DE102020115895A1 - LIFTING DEVICE - Google Patents

Abstract

The invention generally relates to a lifting device (100), preferably a lifting device (100) suitable for use as a transfer carriage or as a stacker crane, having: four drive lines (111 with 101 and 113 with 103; 112) each driven in pairs by a lifting drive (116, 118). with 102 and 114 with 104) up to a lifting carriage (160), whereby between the drive lines (111 with 101 and 113 with 103; 112 with 102 and 114 with 104) there is a drive-mechanical cross-coupling (106, 109) across pairs such that each drive line of a first drive line pair (111 with 101 and 113 with 103) is drive-mechanically connected to a drive line of the other drive line pair (112 with 102 and 114 with 104).

Description

The invention relates to a lifting device, suitable for use as a sliding carriage or as a storage and retrieval unit, having a frame, in particular arranged below, a lifting carriage for picking up a load, at least two masts, the masts being assigned at least one upper deflecting element and at least one lower deflecting element, At least one support means per mast for raising and lowering the lifting carriage, which revolves around one of the upper deflection elements and one of the lower deflection elements, the support means being coupled to the lifting carriage in such a way that the lifting carriage is held in its position with only three functional support means can, and two lifting drives, each with a motor and a gear to drive the suspension elements.

Lifting devices of the type described in the opening paragraph are generally used to raise loads to different levels or to lower them therefrom. A typical example is the loading and unloading of goods in high racks, whereby a chassis, preferably suitable for a laid rail system, is usually also present on the lifting device for this purpose, in order to be able to move the lifting device horizontally. To avoid accidents with such lifting devices without an additional independent safety gear, it is necessary to establish a redundancy in the essential drive mechanisms, which avoids an immediate failure of the entire lifting device in the event of failure of a drive element at least until a load stored on the lifting device can be removed.

A lifting device of this type is, for example, from the publication US 6,848,675 B2 known. This describes a lifting device for pallets, two drive motors with connected gears each driving a drive train with two lifting chains each via continuous shafts. On the rotor side, the two motors are connected to one another via a common shaft. In this way, in the event of an electrical failure of one of the motors, the drive trains connected to the two motors can still be driven by the remaining intact motor. However, a failure of one of the two gears or a break in a shaft between the gearing and the first lifting chain becomes problematic. Furthermore, the rotor-side shaft connection of the motors requires a very exact coaxial alignment of the motors and also a very rigid motor mount and connection of the motors to one another in order to prevent relative movement of the motors under load conditions so that bearing damage in the motors is avoided.

The publications are also referred to as further prior art JP 3761157 B2 , JP 2000 136 625 A , JP 04311515 B2 and CN 108 033 387 A referenced.

It is therefore the object of the invention to provide a lifting device with improved redundancy for the individual drive elements, in which case complex reinforcements between the motors and alignment work between the motors should be avoided during assembly and after repairs.

This object is achieved by the features of claim 1. Advantageous further developments of the invention are the subject of subordinate claims.

In principle, lifting devices and, in particular, storage and retrieval units, can be equipped either with safety devices to avoid accidents, which intercept the lifting carriage in the event of failure or breakage of a drive element, or redundancy can be created for the drive elements, which also causes a crash in the event of a failure or breakage of a drive element of the lifting carriage prevented.

According to EN528, 3.11, a mechanical device is defined as a safety gear, which intercepts a lifting carriage at excessive lowering speed and holds it at a standstill. The excessive lowering speed occurs with conventional lifting devices, for example when a suspension element fails, the gear unit breaks or the brake fails. Without a safety gear and other measures, an uncontrolled accelerating lifting slide collides with the frame arranged below or the chassis of the lifting device. In the case of multi-level systems, the resulting forces are directed into the shelf via the rail system. The vertical loads that occur must not cause the shelf to collapse.

If the lifting height is low, there is always the risk that the release speed of the speed controller, which is supposed to detect the excessive lowering speed and trigger the catch, will not be reached. This then leads to an unbraked collision of the lifting carriage with the chassis. Thus, a lifting device with a safety gear must at least withstand the fall of a maximally loaded lifting carriage from a height that is not sufficient to trigger the safety device.

Since the loads that may arise here due to the transfer of these forces into the shelving system are also taken into account when designing the stability need to find a shelf, there are correspondingly higher costs for the shelf construction.

It is therefore more favorable in many respects to equip a lifting device, in particular a sliding carriage or a storage and retrieval unit, with sufficient redundancy in the drive area instead of a safety gear, so that the lifting carriage is prevented from falling - even from a small height - if a drive element fails. On the one hand, the stability of the entire device does not have to be aligned with the additionally acting forces of a collision with a falling lifting carriage. On the other hand, it is also not necessary to take into account the additional collision forces described above when designing a shelf.

These considerations mentioned above lead to a lifting device without a safety gear, which, due to its design and construction, prevents the uncontrolled fall of a lifting carriage, triggered by a single error.

• - einen Rahmen,
• - einen Hubschlitten zum Aufnehmen einer Last,
• - wenigstens zwei Masten, wobei den Masten wenigstens ein oberes Umlenkelement und wenigstens ein unteres Umlenkelement zugeordnet ist,
• - je Mast wenigstens ein Tragmittel zum Anheben und Absenken des Hubschlittens, welches jeweils eines der oberen Umlenkelemente und eines der unteren Umlenkelemente umläuft, wobei die Tragmittel mit dem Hubschlitten derart gekoppelt sind, dass, insbesondere bei Ausfall eines Tragmittels der Hubschlitten mit den verbleibenden funktionsfähigen Tragmitteln in seiner Lage gehalten werden kann, und
• - zwei Hubantriebe mit jeweils einem Motor und einem Getriebe zum Antrieb der Tragmittel,

wobei erfindungsgemäß:

• - die Tragmittel paarweise über je einen eigenen Antriebsstrang mit je einem der zwei Hubantriebe antriebsmechanisch gekoppelt sind und damit vier Antriebslinien zwischen den Hubantrieben und dem Hubschlitten ausbilden, und
• - zusätzlich zwei weitere antriebsmechanische Querkopplungen zwischen den paarweise vorliegenden Antriebslinien ausgebildet sind, welche jeweils zwei, zu unterschiedlichen Hubantrieben gehörende Antriebslinien antriebsmechanisch koppeln.

Accordingly, a lifting device is proposed which is suitable for use as a sliding carriage or as a storage and retrieval unit and has the following features:

• - a frame,
• - a lifting carriage for picking up a load,
• - At least two masts, the masts being assigned at least one upper deflecting element and at least one lower deflecting element,
• - For each mast at least one support means for raising and lowering the lifting carriage, which in each case revolves around one of the upper deflection elements and one of the lower deflection elements, the support means being coupled to the lifting carriage in such a way that, in particular in the event of failure of one support means, the lifting carriage with the remaining functional support means can be held in its position, and
• - two lifting drives, each with a motor and a gearbox to drive the suspension elements,

where according to the invention:

• - the suspension elements are coupled in pairs via their own drive train each with one of the two lifting drives and thus form four drive lines between the lifting drives and the lifting carriage, and
• - In addition, two further drive-mechanical cross-couplings are formed between the drive lines present in pairs, which each drive-mechanically couple two drive lines belonging to different lifting drives.

It is possible here for four masts to extend from the frame, an upper deflection element and a lower deflection element being assigned to each of the masts, and one of the support means being present for each mast.

• - zwei der oberen Umlenkelemente und zwei der unteren Umlenkelemente zugeordnet sind, um wobei je Mast zwei der Tragmittel vorhanden sind.

But it is also possible that the frame is formed with two vertical masts, with each of the masts - preferably on opposite side surfaces

• - Two of the upper deflection elements and two of the lower deflection elements are assigned, with two of the support means being present for each mast.

With this configuration of the lifting device, in particular by equipping it with a double motor drive and simultaneous cross-coupling between the drive lines, complete redundancy with regard to the failure of one of the drive elements is achieved. Since the lifting carriage does not sag in any situation even if one of the drive elements fails, an elaborate safety device can be dispensed with and the construction, in particular a rail system and / or a shelf on which the lifting device may be supported, is also not necessary. to step up for such a case.

For reasons of symmetry and for even load distribution, it makes sense if at least two drive trains each have the same type of power transmission. However, it should be noted that within the scope of the invention, a less favorable configuration of the drive trains with at least one of the drive types mentioned below is also possible.

In a preferred embodiment, at least two drive trains of the lifting device have a revolving traction means for power transmission. This can preferably be a chain of a chain drive, which then runs over a chain wheel as a deflecting element.

In principle, however, there is also the possibility of using a toothed belt drive or a cable drive as the revolving traction mechanism. At least two drive trains can also be equipped with a shaft drive or a hydraulic drive.

Furthermore, it can also be particularly advantageous if at least two drive trains have a gear drive, preferably a spur gear drive, exhibit. This is particularly advantageous when the power transmission path is relatively short, so that a few, preferably two, spur gears placed on drive shafts are sufficient for power transmission. In principle, however, the use of bevel gear or worm gear drives is also possible, especially when larger distances have to be bridged or non-parallel axes of rotation are to be coupled mechanically.

Similar to the drive trains, it is fundamentally particularly favorable with regard to the suspension elements if all suspension elements are designed in the same way, in order to avoid asymmetries in the transmission of forces. The scope of the invention, however, also includes design variants in which the individual suspension elements have different design types.

However, it is preferably proposed that, in the lifting device according to the invention, the support means form a circumferential traction means. It is particularly advantageous here if a circumferential lifting or carrying chain is used as the circumferential traction means, which chain rotates at least one sprocket at the top and one at the bottom. Alternatively, however, a toothed belt or a cable, in particular a steel cable, is also suitable as the traction means.

To implement the power transmission via the cross couplings provided, at least one of the cross couplings between the drive lines can be configured by a connecting shaft in a simple variant.

For example, the deflection elements of two opposing suspension elements can be connected to one another in a rotationally fixed manner by a connecting shaft.

According to an alternative embodiment variant, it is proposed that at least one of the transverse couplings between the drive lines has an endlessly rotating traction means, preferably a chain. This embodiment is particularly advantageous when rotating drive elements are to be connected whose axes of rotation run parallel to one another, as is the case, for example, when the drive lines to be coupled have parallel shafts for power transmission.

In a particular embodiment of the lifting device according to the invention, at least one of the cross couplings can run between two drive trains.

In addition, at least one of the transverse couplings can also run between two lower and / or two upper deflection elements of the suspension elements.

In order to avoid the complex design of the motor mounting and the implementation of an exact coaxial motor alignment for a coupling of the motor drive shafts, as is the case in the prior art of FIG US 6848675 B2 is necessary, it is proposed to design the lifting device according to the invention in such a way that the two motors of the lifting drives are each drive-mechanically connected exclusively to a transmission arranged on the output side.

It is further proposed that the lifting device has a breakage monitoring system for at least one of the suspension elements and / or a breakage monitoring system for at least one drive train in order to avoid further damage.

If the lifting device is designed, for example, in such a way that at least one of the revolving traction means is designed as a revolving chain, the at least one chain can be equipped with a chain break monitor. For example, this at least one chain break monitor can have an inductive proximity switch, which is preferably arranged in the vicinity of a chain deflector. If the chain breaks, the chain will move out of the normal track accordingly, which can be detected immediately by the proximity switch.

Traction means are also subject to natural wear, which is usually expressed by elongation of the traction means. For this reason, wear monitoring is also provided for at least one of the revolving traction means, preferably for all revolving traction means.

For example, such a wear monitoring can be designed in such a way that the stroke actually performed is compared with the required angle of rotation of the drive. With increasing elongation of a traction device formed as a cable pull, the angle of rotation of the drive increases while the stroke performed remains the same. With increasing elongation of a traction device formed as a toothed belt or chain, the angle of rotation of the drive decreases due to the elongation of the division of the traction device while the stroke performed remains the same. Accordingly, it is proposed that the at least one wear monitoring device has a comparison device which continuously compares a stroke path actually covered by the lifting carriage during operation with the required angle of rotation of a driving shaft, with a change in the dependence of stroke path on rotation angle the wear of the monitored Displays traction means or an alarm signal is output when a predetermined deviation is exceeded.

For a wear-independent measurement of the actual lifting path of the lifting slide, a laser distance measurement or a barcode displacement encoder can be used, for example.

Another possibility of monitoring the wear of the rotating traction means can be realized in that at least one of the traction means of the lifting device is provided with a tensioning device and its position serves to monitor the wear of the tensioned traction means.

To monitor a possible failure of a gear, for example due to a broken gear, a gear break monitoring by means of a load measurement on at least one torque support for at least one gear is proposed.

So that the lifting device according to the invention can be used in a high rack as a storage and retrieval system or a sliding carriage, it should be equipped with a frame which is designed as a chassis. Correspondingly, such a chassis has means for horizontal movement, such as wheels or rollers, which are preferably compatible with a rail system of a high rack. Alternatively, however, the means for horizontal movement can also be implemented by sliding systems, in particular air cushion systems or electromagnetic repulsion systems, without departing from the scope of the invention.

The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown on their own in the figures can be used not only in the respectively specified combination, but also in other combinations or on their own, without the scope of the Invention to leave. Thus, embodiments are also to be regarded as encompassed and disclosed by the invention, which are not explicitly shown or explained in the figures, but which emerge and can be generated from the explained embodiments by means of separate combinations of features. Furthermore, it is also within the scope of the invention to effect a mechanical reversal of the functions of the individual mechanical elements of the invention.

• 1 eine isometrische 3d-Darstellung eines Regalbediengeräts;
• 2 eine Aufsicht auf das Regalbediengerät aus 1;
• 3 eine Seitenansicht des Regalbediengeräts aus 1;
• 4 eine isometrische 3d-Darstellung ausschließlich des Hubwerkes des Regalbediengeräts aus 1;
• 5 eine Aufsicht auf das Hubwerk aus 4;
• 6 eine Seitenansicht auf das Hubwerk aus 4;
• 7 Lastverlauf eines Hubantriebs im Stand der Technik;
• 8 Lastverlauf des Hubwerks aus 4 ohne Defekt;
• 9 Lastverlauf des Hubwerks aus 4 mit einer gebrochenen Verbindungskette;
• 10 Lastverlauf des Hubwerks aus 4 mit einem defekten Hubantrieb.

Further advantages, features and details of the invention emerge from the claims, the following description of preferred embodiments and on the basis of the drawings. Show:

• 1 an isometric 3D representation of a storage and retrieval unit;
• 2 a supervision of the storage and retrieval unit 1 ;
• 3 a side view of the stacker crane 1 ;
• 4th an isometric 3D representation exclusively of the lifting gear of the storage and retrieval unit 1 ;
• 5 supervise the hoist 4th ;
• 6th a side view of the hoist 4th ;
• 7th Load curve of a lifting drive in the prior art;
• 8th Load curve of the hoist 4th without defect;
• 9 Load curve of the hoist 4th with a broken link chain;
• 10 Load curve of the hoist 4th with a defective linear actuator.

the 1 until 3 show a stacker crane 100 in different views, 1 an isometric 3d illustration, 2 a supervision and 3 a side view. The storage and retrieval unit is in all views 100 to recognize, at the same time the on the lifting carriage 160 lying load 170 is shown both in a lower and in an upper position, so the lifting process of the lifting carriage 160 with the load on it 170 is shown.

The stacker crane 100 is built on a frame below, the one with four wheels 191 is provided and a chassis 190 which forms on a rail system 192 rolls and is thus designed to be horizontally displaceable. The illustration also shows the drive for the horizontal movement of the storage and retrieval unit, which is essential for the function of the storage and retrieval unit, but not essential for explaining the lifting device.

On the chassis 190 there are four masts distributed on the sides 180 , which in each case above and below an upper and a lower deflecting element in the form of a sprocket 101.1 until 104.1 and 101.2 until 104.2 exhibit. Around these deflection elements or pairs of sprockets 101.1 With 101.2 until 104.1 With 104.2 are the traction means, which are used here as carrying chains 101 until 104 are executed, deflected. The lifting carriage 160 is on the carrying chains 101 until 104 attached and can go up and down through this be driven. The masts 180 and the carrying chains 101 until 104 are in the area of the four corners of the lifting carriage 160 or on the two sides of the lifting carriage 160 distributed and effective in the up and down direction that the lifting carriage 160 , possibly also with one on a loading aid 171 load on a pallet, for example 170 , even if one of the suspension chains breaks 101 until 104 is still held in its position and position by the remaining three carrying chains and can even be lowered in a controlled manner. The lifting carriage 160 is supported by guide wheels on the surface of the mast 180 off so the masts 180 as such a guide for the lifting carriage 160 Offer. The masts 180 but can also have guide rails in which the guide wheels of the lifting carriage 160 rolling and thus a safe and guided up and down movement of the lifting carriage 160 guarantee. On the lifting carriage 160 is in the present case a canal vehicle, purely by way of example 172 arranged to the load 170 to deliver in a storage channel or to pick up one from a storage channel.

To describe the actual hoist, in particular the 4th until 6th are used, in which, for a better understanding and a better overview, only the relevant drives and power transmission lines are shown without static accessories, which represent the hoist. The 4th the hoist in the same isometric view as the 1 , the 5 shows a top view according to 2 and the 6th a side view of the hoist according to FIG 3 .

The drive of the carrying chains 101 until 104 takes place via here on the side of the chassis 190 running drivetrains 111 , 112 , based on two lifting drives each 116 , 118 . The two lifting drives 116 and 118 each consist of an electric motor 116.1 and 118.1 and a gearbox coupled to the electric motor 116.2 and 118.2 , are basically implemented here by a geared motor, preferably with an integrated brake. The motors 116.1 and 118.1 are mounted in this exemplary embodiment in such a way that their rotor axes (not shown in more detail) are arranged perpendicular and parallel to one another. The transmission 116.2 and 118.2 are down to the engines 116.1 and 118.1 flanged and have horizontally and essentially coaxially running output shafts not shown in detail. The motors 116.1 , 118.1 are driven in a synchronized manner.

On the output side of the gearboxes 116.2 and 118.2 starting, there is one, preferably on the chassis 190 appropriately mounted, lifting drive shaft 115 and 117 , on which on the transmission side initially a gear, in particular a spur gear 113.1 , 114.1 , and further outside each a sprocket 111.2 , 112.2 is raised. This starts in pairs on the lifting drive shafts 115 and 117 two drive trains each 111 With 113 and 112 With 114 , with the two inner drivetrains 113 and 114 as a spur gear drive and the two outer drive trains 111 and 112 are designed as a chain drive and each to a support chain 101 until 104 to lead.

The two inner drive trains 113 and 114 with spur gear run each starting from the lifting drive shafts 115 and 117 via the spur gear drive with the two spur gears 113.1 With 113.2 and 114 .1 with 114.2 to the lifting shafts 108 and 110 where the sprockets 103.2 and 104.2 are attached. The sprockets 103.2 and 104.2 serve as lower deflection elements for the rotating carrying chains 103 and 104 that with the lifting carriage 190 are coupled.

The two outer drive trains 111 and 112 with chain drive also start on the lifting drive shafts 115 and 117 where the sprockets 111.2 and 112.2 are attached. In front of there is a continuous chain of connections 111.1 and 112.1 about the ones on the chassis 190 lift shafts with bearings 105 and 107 , especially for more sprockets 111.3 and 112.3 . On the lifting shafts 105 , 107 are offset to the sprockets 111.3 and 112.3 the lower sprockets 101.2 and 102.2 non-rotatably fixed, which in turn, the carrying chains 101 and 102 drive.

In addition, there is between the equally designed drive trains 111 With 113 and 112 With 114 a drive-mechanical cross coupling before. Specifically, in the exemplary embodiment shown, this is achieved by a first connecting shaft 106 between the lifting shafts 105 and 107 one hand and a second connecting shaft 109 between the lifting shafts 108 and 110 realized. So it will be in pairs with one motor 116.1 , 118.1 connected drive trains 111 With 113 and 112 With 114 across pairs and coupled again in pairs. It is pointed out here that, within the scope of the invention, instead of a cross coupling between the drive trains, this has the same effect 111 With 113 and 112 With 114 a cross coupling between the chain drives can also be used.

It lies in the lifting device according to the invention 100 or the sliding carriage or storage and retrieval unit according to the invention, that is, four in pairs, each with a lifting drive 116 , 118 driven drive lines 111 With 101 and 113 With 103 such as 112 With 102 and 114 With 104 up to a lifting carriage 160 before, being between the drive lines 111 , 101 and 113 , 103 such as 112 , 102 and 114 , 104 one drive mechanism each across pairs Cross coupling 106 , 109 is arranged such that each drive line from a first drive line pair 111 , 101 and 113 , 103 with a drive line from the other drive line pair 112 , 102 and 114 , 104 is drive-mechanically connected.

• - auf eine Fangvorrichtung verzichtet werden kann,
• - die sonst auftretenden Kräfte bei einem Fall des Hubschlittens 160 aus einer Höhe, welche eine Fangeinrichtung nicht auslösen würde, vermieden werden und damit keine zu großen Stabilitätsanforderung an ein zu projektierendes Regal gestellt werden müssen, und
• - insgesamt die Vermeidung eines möglichen Absackens des Hubschlittens 160 auch einen leichteren Aufbau des Hubschlittens 160 erlaubt.

Such a coupling of the, possibly expanded, drive trains with one another achieves such a drive redundancy that:

• - a safety gear can be dispensed with,
• - the otherwise occurring forces if the lifting carriage falls 160 can be avoided from a height which would not trigger an interception device, so that no too great a stability requirement has to be placed on a shelf to be projected, and
• - overall avoidance of a possible sagging of the lifting carriage 160 also a lighter construction of the lifting carriage 160 permitted.

In the 7th a load curve of a hoist is shown, that of a lifting device according to the aforementioned document US 6,848,675 B2 and describes an example from the prior art with two drive motors. The illustration shows two engines M1 and M2 , which each have a gear G1 and G2 their power to one lifting shaft each Hw1 and Hw2 transfer. From the lifting shafts Hw1 and Hw2 the load is then divided into two lifting chains Hk1 , Hk2 such as Hk3 , Hk4 initiated, the lifting chains Hk1 until Hk4 are connected to a not shown, to be raised and lowered load bearing element. In addition, there is between the engines M1 and M2 a drive-mechanical cross coupling via its rotor. In this way, the electrical failure of one of the motors can be intercepted so that the other motor takes over its load. However, if a downstream drive element, such as a gear or a lifting shaft, fails, this also causes a simultaneous failure of two lifting chains and thus an immediate total failure of the system, possibly combined with a fall of the load bearing element, possibly with a load on it. So there is insufficient redundancy.

In contrast, the hoist according to the invention, which with regard to its load profile in the 8th is represented by a complete redundancy of the load curves. In the 9 and 10 For a better understanding of the redundancy concept according to the invention, two variants of failures of individual drive elements are shown in a load flow diagram.

With reference to the 8th , which corresponds to the load curve of the embodiment of 1 until 6th corresponds, the solid lines show the power flow in error-free normal operation. The dashed lines come into play when a load-bearing element fails.

The lifting drive 116 , 118 consists of two geared motors with brakes, each with a lifting drive shaft 115 , 117 with sprocket 111.2 , 112.2 and spur gear 113.1 , 114.1 drive. The spur gear pairs 113.1 With 113.2 , 114 .1 with 114.2 drive the two front lifting shafts 108 , 110 on. About sprockets 103.2 , 104.2 on the front lift shafts 108 , 110 are the two front carrying chains 103 , 104 driven. A connecting shaft 109 with chain couplings connects and couples the two front lifting shafts 108 , 110 . About the sprockets 111.2 , 112.2 the lift drive shafts 115 , 117 and the connecting chains on the left 111 and right 112 the lifting shafts are at the rear 105 , 107 about the sprockets 111.3 , 112.3 driven. These in turn drive over the sprockets 101.2 , 102.2 the rear carrying chains 101 , 102 on. A connecting shaft 106 with chain couplings connects and couples the two rear lifting shafts 105 With 107 . The four carrying chains 101 until 104 carry the lifting carriage 160 with a load handler onto which a loading aid 171 with the load 170 is positioned. Through the four carrying chains 101 until 104 remains the lifting carriage 160 if one of the suspension chains cracks 101 until 104 still in the balance and is carried by the remaining three carrying chains and also stabilized against tipping in its horizontal position by the upward and downward load-bearing of the rotating carrying chains. The crack in one of the suspension elements or one of the suspension chains 101 until 104 thus does not lead to an immediate crash of the lifting carriage 160 .

Usually the engines 116.1 , 118.1 the lifting drives 116 , 118 controlled by a converter not shown here. Reached the lifting carriage 160 If the speed is too high, for example due to a failure of the converter, the gear unit is reduced by a large reduction 116.2 , 118.2 and the resulting high inertia of the rotor of the motor, an uncontrolled acceleration of the lifting carriage 160 prevented until the mechanical brake is applied. The speed and position of the lift carriage 160 can be determined and monitored independently of the converter. If a load-bearing element fails, the flow of forces and moments is branched through other elements.

In the 9 becomes an example of a chain break in a link chain on the left 111 shown in the load flow diagram. The rear left lifting chain 101 is then left over the lifting shaft at the rear 105 , the connecting shaft at the rear 106 and the lifting shaft at the rear right 107 via the connection chain 112 right, Via the lifting drive shaft on the right 117 to the lifting drive 118 continued to be worn.

The branching takes place in the same way in the event of a defect in the connection chain on the right 112 or one of the spur gear pairs 113 , 114 .

the 10 finally shows a defect in the lifting drive on the left 116, for example a broken gear. The power flow remains between the lifting shaft at the rear left 105 and front left to the other lifting drive 118 Via the cross coupling of the two connecting shafts at the front and rear 106 and 109 to the intact branch of the hoist. The branching takes place in the same way in the event of a defect in the right lifting drive 118 or the lifting drive shafts 115 , 117 .

The effects of a brake failure or a gear breakage as well as a failure of a pair of spur gears, a connecting chain or a shaft are minimized by the redundant structure according to the invention.

Due to the redundant structure of the drive situation, the lifting device can in principle continue to be operated even if one of the drive elements fails. It is therefore advantageous if the defect or exceptional wear and tear of one of the drive elements leads to an alarm message so that a corresponding repair can be initiated and / or the lifting device, which then no longer functions safely and redundantly, can be shut down. If necessary, the shutdown can also be controlled automatically based on the alarm message.

Accordingly, every chain used can be equipped with a chain break monitor. It is advantageous if each lifting chain and / or each connecting chain is equipped with an inductive proximity switch or sensor in the vicinity of a deflection. This is exemplified by the proximity sensors shown schematically 120 and 130 in the 6th indicated.

With regard to the wear occurring during operation, wear monitoring can also be provided. The chain wear is shown in the elongation or elongation of the chain. The wear monitoring of the carrying and connecting chains 101 , 102 , 103 , 104 , 111 .1, 112.1 can by comparing a wear-independent and a wear-prone path measurement of the lifting carriage 160 respectively. This can be done on the lifting carriage 160 For example, an absolute distance measurement can be attached along the lifting path by means of barcode positioning, which shows the position of the lifting slide 160 detects regardless of chain wear. The motor encoder of the lifting drive is evaluated and supplies a path measurement value with the chain expansion. These values can be continuously compared, with the wear monitoring responding from a specified deviation.

For a chain to be discarded, a gauge can be used to determine the chain elongation. The chain expansion of the lifting chains can compensate for the length expansion with the help of disc spring assemblies on the slack side, whereby the path of a disc spring assembly can also be used to monitor chain wear.

The connecting chains are preferably made using chain tensioners 200 curious; excited. This can be monitored with a displacement encoder, as the chain wear increases the tensioning path. If a chain break occurs, the tensioning path is suddenly lengthened, which can also be used to detect a chain break. Via the chain tensioner 200 the chain breakage and chain wear of the connecting chains can thus be monitored.

The transmission 116.2 , 118.2 can be advantageous in each case via torque arms, not shown in detail, against the chassis 190 be supported. A load measurement, for example using strain gauges, can be integrated into these torque supports. If a gear break occurs, there is an abnormal load change related to the current operating status. This deviation in the load measurement can then be used to detect a gear breakage.

It is pointed out that it is explicitly part of the scope of the invention if the lifting mechanism shown in the figures is rotated by 90 ° relative to the rail system or the chassis. In this case, the front and rear lifting chains are driven by connecting shafts instead of connecting chains. There is a lifting drive at the front and a lifting drive at the rear. The mechanical drive connection from left to right can be implemented using connecting chains, for example.

Furthermore, without departing from the scope of the invention, chains other than those explicitly shown can also be used as revolving support means. Toothed belts or steel cables may be mentioned as examples.

Likewise, the connection chains shown explicitly can be replaced by other revolving traction means. Here, too, toothed belts or ropes can be used as revolving traction means.

In principle, however, shafts, in particular cardan shafts, or any gears to overcome a center distance can also be used for power transmission.

Finally, it is also possible within the scope of the invention to use any possible combination of wear-independent and wear-prone path measurement for wear monitoring. For the wear-independent path measurement, a laser path measurement or a separate, unloaded path measurement can be used as an alternative. A separate rotary encoder on the motor shaft, the lifting drive shaft or the lifting shaft is also possible for the path measurement subject to wear.

List of reference symbols

100

Lifting device / stacker crane

101-104

Traction means / suspension means / suspension chain

101.1 - 104.1

upper deflection element / upper sprocket

101.2 - 104.2

lower deflection element / lower sprocket

105

Lifting shaft

106

Cross coupling / connecting shaft

107

Lifting shaft

108

Lifting shaft

109

Cross coupling / connecting shaft

110

Lifting shaft

111

Drive train with chain drive

111.1

Connecting chain

111.2

Sprocket

111.3

Sprocket

112

Drive train with chain drive

112.1

Connecting chain

112.2

Sprocket

112.3

Sprocket

113

Drive train with spur gear drive / spur gear pair

113.1

Spur gear

113.2

Spur gear

114

Drive train with spur gear drive / spur gear pair

114.1

Spur gear

114.2

Spur gear

115

Lifting drive shaft

116

Lifting drive

116.1

engine

116.2

transmission

117

Lifting drive shaft

118

Lifting drive

118.1

engine

118.2

transmission

120

Monitoring of the breakage of the suspension element / chain crack monitoring / proximity switch

130

Drive train break monitoring / chain break monitoring / proximity switch

160

Lifting carriage

170

load

171

Loading equipment / pallet

172

Canal vehicle / shuttle

180

mast

190

Frame / chassis

191

wheel

192

Rail system

200

Chain tensioner

G1, G2

Gearbox (state of the art)

Hk1 - Hk4

Lift chain (state of the art)

Hw1, Hw2

Lifting shaft (state of the art)

M1, M2

Motors (state of the art)

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 6848675 B2 [0003, 0028, 0050]
• JP 3761157 B2 [0004]
• JP 2000136625 A [0004]
• JP 04311515 B2 [0004]
• CN 108033387 A [0004]

Claims (15)

Lifting device (100), suitable for use as a sliding carriage or as a storage and retrieval unit, comprising: - a frame (190), - a lifting carriage (160) for picking up a load (170), - at least two masts (180) assigned to the frame (190) At least one upper deflecting element (101.1, 102.1, 103.1, 104.1) and at least one lower deflecting element (101.2, 102.2, 103.2, 104.2) being assigned to the masts (180), - at least one suspension element (101, 102) per mast (180) , 103, 104) for raising and lowering the lifting carriage (160), which in each case revolves around one of the upper deflection elements (101.1, 102.1, 103.1, 104.1) and one of the lower deflection elements (101.2, 102.2; 103.2, 104.2), the support means ( 101, 102, 103, 104) are coupled to the lifting carriage (160) in such a way that the lifting carriage (160) also has only three functional suspension elements (101, 102, 103 or 101, 102, 104 or 101, 103, 104 or 102, 103, 104) can be held in its position, and - two lifting drives (116, 118 ) each with a motor (116.1, 118.1) and a gear (116.2, 118.2) for driving the suspension elements (101, 102, 103, 104), characterized in that: - the suspension elements (101, 103; 102, 104) are coupled in pairs via their own drive train (111, 113; 112, 114) each with one of the two lifting drives (116; 118) and thus four drive lines (101 with 111, 103 with 113; 102 with 112, 104 with 114) between the lifting drives (116, 118) and the lifting slide (160), and - in addition, two further drive-mechanical transverse couplings (106, 109) are formed between the drive lines in pairs, each of which has two different lifting drives (116, 118) the associated drive lines (101 with 111, 103 with 113; 102 with 112, 104 with 114) drive-mechanically couple. Lifting device (100) according to Claim 1 , characterized in that at least two drive trains have a revolving traction means (111, 112) for power transmission. Lifting device (100) according to Claim 1 or 2 , characterized in that at least two drive trains have a gear drive (113, 114). Lifting device (100) according to one of the Claims 1 until 3 , characterized in that the support means form a revolving traction means (101, 102, 103, 104). Lifting device (100) according to Claim 4 , characterized in that the revolving traction means is designed as a revolving support chain (101, 102, 103, 104). Lifting device (100) according to one of the Claims 1 until 5 , characterized in that at least one of the cross couplings (109; 106) runs between two drive trains (111, 112; 113, 114). Lifting device (100) according to one of the Claims 1 until 6th , characterized in that at least one of the transverse couplings (109; 106) runs between two lower deflection elements (101.2, 102.2, 103.2, 104.2). Lifting device (100) according to one of the Claims 1 until 7th , characterized in that the two motors (116.1, 116.2) of the lifting drives (116, 118) are each drive-mechanically connected exclusively to a gear (116.2, 118.2) arranged on the output side. Lifting device (100) according to one of the Claims 1 until 8th , characterized in that a drive train break monitoring (130) is formed for at least one drive train (111, 113; 112, 114). Lifting device (100) according to one of the Claims 2 until 9 , characterized in that in the case of a revolving traction mechanism being designed as a revolving chain (101, 102, 103, 104, 111, 112) at least one of these chains (101, 102, 103, 104, 111, 112) with chain break monitoring (120 , 130) is equipped. Lifting device (100) according to Claim 10 , characterized in that the at least one chain break monitor (120, 130) has an inductive proximity switch (120, 130) which is preferably arranged in the vicinity of a chain deflection. Lifting device (100) according to one of the Claims 2 until 11th , characterized in that wear monitoring is designed for at least one rotating traction means (101, 102, 103, 104, 111, 112). Lifting device (100) according to Claim 12 , characterized in that the at least one wear monitoring device has a comparison device which continuously compares a stroke distance actually covered by the lifting carriage (160) during operation with the required angle of rotation of a driving shaft, a change in the dependency of stroke distance to angle of rotation monitoring the wear of the Displays traction means or an alarm signal is output when a predetermined deviation is exceeded. Lifting device (100) according to Claim 13 , characterized in that at least one traction device (101, 102, 103, 104, 111, 112) is provided with a tensioning device (200) and its position as wear monitoring of the tensioned traction device (101, 102, 103, 104, 111, 112) serves. Lifting device (100), preferably according to one of the Claims 1 until 14th , comprising: four drive lines (111 with 101 and 113 with 103; 112 with 102 and 114 with 104) each driven in pairs by a lifting drive (116, 118) up to a lifting carriage (160), with between the drive lines (111 with 101 and 113 with 103; 112 with 102 and 114 with 104) a drive-mechanical transverse coupling (106, 109) is present across pairs in such a way that each drive line from a first drive line pair (111 with 101 and 113 with 103) with a drive line from the other drive line pair (112 with 102 and 114 with 104) is mechanically connected to the drive.

Images