U.S. patent application number 13/655887 was filed with the patent office on 2013-02-14 for matrix conveyor for use as a sorting device or palletizing device.
This patent application is currently assigned to SSI Schafer Noell GmbH Lager- und Systemtechnik. The applicant listed for this patent is SSI Schafer Noell GmbH Lager- und Systemtechni. Invention is credited to Bernd Faist, Axel Muller.
Application Number | 20130037388 13/655887 |
Document ID | / |
Family ID | 44168954 |
Filed Date | 2013-02-14 |
United States Patent
Application |
20130037388 |
Kind Code |
A1 |
Faist; Bernd ; et
al. |
February 14, 2013 |
MATRIX CONVEYOR FOR USE AS A SORTING DEVICE OR PALLETIZING
DEVICE
Abstract
It is disclosed a matrix conveyor (10) comprising: a plurality
of individual roller modules (28), wherein respectively one roller
module (28) is arranged at each point of intersection of a regular
grid-shaped structure (68), and wherein the roller modules (28)
commonly define a conveying plane (30), which is substantially
planar, for transporting a conveying good (72) thereon; and a
superordinated control device (12) being adapted to individually
control each of the individual roller modules (28) so that the
conveying good (72) can be transported along a path (74), which can
be planned in advance, wherein a shape of the path (74) is defined
by a plurality of overlaps of at least two basic conveying
directions (60, 62) of the conveying plane (30); wherein the at
least two basic conveying directions (60, 62) geometrically span
the conveying plane (30), and wherein each of the roller modules
(64) is drivable in only one of the at least two basic conveying
directions (60), wherein directly adjacent roller modules (66) are
respectively drivable in the other one of the at least two basic
conveying directions (62).
Inventors: |
Faist; Bernd; (Ochsenfurt,
DE) ; Muller; Axel; (Kirchheim, DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SSI Schafer Noell GmbH Lager- und Systemtechni; |
Giebelstadt |
|
DE |
|
|
Assignee: |
SSI Schafer Noell GmbH Lager- und
Systemtechnik
Giebelstadt
DE
|
Family ID: |
44168954 |
Appl. No.: |
13/655887 |
Filed: |
October 19, 2012 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
PCT/EP2011/055985 |
Apr 15, 2011 |
|
|
|
13655887 |
|
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Current U.S.
Class: |
198/610 ;
198/783 |
Current CPC
Class: |
B65G 47/086 20130101;
B65G 13/04 20130101; B65G 39/12 20130101; B65G 1/0478 20130101;
B65G 13/10 20130101; B65G 47/54 20130101 |
Class at
Publication: |
198/610 ;
198/783 |
International
Class: |
B65G 13/06 20060101
B65G013/06 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 19, 2010 |
DE |
10 2010 015 584.5 |
Claims
1. A matrix conveyor comprising: a regular grid-shaped structure
have a plurality of points of intersections; a plurality of
individual roller modules, wherein respectively one of the
individual roller module is arranged at each of the points of
intersection of the regular grid-shaped structure, and wherein the
individual roller modules commonly define a conveying plane, which
is substantially planar, for transporting conveying goods thereon;
and a control device being adapted to individually control each of
the individual roller modules so that the conveying goods are
transported along a path, which is planned in advance, wherein a
shape of the path is defined by a plurality of overlaps of at least
two basic conveying directions geometrically spanning the conveying
plane; wherein each of the individual roller modules has at least
one all-side wheel and is drivable in only one of the at least two
basic conveying directions, wherein directly adjacent ones of the
individual roller modules are respectively drivable in another one
of the at least two basic conveying directions.
2. The matrix conveyor of claim 1, further comprising a frame,
wherein each of the individual roller modules is arranged in a
rotationally fixed manner relative to the frame.
3. The matrix conveyor of claim 1, wherein each of the individual
roller modules comprises a separate drive unit.
4. The matrix conveyor of claim 3, wherein each of the individual
roller modules comprises a separate module-control device.
5. The matrix conveyor of claim 1, wherein the control device is
adapted to control the individual roller modules by means of a
control matrix comprising matrix elements, wherein each of the
individual roller modules has assigned one of the matrix elements
of the control matrix, and wherein each of the matrix elements is
determined uniquely by means of at least one of: a location of the
respectively assigned one of the individual roller modules arranged
in the grid-shaped structure, a conveying velocity, an
acceleration, a lift, and time.
6. The matrix conveyor of claim 5, wherein each of the individual
roller modules has assigned only one of the matrix elements.
7. The matrix conveyor of claim 1, wherein a conveying velocity of
each of the individual roller modules is adjustable steplessly and
in a temporal changeable manner.
8. The matrix conveyor claim 1, wherein exactly two basic conveying
directions are spanning the conveying plane.
9. The matrix conveyor of claim 8, wherein the exactly two basic
conveying directions are orientated perpendicularly to each other,
so that the individual roller modules are arranged and operable
along a regular rectangular grid.
10. The matrix conveyor of claim 1, wherein each of the individual
roller modules is of an identical type.
11. The matrix conveyor of claim 1, wherein each of the roller
modules comprises at least one of: the at least one all-side wheel,
a drive unit, a shaft, a force transmission unit, and a
support.
12. A palletizing device for stacking loading goods on a load
carrier, wherein the loading goods may have respectively different
dimensions and may be formed differently, comprising: a matrix
conveyor which comprises: a regular grid-shaped structure have a
plurality of points of intersections; a plurality of individual
roller modules, wherein respectively one of the individual roller
module is arranged at each of the points of intersection of the
regular grid-shaped structure, and wherein the individual roller
modules commonly define a conveying plane, which is substantially
planar, for transporting conveying goods thereon; and a control
device being adapted to individually control each of the individual
roller modules so that the conveying goods are transported along a
path, which is planned in advance, wherein a shape of the path is
defined by a plurality of overlaps of at least two basic conveying
directions geometrically spanning the conveying plane; wherein each
of the individual roller modules has at least one all-side wheel
and is drivable in only one of the at least two basic conveying
directions, wherein directly adjacent ones of the individual roller
modules are respectively drivable in the other one of the at least
two basic conveying directions; one or more feeding conveyors,
wherein each of the feeding conveyors is connected in a conveying
manner to the matrix conveyor; and a loading station being arranged
laterally adjacent to one side of the matrix conveyor so that the
loading goods, which have been collected on the matrix conveyor for
forming one layer, are transferred to a provided load carrier;
wherein the control device of the matrix conveyor is adapted to
transport each of the loading goods from one of the feeding
conveyors along the path, being specifically planned in advance, to
a destination, which has been planned in advance, within the
layer.
13. The palletizing device of claim 12, wherein the control device
of the matrix conveyor additionally rotates loading goods about an
axis being oriented perpendicular relative to the conveying plane,
while the loading goods are moved at the same time along the path
being planned in advance to a location being planned in
advance.
14. The palletizing device of claim 12, wherein the conveying plane
of the matrix conveyor is greater than a loading area of the load
carrier to be loaded.
15. A matrix conveyor comprising: a regular grid-shaped structure
have a plurality of points of intersections; a plurality of
individual roller modules, wherein respectively one of the
individual roller module is arranged at each of the points of
intersection of the regular grid-shaped structure, and wherein the
individual roller modules commonly define a conveying plane, which
is substantially planar, for transporting conveying goods thereon;
and a control device being adapted to individually control each of
the individual roller modules so that the conveying goods are
transported along a path, which is planned in advance, wherein a
shape of the path is defined by a plurality of overlaps of at least
two basic conveying directions geometrically spanning the conveying
plane; wherein each of the individual roller modules is drivable in
only one of the at least two basic conveying directions, wherein
directly adjacent ones of the individual roller modules are
respectively drivable in the other one of the at least two basic
conveying directions.
Description
RELATED APPLICATIONS
[0001] This is a continuation application of the co-pending
international application WO 2011/131573 (PCT/EP2011/055985) filed
on Apr. 15, 2011 and claiming priority of the German patent
application DE 10 2010 015 584.5 filed on Apr. 19, 2010, which are
fully incorporated herewith by reference.
BACKGROUND OF THE INVENTION
[0002] The present invention relates to a matrix conveyor which can
be used in a manifold manner such as for (steadily) conveying,
sorting, orientating, picking, palletizing or forming layers of
loads, distributing, and similar actions.
RELATED PRIOR ART
[0003] Known prior art devices such as inclined roller conveyors,
lifting rotation stations, or sword rotation stations have
partially similar functions.
[0004] The article entitled "Flexibler Materialfluss auch bei hoher
Auslastung" published in "LOGISTIK fur Unternehmen", Vol. 1/2-2010,
pages 52 ff. discloses a material flow conveyor transporting the
conveying goods by means of slide conveyance. The conveyor,
designated as "WAVE", comprises a horizontal conveying membrane
beneath which a plurality of vertically actuable lifting pins are
arranged along a regular structure (grid). The lifting pins can be
deflected temporarily up or down perpendicularly, thereby allowing
deformation of the conveying membrane. In this manner (membrane)
mountains or valleys can be generated, which can be moved and
rotated selectively by means of a control device. A moving
conveying membrane mountain runs like a wave through the membrane
and pushes in this manner a conveying good in front thereof,
assuming that the slide characteristics (conveying good--membrane)
are selected correspondingly.
[0005] The described wave conveyor represents a test run of the
Universitat of Hamburg, which has not yet gone into production up
to now. One problem seemingly is the high adhesive friction between
the conveying membrane and the conveying goods. For allowing
pushing of the conveying good safely in front of one conveying
membrane wave, lifting pins need to be extracted and retracted
correspondingly high and deep. Thereby, the conveying membrane can
be stressed extraordinarily strong so that lifetime is expected to
be small due to a high risk of wear. If the material thickness of
the conveying membrane is increased for increasing the lifetime,
the flexibility and the sensitivity is decreased in a
disadvantageous manner so that the conveying goods become worse
steerable.
[0006] Conveying velocity is limited by a control velocity of the
lifting pins. The WAVE system is inert.
[0007] The control is complex and requires a high degree of
synchronization since the lifting and lowering movements of the
lifting pins need to be adapted to each other while the wave formed
by the conveying membrane continues. Otherwise the wave does not
run continuously through the conveying membrane.
[0008] Another disadvantage is to be seen in that the number of
conveying goods, which can be moved simultaneously on the conveying
membrane, is very low since the conveying membrane can only be
deflected in a finite manner. This means with other words that
neighbouring conveying goods need to be sufficiently distanced to
each other so that the conveying membrane does not lift one of the
conveying goods being located between two wave mountains. If the
conveying membrane mountains are arranged too close to each other,
the conveying membrane lifts automatically between the wave
mountains. This is particularly true since a height of one of the
wave mountains must be significantly higher than a height of the
to-be-transported conveying good. Otherwise the wave passes beneath
the conveying good.
[0009] Further, it is a disadvantage that the wave conveyor does
not allow rotation of one of the conveying goods at one and the
same spot. The operational principle of the slide conveyance of the
wave conveyor always requires movement of the conveying goods by
pushing or pulling by means of the conveying membrane. Therefore,
the wave conveyor is less suitable for orientating, sorting and
forming predefined load arrangements of conveying goods (such as
pallet layers).
[0010] The European patent application 0 563 824 A2 discloses a
storage system which can consist of several planes being arranged
on top of each other. Each of the storage planes comprises a
plurality of conveying modules having a square base area. Each of
the conveying modules comprises rollers which can cause movement of
one of the conveying goods in a longitudinal or transversal
direction.
[0011] The patent U.S. Pat. No. 5,246,096 discloses a
rotation/translation-conveying module which can be used in
particular at intersections of conveyor lines.
[0012] The document DE 11 2005 001 095 T5 discloses an arrangement
and a method for the relative control of load-moving actuators.
[0013] The patent DE 199 27 251 C2 discloses a device for handling
piece goods which are fed and discharged side-by-side and/or one
after the other by means of transport means in a lying manner, the
device comprising at least one entrance, at least one exit and at
least one image-processing device for detecting handling
information, which classifies the piece goods, based on the
recorded images of the piece goods, wherein several conveying
means, which are arranged in an array within one plane, are
provided which can move the piece goods 1 in one plane along four
directions being orientated perpendicular to each other, wherein
each of the piece goods within the array area is always located on
at least three conveying means, wherein at least one control device
is provided for independently controlling each individual one of
the conveying means, at least with regard to one conveying
direction and one conveying period, for moving the piece goods 1 in
a collision-free manner in accordance with the current handling
schedule, which assigns the to-be executed handling actions to the
handling information of the piece goods 1, wherein position and
location of each classified piece good are determined online by
tracking the coded images or layouts by means of the
image-processing device and/or additional sensor devices.
SUMMARY OF THE INVENTION
[0014] Therefore, it is an object of the present invention to
provide a multifunctional conveyor overcoming the above-mentioned
disadvantages. This object is solved by matrix conveyor comprising:
a regular grid-shaped structure have a plurality of points of
intersections; a plurality of individual roller modules, wherein
respectively one of the individual roller module is arranged at
each of the points of intersection of the regular grid-shaped
structure, and wherein the individual roller modules commonly
define a conveying plane, which is substantially planar, for
transporting conveying goods thereon; and a control device being
adapted to individually control each of the individual roller
modules so that the conveying goods are transported along a path,
which is planned in advance, wherein a shape of the path is defined
by a plurality of overlaps of at least two basic conveying
directions geometrically spanning the conveying plane; wherein each
of the individual roller modules has at least one all-side wheel
and is drivable in only one of the at least two basic conveying
directions, wherein directly adjacent ones of the individual roller
modules are respectively drivable in another one of the at least
two basic conveying directions
[0015] According to another aspect of the invention a matrix
conveyor comprises: a plurality of individual roller modules,
wherein respectively one roller module is arranged at each point of
intersection of a regular rid-shaped structure, and wherein the
roller modules commonly define a conveying plane, which is
substantially planar, for transporting a conveying good thereon;
and a superordinated control device being adapted to individually
control each of the individual roller modules so that the conveying
good can be transported along a path, which can be planned in
advance, wherein a shape of the path is defined by a plurality of
overlaps of at least two basic conveying directions of the
conveying plane wherein the at least two basic conveying directions
span the conveying plane geometrically, and wherein each of the
roller modules is drivable in only one of the at least two basic
conveying directions, wherein directly adjacent roller modules are
respectively drivable in the other of the at least two basic
conveying directions.
[0016] In particular, rotational movements of one of the conveying
goods "at one and the same spot" can be performed by means of the
above-described matrix conveyor of the invention which can be
scaled freely. This predestines the use of the matrix conveyor in
particular with sorting and orienting tasks, as they can occur, for
example, during generation of one layer for loading a load carrier
(such as a Europool pallet).
[0017] Arbitrarily many conveying goods can be handled
simultaneously dependent on the dimensions of the matrix conveyor
and the respective conveying goods. The distances between
neighbouring conveying goods can be reduced to zero. The length of
one of the conveying goods along a current conveying direction is
irrelevant. The conveying goods can always be transported along the
desired conveying direction independent of their lengths. The
movement of the conveying goods within the conveying plane, which
is caused by the roller modules, happens immediately when the
roller modules are operated. Thus, no delay is generated between
the response of the roller modules and the actual movement of the
conveying goods in the conveying plane.
[0018] The movement of the conveying goods and the start of
movement of the conveying goods are almost independent of the
weight of the conveying goods and the consistence of the surface.
Even conveying goods having a very small weight can be moved
instantaneously and without any problem by means of the roller
modules.
[0019] The conveying goods which have a surface with a high
adhesive frictional coefficient can be moved exceptionally well by
means of the roller modules since the rollers are frictionally
connected to the surface of the conveying goods thereby preventing
slip.
[0020] Operation of roller modules beneath one of the conveying
goods does not have any effect on other conveying goods being
located outside a region where the operated roller modules are
arranged. Thereby, for example, the conveying goods can overtake
each other on directly neighbouring conveying paths, which are
arranged in parallel, without causing path interferences due to the
overtaking process.
[0021] With a particular embodiment the matrix conveyor further
comprises a frame, wherein each of the roller modules is arranged
in a rotationally fixed manner relative to the frame, so that a
respective basic conveying direction thereof cannot be changed.
[0022] Thus, the roller modules are arranged rigidly relative to
the frame. This facilitates the control since merely two degrees of
freedom (longitudinal and transversal) exist ideally, the control
mapping the desired paths of the conveying goods.
[0023] Further, it is advantageous if each of the roller modules
comprises a separate drive unit, and preferably a separate module
control device.
[0024] By providing a separate drive unit it is possible to control
neighbouring roller modules, which have the same basic conveying
direction, at different velocities and/or accelerations. The
different control, in particular, allows rotational movements of
the conveying goods without slip. Particularly, during curve
travels or rotation at one and the same spot it is necessary that
the roller modules, which are arranged radially at the inside
relative to the conveying good path operate at a smaller velocity
than roller modules which are arranged radially at the outside,
since the conveyor goods typically comprise a certain geometrical
size and a corresponding base area. The actuating elements (roller
modules) of the matrix conveyor can be operated differently at the
same time.
[0025] If each of the roller modules comprises a separate module
control, the superordinated control device can be operated in a
decentralized manner. The superordinated control device merely
outputs tasks to the module controls, being arranged hierarchically
lower, which in turn take care of keeping a temporal sequence of
the conveying velocities which can change dependent on time.
[0026] With a preferred embodiment the superordinated control
device controls the roller modules by means of a control matrix,
wherein each of the roller modules has assigned, preferably exactly
one, matrix element and wherein each of the matrix elements can be
determined uniquely by a location of the respectively assigned
roller module in the grid-shaped structure, conveying velocity,
acceleration, lift, and/or time.
[0027] The closer parameters can be set at each of the roller
modules, the more dimensions the control matrix has. If only (time
independent) velocities are recorded in the control matrix, then a
two-dimensional control matrix having matrix elements a.sub.ij is
sufficient, wherein the value of the matrix element corresponds to
a velocity, the sign character corresponds to a conveying
direction, and the indices i and j correspond to the coordinates
within the conveying plane. If the velocity additionally changes
over time, a third dimension is introduced for the time. If the
roller modules, for example, can be additionally lifted and
lowered, the lift can be added as another dimension. Similar is
true if an acceleration is considered. Additional dimensions are
possible.
[0028] Further, it is advantageous if a conveying velocity of each
of the roller modules can be set stepless and temporarily
changeable.
[0029] Accelerations become possible due to the stepless
setability. The accelerations allow, for example, overtaking
processes or rotational movements on the matrix conveyor.
[0030] The temporal changeability allows the simultaneous handling
of several conveying goods on the matrix conveyor. If one of the
roller modules, for example, conveys at a low velocity during a
first time interval for advancing a first conveying good, then the
same roller module can be moved during a subsequent second time
interval, for example, at a greater conveying velocity allowing one
of the conveying goods located upstream catching up with the first
handled conveying good (accumulation conveyer, slug generation,
closing of gaps, etc.).According to still another aspect of the
invention a palletizing device for stacking loading goods on a load
carrier, wherein the loading goods may have respectively different
dimensions and may be formed differently, comprises: a matrix
conveyor which comprises: a regular grid-shaped structure have a
plurality of points of intersections; a plurality of individual
roller modules, wherein respectively one of the individual roller
module is arranged at each of the points of intersection of the
regular grid-shaped structure, and wherein the individual roller
modules commonly define a conveying plane, which is substantially
planar, for transporting conveying goods thereon; and a control
device being adapted to individually control each of the individual
roller modules so that the conveying goods are transported along a
path, which is planned in advance, wherein a shape of the path is
defined by a plurality of overlaps of at least two basic conveying
directions geometrically spanning the conveying plane; wherein each
of the individual roller modules has at least one all-side wheel
and is drivable in only one of the at least two basic conveying
directions, wherein directly adjacent ones of the individual roller
modules are respectively drivable in the other one of the at least
two basic conveying directions; one or more feeding conveyors,
wherein each of the feeding conveyors is connected in a conveying
manner to the matrix conveyor; and a loading station being arranged
laterally adjacent to one side of the matrix conveyor so that the
loading goods, which have been collected on the matrix conveyor for
forming one layer, are transferred to a provided load carrier;
wherein the control device of the matrix conveyor is adapted to
transport each of the loading goods from one of the feeding
conveyors along the path, being specifically planned in advance, to
a destination, which has been planned in advance, within the
layer.
[0031] Still another aspect of the invention is defined by a
sorting device for sorting conveying goods in accordance with a
predefined sequence by use of the matrix conveyor in accordance
with one of the claims 1 to 8, wherein the superordinated control
device is adjusted to bring the conveying goods, which are given on
the conveying plane in a chaotic sequence, into the predefined
sequence by planning in advance an individual path for each of the
conveying goods, wherein the path is designed such that the
conveying goods leave the conveying plane in accordance with the
predefined sequence.
[0032] With a particular embodiment exactly two, preferably
perpendicular oriented, basic conveying directions are defined so
that the roller modules are arranged and operated along a regular
rectangular grid.
[0033] This facilitates the mechanical structure of the matrix
conveyor as well as driving the roller modules. The conveying paths
of the conveying goods on the matrix conveyor are calculated easily
so that the control effort stays manageable.
[0034] In particular, each of the roller modules is of the same
type.
[0035] This facilitates stockage of spare parts as well as
maintenance and upkeep works.
[0036] In addition, it has been proven good if each of the roller
modules comprises at least one all-side wheel, a drive, a shaft, a
force transmission unit, and/or a support.
[0037] All-side wheels have the advantage that they can be used for
transporting the conveying goods along one direction (preferably
along one of the basic conveying directions) allowing an almost
frictionless passage of one of the conveying goods at the same time
along a direction which is oriented perpendicularly thereto
(preferably along the other basic conveying direction).
[0038] Matrix conveyor of the invention can be used, amongst other
things, in a palletizing device for loading a load carrier with
differently sized and shaped loading goods, wherein the palletizing
device further comprises: one or more feeding conveyors, wherein
each of the feeding conveyors is coupled in a conveying manner,
preferably at another side, to the matrix conveyor; and a loading
station which is arranged adjacent to one of the sides of the
matrix conveyor so that loading goods, which are collected for
generating one layer on the matrix conveyor, can be transferred to
a provided load carrier, preferably by means of the matrix conveyor
itself; wherein the superordinated control device of the matrix
conveyor is adapted to transport each of the loading goods along a
path, which is specifically planned in advance, from one of the
feeding conveyors to a location within the layer, which has been
planned in advance.
[0039] In particular, the superordinated control device of the
matrix conveyor rotates one of the loading goods, while moving same
to its planned-in-advance location along its planned-in-advance
path, additionally about an axis perpendicular to the conveying
plane.
[0040] Further, it is advantageous if the conveying plane of the
matrix conveyor is greater, preferably at least double in size,
than a loading area of the load carrier which is to be loaded.
[0041] In this manner it is ensured that the conveying plane of the
matrix conveyor provides sufficient space for manipulating
conveying goods and loading goods, which have been fed, so that the
sum of the loading goods can be moved to form one layer of loading
goods, which can be transferred to the load carrier
subsequently.
[0042] In addition, a sorting device for sorting conveying goods in
accordance with a predetermined sequence by means of the matrix
conveyor of the invention is proposed, wherein the superordinated
control device is adapted to bring the conveying goods, which are
given on the conveying plane in a chaotic sequence, into a
predetermined sequence by planning in advance an individual path
for each of the conveying goods, the path being formed so that the
conveying goods exit the conveying plane in accordance with the
predetermined sequence.
[0043] In particular, at least one feeding conveyor and at least
one discharging conveyor are coupled in a conveying manner to the
matrix conveyor, and the superordinated control device is adapted
to transport conveying goods, which have been fed chaotically on
the conveying plane, to one of the discharging conveyors in
accordance with their respectively-planned in advance paths, the
one discharging conveyor being assigned to the respective conveying
good.
BRIEF DESCRIPTION OF THE DRAWINGS
[0044] It is clear that the above-mentioned and hereinafter still
to be explained features cannot only be used in the respectively
given combination but also in other combinations or alone without
departing from the scope of the present invention.
[0045] Embodiments of the invention are illustrated in the drawings
and will be explained in more detail in the description below.
[0046] FIG. 1 shows a perspective view of a matrix conveyor of the
invention;
[0047] FIG. 2A-C shows a perspective view (FIG. 2A), a front view
(FIG. 2B) and a side view (FIG. 2C) of a roller module of FIG.
1;
[0048] FIG. 3 shows a top view of a schematically illustrated
matrix conveyor in accordance with the present invention;
[0049] FIG. 4 shows a section of FIG. 3 for illustrating an oblique
conveying movement of one of the conveying goods;
[0050] FIG. 5 shows a top view of another schematically illustrated
matrix conveyor in accordance with the present invention for
illustrating different functions;
[0051] FIG. 6 shows a magnified view of a section of FIG. 5 for
illustrating a rotational movement;
[0052] FIG. 7 shows a top view of a palletizing device in
accordance with the present invention;
[0053] FIG. 8 shows a top view of a matrix conveyor in accordance
with the present invention which collects, positions, and
orientates a number of conveying goods;
[0054] FIG. 9 shows a top view of a matrix conveyor in accordance
with the present invention which sorts and orientates a number of
conveying goods;
[0055] FIG. 10 shows a top view of a matrix conveyor in accordance
with the present invention distributing a number of conveying
goods; and
[0056] FIG. 11 shows an alternative embodiment including three
basic conveying directions.
PREFERRED EMBODIMENTS OF THE INVENTION
[0057] In the following description of the figures like elements
are designated by the same reference numerals. Similar elements
will be designated by similar reference numerals. If one of the
already described elements is varied, it will be mentioned
explicitly.
[0058] FIG. 1 shows a perspective view of a matrix conveyor 10 in
accordance with the present invention.
[0059] The matrix conveyor 10 can be used in a conveying system,
for example, for automating storage and picking systems. The matrix
conveyor 10 is connected in a controlling manner to a
superordinated control device 12 such as a warehouse management
computer, material flow computer or the like, either wired
physically by means of signal lines 14 or in a wireless manner
(e.g., by means of WLAN), as indicated by means of a double arrow
16.
[0060] The matrix conveyor 10 comprises a frame 18 for supporting
an array, or an arrangement, of individual conveying elements 22
which are formed modularly. The individual conveying elements 22
are fit in openings in a top side 26 of an optional housing 24, the
openings not being designated in more detail, and tower the top
side 26 slightly. In practice, the individual conveying elements 22
are roller modules 28 which will be described below in more detail
with reference to the FIGS. 2A through 2C.
[0061] The roller modules 28, which protrude from the top side 26,
substantially define a planar conveying plane 30. It is clear that
not all of the vertices of the roller modules 28 are lying exactly
in the conveying plane 30 due to, for example, installation
tolerances. However, they preferably define a planar plane
indicated in FIG. 1 by means of a broken line. The conveying plane
30 does not need to be orientated necessarily in a horizontal
orientation, as indicated in FIG. 1. The conveying plane 30 can
also be arranged obliquely relative to a horizontal line for
overcoming obstacles.
[0062] In FIG. 1 the matrix conveyor 10 is equipped exemplarily
with 144 roller modules 28 which are arranged in shape of a regular
grid-shaped structure comprising twelve columns and twelve rows. In
this case, the roller modules 28 are arranged exemplarily along two
basic conveying directions which are orientated perpendicularly in
FIG. 1 and which are illustrated by means of two dark arrows in the
left lower corner of the conveying plane 30. Directly neighbouring
roller modules 28 convey along, preferably, different basic
conveying directions as will be described in more detail with
reference to FIG. 3.
[0063] The matrix conveyor 10 shown in FIG. 1, for example, has a
length of 680 mm, a width of about 770 mm and a height of about 720
mm. The roller modules which are arranged in shape of a 12.times.12
matrix in this case have a respective geometrical size of, for
example, 50 mm.times.50 mm.times.110 mm (W.times.L.times.H).
[0064] It is clear that both the matrix conveyor 10 and the roller
modules 28 can have other dimensions, in particular more or less
rows and more or less columns can be provided. Also, more than two
basic conveying directions can be implemented as will be described
exemplarily with reference to FIG. 11.
[0065] FIG. 2 shows the roller module 28 of FIG. 1 in greater
detail. FIG. 2A shows the roller module 28 in a bird's-eye view.
FIG. 2B shows a front view, and FIG. 2C shows a side view.
[0066] In this case, the roller module 28 comprises a support
element or a support 32, which exemplarily has the shape of a "U",
being suitable for receiving a shaft 34 which can be rotated about
a rotation axis 35 in both directions of rotation. One or more
all-side wheels 36 are arranged on the shaft 34 in a rotationally
fixed manner. Two all-side wheels 36-1 and 36-2 are arranged in a
neighbouring manner in FIG. 2. The structure of the all-side wheels
36 is described in more detail in the document U.S. Pat. No.
6,340,083 B1, which is incorporated by reference with regard to
this aspect. A connecting wheel 39 is arranged between the all-side
wheels 36-1 and 36-2.
[0067] In the present case, the all-side wheels 36 respectively
comprise three roller bodies 38, which in turn are supported
rotationally about roller shafts 40 in a bearing body 42, which in
turn is mounted on the shaft 34 in a rotationally fixed manner. The
roller bodies 38 of the neighbouring all-side wheels 36 are,
preferably, arranged relatively to each other so that always one of
the roller bodies 38 is in the vertex of the roller module 28. The
contours of the roller bodies 38 are preferably formed such that a
circle is formed in terms of an envelope (cf. FIG. 2C).
[0068] Further, each of the roller modules 28 comprises a drive
unit 44 such as an electric motor 45 which in the present case is
integrated into a housing 46 having a circulating recess 48, the
housing being exemplarily formed in shape of a wheel. Also, a
(subordinated) module control 47 can be integrated into the housing
46. The motor 45 is connected to the connecting wheel 39, for
example, by means of a traction device 50 (such as round belts) for
driving the all-side wheels 36-1 and 36-2. The connecting wheel 39
is also connected to the shaft 34 in a rotationally fixed manner.
In this manner, it is possible to move one of the conveying goods
standing on the roller module 28 in a longitudinal direction
(direction Z), whereas the conveying good can slide along a
transverse direction (direction X) over the roller module 28 almost
without any friction. This is indicated in FIG. 2B by means of a
double arrow above the right roller body 38.
[0069] In the present case, each of the roller bodies 38 covers an
angle of about 60.degree. so that three roller bodies 38 of each of
the all-side wheel 36 form a full circle. It is clear that the
all-side wheels 36 can be provided with more roller bodies 38 for
each of the all-side wheel 36. Also, the traction device 50 can be
replaced, for example, by means of a gear drive. The orientation of
the all-side wheels 36 in the plane YZ can also be modified. Also,
the all-side wheels 36 can be arranged at an angle relative to the
plane
[0070] YZ.
[0071] In the present case, the drive unit 44 is fixed to the
support 32 by means of a separate drive support 52. However, the
drive unit 44 could also be fixed directly to the support 32.
[0072] With reference to FIG. 3 the matrix conveyor 10 of FIG. 1 is
shown in a schematic top view, wherein the 144 (12.times.12) roller
modules 28 are shown in the top side 26 of the matrix conveyor 10.
Each of the roller modules 28 is indicated in terms of an arrow 60
or 62, which in turn represent two basic conveying directions being
oriented perpendicular to each other.
[0073] An exemplary central roller module 64 is picked out close to
the center of the array or roller modules, the central roller
module 64 being surrounded by four direct neighbours 66. A direct
neighbour 66 is to be understood hereinafter as one of the roller
modules 28, which has the shortest distance relative to the central
roller module 64. It is clear that each arbitrary one of the roller
modules 28 of the 144 exemplary roller modules 28 of FIG. 3 could
have been picked out for illustrating this type of arrangement.
[0074] The central roller module 64 has the coordinates X=8 and
Z=6. The four direct roller module neighbours 66 have the
coordinates (X=7, Z=6), (X=8, Z=5), (X=9, Z=6) and (X=8, Z=7).
[0075] Further, a grid-like structure 68 is indicated by means of
imaginary lines 70 in the left lower region of the matrix conveyor
10 of FIG. 3, the imaginary lines 70 being oriented in parallel to
the direction X and the direction Z. In the present case, a regular
grid is shown. It is clear that the grid distances along the
direction X can be selected different relative to the grid
distances along the direction Z. In principle, the arrangement
structure of each matrix conveyor 10 in accordance with the present
invention can be reduced to such a grid-like structure, as will be
described below with reference to FIG. 11.
[0076] With reference to FIG. 4 an exemplary oblique travel of one
of the conveying goods 72 over the matrix conveyor 10 of FIG. 3 is
shown, wherein the matrix conveyer 10 in FIG. 4 is only illustrated
partially.
[0077] The conveying path 74 associated with the oblique travel is
illustrated in terms of an arrow. For this purpose, all of the
roller modules 28 are driven positively (negative drive means
backward run). The velocities at which the individual roller
modules 28 are operated can be adjusted steplessly, wherein each of
the roller modules 28 can be controlled individually.
[0078] FIG. 5 shows a top view of another matrix conveyor 10' as a
schematic top view, wherein the matrix conveyor 10' in this case
comprises twenty rows and twelve columns.
[0079] The conveying path 74 of the conveying good 72 is
illustrated in terms of an arrow which is oriented upwards and
angled about 90.degree. to the left. One corner of the conveying
good 72 is marked with a dark triangle for illustrating the
orientation of the conveying good 72.
[0080] The matrix conveyor 10' can be divided in the direction X
into four conveying sections 80-1 to 80-4 for facilitating the
explanation below, which allows better explanation of the different
modes of operation of the matrix conveyor 10' in the context of the
conveying path 74.
[0081] The conveying good 72 is transported straight along the
positive direction X in the first section 80-1. For this purpose,
such roller modules 28 are driven positively which are located
beneath the conveying good 72 during the travel along the path 74
and which are oriented, in terms of the basic conveying direction,
parallel relative to the direction X. The remaining roller modules
28, which are passed by the conveying good 72 during the straight
travel, are oriented along the second basic conveying direction,
i.e., parallel relative to the direction Z, and are not driven.
Nevertheless, this does not disturb the travel of the conveying
good 72 in the positive direction X since the roller modules 28
being oriented in the direction Z comprise roller bodies 38 which
rotate idlely in the direction X.
[0082] The conveying good 72 is rotated about 180.degree. in the
section 80-2, as will be explained below with reference to FIG.
6.
[0083] A short conveyance straight on along the positive direction
X happens, in turn, in the section 80-3, and the conveying good is
discharged in the section 80-4 after the short conveyance straight
on. Then, if the conveying good 72 moves outwardly to the left in
FIG. 5, only such roller modules 28 are driven which have all-side
wheels 36 in parallel to the direction Z. The conveying good 72
slides over the other roller modules 28 due to the idle-rotating
roller bodies 38 of these roller modules 28.
[0084] Hence, the path 74 of FIG. 5 represents exemplarily the
following functions: conveying straight ahead, orientating,
rotating during a straight-ahead travel, and discharging.
[0085] With reference to FIG. 6 part of the second section 80-2 is
illustrated in an enlarged manner for explaining rotational
movement at one and the same spot.
[0086] If the conveying good 72 has arrived exactly in the center
of the roller module array of FIG. 6, the individual roller modules
(a.sub.65 to a.sub.98) can be operated at velocities like they are
exemplarily inserted in the boxes of FIG. 6 in terms of positive
and negative numbers, wherein the boxes are only shown for
facilitating an illustration. If the roller modules 28 of FIG. 6
are operated at the indicated velocities and in the indicated
directions, the conveying good 72 can be rotated at one and the
same spot about 180.degree.. This is indicated in terms of a
rotation arrow 82. Individual movement directions of sub-groups of
arrays of roller modules, which result therefrom, are indicated by
means of arrows 84. It is clear that this rotation can be
overlapped with a straight-ahead travel along the positive
direction X.
[0087] With reference to FIG. 7 a top view of a palletizing device
100 in accordance with the present invention is shown.
[0088] The palletizing device 100 comprises a matrix conveyor 10 in
accordance with the present invention, the matrix conveyor 10 being
only indicated schematically. For example, two feeding conveyors
102-1 and 102-2 are coupled in a conveying manner to the matrix
conveyor 10. It is clear that more or less feeding conveyors 102
can be provided.
[0089] Further, a loading station 104 is arranged adjacent to the
matrix conveyor 10 so that one layer of loading goods 108, all of
which can have different dimensions, can be transferred to a
provided load carrier 106, such as a Europool pallet or the like.
One layer of loading goods 108 can be collected in a layer region
112. The layer region 112 is shown by means of broken lines in FIG.
7. As soon as one layer of loading goods 108 has been collected
completely, the layer can be transferred to the load carrier 106 by
means of a transferring device 114 which, however, returns
subsequently as indicated exemplarily by means of a double arrow
116. The transferring device 114 can be implemented, for example,
by a pusher being arranged laterally. Of course, one completely
collected layer of loading goods 108 can also be pushed simply on
the load carrier 106 by the matrix conveyor 10.
[0090] The superordinated control device 12 can be connected to one
or more light barriers 118 for detecting the entry of a loading
good 108 at the matrix conveyor 10.
[0091] Alternatively or additionally one of more image detecting
systems 120, such as cameras, can be provided for getting delivered
information on the current states of the entire system at any time.
The superordinated control device 12 can calculate in real time
changing commands for the roller modules 28 based on this
information for adapting a deviating actual position to a set
position. The conveying goods only move along planned-in-advance
paths (set positions) without corresponding corrections.
[0092] With reference to FIG. 8 a matrix conveyor 10 in accordance
with the present invention is used as a sorting device 130 shown in
a schematic top view. The matrix conveyor 10 is arranged adjacent
to, for example, three feeding conveyors 102-1 through 102-3, which
in the present case respectively deliver one conveying good 72. The
matrix conveyor 10 expects these conveying goods 72 either for
bringing them into the sequence, as shown in the upper part of FIG.
8 (A-B-C), along planned-in-advance paths (trajectories) or for
retrieving again the conveying goods 72 via a discharging conveyor
132.
[0093] Alternatively, the state of the system 130 can be monitored
by means of one or more cameras 120 delivering data so that the
superordinated control device 12 can correct paths planned in
advance or obtaining the situation illustrated in the upper region
of FIG. 8.
[0094] FIG. 9 shows the sorting device 130 of FIG. 8 as used for
orientating the conveying goods 72, as shown for illustrative
purposes by means of a respective dark corner in the conveying
goods 72.
[0095] FIG. 10 illustrates a distributing device 130'. In this
case, the feeding conveyors 102 feed four for conveying goods A to
D in the sequences A, D, B, C to the matrix conveyor 10. The matrix
conveyor 10 distributes the conveying good C to the discharging
conveyor 132-1, the conveying good D to the discharging conveyor
132-2, and the conveying good B to the discharging conveyor 132-3.
The conveying good A is buffered, for example, in the lower right
corner of the matrix conveyor 10 until the conveyor good A is
required and then delivered to one of the discharging conveyors
132.
[0096] With reference to FIG. 11 an alternative arrangement of
roller modules 28 is shown, wherein the roller modules 28 are
oriented along three basic conveying directions. The basic
conveying directions can map, for example, an equilateral triangle.
The centers of the sides in turn are arranged along a regular
grid.
* * * * *