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11.发明公开Vertical drive assembly for storage and retrieval vehicles 失效Regalförderzeuge的Hubantriebsvorrichtung。
公开(公告)号：EP0499133A2
公开(公告)日：1992-08-19
申请号：EP92101937.8
申请日：1992-02-06
申请人： EATON-KENWAY, INC.
IPC分类号： B66F9/07
CPC分类号： B66F9/07 , B66B9/16 , B66D5/14 , Y02B50/144 , Y10S254/09
摘要： A vertical drive assembly (100) for a storage and retrieval vehicle (10) wherein a cable drive motor (200) is horizontally juxtaposed between a lift cable winding and unwinding drum (430). The vertical drive assembly is modularly assembled on a frame (170) and is attachable and detachable from the vehicle as a unit. The vertical drive assembly comprises the motor, a speed reducer (370), and the drum. To stay within the width of the vehicle, the speed reducer is disposed within the core of the drum. In one embodiment, a disc brake (350) comprising pneumatic release and spring actuation is juxtaposed between a driven sprocket wheel and the speed reducer.
摘要翻译： 一种用于存储和取出车辆（10）的垂直驱动组件（100），其中缆索驱动马达（200）水平地并置在升降缆绳卷绕和退绕滚筒（430）之间。 垂直驱动组件被模块地组装在框架（170）上，并且作为一个单元可从车辆附接和拆卸。 垂直驱动组件包括马达，减速器（370）和滚筒。 为了保持在车辆的宽度内，减速器设置在滚筒的芯部内。 在一个实施例中，包括气动释放和弹簧致动的盘式制动器（350）并置在从动链轮和减速器之间。
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公开(公告)号：EP0433922A1
公开(公告)日：1991-06-26
申请号：EP90124276.8
申请日：1990-12-14
申请人： EATON-KENWAY, INC.
IPC分类号： B66F9/07
CPC分类号： B66F9/07 , Y10T477/35
摘要： An overtravel brake system (32) for a storage and retrieval system (10) which is automatically actuated when the load carriage lift motor (26) is deenergized and the load carriage moves downward. The brake system includes a dog (54) mounted on the load carriage and engageable with the mast (22), the dog being actuated by a chain or cable (124) which applies an actuating force to the dog actuating mechanism only after the load carriage has traveled a predetermined distance. The chain or cable is connected to the output member (90) of a clutch mechanism (76) operable in response to relative movement between the load carriage and the mast, and which is held in a disengaged condition when the lift motor is energized and is automatically shifted to an engaged condition when the lift motor is deenergized.
摘要翻译： 一种用于存储和取回系统（10）的超程制动系统（32），当负载滑架提升电动机（26）被断电并且负载滑架向下移动时，其被自动地启动。 所述制动系统包括安装在所述负载托架上并与所述桅杆（22）接合的狗（54），所述狗由链条或缆索（124）致动，所述链条或缆索仅在所述承载架之后向所述狗致动机构施加致动力 已经行驶了预定的距离。 链条或电缆连接到离合器机构（76）的输出构件（90），该离合器机构（76）响应于负载托架和桅杆之间的相对运动而可操作，并且当提升马达被通电时保持在脱离状态并且是 当提升电机断电时，自动转换到接合状态。
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公开(公告)号：EP0192402A3
公开(公告)日：1987-06-16
申请号：EP86300935
申请日：1986-02-12
申请人： EATON-KENWAY, INC.
IPC分类号： B62D01/24
CPC分类号： B62D1/24
摘要： A vehicle (10) particularly adapted for use as an automated guided vehicle uses standard plastic tote boxes as a body shell (13) and as a battery carrier (20). The vehicle includes a drive wheel assembly (14) and a bogey assembly (16) which pivot about center pivot points and are steered by a single motor-driven steering assembly (18) which provides dual fifth wheel steering. Commonly-driven ball screw lift assemblies (122) engage the underside of nestable load- carrying tote boxes (22) for pickup and delivery functions. The weight of the load carrier(s) is transferred through the vehicle frame (12) to load transfer assemblies (76) on the drive and bogey assemblies.
摘要翻译： 特别适合用作自动导引车辆的车辆（10）使用标准塑料手提箱作为车体外壳（13）和电池载体（20）。 车辆包括驱动轮组件（14）和围绕中心枢转点枢转并由提供双重五轮转向的单个电动机驱动转向组件（18）转向的行驶组件（16）。 通常驱动的滚珠丝杠提升组件（122）接合可嵌套的承载箱（22）的下侧，用于拾取和传送功能。 负载托架的重量通过车架（12）传递到驱动装置和滚动组件上的负载传递组件（76）。
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公开(公告)号：EP0028541A1
公开(公告)日：1981-05-13
申请号：EP80303956.9
申请日：1980-11-06
申请人： EATON-KENWAY,INC.
摘要： An automobile transportation and storage pallet for use in an automated storage and retrieval system comprises steel tire channels (76, 78) connected and supported by a plurality of steel support members (84, 87, 88). Safety grip strips (91, 93, 100, 101) applied to the tire channels provide tire traction thereon. A corrugated drip pan (94) interposed between the tire channels collects any drippings from the automobile. Tire blocks (96, 97 and 98, 99) adjustably mounted to the tire channels secure the tires of the automobile. The channels ensure proper alignment of the automobile with respect to the pallet so that movement of the pallet in the storage and retrieval system is never hampered and the tire blocks prevent -movement of the automobile thereon, which could have a similar effect. The tire blocks can be adjusted to conform to any size of tire and automobile wheel base.
摘要翻译： 用于自动存储和取回系统的汽车运输和存储托盘包括由多个钢支撑构件（84,87,88）连接和支撑的钢轮胎通道（76,78）。 施加到轮胎通道的安全夹带（91,93,100,101）在其上提供轮胎牵引力。 插入在轮胎通道之间的波纹式滴水盘（94）收集来自汽车的任何滴落物。 可调节地安装到轮胎通道的轮胎座（96,97和98,99）固定汽车的轮胎。 这些通道确保汽车相对于托盘的正确对准，使得颗粒在储存和取回系统中的运动不会受到阻碍，并且轮胎阻挡物可以防止其上的汽车的运动，这可能具有相似的效果。 轮胎块可以调整为符合任何尺寸的轮胎和汽车轮毂。
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公开(公告)号：EP0016619A1
公开(公告)日：1980-10-01
申请号：EP80300788.9
申请日：1980-03-14
申请人： EATON-KENWAY,INC.
摘要： Input loads (70,72,74 etc.) e.g. palletized motor cars are queued prior to displacement onto a continuous conveyor (54) serviced by a plurality of storage and retrieval machines (40) associated one with each of the aisles of a high rise storage array (20), there being a pick-up (80) and a deposit (32) station for pallets associated with each aisle. The queued loads are metered onto the conveyor (54) on a far to near aisle correspondence basis and are simultaneously exchanged for output loads at each of the aisle locations. The method includes compensation for circumstances where outputs exceed inputs and where inputs exceed outputs by empty pallet management and allows for maximum through-put in all cases.
摘要翻译： 输入负载（70,72,74等），例如 码垛机动车在被移动到由多个与高层存储阵列（20）的每个通道相关联的多个存储和取回机器（40）所服务的连续输送机（54）上排队，存在拾取 （80）和与每个通道相关的托盘的存款（32）站。 排队的负载在远近近通道对应的基础上计量到输送机（54）上，并且同时交换在每个通道位置处的输出负载。 该方法包括对输出超过输入和输入超过输出的空托盘管理的情况进行补偿，并允许所有情况下的最大输出。
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公开(公告)号：EP0560881A1
公开(公告)日：1993-09-22
申请号：EP92901320.0
申请日：1991-11-25
申请人： EATON-KENWAY, INC.
发明人： YARDLEY, James, V. , WHATCOTT, Gary, Lavell , PETERSEN, John, Arthur, Mitsura , BLOOMFIELD, Bryan, Alexander , GUEST, Vaughn, Williams , MOTTES, Rick, Samuel , FORMAN, Robert, Kent , CHRISTENSEN, L., Bruce , ZUERCHER, Joseph, Charles , SCHUTTEN, Herman, Peter
CPC分类号： G01C19/56 , G05D1/0261 , G05D1/0265 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0216
摘要： Est décrit un système de commande pour le guidage automatique de véhicules, qui présente une compatibilité descendante avec les systèmes à fil de guidage existants, permettant une navigation et une communication par fil de guidage ainsi qu'une navigation et un guidage autonomes et une communication sans fil entre une unité de commande centrale et chaque véhicule. La navigation autonome de véhicules consiste en un déplacement sur des trajets marqués par des repères de mise à jour qui peuvent être bien espacés, par exemple de cinquante pieds. Des possibilités de mesure redondantes comprenant des signaux d'entrée provenant d'encodeurs de déplacement linéaire situés sur les roues motrices du véhicule, des mesures de position émanant des repères de mise à jour, et des mesures de relèvement émanant d'un nouvel appareil de détection de vitesse angulaire, conjointement avec l'utilisation d'un filtre de Kalman, permettent la correction des erreurs de navigation et de guidage dues à des facteurs tels que la dérive du détecteur de vitesse angulaire, l'usure, les variations de température, le vieillissement, et les erreurs précoces d'étalonnage pendant le fonctionnnement du véhicule. Le système de commande comporte des moyens haute fréquence interactifs de transmission et de réception de données sur les fils de guidage et via des communications sans fil. Les mêmes débits de données et formats de message sont utilisés dans les deux systèmes de communication.
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公开(公告)号：EP0421171B1
公开(公告)日：1993-08-04
申请号：EP90117775.8
申请日：1990-09-15
申请人： EATON-KENWAY, INC.
IPC分类号： B66F9/075
CPC分类号： B66F9/072
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公开(公告)号：EP0204389A3
公开(公告)日：1987-07-15
申请号：EP86300256
申请日：1986-01-16
申请人： EATON-KENWAY, INC.
IPC分类号： G05D01/03
CPC分类号： G05D1/0297 , G05D1/0265 , Y02T10/7258
摘要： In a guidance system for guiding a plurality of unmanned vehicles along a traffic lay out comprising a plurality of guide wires, a guide wire communications system is disclosed which is provided with a plurality of data communications circuits which can be linked together in a logical tree structure to form an extensive network. The communications circuits are connected to a vehicle traffic control computer which is provided with means for composing a coded vehicle instruction for assigning tasks to said unmanned vehicles. Various parts of the system, including for example, segments along guide wires, are designated as resources. The computer uniquely allocates those resources to each vehicle which are necessary for the performance of the tasks assigned to that vehicle. The vehicle traffic control computer further includes polling means which enables it to poll the status of each vehicle at varying time intervals and to receive a response from said vehicle when the computer next polls the vehicle. The guide wire communications system can communicate coded instructions to the vehicles either individually or as a group. The guide wire communications system further comprises a network connecting the computer and the communications circuits which is provided with means for preventing reception of data transmissions from more than one vehicle at a time. The communications circuits comprise data transmitters provided with means for generating a communications wave with low frequency and low power but high data transmission rate. The data transmitters further include means for encoding and decoding digital data using at least two data transmission frequencies. Said means comprise a circuit for digitally constructing a string of single cycles of cosine wave forms of selected frequencies. The communications circuits are provided with receivers for detecting cosine wave segments, tranforming such segments into sine wave segments and recovering digital data at a rate substantially equal to the lowest data transmission frequency employed. The data communications circuits also include means for selecting low impedence or high impedence characteristics for a guide wire depending on the function of the guide wire as a data receiving antenna, a data transmitting antenna or a tracking-signal carrier, permitting low power signals to be used. The guidewire communications system further includes a communications circuit on each of a plurality of vehicles which comprises a low frequency, high gain transmit antenna composed of a substantially figure-eight pattern of conductors mounted on the bottom of the vehicle; a transmitter and a receiver substantially as described above, memory for storing a plurality of instructions for serial execution by the vehicle essentially independantly; and means for determining estimated completion time of assigned tasks to permit minimum polling of each vehicle by the vehicle traffic control computer at varying time intervals.
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公开(公告)号：EP0208384A3
公开(公告)日：1987-06-03
申请号：EP86300257
申请日：1986-01-16
申请人： EATON-KENWAY, INC.
发明人： Swenson, Ronald Ray
IPC分类号： G05D01/03
CPC分类号： G05D1/0263
摘要： Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device. An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils. The location of the marker with respect to the vehicle is determined by comparing the magnitude of the voltages produced in the plurality of secondary coils.
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公开(公告)号：EP0208384A2
公开(公告)日：1987-01-14
申请号：EP86300257.2
申请日：1986-01-16
申请人： EATON-KENWAY, INC.
发明人： Swenson, Ronald Ray
IPC分类号： G05D1/03
CPC分类号： G05D1/0263
摘要： Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device.
An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils. The location of the marker with respect to the vehicle is determined by comparing the magnitude of the voltages produced in the plurality of secondary coils.
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