EP0327724A1 - Shelf-loading device and high rise shelf installation therefor - Google Patents

Shelf-loading device and high rise shelf installation therefor Download PDF

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Publication number
EP0327724A1
EP0327724A1 EP88121657A EP88121657A EP0327724A1 EP 0327724 A1 EP0327724 A1 EP 0327724A1 EP 88121657 A EP88121657 A EP 88121657A EP 88121657 A EP88121657 A EP 88121657A EP 0327724 A1 EP0327724 A1 EP 0327724A1
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EP
European Patent Office
Prior art keywords
shelf
aisle
wheels
rack
conveyor
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Granted
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EP88121657A
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German (de)
French (fr)
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EP0327724B1 (en
Inventor
Erich Dr. Ing. Killinger
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Dambach Industrieanlagen GmbH
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Dambach Industrieanlagen GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor

Definitions

  • the invention relates to a shelf conveyor for high-bay storage, consisting of a chassis with at least two wheels arranged one behind the other, at least one of which is driven, a lower guide for the travel movements in the shelf aisles and a mast carrying a load bearing, to which an upper guide is assigned in the shelf aisle , wherein the rack conveyor can be moved via a cross aisle from rack aisle to rack aisle by being released from the guides in the rack aisle when entering the cross aisle and being freely movable on the floor of the cross aisle. Furthermore, the invention relates to a high-rack system set up for such rack-type conveyors.
  • High-bay systems are operated either by shelf stackers or by shelf conveyors.
  • Shelf stackers (DE-C-25 08 696, DE-B-12 71 030) are freely movable devices which, as a result, have great mobility and can optionally operate several rack aisles via the cross aisle.
  • they have the disadvantage that Due to their design, especially the free-standing mast, the lifting height and load capacity are limited to ensure sufficient driving stability and tipping safety.
  • Shelf conveyors (EP-A-213 289), on the other hand, have the advantage that they can be built higher due to their guidance in the area of the chassis and at the upper end of the mast, and thus higher shelf systems can also be operated.
  • the shelf-mounted conveyors require more effort to change gears.
  • a rack conveyor is therefore often provided for each rack aisle, even if the handling performance does not require this. Shelf systems have been created to carry out a change of aisle, in which a further cross aisle is arranged at the end of the rack aisles opposite the cross aisle, which is driven over by a transfer bridge with which the rack conveyor can be moved from one rack aisle to another.
  • cornering shelf-type conveyors (DE-C-34 25 682, DE-A-34 46 310) are known, which are equipped with steerable wheels or drive wheels. These devices require that the lower and the upper guides are also available in the transverse aisle and are connected to the guides in the rack aisle via curved sections. Appropriate switch designs must also be provided. In addition, guides in the pre-zone of the racking system are highly undesirable because they make the traffic with other devices in this pre-zone practically impossible.
  • the invention is based on the emergence of creating a rack conveyor that enables a gear change in the shortest possible time and in which automation of the travel movements and gear change is also possible with simple means.
  • the racking conveyor can be moved transversely to its longitudinal axis in the transverse aisle, in that at least the driven wheels can be pivoted from the driving position in the racking aisle about a vertical axis by about 90 degrees into a driving position in the transverse aisle, and that at least two support wheels extendable transversely to its longitudinal axis are arranged on the chassis, the non-aligned axes of which run perpendicular to the running wheels in the aforementioned driving position and which, together with the driven running wheels, support the shelf conveyor when driving transversely, while the non-driven running wheels are off the ground of the cross aisle are lifted off.
  • a 4-way principle is realized for a shelf conveyor.
  • the rack conveyor can be moved in mutually perpendicular directions in the rack aisles on the one hand and in the transverse aisle on the other.
  • the necessary tipping safety is achieved by the support wheels.
  • the non-driven wheels are released from the ground, so that the shelf conveyor runs in the transverse aisle on the driven wheels and the support wheels.
  • the 4-way principle with four defined directions of travel of the shelf conveyor gives the possibility to automate its travel movements with relatively simple means and if necessary. to run computer-controlled together with the operations of the shelf operation. This means that a high-bay racking system can not only be operated with a minimum of personnel, but also that the downtimes of the rack conveyor can be minimized, that is, the highest possible utilization can be achieved, which leads to an overall reduction in investment costs.
  • the support wheels which are only effective in the transverse aisle, are preferably arranged on lifting supports, to which an actuator for lifting the chassis and the non-driven wheels is assigned.
  • the support wheels which are ineffective in the rack aisle, are extended after entering the cross aisle, lifting the chassis and releasing the non-rotating wheels from the ground.
  • the greatest possible safety against tipping occurs when the support wheels can be extended to a width that is greater than the width of the rack aisle.
  • At least one of the extendable support wheels is driven. This training is particularly recommended when the driven impeller or the driven impellers are arranged at one end of the shelf conveyor. In this case, the support wheels are placed at the other end of the chassis so that there is sufficient direction stability when driving in the aisle is guaranteed. It can further be provided that the support wheels can be pivoted about a vertical axis and at least one of them can be steered. Instead of or in addition to this, it is possible for at least one of the wheels to be steerable.
  • a line can be provided for the travel movements in the transverse aisle, which is designed as a mechanically designed linear guide, as an electrical, e.g. inductive guidance, or optical guidance guidance can be formed.
  • Another embodiment of the invention is characterized in that paired wheels are arranged on both sides of the longitudinal axis of the rack conveyor and that the axes of each wheel pair are offset from an aligned position.
  • the offset of the two driven wheels has the advantage that when driving over uneven floors, sunken guide rails or the like. Shocks can be absorbed better, which is essential with the high construction of the shelf conveyor. Since both driven wheels can be swiveled into the driving position in the transverse aisle, the offset in the aisle in the direction of travel in the transverse aisle has a lateral offset, which also has the advantage when moving in the transverse aisle that road bumps do not or only slightly affect the rack conveyor.
  • At least one impeller can be mounted in a swinging manner. This pendulum compensation movement can be blocked if necessary, for example for movements in the transverse aisle.
  • the lateral guidance of the rack conveyor in the rack aisle can be carried out with the aforementioned guide rollers.
  • these guide rollers By appropriately fitting these guide rollers, they can also be used for guiding in the transverse aisle, or at least used as a collision protection.
  • a non-contact guide can also be used as the lower guide for the movement in the rack aisles and / or in the transverse aisle, e.g. an inductive guide can be provided.
  • a high-bay system which is operated by one or more shelf-type conveyors designed in accordance with the invention, can be built according to the invention in a particularly space-saving manner if the shelves in their respective first places are designed without supports directly at the cross aisle and the first places are arranged so high that they are at least from part of the chassis are accessible.
  • the shelf conveyor designed according to the invention normally requires a transverse aisle width which corresponds approximately to the dimension of the shelf conveyor in the direction of its longitudinal axis.
  • the cross aisle width required for the travel movements can be reduced by the shelf truck with a corresponding partial length of its chassis moving under the first places of the rows of shelves.
  • the invention can be used Training the high-bay warehouse in the aisle also creates enough space for other funding.
  • the shelf conveyor shown in Figures 1 to 4 has a chassis 1, on which a mast 2 with a vertical guide 3 is built.
  • Load guide 4 for operating the high-bay racking system is guided on guide 3.
  • the load bearing 4 can be raised and lowered by means of a winch motor 5 attached to the mast 2, the winch cable 6 of which runs over deflection rollers 7 at the head of the mast.
  • the mast is guided on its head on a stationary rail 8.
  • it has two guide rollers 9 (FIG. 2) arranged on both sides of the rail, which guide the mast when moving in the rack aisles.
  • the power supply of the shelf conveyor stuff takes place via the conductor line 10 shown in FIG. 2.
  • four wheels 10, 11 are each arranged in pairs on the chassis 1, of which the rear wheels 11 are driven, for example by means of wheel hub motors.
  • the shelf conveyor runs in the shelf aisles on these wheels 10, 11.
  • guide rollers 12 are arranged for exact guidance of the rack conveyor on both sides of the longitudinal axis and in the area of the outer contour of the chassis, which can be rotated about vertical axes and interact with corresponding side rails 13 (FIG. 2) in the rack aisles.
  • support wheels 14 are also mounted on both longitudinal sides, which are mounted on a lifting support 15 and can be extended and retracted by means of an actuator 16 and at the same time can be raised and lowered.
  • the support wheels 14 are mounted on horizontal axes which are perpendicular to the axes of the impellers 10, 11.
  • the shelf conveyor is shown in a takeover position, in which it is still in the rack aisle 17 of a rack warehouse 19 with the part enclosing its mast 2, but is already in the transverse aisle with its load pickup 4 in order to take over or deliver goods 20 there.
  • the guide rollers 12 abut the lateral guide rails 13 at the end located in the rack aisle 17, while the guide rollers 12 are free at the other end.
  • these guide rollers 12 are brought up to the rails 13 by means of bevels 21.
  • the rack conveyor is moved into the position shown in FIG. 4 into the cross aisle 18.
  • the driven impellers 11 are rotated into the position shown by dashed lines by 90 degrees and are again slightly offset from one another in this position.
  • the support wheels are extended into the position shown in FIG. 4 so that they are in contact with the ground.
  • the chassis 1 is raised so that the non-driven wheels 10 lose contact with the ground and the rack conveyor can be moved perpendicular to the rack aisles 14 in the transverse aisle 18 on the driven wheels 11 and the support wheels 14.
  • the guide rollers can be arranged at the corners of the chassis 1, as is indicated by the broken line in FIG.
  • FIG. 5 shows a section of a rack storage 19 in the area of the transverse aisle 18.
  • the first places 24 of the rack storage have no floor support on their front facing the transverse aisle, so that the lowest first place 25 is also free of supports. This creates a free space so that the rack conveyor can move under this part of the shelves when moving in the aisle 18 and space is saved in the aisle.

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

Abstract

A shelf-loading device for high-rise shelf installations consists of a chassis (1) with at least two travelling wheels (10, 11) which are arranged one behind the other and of which at least one (11) is driven, a bottom guide (13) for the travel movements in the shelf passages (17), and also a mast (2) which guides a load-lifting member and to which a top guide (8) is allocated in the shelf passage. The shelf-loading device can be shifted from shelf passage (17) to shelf passage via a cross passage (18) by being released from the guides when travelling into the cross passage and by being movable transversely to its longitudinal axis. For this purpose, at least the driven travelling wheels (11) are pivotable about a perpendicular axis by about 90 degrees into a travel position in the cross passage (18), and at least two supporting wheels (14) which can be extended on either side transversely to the longitudinal axis of the chassis (1) are arranged on the latter, the axes of which supporting wheels (14) run at right angles to the non-driven travelling wheels (10) and which together with the driven travelling wheels (11) support the shelf-loading device when travelling in the cross passage (18), while the non-driven travelling wheels (10) are lifted from the floor of the cross passage. This shelf-loading device works according to the 4-way principle and thus permits automation of the travel movements. <IMAGE>

Description

Die Erfindung betrifft ein Regalförderzeug für Hochregal­lager, bestehend aus einem Chassis mit mindestens zwei hintereinander angeordneten Laufrädern, von denen wenig­stens eines angetrieben ist, einer unteren Führung für die Fahrbewegungen in den Regalgängen sowie einem eine Last­aufnahme führenden Mast, dem im Regalgang eine obere Führung zugeordnet ist, wobei das Regalförderzeug über einen Quergang von Regalgang zu Regalgang verfahrbar ist, indem es beim Einfahren in den Quergang von den Führungen im Regalgang freikommt und auf dem Boden des Quergangs frei bewegbar ist. Ferner betrifft die Erfindung eine für solche Regalförderzeuge eingerichtete Hochregalanlage.The invention relates to a shelf conveyor for high-bay storage, consisting of a chassis with at least two wheels arranged one behind the other, at least one of which is driven, a lower guide for the travel movements in the shelf aisles and a mast carrying a load bearing, to which an upper guide is assigned in the shelf aisle , wherein the rack conveyor can be moved via a cross aisle from rack aisle to rack aisle by being released from the guides in the rack aisle when entering the cross aisle and being freely movable on the floor of the cross aisle. Furthermore, the invention relates to a high-rack system set up for such rack-type conveyors.

Hochregalanlagen werden entweder von Regalstaplern oder von Regalförderzeugen bedient. Bei Regalstaplern (DE-C-25 08 696, DE-B-12 71 030) handelt es sich um frei verfahrbare Geräte, die infolgedessen eine große Mobilität besitzen und über den Quergang mehrere Regalgänge wahlweise be­dienen können. Sie haben jedoch den Nachteil, daß auf­ grund ihrer Konstruktion, insbesondere des freistehenden Mastes, die Hubhöhe und Tragfähigkeit begrenzt sind, um eine ausreichende Fahrstabilität und Kippsicherheit zu gewährleisten.High-bay systems are operated either by shelf stackers or by shelf conveyors. Shelf stackers (DE-C-25 08 696, DE-B-12 71 030) are freely movable devices which, as a result, have great mobility and can optionally operate several rack aisles via the cross aisle. However, they have the disadvantage that Due to their design, especially the free-standing mast, the lifting height and load capacity are limited to ensure sufficient driving stability and tipping safety.

Regalförderzeuge (EP-A-213 289) hingegen haben den Vorteil, daß sie aufgrund ihrer Führung im Bereich des Chassis und am oberen Ende des Mastes höher bauen können und somit auch höhere Regalanlagen bedient werden können. Aufgrund der oberen und unteren Führung erfordern die Regalförder­zeuge jedoch einen höheren Aufwand für den Gangwechsel. Es wird deshalb häufig für jeden Regalgang ein Regalförder­zeug vorgesehen, auch wenn die Umschlagleistung dies nicht erfordert. Zur Ausführung eines Gangwechsels sind Regal­anlagen entstanden, bei denen an dem dem Quergang gegen­überliegenden Ende der Regalgänge ein weiterer Quergang angeordnet ist, der von einer Umsetzbrücke befahren wird, mit der das Regalförderzeug von einem Regalgang zu einem anderen umgesetzt werden kann.Shelf conveyors (EP-A-213 289), on the other hand, have the advantage that they can be built higher due to their guidance in the area of the chassis and at the upper end of the mast, and thus higher shelf systems can also be operated. However, due to the upper and lower guides, the shelf-mounted conveyors require more effort to change gears. A rack conveyor is therefore often provided for each rack aisle, even if the handling performance does not require this. Shelf systems have been created to carry out a change of aisle, in which a further cross aisle is arranged at the end of the rack aisles opposite the cross aisle, which is driven over by a transfer bridge with which the rack conveyor can be moved from one rack aisle to another.

Daneben sind kurvenfahrende Regalförderzeuge (DE-C-34 25 682, DE-A-34 46 310) bekannt, die mit lenkbaren Lauf- bzw. Antriebsrädern ausgestattet sind. Diese Geräte setzen voraus, daß die unteren und die oberen Führungen auch im Quergang vorhanden und über Kurvenstücke mit den Führungen im Regalgang verbunden sind. Ferner müssen entsprechende Weichenkonstruktionen vorgesehen sein. Im übrigen sind Führungen in der Vorzone der Regalanlage höchst unerwünscht, weil sie den Verkehr mit anderen Geräten in dieser Vorzone praktisch unmöglich machen.In addition, cornering shelf-type conveyors (DE-C-34 25 682, DE-A-34 46 310) are known, which are equipped with steerable wheels or drive wheels. These devices require that the lower and the upper guides are also available in the transverse aisle and are connected to the guides in the rack aisle via curved sections. Appropriate switch designs must also be provided. In addition, guides in the pre-zone of the racking system are highly undesirable because they make the traffic with other devices in this pre-zone practically impossible.

Es ist deshalb weiterhin schon vorgeschlagen worden, zu­mindest auf Führungsschienen im Quergang zu verzichten und das kurvenfahrende Regalförderzeug mit lenkbaren Laufrädern im Quergang frei zu verfahren. Solche kurvenfahrenden Regalförderzeuge mit einer konventionellen Lenkkinematik weisen neben den bereits erwähnten Mängeln den Nachteil auf, daß der Quergang eine gewisse Mindestbreite aufweisen muß, um die Kurvenfahrt zu ermöglichen, wobei dennoch stets Rangierbewegungen notwendig sind, die umso häufiger und infolgedessen auch zeitraubender sind, je enger der Quer­gang ist. Auch lassen sich die Fahrbewegungen nur mit einem unvertretbar hohen Steuerungsaufwand automatisieren.It has therefore already been proposed to at least dispense with guide rails in the transverse aisle and to freely move the curved shelf conveyor with steerable wheels in the transverse aisle. Such cornering Shelf trucks with conventional steering kinematics have the disadvantage, in addition to the aforementioned shortcomings, that the cross aisle must have a certain minimum width in order to enable cornering, although maneuvering movements are always necessary, and the narrower the cross aisle, the more frequent and consequently also time-consuming is. The travel movements can also only be automated with an unacceptably high control effort.

Der Erfindung liegt die Aufgang zugrunde, ein Regalförder­zeug zu schaffen, das in kürzestmöglichen Zeiträumen einen Gangwechsel ermöglicht und bei dem ferner eine Automati­sierung der Fahrbewegungen und des Gangwechsels mit ein­fachen Mitteln möglich ist.The invention is based on the emergence of creating a rack conveyor that enables a gear change in the shortest possible time and in which automation of the travel movements and gear change is also possible with simple means.

Ausgehend von dem eingangs genannten Regalförderzeug wird diese Aufgabe dadurch gelöst, daß das Regalförderzeug im Quergang quer zu seiner Längsachse verfahrbar ist, indem zumindest die angetriebenen Laufräder aus der Fahrstellung im Regalgang um eine senkrechte Achse um etwa 90 Grad in eine Fahrstellung im Quergang schwenkbar sind, und daß an dem Chassis zumindest zwei quer zu dessen Längsachse aus­fahrbare Stützräder angeordnet sind, deren nichtfluchtende Achsen senkrecht zu den Laufrädern in der vorgenannten Fahrstellung verlaufen und die zusammen mit den angetrie­benen Laufrädern das Regalförderzeug beim Fahren im Quer­gang abstützen, während die nicht angetriebenen Laufräder vom Boden des Quergangs abgehoben sind.Starting from the racking conveyor mentioned at the outset, this object is achieved in that the racking conveyor can be moved transversely to its longitudinal axis in the transverse aisle, in that at least the driven wheels can be pivoted from the driving position in the racking aisle about a vertical axis by about 90 degrees into a driving position in the transverse aisle, and that at least two support wheels extendable transversely to its longitudinal axis are arranged on the chassis, the non-aligned axes of which run perpendicular to the running wheels in the aforementioned driving position and which, together with the driven running wheels, support the shelf conveyor when driving transversely, while the non-driven running wheels are off the ground of the cross aisle are lifted off.

Mit der erfindungsgemäßen Ausbildung wird für ein Regal­förderzeug ein 4-Wege-Prinzip verwirklicht. Das Regal­förderzeug ist in senkrecht zueinander verlaufenden Rich­tungen in den Regalgängen einerseits und im Quergang andererseits verfahrbar. Im Quergang, wo das Regalförder­zeug sich quer zur Längsachse seines Chassis bewegt, wird die notwendige Kippsicherheit durch die Stützräder erreicht. Mit dem Wirksamwerden der Stützräder werden die nicht angetriebenen Laufräder vom Boden freigesetzt, so daß das Regalförderzeug im Quergang auf den angetriebenen Lauf­rädern und den Stützrädern läuft. Das 4-Wege-Prinzip mit vier definierten Fahrtrichtungen des Regalförderzeugs gibt die Möglichkeit, dessen Fahrbewegungen mit relativ ein­fachen Mitteln zu automatisieren und ggfls. zusammen mit den Vorgängen der Regalbedienung rechnergesteuert ablaufen zu lassen. Damit läßt sich eine Hochregalanlage nicht nur mit einem Minimum an Personal betreiben, sondern es lassen sich auch die Stillstandzeiten des Regalförderzeugs mini­mieren, also eine höchstmögliche Auslastung erzielen, was insgesamt zu einer Reduzierung des Investitionsaufwandes führt.With the design according to the invention, a 4-way principle is realized for a shelf conveyor. The rack conveyor can be moved in mutually perpendicular directions in the rack aisles on the one hand and in the transverse aisle on the other. In the aisle, where the shelf conveyor moves across the longitudinal axis of its chassis the necessary tipping safety is achieved by the support wheels. With the coming into effect of the support wheels, the non-driven wheels are released from the ground, so that the shelf conveyor runs in the transverse aisle on the driven wheels and the support wheels. The 4-way principle with four defined directions of travel of the shelf conveyor gives the possibility to automate its travel movements with relatively simple means and if necessary. to run computer-controlled together with the operations of the shelf operation. This means that a high-bay racking system can not only be operated with a minimum of personnel, but also that the downtimes of the rack conveyor can be minimized, that is, the highest possible utilization can be achieved, which leads to an overall reduction in investment costs.

Die nur im Quergang wirksamen Stützräder sind vorzugsweise an Hubstützen angeordnet, denen ein Stellantrieb zum Aus­heben des Chassis und der nicht angetriebenen Laufräder zugeordnet ist. Die im Regalgang unwirksamen Stützräder werden nach dem Einfahren in den Quergang ausgefahren, wobei sie das Chassis anheben und die nicht drehbaren Laufräder vom Boden frei setzen.The support wheels, which are only effective in the transverse aisle, are preferably arranged on lifting supports, to which an actuator for lifting the chassis and the non-driven wheels is assigned. The support wheels, which are ineffective in the rack aisle, are extended after entering the cross aisle, lifting the chassis and releasing the non-rotating wheels from the ground.

Eine größtmögliche Kippsicherheit ergibt sich dann, wenn die Stützräder auf eine Breite ausfahrbar sind, die größer ist als die Breite des Regalgangs.The greatest possible safety against tipping occurs when the support wheels can be extended to a width that is greater than the width of the rack aisle.

In einer weiterhin vorteilhaften Ausführung kann vorgesehen sein, daß wenigstens eines der ausfahrbaren Stützräder an­getrieben ist. Diese Ausbildung empfiehlt sich insbesondere dann, wenn das angetriebene Laufrad bzw. die angetriebenen Laufräder an einem Ende des Regalförderzeugs angeordnet sind. In diesem Fall werden die Stützräder am anderen Ende des Chassis angeordnet, so daß eine ausreichende Richtungs­ stabilität beim Fahren im Quergang gewährleistet ist. Dabei kann ferner vorgesehen sein, daß die Stützräder um eine senkrechte Achse schwenkbar und wenigstens eines von ihnen lenkbar ist. Stattdessen oder zusätzlich hierzu ist es möglich, daß wenigstens eines der Laufräder lenkbar ist.In a further advantageous embodiment it can be provided that at least one of the extendable support wheels is driven. This training is particularly recommended when the driven impeller or the driven impellers are arranged at one end of the shelf conveyor. In this case, the support wheels are placed at the other end of the chassis so that there is sufficient direction stability when driving in the aisle is guaranteed. It can further be provided that the support wheels can be pivoted about a vertical axis and at least one of them can be steered. Instead of or in addition to this, it is possible for at least one of the wheels to be steerable.

Für die Fahrbewegungen im Quergang kann eine Linienführung vorgesehen sein, die als mechanisch ausgebildete Linear­führung, als elektrische,z.B. induktive Führung, oder optische Leitlinienführung ausgebildet sein kann.A line can be provided for the travel movements in the transverse aisle, which is designed as a mechanically designed linear guide, as an electrical, e.g. inductive guidance, or optical guidance guidance can be formed.

Ein weiteres Ausführungsbeispiel der Erfindung zeichnet sich dadurch aus, daß zu beiden Seiten der Längsachse des Regalförderzeugs einander paarweise zugeordnete Laufräder angeordnet sind und daß die Achsen jedes Laufradpaars gegenüber einer fluchtenden Lage versetzt sind.Another embodiment of the invention is characterized in that paired wheels are arranged on both sides of the longitudinal axis of the rack conveyor and that the axes of each wheel pair are offset from an aligned position.

Der Versatz der beiden angetriebenen Laufräder hat den Vorteil, daß beim Überfahren von Bodenunebenheiten, ver­senkten Führungsschienen od.dgl. Stöße besser aufgefangen werden können, was bei der hohen Bauweise der Regalförder­zeuge von wesentlicher Bedeutung ist. Da beide angetrie­benen Laufräder in die Fahrstellung im Quergang schwenkbar sind, wirkt sich der im Regalgang in Fahrtrichtung vor­handene Versatz im Quergang als seitlicher Versatz aus, der auch beim Verfahren im Quergang den Vorteil hat, daß Fahrbahnstöße nicht oder mit nur geringer Wirkung das Regalförderzeug beeinflussen.The offset of the two driven wheels has the advantage that when driving over uneven floors, sunken guide rails or the like. Shocks can be absorbed better, which is essential with the high construction of the shelf conveyor. Since both driven wheels can be swiveled into the driving position in the transverse aisle, the offset in the aisle in the direction of travel in the transverse aisle has a lateral offset, which also has the advantage when moving in the transverse aisle that road bumps do not or only slightly affect the rack conveyor.

Zur Vermeidung zusätzlicher Belastungen an den oberen Führungen, die aus Schrägstellung des Gerätes aufgrund von Bodenunebenheiten resultieren, kann mindestens ein Laufrad pendelnd gelagert sein. Diese Pendel-Ausgleichsbewegung ist bei Bedarf, z.B. für die für Fahrbewegungen im Quergang blockierbar.In order to avoid additional loads on the upper guides, which result from the inclined position of the device due to uneven floors, at least one impeller can be mounted in a swinging manner. This pendulum compensation movement can be blocked if necessary, for example for movements in the transverse aisle.

In weiterhin vorteilhafter Ausgestaltung ist vorgesehen, daß an wenigstens zwei etwa in einer Horizontalebene liegenden Ecken über den Umriß des Regalförderzeugs in dieser Ebene vorragende, an senkrechten Achsen gelagerte Leitrollen angeordnet sind.In a further advantageous embodiment it is provided that at least two corners lying approximately in a horizontal plane above the outline of the rack conveyor in this plane projecting guide rollers mounted on vertical axes are arranged.

Mit den vorgenannten Leitrollen kann die Seitenführung des Regalförderzeugs im Regalgang erfolgen. Durch entsprechende Anbringung dieser Leitrollen können sie auch zur Führung im Quergang herangezogen, zumindest aber als Anfahrschutz genutzt werden.The lateral guidance of the rack conveyor in the rack aisle can be carried out with the aforementioned guide rollers. By appropriately fitting these guide rollers, they can also be used for guiding in the transverse aisle, or at least used as a collision protection.

Statt der Leitrollen kann als untere Führung für die Fahrbe­wegungen in den Regalgängen und/oder im Quergang auch eine berührungslose Führung, z.B. eine Induktivführung vor­gesehen sein.Instead of the guide rollers, a non-contact guide can also be used as the lower guide for the movement in the rack aisles and / or in the transverse aisle, e.g. an inductive guide can be provided.

Eine Hochregalanlage, die von einem oder mehreren erfin­dungsgemäß ausgebildeten Regalförderzeugen bedient wird, kann gemäß der Erfindung dann besonders platzsparend gebaut werden, wenn die Regale an ihren jeweils ersten Plätzen unmittelbar am Quergang stützenfrei ausgebildet und die ersten Plätze so hoch angeordnet sind, daß sie zumindest von einem Teil des Chassis unterfahrbar sind.A high-bay system, which is operated by one or more shelf-type conveyors designed in accordance with the invention, can be built according to the invention in a particularly space-saving manner if the shelves in their respective first places are designed without supports directly at the cross aisle and the first places are arranged so high that they are at least from part of the chassis are accessible.

Das erfindungsgemäß ausgebildete Regalförderzeug benötigt normalerweise eine Quergang-Breite, die etwa der Abmessung des Regalförderzeugs in Richtung seiner Längsachse ent­spricht. Mit der vorgenannten Ausbildung des Hochregal­lagers kann die für die Fahrbewegungen notwendige Quergang- Breite reduziert werden, indem das Regalförderzeug mit einer entsprechenden Teillänge seines Chassis die ersten Plätze der Regalreihen unterfährt. Statt der Reduzierung der Breite des Quergangs kann mit der erfindungsgemäßen Ausbildung des Hochregallagers im Quergang auch ausreichend Platz für andere Fördermittel geschaffen werden.The shelf conveyor designed according to the invention normally requires a transverse aisle width which corresponds approximately to the dimension of the shelf conveyor in the direction of its longitudinal axis. With the above-mentioned design of the high-bay warehouse, the cross aisle width required for the travel movements can be reduced by the shelf truck with a corresponding partial length of its chassis moving under the first places of the rows of shelves. Instead of reducing the width of the transverse aisle, the invention can be used Training the high-bay warehouse in the aisle also creates enough space for other funding.

Nachstehend ist die Erfindung an Hand einiger in der Zeich­nung wiedergegebener Ausführungsbeispiele beschrieben. In der Zeichnung zeigen:

  • Figur 1 Eine Seitenansicht eines Regelförderzeugs;
  • Figur 2 eine Stirnansicht zu der Darstellung gem. Fig.1;
  • Figur 3 eine Draufsicht auf das Regalförderzeug mit einem Ausschnitt einer Hochregalanlage;
  • Figur 4 eine der Fig.3 entsprechende Ansicht, bei der sich das Regalförderzeug in einer anderen Fahrstellung befindet und
  • Figur 5 eine Seitenansicht des Regalförderzeugs mit einer Ausführungsform der Hochregalanlage in Teilansicht.
The invention is described below with the aid of some exemplary embodiments shown in the drawing. The drawing shows:
  • Figure 1 is a side view of a control truck;
  • Figure 2 is an end view of the representation acc. Fig.1;
  • Figure 3 is a plan view of the shelf conveyor with a section of a high-bay system;
  • Figure 4 is a view corresponding to Figure 3, in which the shelf conveyor is in a different driving position and
  • Figure 5 is a side view of the shelf conveyor with an embodiment of the high rack system in partial view.

Das in den Figuren 1 bis 4 gezeigte Regalförderzeug weist ein Chassis 1 auf, auf dem ein Mast 2 mit einer senkrechten Führrung 3 aufgebaut ist. An der Führung 3 ist eine Last­aufnahme 4 zum Bedienen der Hochregalanlage geführt. Die Lastaufnahme 4 ist mittels eines am Mast 2 befestigten Windenmotors 5, dessen Windenseil 6 über Umlenkrollen 7 am Kopf des Mastes läuft, hebund senkbar.The shelf conveyor shown in Figures 1 to 4 has a chassis 1, on which a mast 2 with a vertical guide 3 is built. Load guide 4 for operating the high-bay racking system is guided on guide 3. The load bearing 4 can be raised and lowered by means of a winch motor 5 attached to the mast 2, the winch cable 6 of which runs over deflection rollers 7 at the head of the mast.

In der gezeigten Ausführung ist der Mast an seinem Kopf an einer ortsfesten Schiene 8 geführt. Er weist zu diesem Zweck zwei beiderseits der Schiene angeordnete Führungs­rollen 9 (Fig. 2) auf, die den Mast beim Verfahren in den Regalgängen führen. Die Stromversorgung des Regalförder­ zeugs erfolgt über die in Fig. 2 erkennbare Schleifleitung 10.In the embodiment shown, the mast is guided on its head on a stationary rail 8. For this purpose, it has two guide rollers 9 (FIG. 2) arranged on both sides of the rail, which guide the mast when moving in the rack aisles. The power supply of the shelf conveyor stuff takes place via the conductor line 10 shown in FIG. 2.

In der gezeigten Ausführung sind am Chassis 1 vier Lauf­räder 10,11 jeweils paarweise angeordnet, von denen die hinteren Laufräder 11 angetrieben sind, beispielsweise mittels Radnabenmotoren. Auf diesen Laufrädern 10,11 läuft das Regalförderzeug in den Regalgängen. Weiterhin sind zur exakten Führung des Regalförderzeugs zu beiden Seiten der Längsachse und im Bereich des äußeren Umrisses des Chassis Führungsrollen 12 angeordnet, die um senkrechte Achsen drehbar sind und mit entsprechenden Seitenschienen 13 (Fig. 2) in den Regalgängen zusammenwirken.In the embodiment shown, four wheels 10, 11 are each arranged in pairs on the chassis 1, of which the rear wheels 11 are driven, for example by means of wheel hub motors. The shelf conveyor runs in the shelf aisles on these wheels 10, 11. Furthermore, guide rollers 12 are arranged for exact guidance of the rack conveyor on both sides of the longitudinal axis and in the area of the outer contour of the chassis, which can be rotated about vertical axes and interact with corresponding side rails 13 (FIG. 2) in the rack aisles.

Am Chassis 1 sind ferner an beiden Längsseiten Stützräder 14 angebracht, die an einer Hubstütze 15 gelagert sind und mittels eines Stellantriebs 16 ein- und ausfahrbar und dabei gleichzeitig heb- und senkbar sind. Die Stützräder 14 sind an horizontalen Achsen, die senkrecht zu den Achsen der Laufräder 10,11 verlaufen, gelagert.On the chassis 1 support wheels 14 are also mounted on both longitudinal sides, which are mounted on a lifting support 15 and can be extended and retracted by means of an actuator 16 and at the same time can be raised and lowered. The support wheels 14 are mounted on horizontal axes which are perpendicular to the axes of the impellers 10, 11.

In Figur 3 ist das Regalförderzeug in einer Übernahme­position gezeigt, in der es sich mit dem seinen Mast 2 einschließenden Teil noch im Regalgang 17 eines Regal­lagers 19, mit seiner Lastaufnahme 4 hingegen bereits im Quergang befindet, um dort Gut 20 zu übernehmen oder abzu­geben. Es ist ferner erkennbar, daß die Führungsrollen 12 an dem im Regalgang 17 befindlichen Ende den seitlichen Führungsschienen 13 anliegen, während die Führungsrollen 12 am anderen Ende frei sind. Beim Einfahren in den Regalgang 17 werden diese Führungsrollen 12 über Einlaufschrägen 21 an die Schienen 13 herangeführt.In Figure 3, the shelf conveyor is shown in a takeover position, in which it is still in the rack aisle 17 of a rack warehouse 19 with the part enclosing its mast 2, but is already in the transverse aisle with its load pickup 4 in order to take over or deliver goods 20 there. It can also be seen that the guide rollers 12 abut the lateral guide rails 13 at the end located in the rack aisle 17, while the guide rollers 12 are free at the other end. When entering the rack aisle 17, these guide rollers 12 are brought up to the rails 13 by means of bevels 21.

Die angetriebenen Räder 11, die sich in diesem Fall im Quergang 18 befinden, sind um eine senkrechte Achse 22 (Fig.1) um einen Winkel von etwa 90 Grad drehbar. Ferner sind die Lagerachsen 23 der angetriebenen Laufräder 11, wie Fig.3 zeigt, etwas außer der Flucht versetzt.The driven wheels 11, which in this case are located in the transverse passage 18, can be rotated about a vertical axis 22 (FIG. 1) by an angle of approximately 90 degrees. Further the bearing axles 23 of the driven impellers 11, as shown in FIG. 3, are offset somewhat apart from the flight.

Zum Umsetzen des Regalförderzeugs in einen anderen Regal­gang oder zum Anfahren eines Zwischenlagers am Ende des Quergangs 18 wird das Regalförderzeug in die in Fig.4 gezeigte Position in den Quergang 18 verfahren. Die ange­triebenen Laufräder 11 werden in die gestrichelt wieder­gegebene Position um 90 Grad gedreht und sind auch in dieser Position wieder geringfügig gegeneinander versetzt. Ferner werden die Stützräder in die in Fig.4 erkennbare Position ausgefahren, so daß sie Bodenkontakt erhalten. Durch weiteres Absenken der Stützräder 14 wird das Chassis 1 angehoben, so daß die nicht angetriebenen Laufräder 10 den Bodenkontakt verlieren und das Regalförderzeug im Quergang 18 auf den angetriebenen Laufrädern 11 und den Stützrädern 14 senkrecht zu den Regalgängen 14 verfahren werden kann.To move the rack conveyor into another rack aisle or to move to an intermediate storage facility at the end of the cross aisle 18, the rack conveyor is moved into the position shown in FIG. 4 into the cross aisle 18. The driven impellers 11 are rotated into the position shown by dashed lines by 90 degrees and are again slightly offset from one another in this position. Furthermore, the support wheels are extended into the position shown in FIG. 4 so that they are in contact with the ground. By further lowering the support wheels 14, the chassis 1 is raised so that the non-driven wheels 10 lose contact with the ground and the rack conveyor can be moved perpendicular to the rack aisles 14 in the transverse aisle 18 on the driven wheels 11 and the support wheels 14.

Um auch im Quergang eine Seitenführung, zumindest aber einen Anfahrschutz zu bilden, können die Führungsrollen an den Ecken des Chassis 1 angeordnet sein, wie dies gestrichelt in Fig.4 angedeutet ist.In order to also form a lateral guide in the transverse aisle, or at least a collision protection, the guide rollers can be arranged at the corners of the chassis 1, as is indicated by the broken line in FIG.

Figur 5 zeigt einen Ausschnitt aus einem Regallager 19 im Bereich des Quergangs 18. Die ersten Plätze 24 des Regal­lagers weisen an ihrer dem Quergang zugekehrten Vorderseite keine Bodenstütze auf, so daß der unterste erste Platz 25 gleichfalls stützenfrei ist. Dadurch wird ein Freiraum geschaffen, so daß das Regalförderzeug beim Verfahren im Quergang 18 diesen Teil der Regale unterfahren kann und im Quergang Platz eingespart wird.FIG. 5 shows a section of a rack storage 19 in the area of the transverse aisle 18. The first places 24 of the rack storage have no floor support on their front facing the transverse aisle, so that the lowest first place 25 is also free of supports. This creates a free space so that the rack conveyor can move under this part of the shelves when moving in the aisle 18 and space is saved in the aisle.

Claims (12)

1. Regalförderzeug für Hochregallager, bestehend aus einem Chassis mit mindestens zwei hintereinander angeordneten Laufrädern, von denen wenigstens eines angetrieben ist, einer unteren Führung für die Fahr­bewegungen in den Regalgängen sowie einem eine Last­aufnahme führenden Mast, dem im Regalgang eine obere Führung zugeordnet ist, wobei das Regalförderzeug über einen Quergang von Regalgang zu Regalgang ver­fahrbar ist, indem es beim Einfahren in den Quergang von den Führungen im Regalgang freikommt und auf dem Boden des Quergangs frei bewegbar ist, dadurch ge­kennzeichnet, daß das Regalförderzeug im Quergang (18) quer zu seiner Längsachse verfahrbar ist, indem zumindest die angetriebenen Laufräder (11) aus der Fahrstellung im Regalgang (17) um eine senkrechte Achse (22) um etwa 90 Grad in eine Fahrstellung im Quergang (18) schwenkbar sind, und daß an dem Chassis (1) zumindest zwei quer zu dessen Längsachse ausfahr­bare Stützräder (14) angeordnet sind, deren nicht­ fluchtende Achsen senkrecht zu den Laufrädern (10, 11) in der vorgenannten Fahrstellung verlaufen und die zusammen mit den angetriebenen Laufrädern (11) das Regalförderzeug beim Fahren im Quergang (18) ab­stützen, während die nicht angetriebenen Laufräder (10) vom Boden des Quergangs abgehoben sind.1. Shelf conveyor for high-bay warehouse, consisting of a chassis with at least two wheels arranged one behind the other, at least one of which is driven, a lower guide for the movement in the rack aisles and a mast carrying a load bearing, which is assigned an upper guide in the rack aisle, wherein the shelf conveyor can be moved from one aisle to another by means of a cross aisle, by being released from the guides in the aisle when entering the cross aisle and being freely movable on the floor of the cross aisle, characterized in that the shelf conveyor in the cross aisle (18) transversely to its longitudinal axis can be moved in that at least the driven wheels (11) can be pivoted from the driving position in the rack aisle (17) about a vertical axis (22) by about 90 degrees into a driving position in the transverse aisle (18), and that at least on the chassis (1) two support wheels (14) extendable transversely to its longitudinal axis, the latter of which are not aligned axes run perpendicular to the wheels (10, 11) in the aforementioned driving position and which, together with the driven wheels (11), support the rack conveyor when driving in the transverse aisle (18), while the non-driven wheels (10) are lifted off the floor of the cross aisle are. 2. Regalförderzeug nach Anspruch 1, dadurch gekenn­zeichnet, daß die Stützräder (14) an Hubstützen (15) angeordnet sind, denen ein Stellantrieb (16) zum Ausheben des Chassis (1) und Freisetzen der nicht angetriebenen Laufräder (10) zugeordnet ist.2. Shelf truck according to claim 1, characterized in that the support wheels (14) are arranged on lifting supports (15), which an actuator (16) for lifting the chassis (1) and releasing the non-driven wheels (10) is assigned. 3. Regalförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Stützräder (14) auf eine Breite ausfahrbar sind, die größer ist als die Breite des Regalgangs (17).3. Rack conveyor according to claim 1 or 2, characterized in that the support wheels (14) are extendable to a width which is greater than the width of the rack aisle (17). 4. Regalförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß wenigstens eines der ausfahrbaren Stützräder (14) angetrieben ist.4. Shelf truck according to one of claims 1 to 3, characterized in that at least one of the extendable support wheels (14) is driven. 5. Regalförderzeug nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Stützräder (14) um eine senkrechte Achse schwenkbar und wenigstens eines von ihnen lenkbar ist.5. A shelf conveyor according to one of claims 1 to 4, characterized in that the support wheels (14) can be pivoted about a vertical axis and at least one of them can be steered. 6. Regalförderzeug nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß wenigstens eines der Laufräder lenkbar ist.6. Shelf truck according to one of claims 1 to 5, characterized in that at least one of the wheels is steerable. 7. Regalförderzeug nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß für die Fahrbewegungen im Quergang eine Linienführung für das Regalförder­zeug vorgesehen ist.7. Shelf conveyor according to one of claims 1 to 6, characterized in that a line for the shelf conveyor is provided for the travel movements in the transverse aisle. 8. Regalförderzeug nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß zu beiden Seiten der Längsachse des Regalförderzeugs einander paarweise zugeordnete angetriebene Laufräder (11) angeordnet sind und daß die Achsen (23) jedes Laufradpaars gegenüber einer fluchtenden Lage versetzt sind.8. Shelf conveyor according to one of claims 1 to 7, characterized in that mutually paired driven wheels (11) are arranged on both sides of the longitudinal axis of the rack conveyor and that the axes (23) of each pair of wheels are offset from an aligned position. 9. Regalförderzeug nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß mindestens ein Laufrad (10, 11) pendelnd gelagert und gegebenenfalls die Pendelbewegung für die Fahrbewegungen im Quergang (18) arretierbar ist.9. A shelf conveyor according to one of claims 1 to 8, characterized in that at least one impeller (10, 11) is oscillating and optionally the pendulum movement for the movements in the transverse aisle (18) can be locked. 10. Regalförderzeug nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, daß an wenigstens zwei etwa in einer Horizontalebene liegenden Ecken über den Umriß des Regalförderzeugs in dieser Ebene vorragende, an senkrechten Achsen gelagerte Leitrollen (12) angeordnet sind.10. A shelf conveyor according to one of claims 1 to 9, characterized in that guide rollers (12) projecting on vertical axes are arranged on at least two corners lying approximately in a horizontal plane above the outline of the shelf conveyor in this plane. 11. Regalförderzeug nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, daß die untere Führung für die Fahrbewegungen in den Regalgängen (17) und/oder im Quergang (18) eine berührungslose Führung, z.B. eine Induktivführung ist.11. A shelf conveyor according to one of claims 1 to 10, characterized in that the lower guide for the travel movements in the rack aisles (17) and / or in the transverse aisle (18) is a contactless guide, e.g. is an inductive guide. 12. Hochregalanlage für Regalförderzeuge nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, daß die Regale (19) an ihren jeweils ersten Plätzen (24) unmittelbar am Quergang (18) stützenfrei ausgebildet sind, so daß sie zumindest von einem Teil des Chassis (1) unterfahrbar sind.12. High-bay system for shelf-mounted conveyors according to one of claims 1 to 11, characterized in that the shelves (19) at their respective first places (24) are formed directly on the transverse aisle (18) so that they are supported by at least part of the chassis ( 1) are accessible.
EP88121657A 1988-02-06 1988-12-24 Shelf-loading device and high rise shelf installation therefor Expired - Lifetime EP0327724B1 (en)

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Application Number Priority Date Filing Date Title
DE3803626A DE3803626A1 (en) 1988-02-06 1988-02-06 SHELVING PRODUCTS AND HIGH SHELVING SYSTEM HERE
DE3803626 1988-02-06

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EP0327724A1 true EP0327724A1 (en) 1989-08-16
EP0327724B1 EP0327724B1 (en) 1992-04-29

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WO2013091325A1 (en) * 2011-12-21 2013-06-27 三一集团有限公司 Stacking machine and guide wheel mechanism thereof
CN103601125A (en) * 2013-12-02 2014-02-26 无锡中鼎物流设备有限公司 Ceiling rail structure of stocker
NL2013152B1 (en) * 2014-07-09 2016-09-13 Stertil Bv Mobile lifting column with moving system, lifting system provided therewith, and method there for.
CN108584799A (en) * 2018-05-06 2018-09-28 张钧泠 A kind of power construction auxiliary device
CN112777527A (en) * 2020-12-30 2021-05-11 浙江中扬物流装备有限公司 Safe type high-speed stacker
CN112811354A (en) * 2021-01-21 2021-05-18 北京极智嘉科技股份有限公司 Transfer robot, warehouse logistics system and cage car transfer method
CN115215266A (en) * 2022-07-22 2022-10-21 东莞建晖纸业有限公司 Roadway type monorail magnetic suspension stacker

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ATE177850T1 (en) 1995-11-30 1999-04-15 Siemag Transplan Gmbh METHOD FOR CONTROLLING A COMPUTER-CONTROLLED SHELF HANDLING DEVICE
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EP0641166A1 (en) * 1992-05-22 1995-03-08 Cool Care Consulting, Inc. Method and apparatus for controlling the ripening of fresh produce
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WO2013091325A1 (en) * 2011-12-21 2013-06-27 三一集团有限公司 Stacking machine and guide wheel mechanism thereof
CN103601125A (en) * 2013-12-02 2014-02-26 无锡中鼎物流设备有限公司 Ceiling rail structure of stocker
NL2013152B1 (en) * 2014-07-09 2016-09-13 Stertil Bv Mobile lifting column with moving system, lifting system provided therewith, and method there for.
CN108584799A (en) * 2018-05-06 2018-09-28 张钧泠 A kind of power construction auxiliary device
CN112777527A (en) * 2020-12-30 2021-05-11 浙江中扬物流装备有限公司 Safe type high-speed stacker
CN112811354A (en) * 2021-01-21 2021-05-18 北京极智嘉科技股份有限公司 Transfer robot, warehouse logistics system and cage car transfer method
CN115215266A (en) * 2022-07-22 2022-10-21 东莞建晖纸业有限公司 Roadway type monorail magnetic suspension stacker
CN115215266B (en) * 2022-07-22 2023-09-08 东莞建晖纸业有限公司 Tunnel type single-rail magnetic suspension stacker

Also Published As

Publication number Publication date
DE3870604D1 (en) 1992-06-04
EP0327724B1 (en) 1992-04-29
DE3803626A1 (en) 1989-08-17
DE3803626C2 (en) 1990-02-15

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