A EP14762035A EP3044155B1 EP 3044155 B1 EP3044155 B1 EP 3044155B1 EP 14762035 A EP14762035 A EP 14762035A EP 3044155 B1 EP3044155 B1 EP 3044155B1
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EP
European Patent Office
Prior art keywords
sensor
unit
carrying element
safety device
energy storage
Prior art date
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EP14762035.5A
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German (de)
English (en)
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EP3044155A1 (fr
Inventor
Markus Sellen
Rob Lalesse
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SSI Schaefer Automation GmbH Germany
Original Assignee
SSI Schaefer Automation GmbH Austria
SSI Schaefer Automation GmbH Germany
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Publication of EP3044155A1 publication Critical patent/EP3044155A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force

Definitions

  • the invention relates to a safety device, in particular a safety gear, for a stacker crane, a stacker crane with a hoist for driving a movable lift truck, and a safety device, and a method for monitoring a storage and retrieval unit.
  • Storage and Retrieval Systems are widely used in conveying and storage technology.
  • Storage and retrieval machines can be used for storage or retrieval of goods or goods.
  • selected shelves can be approached by shelves or high shelves by means of the stacker cranes.
  • the storage and retrieval units can be designed to store goods loaded on loading aids, for example pallets, in shelves or to store them out of these.
  • Stacker cranes of a general nature are approximately from the EP 0 678 475 A1 or the EP 1 211 215 A1 known.
  • the Brake system is designed as an overspeed brake and engagement means on the lift truck, which are engageable to prevent relative movement between the truck and the mast with the mast, the engagement means between a first position in which they are out of engagement with the mast and a second Moving position in which they are engaged with the mast.
  • DE 3,125,594 A1 is a lifting device, in particular a lift, known, with a vertically movable platform, which is supported by cables and guided in columns, with a control device for lifting the platform and lowering the platform, with at least one sensing device with the ropes to check the tension of which cooperates, the sensing device having at least one button pivotally mounted on the platform and carrying a roller cooperating with the cable, having resilient means disposed between the platform and the button for pivoting it in the event is when in the rope an abnormal tension occurs, and wherein the button is coupled via an electromagnet with a pawl, which is associated with a safety gear of the platform.
  • a lifting arrangement comprising a vertically extending guide rail, a movable along the guide rail lifting platform, which is held by a suspension means in the form of a chain or rope, a drive for the support means for lifting the lifting platform, and with detection means for detecting a tensile stress acting on the suspension means, wherein in case of a signal deviation, a stop device for the lifting platform is activated.
  • the detection means are designed as force sensors, which are between bearing blocks are received for a drive shaft of the support means and a frame member of the lifting arrangement.
  • a stacker crane with a mast assembly having a first mast section, and a second mast section movable relative to the first section, with drive means for lifting the second mast section relative to the first mast section, with braking means for locking the second mast section relative to the first mast section in the event of failure of the drive means, and with a mechanism acting on an electrical switch to activate the braking means.
  • Stacker cranes are usually provided with at least one hoist for driving a movable lift truck, which is accommodated on at least one lifting column and along which at least one lifting column is movable.
  • this is at least one lifting mechanism designed to move the lift truck vertically to be able to control a plurality of superimposed shelf levels or shelves.
  • the movable lift truck may comprise at least one carriage, which is coupled to at least one support means, such as a carrying cable.
  • the at least one support means may be coupled to a suitable drive, such as an electric motor or the like.
  • the drive can be coupled to a drum for the at least one suspension element. Accordingly, the at least one support means can be wound onto the drum or unwound from the drum in order to lift or lower the lift truck. It is understood that other drives for the truck are readily imaginable.
  • Known safety devices usually include a sensor for detecting a (drop) speed of the lift truck. If the sensor detects an excessive speed that suggests a crash, for example, a brake is activated, which prevents or at least delays the crash of the lift truck.
  • Known safety devices are usually designed as mechanical safety devices. Speed sensors may be designed, for example, as centrifugal force sensors, tachogenerators or similarly as a mechanical, optical or electrical sensor for detecting the speed of the lift truck.
  • the invention has for its object to provide a safety device for a stacker crane or a stacker crane with a safety device that allows timely, delay as possible, interception of the lift truck and thus can contribute to consequential damage in case of failure in the drive of the hoist in particular in the case of damage or failure of the at least one suspension means, to minimize or even completely avoided.
  • the security device should as far as possible have an extended functionality and, in particular, also be able to record damage events that are not detectable with known security devices at all or only with restrictions.
  • a method for monitoring a storage and retrieval unit is to be specified, with which various of the above aspects can be realized.
  • the safety device allows the activation of the holding device (also: braking device) already when the (fall) speed of the lift truck is not large enough to detect an impending crash or similar malfunction by means of a mere speed monitoring can.
  • the safety device according to the invention can respond much earlier, so that it can be braked or intercepted even at significantly lower speeds, for example in the case of an impending crash. Accordingly, the interception or braking process can take place much faster.
  • the interception or deceleration of the truck can be accompanied by reduced energy consumption, since the truck has not yet built up high kinetic energy, if the monitoring device detects an impending crash based on the load condition of the at least one suspension element.
  • the suspension element may in particular be a traction device.
  • the support means may be configured as a support cable, chain, belt or in a similar manner. Also support means in the form of chains are conceivable.
  • the monitoring device can be configured in particular as an electrical and / or electronic monitoring device. The monitoring device can be designed to transmit an electrical, in particular a digital, signal to the control device.
  • the holding device may comprise at least one brake unit or locking unit.
  • the pallet truck may comprise at least one lifting table or a platform on which, for example, a load-receiving means can be accommodated. At the lift table further funding may be added.
  • the lifting table may comprise, for example, an extendable lifting fork.
  • the lifting table can also be provided with endless conveying means, for example with conveyor belts, with roller drives or the like.
  • the lifting table may comprise drive means which allow a loading of the load into a shelf to be filled and / or out of a shelf to be emptied out.
  • the hoist can be assigned to at least one mast.
  • the hoist can be assigned to two masts, between which the lift truck is received and guided.
  • the monitoring device has at least one sensor, in particular a sensor for detecting a suspension medium voltage or a suspension element break, which is designed to output an electrical or optical signal.
  • the signal to be output can be formed as an analog signal, quasi-analog signal, but also as a digital signal.
  • the sensor may in particular be designed to detect a crack or a so-called "slackness" of the at least one suspension element.
  • the sensor is associated with at least one carrying means designed as a rope and configured to detect a rope break and / or a rope slack.
  • the at least one suspension element is designed as a strand-shaped traction means, in particular as a suspension cable, wherein the monitoring device has at least one force measuring sensor which is designed to detect a tension in the traction means.
  • the detection of the tension in the traction means or in the suspension means allows activation of the holding device already when no crack of the traction means or suspension means has occurred.
  • the truck can be preemptively delayed or intercepted before it actually comes to a crack accompanied by a strong acceleration.
  • the sensor can be configured to detect the tension in the traction means or suspension means indirectly and / or directly.
  • the at least one force measuring sensor is coupled to a deflection roller for the suspension element. Furthermore, the at least one force measuring sensor is designed as a force measuring bolt. In this way, the tension in the traction means can be detected indirectly, for example, by determining the bearing forces acting on the deflection roller.
  • the deflection roller can be configured as a guide role as well.
  • Force measuring pins of a general type are known in the art.
  • Force measuring pins can be provided with suitable sensor elements which can determine forces acting on the force measuring pin due to detection of deformations of the force measuring pin.
  • a tensioned suspension element which is deflected at the deflection roller, cause a certain deformation, such as a bend, of the force measuring bolt.
  • the at least one force measuring sensor can determine this deformation, which makes it possible to infer the tension prevailing in the traction means. If the voltage detected by the force sensor suddenly drops significantly, it may indicate a slack or a crack. Conversely, an increased voltage in the force measuring pin could also indicate an imminent overload of the suspension element.
  • each associated with a support means is to provide at least one force measuring sensor for both support means. Accordingly, for example, in the case of a threatening unilateral cable break, a higher cable tension could be detected by a force measuring sensor and a reduced cable tension could be determined by another force measuring sensor. Such conditions may occur, for example, when the truck canted on one side.
  • the monitoring device has at least one sensor designed as a crack detector, which bears against the at least one suspension element in a normal state under prestress and is displaced in the event of a suspension element tear.
  • the displacement resulting in the case of the crack can be detected, for example, by a proximity switch, a light barrier, a potentiometer or a similar sensor element. If at least one sensor of the monitoring device is designed as a crack detector, a crack of the suspension element can be detected directly.
  • a "direct detection" of the support element tear means a detection which does not indirectly detect the suspension element tear via the speed increase of the lift truck following a suspension element tear.
  • the suspension element tear can be detected independently of the speed or fall speed of the lift truck.
  • the monitoring device has at least one optical sensor, in particular a light barrier. Also by means of a light barrier, a crack of the suspension element, which can release or interrupt a beam path, safely and directly, regardless of the speed of the lift truck can be detected.
  • the monitoring device has at least one sensor designed as a vibration sensor, which is designed to detect vibrations induced at the at least one suspension element.
  • a vibration sensor designed to detect vibrations induced at the at least one suspension element.
  • the energy storage device has at least one blocking unit for retaining stored energy, wherein the at least one blocking unit can be unlocked by an enable signal or the absence of a blocking signal. It is further preferred if, for unlocking the locking unit, a force is required which is significantly less than a closing force of the locking unit with which the energy retained in the energy storage device is secured.
  • the blocking unit can be coupled with an actuator, in particular with an electrical actuator, which can be activated or deactivated by the control device.
  • the energy storage device has a biased energy storage means in a locked state.
  • a biased energy storage means such as a pressurized energy storage means, may, for example, when the at least one blocking unit is unlocked by the control device, release energy abruptly.
  • the energy storage device is designed as a mechanical or fluidic energy storage device.
  • a mechanical energy storage device may comprise at least one spring.
  • a fluidic energy storage device may comprise at least one pressure vessel.
  • the fluidic energy storage device may be configured for receiving compressed air or compressed gases in general.
  • the energy storage device may alternatively be designed as an electrical energy storage device, for example. Accordingly, the energy storage device may comprise at least one capacitor configured for the abrupt discharge of electrical energy.
  • the released energy can act on the holding device to act in a braking or blocking manner on the lift truck.
  • the holding device may be provided with suitable means for power amplification, such as self-locking friction, wedges, positive locks or the like. Thus, it is not essential to hold in the energy storage device all the energy required to intercept the lift truck.
  • the safety device further comprises at least one sensor for detecting a speed of the lift truck, wherein the control device is designed to control the energy storage device depending on a speed-dependent signal in order to activate the holding device.
  • the control device is designed to control the energy storage device depending on a speed-dependent signal in order to activate the holding device.
  • the additional detection of the speed of the lift truck can help to determine other types of errors in the truck or its drive.
  • the trained to detect the speed of the lift truck sensor can also be used to monitor the deceleration or interception of the lift truck.
  • the object of the invention is further achieved by a storage and retrieval device for loading shelves, in particular for storing and retrieving of goods, solved, which has a hoist for driving a movable lift truck, which is coupled with at least one support means, and which comprises a safety device according to one of the aforementioned aspects.
  • the storage and retrieval unit can also be referred to as so-called stacker crane.
  • the lift truck may further comprise a platform on which a further conveyor is received, which is designed in particular for storage or retrieval in the shelf or out of the shelf out.
  • the (further) conveying means may be designed, for example, as a side thruster, satellite carriage, transfer unit or the like.
  • the hoist is associated with two lifting columns, between which the truck is coupled, wherein the lift truck is coupled to two support means, wherein a first support means associated with a first lifting column and a second support means associated with a second lifting column, wherein the monitoring device at least a first sensor for detecting the load state of the first support means and at least one second sensor for detecting the load state of the second support means, wherein the at least one first sensor and the at least one second sensor can independently detect signals usable by the control means to to selectively drive the energy storage device to activate the holding device.
  • each suspension element which is coupled to the lift truck have its own drive.
  • the method may further include a parallel step relating to the monitoring of a lift truck speed. Accordingly, a further "signal channel" can be provided, which makes it possible to determine undesired operating states of the hoisting gear.
  • a coordinate system 18 which basically consists of three axes X, Y and Z.
  • Fig. 1 only the axes X and Y running parallel to the plane of view are shown.
  • Fig. 3 which shows a partial perspective view of another storage and retrieval device 10a, has a corresponding perspective view of the coordinate system 18 that includes an illustration of an X-axis, a Y-axis, and a Z-axis. Accordingly, the Z-axis extends at the in Fig. 1 illustrated view orientation perpendicular to the view plane.
  • the X-axis usually runs in the longitudinal direction parallel to the high-bay 16 along the course of the rack aisle 14. Basically, the X-axis can be aligned parallel to the path 12.
  • the Y-axis usually describes a height orientation.
  • the vertical extent of the high rack 16 is usually along the Y-axis. If a height adjustment and / or a vertical movability of components of the storage and retrieval device 10 is mentioned below, this can basically take place along the Y direction.
  • the Z axis (in Fig. 1 not shown) describes usually the direction in which goods are transferred from the storage and retrieval device 10 to individual shelves or shelf levels of the high rack 16 or removed from these. Furthermore, about a depth extension of the planes or storage bins of the high-bay 16 along the Z-axis. It is understood that the above-outlined, exemplary layout and the determination of directional information is given primarily for illustrative purposes and is not to be understood in a limiting sense.
  • Stacker cranes 10 on the one hand usually have hoists or similar lifting mechanisms, but on the other hand are also generally designed to be moved along a substantially horizontally oriented axis. This is usually the X-axis, ie the longitudinal axis.
  • the storage and retrieval unit 10 according to Fig. 1 for example, a chassis 20 on which a chassis 22 is added.
  • the chassis 20 may exemplarily have a frame or support structure.
  • the chassis 22 may comprise at least one wheel or a roller.
  • the chassis 22 may be coupled to at least one drive 24 to move the stacker crane 10 along the path 12 controlled.
  • the path 12 may comprise approximately a guide rail.
  • the at least one wheel or the at least one roller of the chassis 22 may be designed to carry the storage and retrieval unit 10 and / or to guide it along the path or the rail 12. It is understood that wheels or rollers can be provided, which essentially serve the load bearing. Furthermore, wheels or rollers may be provided, which essentially serve to ensure the alignment of the stacker crane 10.
  • the above-outlined design of the chassis 20 and the path 12 is to be understood merely as an exemplary embodiment.
  • alternative storage and retrieval devices 10 are known in which the path 12 consists approximately of a collection of in-ground sensors defining a (virtual) path 12.
  • Other designs are possible, such as optical control systems and / or radio-based control systems. Combined control systems based on different mechanisms of action are also conceivable.
  • FIG. 1 illustrated storage and retrieval device 10 has a hoist 30 and a frame structure, which is exemplified by a first pillar 32, a second pillar 34 and a cross member 36 is formed.
  • the columns 32, 34 are supported on the chassis 20.
  • the cross member 36 may connect the columns 32, 34 at their end facing away from the chassis 20 with each other. This may result in a portal structure.
  • a portal structure can be made highly rigid and is often subject to only slight deformations at high loads.
  • the hoist 30 is used to drive (about lifting and / or lowering) of a substantially vertical (Y-direction) movable lift truck 38.
  • An in Fig. 1 The arrow designated 40 illustrates the usual movement and / or travel direction of the lift truck 38 relative to the chassis 20 of the storage and retrieval device 10.
  • the lift truck 38 is usually used to raise or lower cargoes 42 to a desired height in order to store them in the high-bay 16 can or be able to outsource from this.
  • the loading goods 42 may be about piece goods, which are arranged for example on loading aids 48, such as on pallets or the like. However, it is also conceivable that the cargoes 42 themselves are loading aids that can be filled or empty.
  • the lift truck 38 has a table or platform 44 which extends substantially along a plane passing through the X-axis and (in FIG Fig. 1 not shown) Y-axis is defined.
  • the platform 44 of the lift truck 38 of the lifting mechanism 30 is substantially adapted to receive loading aids 48 and / or load 42 and to move relative to the shelf 16.
  • this does not rule out that, according to various embodiments of storage and retrieval devices 10 on the truck 38 about a control station for operators can be provided.
  • the lift truck 38 would in principle also be capable of operating personnel, service personnel, maintenance personnel or the like. This can take place, for example, in an operating mode in which an operator who is positioned directly on the lifting carriage 38 selects a shelf to be controlled in order to store or to unload goods 42 there. However, it is also conceivable to move the operator only in special operating modes with the lift truck 38. This may include, for example, maintenance, service and / or repair.
  • a movable arm 46 can be accommodated on the platform 44.
  • the boom 46 may have suitable drives, guides or the like.
  • a conveyor may be provided on the platform 44, such as a revolving conveyor.
  • Such a funding does not necessarily have to be designed telescopic. Rather, for example, by means of a conveyor belt or a similar design, a load 42 to be stored can be transferred to a desired compartment in the high-bay 16.
  • the platform 44 can be designed as a base for a so-called shuttle or satellite vehicle, which is designed for automatic loading of storage spaces (extending in the Z direction) in rack storage areas.
  • the Fig. 1 The design shown should therefore be considered as an example for illustrative purposes only.
  • the platform 44 of the lift truck 38 is connected to at least one carriage 50, 52.
  • the in Fig. 1 shown storage and retrieval unit 10 two columns or lifting columns 32, 34 on. Usually, each lifting column 32, 34, a carriage 50, 52 assigned.
  • the lifting carriage 38 is received on the first column 32 via the carriage 50. Accordingly, the lift truck 38 via the Carriage 52 received on the second column 34.
  • the storage and retrieval device 10 can basically also have a lifting mechanism 30, which cooperates with only one lifting column.
  • the column 32 associated carriage 50 is coupled to a (vertical) guide 54.
  • the second lifting column 34 associated carriage 52 is associated with a (vertical) guide 56.
  • the guides 54, 56 are regularly designed such that the lift truck 38 guided along the Y-axis is movable. In principle, it is also conceivable to provide both guides 54, 56 on the one lifting column, for example in a design with only one lifting column, with which the lifting mechanism 30 cooperates. Also in this way, the lift truck 38 can be sufficiently defined and guided safely.
  • the lifting carriage 38 may have about a spindle drive.
  • the at least one support means 60 is held by at least one support means 60 and raised or lowered.
  • the at least one support means is in particular formed as a strand-shaped support means. It may be about a chain, a rope, a cable or a similarly designed support means 60 act.
  • the at least one support means 60 of the in Fig. 1 shown lift truck 38 formed by a first cable 62 and a second cable 64.
  • lift truck 38 Unless various functions and configurations of the lift truck 38 are explained below with reference to the first cable 62 and the second cable 64, it is understood that other support means 60 can be used without further ado. Therefore, the term "rope" is to be understood synonymously below for chain, cable, belt or the like.
  • At least one lifting drive 66, 68 is provided, which is coupled to the at least one support means 60.
  • the in Fig. 1 Lifting truck 38 shown is moved by a first lifting drive 66 and a second lifting drive 68.
  • the first lifting drive 66 is coupled to the first cable 62.
  • the second lifting drive 68 is coupled to the second cable 64.
  • the lifting drives 66, 68 can be controlled in a suitable manner in order to move the lifting carriage 38 as free of tension as possible and uniformly along the vertical direction (Y-direction).
  • each of the lifting drives 66, 68 has a drum 70, 72, on which the first cable 62 or the second cable 64 can be wound or unwound.
  • first cable 62 can be deflected over at least a first roller 74 in the desired manner to attack the truck and 38 to move.
  • at least one second roller 76 may be associated with the second cable 64.
  • Storage and retrieval units 10 regularly have safety devices that can also be referred to as catching devices.
  • Interception devices regularly serve to prevent (or at least weaken or intercept) an (uncontrolled) crash of the lift truck 38.
  • a crash of the lift truck 38 can threaten approximately when a malfunction occurs in the at least one traction means 60 or at least one of the linear actuators 66, 68.
  • a crack of the at least one support means 60 such as a crack of the first cable 62 or a crack of the second cable 64, lead to an impending crash of the lift truck 38.
  • the in Fig. 1 shown embodiment of the storage and retrieval device 10 has a redundant design, in which about the failure of one of the ropes 62, 64, the remaining cable 62, 64 is still functional. Also for this reason is it is preferred in various embodiments of storage and retrieval devices 10, each of the ropes 62, 64 (in general: each of the support means 60) has its own lifting drive 66, 68 assign. Thus, the lift truck 38 in the crack only a rope 62, 64 on the carriage 50, 52 still sufficiently on the guides 54, 56 of the columns 32, 34 out. The remaining cable 62, 64 and its lifting drive 66, 68 are usually dimensioned such that they can avoid a (complete) crash of the stacker crane 38.
  • a rope 62, 64 breaks.
  • This can for example be accompanied by a misalignment of the lift truck 38.
  • Such a misalignment or skew may be accompanied by a "skew" of the platform 44.
  • the platform 44 is no longer horizontally aligned in the tilted position and may be approximately opposite the X-axis and / or opposite (in FIG Fig. 1 not shown) Z-axis have an angular offset.
  • it may come to proper movements recorded cargo 42.
  • a crash of the load 42 threatens even if no crash of the lift truck 38 is to be expected.
  • Known safety devices on storage and retrieval machines regularly monitor a vertical speed (speed along the Y-axis) of the lift truck. This is usually done by mechanical or electromechanical means, such as with centrifugal force sensors or the like. Such speed monitoring sensors are regularly coupled with brakes or locks that are triggered upon "response" of the speed sensor to brake the lift truck. With such a design a (total) crash of the lift truck can often be avoided with high probability. However, since the pallet truck must already have reached a certain speed in order to activate such a "catching device", unwanted operating conditions can nevertheless arise, which may be accompanied by an "imbalance" of the lifting platform. Such operating conditions can occur in particular in designs in which the pallet truck is suspended on two support means, such as two ropes, of which only one fails.
  • the storage and retrieval unit 10 has a safety device 80, which in principle can also be referred to as safety gear 80.
  • safety gear 80 To illustrate and illustrate the function of the safety device 80 is in addition to the Fig. 1 in addition to the Fig. 2 directed.
  • Fig. 2 shows a highly simplified schematic embodiment of a security device 80, approximately when in the Fig. 1 shown storage and retrieval unit 10 may come to use.
  • the safety device 80 has a control device 82. It is understood that the control device 82 can also be configured to control and control other functions of the storage and retrieval device 10. For example, the control device 82 can be designed, for example, to control the drive 34 of the chassis 22. Accordingly, the controller 82 may also be configured to control and regulate the lift drives 66, 68. Thus, the safety device 80 can fall back for control and / or regulation purposes only on a partial functionality of a higher-level control device 82. Conversely, however, it is also conceivable to provide a separate, specifically assigned control device 82 for the safety device 80. This can be advantageous in order to further increase the functional reliability of the safety device 80. Accordingly, malfunctions that affect a (higher-level) control device that controls approximately the travel drive 24 or the at least one lifting drive 66, 68, would not affect the functionality and reliability of the safety device 80.
  • the control device 82 is coupled to at least one monitoring device 84.
  • the monitoring device 84 may comprise, for example, at least one sensor 86, 88. It is preferred if the monitoring device 84 is designed to detect a state of the suspension element 60. This may include the detection of a load condition of the support means 60.
  • the monitoring device 84 may be configured, for example, to monitor a current tension of the cables 62, 64.
  • the sensor 86 may be associated with the first cable 20.
  • the sensor 88 may be associated with the second cable 64. If the monitoring device 84 is configured to detect a suspension medium tension, a crack of the suspension element, that is to say a crack of one of the cables 62, 64, can also be detected.
  • a cable break can usually be assumed when the at least one sensor 86, 88 a Outputs signal that indicates a "tension-free" state of the at least one cable 62, 64.
  • the tension-free state is often only achieved in the event of a rope break.
  • the storage and retrieval device 10 with two support means 60 or ropes 62, 64 can also be the detection of the support means voltage in voltage ranges that do not suggest a crack of the support means 60, be beneficial. In this way, about threatening tilting and / or binding in one of the carriages 50, 52 can be detected. In this way, malfunctions, damage or the like in the Hubantrieben 66, 68 and the drums 70, 72 determine. This may also include a malfunction, such as increased friction, of at least one of the rollers 74, 76. Malfunction or damage that cause the lift truck 38 is no longer "symmetrical" by both ropes 62, 64 out, can quickly lead to an undesirable tilt of the lift truck 38 and the platform 44.
  • the monitoring device 84 transmits the voltage state to be detected continuously or quasi-continuously to the control device 82.
  • input signals which are provided by the sensors 86, 88, for example, are fed to an evaluation.
  • the evaluation can be done according to different criteria. Various conceivable evaluation strategies are described below on the basis of Fig. 5 and 6 illustrated.
  • a corresponding signal may be output.
  • the delay of the lift truck 38 may include a deceleration of a movement of the lift truck 38 to a stop.
  • the signal output by the control device 82 can activate a holding device 90, which is designed to delay or completely decelerate the lift truck 38.
  • the holding device may comprise at least one brake 92, 94.
  • the holding device may have a first brake 92, which is associated with the first guide 54.
  • the retainer 90 may include a second brake 94 associated with the second guide of the first brake.
  • the first brake 92 and the second brake 94 are in Fig. 1 only symbolically represented.
  • the brakes 92, 94 may act on the at least one slide, 50, 52 or the at least one guide 54, 56 in a force-locking and / or form-fitting manner in order to delay or bring the lifting carriage 38 to a desired stop.
  • the holding device 90 is designed to generate a frictional connection, such as a frictional connection, and / or a positive connection between the lift truck 38 and the at least one column 32, 34.
  • the speed sensors can be centrifugal force sensors, which in turn can trigger brakes.
  • brakes There is regularly a mechanical and / or fluidic (in particular hydraulic) coupling between the speed sensor and the brake.
  • known interceptors may not respond promptly to many of the conditions and malfunctions outlined above in a desired manner.
  • the controller 80 may have a design that includes a "change" of the signal medium.
  • the at least one sensor 86, 88 may be configured to output an electrical signal, for example a voltage signal.
  • the electrical signal can be through the Control device 82 processed and evaluated.
  • the control device 82 can output a signal (also: trigger signal) which is also generated approximately in electrical form.
  • the signals used for communication may include analog, quasi-analog, digital or similar waveforms.
  • the safety device 80 further comprises an energy storage device 96 which serves to hold energy that can be used for the abrupt deceleration of the lift truck 38 by the holding device 90.
  • the energy storage device 96 may comprise at least one energy store 98, 100. In Fig. 1 For reasons of clarity, only one energy store 98 is shown, which is coupled to the first brake 92 for the first carriage 50 of the lift truck 38.
  • the energy storage 98 can basically be coupled to each of the brakes 92, 94.
  • each of the brakes 92, 94 assign a separate energy storage 98, 100. So shows Fig. 2 a second energy storage 100 associated with the energy storage device 96 and coupled to the second brake 94 for the second carriage 92.
  • Each of the energy storage 98, 100 can basically be designed as a mechanical energy storage, as a fluidic energy storage (such as a hydraulic or pneumatic energy storage), as an electrical energy storage or similar.
  • a mechanical energy store may comprise at least one tensioned spring.
  • a fluidic energy store may comprise, for example, a pressure reservoir.
  • An electrical energy store may comprise at least one capacitor, which is designed to release high amounts of electrical energy in a very short time. Accordingly, the energy storage device 96 can be activated on the basis of an electrical signal and then deliver about mechanical energy.
  • the at least one energy store 98, 100 is designed for abrupt energy delivery (to the at least one brake 92, 94) is.
  • the at least one brake 92, 94 can be activated and act on the lift truck 38 or the hoist 30 so that a crash or an undesired position (such as tilted position) of the lift truck 38 safely intercepted or avoided.
  • the energy storage device 96 may further comprise at least one blocking unit 102, 104, which serves to secure the at least one energy storage 98, 100, if no delivery of (braking) energy is required.
  • Each energy storage 98, 100 may be assigned its own blocking unit 102, 104.
  • the blocking unit 102 may be associated with the energy storage 98.
  • the blocking unit 104 may be assigned to the energy store 100, cf. Fig. 2 ,
  • the barrier units 102, 104 may functionally correspond to a valve or similar release device.
  • the blocking units 102, 104 may in principle be coupled to the control device 92 in order to receive a release signal from the latter.
  • the control device 82 can cause the release of energy from the at least one energy store 98, 100 in order to activate the at least one brake 92, 94 of the holding device 90.
  • the at least one blocking unit 102, 104 can also be activated if, for example, in traditional storage and retrieval units, a speed sensor of a catching device would not have detected any increased speed at all. In this way, can be detected by the "change" of the signal medium, a variety of undesirable operating conditions. In particular, in this way an impending misalignment of the lift truck 38 can already be recognized in the approach and intercepted with high probability.
  • Fig. 2 shows in addition a schematically greatly simplified representation of the safety device 80, which basically in a storage and retrieval unit 10 according to Fig. 1 can be used.
  • the safety device 80 comprises as essential components the control device 82, the monitoring device 84, the holding device 90 and the energy storage device 96.
  • the same components or modules are as shown in FIG Fig. 2 removable.
  • the in the Fig. 1 Energy storage device 96 shown has an energy storage 98 in the form of a mechanical energy storage, which comprises about at least one spring.
  • the in the Fig. 2 By contrast, illustrated energy storage device 96 has two energy storage 98, 100, which in the present example, for example, as a fluidic, especially as a pneumatic, energy storage are designed.
  • the block diagram includes the security device 80 in FIG Fig. 2 additional (optional) components that are alternative or in addition to those already described by Fig. 1 Illustrated components can be used.
  • the monitoring device 84 comprises, by way of example, various types of sensors 86, 88 for detecting the load state of the cable 62, 64.
  • At least one sensor 86, 88 can be designed as a force-measuring sensor 110, 112.
  • the at least one force measuring sensor 110, 112 is designed as a force measuring pin and coupled to the at least one roller 74, 76 for deflecting the cable 62, 64.
  • Such a design makes it possible to detect loads acting on the at least one roller 74, 76, cf. with F designated arrows in Fig. 2 which indicate a load condition of the at least one cable 62, 64.
  • the at least one force measuring sensor 110, 112 designed approximately as a force measuring pin can be configured to detect deformations which are transmitted via the at least one roller 74, 76 to a pin receiving the roller 74, 76.
  • sensors 86, 88 are conceivable, however.
  • at least one sensor designed as a light barrier 114, 116 may be provided. By means of the at least one light barrier 114, 116, a fracture or crack of the rope 62, 64 can be detected in a particularly simple manner.
  • the at least one sensor 86, 88 may include a (non-optical) crack detector 118, 120.
  • the at least one crack detector 118, 120 can, for example, act on the cable 62, 64 with a measuring force, wherein the measuring force in the event of a crack or breakage of the cable 62, 64 is not counteracted by any substantial resistance. Accordingly, the at least one crack detector 118, 120 experience a displacement in the event of a cable break, which detects the crack.
  • sensors 86, 88 are also conceivable, which are designed to detect a load condition of the cable 62, 64 (in general: the suspension element 60).
  • the at least one sensor 86, 88 is configured to detect a state of tension of the cable 62, 64, be it directly or indirectly.
  • the safety device 80 may additionally include at least one speed sensor 122 configured to detect a travel speed of the lift truck 38, such as the speed of movement in the direction of the in Fig. 2 with 40 arrow.
  • the speed sensor 122 may correspond in terms of its design basically known speed sensors, which are used in known devices for storage and retrieval devices.
  • control device 82 of the safety device 80 is designed to detect in addition to the at least one sensor 86, 88 support means voltage-dependent measured variables also provided by the at least one speed sensor 122 speed-dependent parameters and to process accordingly. In this way, the functionality of the security device 80 can be extended. In particular, it is advisable to activate the holding device 90 of the safety device 80 when at least one of a plurality of conditions occurs.
  • the triggering conditions may include, in particular, support-medium-dependent conditions and / or speed-dependent conditions (related to the speed of the lift truck 38).
  • FIG. 1 and 2 illustrates Fig. 3 an alternative design of a stacker crane 10 a
  • the analog of the storage and retrieval unit 10 according to Fig. 1 in an advantageous manner with the approximately on the basis of Fig. 2 illustrated safety device 80 can be coupled.
  • the storage and retrieval unit 10a has a lift truck 38 which is associated with a hoist 30.
  • the storage and retrieval unit 10a for example, a one-columnar design, so that essentially a mast for the lift truck 38 is provided.
  • the one mast can nevertheless have a plurality of guides for the lift truck 38. Accordingly, the lift truck 38 of the storage and retrieval device 10a by means of two cables 62, 64 are moved vertically (in the Y direction).
  • the cantilever fork 46 is designed to 42 (in Fig. 3 not shown) in the Z-direction, so in general transversely to the shelf 16.
  • the load 42 can be stored in this way in the shelf 16 or outsourced from this.
  • Such movement comprises according to the in Fig. 1 shown embodiment of the storage and retrieval device 10, a method of loading 42 through the columns 32, 34 of the lift truck 38 "through".
  • the process of loading 42 is not "through” the column / columns, but "laterally” on the hoist 30 and the column / the columns over.
  • Fig. 4 shows a graph of velocity-time profiles of a lift truck in the event of a tear of a suspension element.
  • An abscissa labeled 130 denotes the time t.
  • An ordinate designated 132 describes a speed of a lift truck, more specifically, a falling speed of the lift truck in the vertical direction (Y direction). Accordingly, the corresponding symbol v Y has a negative sign.
  • An ordinate labeled 134 for illustrative purposes the ordinate 132 is opposite, describes a drop height (current path on the Y axis) of the lift truck. Since that in Fig. 4 As illustrated diagram describes a crash or fall of a lift truck (approximately after a crack of the suspension means or rope), also has the symbol for the (fall) height on a negative sign.
  • a speed curve 136 and a travel path 138 of a lift truck in the event of a crash following a cable break, which are to be expected in conventional safety gears, are illustrated.
  • a dashed line labeled 144 indicates a point in time of a cable break. It is assumed that the pallet truck is lowered at a constant speed before the cable breaks, cf. a constant speed value on the ordinate 132 and a steadily decreasing altitude on the ordinate 134 in the relevant time period. After the cable break 144 takes place due to gravity, a steady increase in the falling speed of the lift truck. This goes hand in hand with a disproportionately increasing drop in height.
  • a dotted line labeled 140 indicates a rated speed that can be achieved by the controlled truck in normal operation.
  • a line labeled 142 indicates a so-called overspeed, that is, an increased speed, which is about a certain factor above the rated speed.
  • the line 142 indicates a threshold above which a conventional safety gear can "detect" a cable break. Accordingly, the detection of the cable tear due to the monitoring of the speed of the lift truck can be done only at a time that in Fig. 4 is indicated by a dashed line labeled 146. However, it is immediately apparent that the truck has already traveled a considerable distance by this time. Accordingly, there may be an increased hazard potential.
  • the detection of a crack of the suspension element can basically be carried out independently of the threshold value 142 being exceeded.
  • a monitoring of the load state of the support means, in particular the support means voltage allows the detection of a crack already when no significant increase in the speed of the lift truck due to a crack has occurred.
  • a braking or trapping operation can already be triggered at a time close to the time of the actual fracture (see the dashed line 144 in FIG Fig. 4 ). Accordingly, the braking or trapping process can already take place when the pallet truck has not reached an excessive speed.
  • a resulting delay of the lift truck is in Fig. 4 characterized by 150 (speed-time course) as well as 154 (distance-time course) designated dashed lines.
  • Another, indicated by 152, dashed line indicates a time at which the lift truck 38 has been safely decelerated or delayed.
  • the time 152 is well before the time 146, which describes the interception or deceleration of the lift truck by means of conventional safety gears. From the resulting time differences can be deduced that the interception of the lift truck takes place at a much lower drop height.
  • a resulting difference in drop height between a conventional safety gear and a safety device according to various embodiments of the present invention is disclosed in US Pat Fig. 4 illustrated by an arrow labeled 156.
  • a design of a stacker crane with a safety device may be particularly advantageous in a hoist, which cooperates with a lift truck, which is guided on two sides and is accordingly coupled with two support means, such as two support cables.
  • Such embodiments may further be provided with about two drives, so with a drive for each support cable.
  • both drives are controlled by a controller such that the pallet truck in a desired vertical position (height) and a desired orientation (regular: horizontal orientation) is aligned.
  • the diagram according to the Fig. 4 can basically illustrate relationships that describe a crack of all the ropes of a lift truck. However, it is also conceivable that the relationships shown can also be transferred to a rupture of individual ropes of a lift truck, which is guided and moved by means of at least two ropes. Such a design of the lift truck can lead to other difficulties in conventional safety gears. In particular, in the case of a tear only a rope operating conditions may arise in which the truck on the one hand assumes a misalignment, on the other hand, however, not reached an excessive speed, which would be required to trigger a safety gear. However, if a deceleration or a catch of the lift truck is activated as a function of a state of tension of the cable, such conditions can be reliably detected.
  • FIG. 4 illustrates a highly simplified block diagram of a safety controller usable with the safety device 80.
  • a block labeled 170 includes a plurality of monitoring processes and evaluation processes.
  • a strand designated 172 relates to the detection and monitoring of a stress state of at least one suspension element or rope.
  • a block denoted 174 relates to the detection and monitoring of a speed of a lift truck of a storage and retrieval unit.
  • each of the strands 172, 174 may be utilized to detect an undesirable condition to cause deceleration or interception of the lift truck. This can in particular, the exceeding (or: undershooting) of predefined threshold values for a state of tension of the cable or suspension element or a (fall) speed of the lift truck.
  • a threshold value undershoot can also be used to detect an undesired state. If at least one of the two aforementioned conditions occurs, cf. an OR operator designated 176, an activation signal for delaying or intercepting the lift truck can be issued in principle. By means of the activation signal, a sub-process can be initiated, which relates to the release of a fuse for a blocking unit, cf. Block 180 in Fig. 5 ,
  • the enable signal output by the block or operator 176 may be used to control a decision block 182.
  • the activation signal may decide to release the lock for the lock unit (block 180) and thus open the lock unit (block 184).
  • an energy store (block 186) can be activated or opened such that a stored amount of energy can be released abruptly and promptly.
  • the blocking unit 184 can comprise at least one valve, which makes it possible, if necessary, for a pressurized medium of the energy store 186 to escape. Other configurations of the energy storage 186 and the blocking unit 184 are conceivable without further ado.
  • the released energy can be used to activate a holding device 188 in order to delay the truck safely and promptly or to be able to completely bring it to a standstill.
  • Fig. 6 shows various steps of a method for monitoring a storage and retrieval unit, which can contribute in an advantageous manner to increase the reliability, especially in the case of a Tragstoffrisses or cable break.
  • the method may be started or initialized at a step designated S10.
  • the step S10 may be followed by a step S12, which relates to the detection of a load condition of a suspension element.
  • On the support means usually a lift truck of the stacker crane is added.
  • the truck can be connected by way of example with a suspension in the form of two ropes or suspension cables.
  • the detection of the load state can In particular, the detection of a rope tension include.
  • the detection can be done by means of at least one sensor.
  • a signal determined as part of the monitoring or detection can be transmitted to a control device.
  • the method may include the optional steps S16 and S18.
  • Step S16 relates to detecting a travel speed of the lift truck.
  • at least one speed sensor may be provided to detect a (vertical) travel speed of the lift truck.
  • the speed of the lift truck can be used in case of exceeding a threshold value as an indicator of a crack of a wire means or rope.
  • step S18 a speed-dependent monitoring signal is transmitted to the control device.
  • the steps S12 and S14 or S16 and S18 may be followed by the step S20, which includes the monitoring or evaluation of the signal or the signals.
  • the evaluation can be carried out in particular by means of a control device.
  • the evaluation can lead to a step S22, which comprises a threshold value adjustment. In step S22, exceeding and / or undershooting of certain threshold values can be checked.
  • a blocking unit of an energy storage device can be unlocked.
  • the energy storage device may in particular be designed to deliver energy in a sufficient amount abruptly within a short time. This can be done after unlocking the blocking unit in step S24 in a subsequent step S26.
  • a holding device can be activated in a further step S28, which causes a delay of the lifting mechanism.
  • the pallet truck is decelerated to a standstill in step S28.
  • the method may be terminated in a step S30 when the lift truck has been safely brought to a standstill.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Mechanical Engineering (AREA)
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  • Civil Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (14)

  1. Dispositif de sécurité, en particulier un dispositif de capture destiné à un gerbeur (10) comportant un mécanisme de levage (30) servant à entraîner un chariot de levage mobile (38) qui est accouplé à au moins un moyen de transport (60), dans lequel le dispositif de sécurité comporte :
    - un dispositif de surveillance (84) qui est conçu pour détecter un état de charge de l'au moins un moyen de transport (60), en particulier une grandeur de mesure dépendant d'une tension du moyen de transport,
    - un dispositif de retenue (90), en particulier un dispositif de capture qui est conçu pour inhiber sélectivement un mouvement du chariot de levage (38),
    - un dispositif accumulateur d'énergie (96) qui est conçu pour alimenter en énergie le dispositif de retenue (90), et
    - un dispositif de commande (82) qui est conçu pour commander le dispositif accumulateur d'énergie (96) en fonction d'un signal détecté par le dispositif de surveillance (84) afin d'activer le dispositif de retenue (90),
    dans lequel l'au moins un moyen de transport (60) est réalisé sous la forme d'un moyen de traction sous forme de câble, et dans lequel le dispositif de surveillance (84) comporte au moins un capteur de mesure de force (86, 88 ; 110, 112) qui est conçu pour détecter une tension dans le moyen de traction, caractérisé en ce que l'au moins un capteur de mesure de force (86, 88 ; 110, 112) est réalisé sous la forme d'axes dynamométriques (110, 112) et en ce qu'il est accouplé à une poulie de renvoi (74, 76) destinée au moyen de transport (60).
  2. Dispositif de sécurité selon la revendication 1, dans lequel le dispositif de surveillance (84) comporte au moins un capteur (86, 88), en particulier un capteur (86, 88) servant à détecter une tension du moyen de transport ou une rupture du moyen de transport, qui est conçu pour délivrer un signal électrique ou optique.
  3. Dispositif de sécurité selon la revendication 1 ou 2, dans lequel l'au moins un moyen de transport (60) est réalisé sous la forme d'un câble porteur (62, 64).
  4. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel le dispositif de surveillance (84) comporte au moins un capteur (86, 88 ; 118, 120) réalisé sous la forme d'un détecteur de fissure.
  5. Dispositif de sécurité selon la revendication 4, dans lequel le capteur (86, 88 ; 118, 120) réalisé sous la forme d'un détecteur de fissure repose sur l'au moins un moyen de transport (60), en particulier dans un état normal sous précontrainte, et est déplacé en cas de fissuration du moyen de transport.
  6. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel le dispositif de surveillance (84) comporte au moins un capteur optique (86, 88 ; 114, 116), en particulier une barrière photoélectrique (114, 116).
  7. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel le dispositif de surveillance (84) comporte au moins un capteur réalisé sous la forme d'un capteur de vibrations (86, 88), qui est conçu pour détecter des vibrations induites dans l'au moins un moyen de transport (60).
  8. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel le dispositif accumulateur d'énergie (96) comporte au moins une unité de verrouillage (102, 104) servant à retenir l'énergie accumulée, dans lequel l'au moins une unité de verrouillage (102, 104) peut être déverrouillée par un signal de libération ou par l'absence d'un signal de verrouillage.
  9. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel le dispositif accumulateur d'énergie (96) comporte un moyen accumulateur d'énergie (98, 100) se trouvant sous précontrainte à l'état verrouillé.
  10. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel le dispositif accumulateur d'énergie (96) est réalisé sous la forme d'un dispositif accumulateur d'énergie (96) mécanique ou fluidique.
  11. Dispositif de sécurité selon l'une quelconque des revendications précédentes, dans lequel il est en outre prévu au moins un capteur (122) servant à détecter une vitesse du chariot de levage (38), dans lequel le dispositif de commande (82) est conçu pour commander le dispositif accumulateur d'énergie (96) en fonction d'un signal dépendant de la vitesse afin d'activer le dispositif de retenue (90).
  12. Gerbeur (10) destiné à charger des rayonnages (16), notamment la mise en entrepôt et la sortie d'entrepôt de marchandises (42), comportant un mécanisme de levage (30) servant à entraîner un chariot de levage mobile (38) qui est accouplé à au moins un moyen de transport (60), comprenant un dispositif de sécurité (80) selon l'une quelconque des revendications précédentes.
  13. Gerbeur (10) selon la revendication 12, dans lequel le mécanisme de levage (30) est associé à deux colonnes de levage (32, 34) entre lesquelles le chariot de levage (38) est guidé, dans lequel le chariot de levage (38) est accouplé à deux moyens de transport (60 ; 62, 64), dans lequel un premier moyen de transport (60 ; 62) est associé à une première colonne de levage (32) et un deuxième moyen de transport (60 ; 64) est associé à une deuxième colonne de levage (34), dans lequel le dispositif de surveillance (84) comporte au moins un premier capteur (60 ; 86) servant à détecter l'état de charge du premier moyen de transport (60 ; 62) et au moins un deuxième capteur (60 ; 88) servant à détecter l'état de charge du deuxième moyen de transport (60 ; 64), dans lequel l'au moins un premier capteur (60 ; 86) et l'au moins un deuxième capteur (60 ; 88) peuvent détecter des signaux indépendamment l'un de l'autre, lesquels signaux peuvent être évalués par le dispositif de commande (82) pour commander sélectivement le dispositif accumulateur d'énergie (96) afin d'activer le dispositif de retenue (90).
  14. Procédé de surveillance d'un gerbeur (10), consistant à mettre en fonctionnement un dispositif de capture destiné à un chariot de levage mobile (38) qui est accouplé à au moins un moyen de transport (60), réalisé sous la forme d'un moyen de traction sous forme de câble, dans lequel le procédé comprend les étapes consistant à :
    - détecter un état de charge de l'au moins un moyen de transport (60), en particulier, détecter une grandeur de mesure dépendant d'une tension du moyen de transport, comportant au moins un capteur de mesure de force (86, 88 ; 110, 112), qui est conçu pour détecter une tension dans le moyen de traction, dans lequel l'au moins un capteur de mesure de force (86, 88 ; 110, 112) est réalisé sous la forme d'axes dynamométriques (110, 112) et est accouplé à une poulie de renvoi (74, 76) destinée au moyen de transport (60),
    - transmettre un signal décrivant l'état de charge du moyen de transport (60) à un dispositif de commande (82),
    - évaluer le signal à l'aide du dispositif de commande (82),
    - dans le cas où un seuil est dépassé, commander un dispositif accumulateur d'énergie (96) afin qu'il délivre de l'énergie, et
    - activer un dispositif de retenue (90) à l'aide de l'énergie délivrée pour inhiber sélectivement un mouvement du chariot de levage (38).
EP14762035.5A 2013-09-13 2014-09-12 Dispositif de sécurité pour gerbeur, gerbeur et procédé de surveillance d'un gerbeur Active EP3044155B1 (fr)

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DE102013015458.8A DE102013015458B4 (de) 2013-09-13 2013-09-13 Sicherheitsvorrichtung für ein Regalbediengerät, Regalbediengerät sowie Verfahren zur Überwachung eines Regalbediengeräts
PCT/EP2014/069534 WO2015036558A1 (fr) 2013-09-13 2014-09-12 Dispositif de sécurité pour gerbeur, gerbeur et procédé de surveillance d'un gerbeur

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EP3044155B1 true EP3044155B1 (fr) 2017-07-05

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DE (1) DE102013015458B4 (fr)
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DE102019202147A1 (de) * 2019-02-18 2020-08-20 Gebhardt Fördertechnik GmbH Ein Regalbediengerät, eine Sicherheitsvorrichtung sowie ein Verfahren zum Betrieb einer Sicherheitsvorrichtung
DE102019202147B4 (de) 2019-02-18 2024-02-29 Gebhardt Fördertechnik GmbH Ein Regalbediengerät, eine Sicherheitsvorrichtung sowie ein Verfahren zum Betrieb einer Sicherheitsvorrichtung

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DE102013015458A1 (de) 2015-03-19
WO2015036558A1 (fr) 2015-03-19
DE102013015458B4 (de) 2019-04-18
EP3044155A1 (fr) 2016-07-20
ES2639475T3 (es) 2017-10-26

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