EP0327724B1 - Shelf-loading device and high rise shelf installation therefor - Google Patents
Shelf-loading device and high rise shelf installation therefor Download PDFInfo
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- EP0327724B1 EP0327724B1 EP88121657A EP88121657A EP0327724B1 EP 0327724 B1 EP0327724 B1 EP 0327724B1 EP 88121657 A EP88121657 A EP 88121657A EP 88121657 A EP88121657 A EP 88121657A EP 0327724 B1 EP0327724 B1 EP 0327724B1
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- shelf
- conveying means
- wheels
- passage
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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 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 travel movements in the rack aisles, one leading a load bearing, to which an upper guide is assigned in the rack aisle , and arranged perpendicular to the wheels, extendable transversely to the longitudinal axis of the chassis and lifting the support wheels, wherein the shelf conveyor frees when entering the cross aisle from the guides in the rack aisle and can be moved by means of the support wheels transversely to its longitudinal axis on the floor of the cross aisle.
- 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 that consequently have great mobility and can optionally operate several rack aisles via the cross aisle.
- they have the disadvantage that due to their construction, in particular the free-standing mast, the lifting height and load capacity are limited in order to ensure adequate 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.
- a separate transport trolley is provided to reduce the movement of the racking conveyor, which can be moved both in the racking aisle and in the pre-zone and works as a kind of feeder.
- cornering racking conveyors are known (DE-C-34 25 682, DE-A-34 46 310), which are equipped with steerable wheels or drive wheels. These devices require that the lower and upper guides are also available in the transverse aisle and connected to the guides in the rack aisle via curved sections are. Appropriate switch designs must also be provided. In addition, floor guides in the pre-zone of the rack system are highly undesirable because they make it practically impossible to move other devices in this pre-zone.
- the invention is based on the emergence of creating a shelf conveyor that enables gear change in a simple manner with little design effort.
- this object is achieved in that the driven wheels can be pivoted from the driving position in the rack aisle about a vertical axis by about 90 degrees into a driving position in the transverse aisle, and that two support wheels are provided are, which together with the driven wheels support the rack conveyor when driving in the aisle, while the non-driven wheels are lifted off the floor of the aisle.
- 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 wheels move, at least one of which is driven.
- the driven impeller is turned 90 degrees and the two support wheels are extended.
- 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 drive of the rack conveyor in the rack aisle and in the cross aisle takes place via the same wheels, so that a support wheel with lifting device and a drive are omitted compared to the known device.
- 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 overall to a reduction in investment costs.
- the support wheels which are only effective in the transverse aisle, are advantageously arranged on lifting supports, to which an actuator for lifting the chassis and the non-driven wheels are assigned.
- the support wheels which are ineffective in the rack aisle, are extended using the jacks after entering the cross aisle, lifting the chassis and releasing the non-driven 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.
- the support wheels are arranged at the other end of the chassis, so that there is sufficient directional stability when driving in the transverse aisle and guidance in the transverse aisle is unnecessary.
- the support wheels around a vertical axis is pivotable and at least one of them is steerable. Instead of or in addition to this, it is possible for at least one of the wheels to be steerable.
- Another embodiment of the invention is characterized in that paired wheels are arranged on both sides of the longitudinal axis of the shelf conveyor and that the axes of each wheel pair are offset from one another in an aligned position transverse to the direction of the rack aisle.
- 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 pivoted. This pendulum compensation movement is required, e.g. for those that can be blocked for travel 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.
- the shelf conveyor shown in FIGS. 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 shelf conveyor is powered by the conductor line 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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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, einem eine Lastaufnahme führenden hast, dem im Regalgang eine obere Führung zugeordnet ist, und senkrecht zu den Laufrädern angeordneten, quer zur Längsachse des Chassis ausfahrbaren und dieses anhebenden Stützrädern, wobei das Regalförderzeug beim Einfahren in den Quergang von den Führungen im Regalgang freikommt und mittels der Stützräder quer zu seiner Längsachse auf dem Boden des Quergangs verfahrbar ist.The invention relates to a 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 travel movements in the rack aisles, one leading a load bearing, to which an upper guide is assigned in the rack aisle , and arranged perpendicular to the wheels, extendable transversely to the longitudinal axis of the chassis and lifting the support wheels, wherein the shelf conveyor frees when entering the cross aisle from the guides in the rack aisle and can be moved by means of the support wheels transversely to its longitudinal axis on the floor of the cross aisle.
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 aufgrund 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 that consequently have great mobility and can optionally operate several rack aisles via the cross aisle. However, they have the disadvantage that due to their construction, in particular the free-standing mast, the lifting height and load capacity are limited in order to ensure adequate 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. Bei hoher Umschlagleistung ist zur Reduzierung der Fahrbewegungen des Regalförderzeugs ein gesonderter Transportwagen vorgesehen, der sowohl im Regalgang als auch in der Vorzone verfahrbar ist und als eine Art Zubringer arbeitet. Er weist zu diesem Zweck senkrecht zueinander angeordnete Räder auf, die wahlweise ein- und ausfahrbar sind und entweder auf den Schienen im Regalgang oder auf Schienen im Quergang laufen. Bei üblichen Hochregalanlagen mit bis zu mittlerer Umschlagleistung lohnt sich dieser Bauaufwand nicht.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. In the case of high handling capacity, a separate transport trolley is provided to reduce the movement of the racking conveyor, which can be moved both in the racking aisle and in the pre-zone and works as a kind of feeder. For this purpose, it has wheels arranged perpendicular to one another, which can optionally be retracted and extended and run either on the rails in the rack aisle or on rails in the cross aisle. This construction effort is not worthwhile for conventional high-bay systems with up to medium throughput.
Um das Regalförderzeug selbst von Regalgang zu Regalgang umsetzen zu können, sind kurvenfahrende Regalförderzeuge bekannt (DE-C-34 25 682, DE-A-34 46 310), 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 Bodenführungen in der Vorzone der Regalanlage höchst unerwünscht, weil sie den Verkehr mit anderen Geräten in dieser Vorzone praktisch unmöglich machen.In order to be able to implement the racking conveyor itself from racking aisle to racking aisle, cornering racking conveyors are known (DE-C-34 25 682, DE-A-34 46 310), which are equipped with steerable wheels or drive wheels. These devices require that the lower and upper guides are also available in the transverse aisle and connected to the guides in the rack aisle via curved sections are. Appropriate switch designs must also be provided. In addition, floor guides in the pre-zone of the rack system are highly undesirable because they make it practically impossible to move other devices in this pre-zone.
Es ist deshalb weiterhin schon vorgeschlagen worden, das Regalförderzeug mit schwenkbaren Laufrädern auszubilden (DE-A-23 48 793). Nach dem Ausfahren aus dem Regalgang wird das Chassis des Regalförderzeugs mittels mehrerer Hubvorrichtungen angehoben, so daß die Laufräder vom Erdboden freikommen. Anschließend werden die Laufräder um 90° geschwenkt und das Chassis wieder abgesenkt, so daß nunmehr das Regalförderzeug im Quergang verfahrbar ist. Aufgrund der Anordnung einer Vielzahl von Hubvorrichtungen sowie der entsprechend zugeordneten Steuerungen und aufgrund des für jedes Laufrad notwendigen Schwenkmechanismus ist ein derartiges Regalförderzeug konstruktiv sehr aufwendig.It has therefore already been proposed to design the shelf conveyor with swivel wheels (DE-A-23 48 793). After moving out of the rack aisle, the chassis of the rack conveyor is raised by means of several lifting devices so that the wheels are clear of the ground. Then the wheels are swiveled by 90 ° and the chassis is lowered again so that the rack conveyor can now be moved in the transverse aisle. Due to the arrangement of a large number of lifting devices and the correspondingly assigned controls and due to the swivel mechanism required for each wheel, such a shelf conveyor is very complex in terms of construction.
Bei dem gattungsbildenden eingangs genannten Regalförderzeug (DE-U-66 10 734) sind zusätzlich zu den Laufrädern für die Fahrt im Regalgang drei absenkbare Stützräder für die Fahrt im Quergang vorgesehen. Die Achsen der Stützräder sind senkrecht zu denen der Laufräder angeordnet und eines der Stützräder weist einen Fahrantrieb auf. Das Regalförderzeug wird für den Gangwechsel in die Vorzone gefahren. Dort werden die vorher wirkungslosen Stützräder abgesenkt und dabei das Chassis soweit angehoben, daß sämtliche Laufräder vom Boden freikommen. Ferner ist in der Vorzone - ähnlich wie im Regalgang - eine obere Führung für den Mast angeordnet. Das Regalförderzeug wird dann ausschließlich mittels der Stützräder im Quergang verfahren und dabei am Mast geführt. Die hiermit geschaffene Möglichkeit des Gangwechsels erfordert eine insgesamt relativ aufwendige Fahrwerks- und Antriebskonstruktion.In the generic shelf-type conveyor mentioned at the beginning (DE-U-66 10 734), three lowerable support wheels are provided for traveling in the transverse aisle in addition to the running wheels for traveling in the racking aisle. The axes of the support wheels are arranged perpendicular to those of the running wheels and one of the support wheels has a travel drive. The shelf conveyor is moved into the pre-zone for changing gears. There the previously ineffective support wheels are lowered and the chassis raised so far that all the wheels come free from the ground. Furthermore, an upper guide for the mast is arranged in the front zone - similar to the rack aisle. The shelf conveyor is then only in the transverse aisle by means of the support wheels move and guided on the mast. The possibility of changing gear thus created requires an overall relatively complex chassis and drive construction.
Der Erfindung liegt die Aufgang zugrunde, ein Regalförderzeug zu schaffen, das bei geringem konstruktivem Aufwand in einfacher Weise einen Gangwechsel ermöglicht.The invention is based on the emergence of creating a shelf conveyor that enables gear change in a simple manner with little design effort.
Ausgehend von dem gattungsgemäßen Regalförderzeug (DE-U-66 10 734) wird diese Aufgabe dadurch gelöst, daß 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 zwei Stützräder vorgesehen sind, 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 generic shelf conveyor (DE-U-66 10 734), this object is achieved in that the driven wheels can be pivoted from the driving position in the rack aisle about a vertical axis by about 90 degrees into a driving position in the transverse aisle, and that two support wheels are provided are, which together with the driven wheels support the rack conveyor when driving in the aisle, while the non-driven wheels are lifted off the floor of the aisle.
Mit der erfindungsgemäßen Ausbildung wird für ein Regalförderzeug ein 4-Wege-Prinzip mit einfachsten konstruktiven Mitteln verwirklicht. Das Regalförderzeug ist in senkrecht zueinander verlaufenden Richtungen in den Regalgängen einerseits und im Quergang andererseits verfahrbar. Im Regalgang wird es von den Laufrädern, von denen wenigstens eines angetrieben ist, verfahren. Nach dem Einfahren in den Quergang wird nur das angetriebene Laufrad um 90 Grad gedreht und werden die beiden Stützräder ausgefahren. 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. Der Antrieb des Regalförderzeugs im Regalgang und im Quergang erfolgt über die gleichen Laufräder, so daß gegenüber dem bekannten Gerät ein Stützrad mit Hubeinrichtung und ein Antrieb entfallen. 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 implemented for the shelf conveyor with the simplest constructional means. 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 rack aisle, the wheels move, at least one of which is driven. After entering the cross aisle, only the driven impeller is turned 90 degrees and the two support wheels are extended. 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 drive of the rack conveyor in the rack aisle and in the cross aisle takes place via the same wheels, so that a support wheel with lifting device and a drive are omitted compared to the known device. 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 overall to a reduction in investment costs.
Vorteilhafterweise sind die nur im Quergang wirksamen Stützräder 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 mittels der Hubstützen ausgefahren, wobei sie das Chassis anheben und die nicht angetriebenen Laufräder vom Boden frei setzen.The support wheels, which are only effective in the transverse aisle, are advantageously arranged on lifting supports, to which an actuator for lifting the chassis and the non-driven wheels are assigned. The support wheels, which are ineffective in the rack aisle, are extended using the jacks after entering the cross aisle, lifting the chassis and releasing the non-driven 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 weiteren 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 Richtungsstabilität beim Fahren im Quergang gewährleistet und eine Führung im Quergang entbehrlich 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 arranged at the other end of the chassis, so that there is sufficient directional stability when driving in the transverse aisle and guidance in the transverse aisle is unnecessary. It can also be provided that the support wheels around a vertical axis is pivotable and at least one of them is steerable. Instead of or in addition to this, it is possible for at least one of the wheels to be steerable.
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 quer zur Regalgangrichtung versetzt sind.Another embodiment of the invention is characterized in that paired wheels are arranged on both sides of the longitudinal axis of the shelf conveyor and that the axes of each wheel pair are offset from one another in an aligned position transverse to the direction of the rack aisle.
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 einer 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.To avoid additional loads on the upper guides, which result from an inclined position of the device due to unevenness in the floor, at least one impeller can be pivoted. This pendulum compensation movement is required, e.g. for those that can be blocked for travel 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.
Nachstehend ist die Erfindung an Hand einiger in der Zeichnung wiedergegebener Ausführungsbeispiele beschrieben. In der Zeichnung zeigen:
Figur 1- Eine Seitenansicht eines Regalförderzeugs;
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.
- Figure 1
- A side view of a shelf conveyor;
- Figure 2
- a front view of the representation acc. Fig.1;
- Figure 3
- a plan view of the shelf conveyor with a section of a high-bay system;
- Figure 4
- a view corresponding to Figure 3, in which the shelf conveyor is in a different driving position and
- Figure 5
- a side view of the shelf conveyor with an embodiment of the high-bay 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 Führung 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, heb- und senkbar.The shelf conveyor shown in FIGS. 1 to 4 has a
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 Regalförderzeugs erfolgt über die in Fig.2 erkennbare Schleifleitung.In the embodiment shown, the mast is guided on its head on a
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
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
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
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
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 convert the rack conveyor into another rack aisle or to move to an intermediate storage facility at the end of the
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
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
Claims (11)
- Shelf conveying means for high shelf stores comprising a chassis (1) with at least two wheels (10, 11) arranged successively in the shelf passage direction, whereof at least one (11) is driven, a lower guide (12, 13) for the movements in the shelf passages (17), a mast (2) guiding a load receiving means (4) and with which is associated in the shelf passage (17) an upper guide (8, 9), and support wheels (14) positioned perpendicularly to the wheels (10, 11), extendable at right angles to the longitudinal axis of the chassis (1) and raising the latter, the shelf conveying means coming free from the guides in the shelf passage (17) on passing into the transverse passage (18) and is movable by means of the support wheels (14) at right angles to its longitudinal axis on the floor of the transverse passage (18), characterized in that the driven wheels (11) can be pivoted from the travel position in shelf passage (17) about a vertical axis (22) by approximately 90° into a travel position in the transverse passage (18) and that two support wheels (14) are provided which, together with the driven wheels (11), support the shelf conveying means on travelling in the transverse passage (18), whilst the non-driven wheels (10) are raised from the floor of the transverse passage.
- Shelf conveying means according to claim 1, characterized in that the support wheels (14) are located on lifting supports (15), with which is associated a control drive (16) for lifting the chassis (1) and freeing the non-driven wheels (10).
- Shelf conveying means according to claims 1 or 2, characterized in that the support wheels (14) are extendable over a width which is greater than that of the shelf passage (17).
- Shelf conveying means according to one of the claims 1 to 3, characterized in that at least one of the extendable support wheels (14) is driven.
- Shelf conveying means according to one of the claims 1 to 4, characterized in that the support wheels (14) are pivotable about a vertical axis and at least one of them is steerable.
- Shelf conveying means according to one of the claims 1 to 5, characterized in that at least one of the wheels is steerable.
- Shelf conveying means according to one of the claims 1 to 6, characterized in that there is a linear guide for the shelf conveying means for movements in the transverse passage.
- Shelf conveying means according to one of the claims 1 to 7, characterized in that on either side of the longitudinal axis of the shelf conveying means are provided pairwise associated, driven wheels (11) and that the axes (23) of each wheel pair are displaced with respect to an aligned position at right angles to the shelf passage direction.
- Shelf conveying means according to one of the claims 1 to 8, characterized in that at least one wheel (10, 11) is mounted in a reciprocating manner and optionally the reciprocating movement can be stooped for movements in the transverse passage (18).
- Shelf conveying means according to one of the claims 1 to 9, characterized in that on at least two corners located roughly in a horizontal plane and over the contour of the shelf conveying means are provided guide rollers (12) mounted on vertical spindles and projecting in said plane.
- Shelf conveying means according to one of the claims 1 to 10, characterized in that the lower guide for the movements in the shelf passages (17) and/or in the transverse passage (18) is a non-contacting guide, e.g. an inductive guide.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3803626 | 1988-02-06 | ||
DE3803626A DE3803626A1 (en) | 1988-02-06 | 1988-02-06 | SHELVING PRODUCTS AND HIGH SHELVING SYSTEM HERE |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0327724A1 EP0327724A1 (en) | 1989-08-16 |
EP0327724B1 true EP0327724B1 (en) | 1992-04-29 |
Family
ID=6346801
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP88121657A Expired - Lifetime EP0327724B1 (en) | 1988-02-06 | 1988-12-24 | Shelf-loading device and high rise shelf installation therefor |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0327724B1 (en) |
DE (2) | DE3803626A1 (en) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
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DE3607910A1 (en) * | 1985-12-10 | 1987-06-11 | Hurdis Building Trust Reg | Method and appliances for loading and unloading cargo |
DE3939019C2 (en) * | 1989-11-25 | 1995-11-30 | Dambach Ind Anlagen | Shelf conveyor for high-bay warehouse with locking device to fix the load on the mast |
US5373780A (en) * | 1992-05-22 | 1994-12-20 | Cool Care Consulting, Inc. | Apparatus for controlling the ripening of fresh produce |
EP0806715B1 (en) | 1995-11-30 | 1999-03-17 | Siemag Transplan Gmbh | Method for controlling a computer driven storage shelf device |
DE19732984A1 (en) * | 1997-07-31 | 1998-01-22 | Falkenstein Lager Foerdertech | Device for transporting paper reels, e.g. in paper mills |
CN202518985U (en) * | 2011-12-21 | 2012-11-07 | 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. |
CN106927395A (en) * | 2017-05-12 | 2017-07-07 | 谜米机器人自动化(上海)有限公司 | Automatic guided vehicle and unmanned handling system |
CN108584799B (en) * | 2018-05-06 | 2020-02-14 | 张钧泠 | Auxiliary device for electric power construction |
CN110194342B (en) * | 2019-05-16 | 2021-05-14 | 宁波智千智能工程有限公司 | Cargo carrying device and method for intelligent stereoscopic warehouse |
CN112777527B (en) * | 2020-12-30 | 2022-09-06 | 浙江中扬立库技术有限公司 | 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 |
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 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
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FR1443101A (en) * | 1965-01-22 | 1966-06-24 | Ct D Etudes Et D Applic Des Te | In-store storage and handling process and installation |
CH445379A (en) * | 1966-12-09 | 1967-10-15 | Meag Maschinen Und Eisenbau Ag | Transport device for stacked goods |
DE6610734U (en) * | 1968-04-30 | 1975-12-04 | Siebau | TRANSFER DEVICE FOR SHELVING CONVEYORS IN THE HALL. |
DE2015881A1 (en) * | 1970-04-03 | 1971-10-14 | Bollmann, Ludwig, 7703 Rielasingen | Process and equipment for the internal transport of bulky heavy loads |
US3672307A (en) * | 1970-04-06 | 1972-06-27 | Eaton Corp | Vehicle with coordinated guiding and supporting mechanism |
DE2056233A1 (en) * | 1970-11-16 | 1972-05-25 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Lifting and transport device |
DE2348793A1 (en) * | 1973-09-28 | 1975-04-03 | Eaton Gmbh | Shelf loading transporter with floor wheels - has wide chassis projecting under shelving for improving stability |
US4436183A (en) * | 1981-09-18 | 1984-03-13 | Laurich Trost Victor | Material handling apparatus |
DE3247158A1 (en) * | 1981-12-24 | 1983-07-14 | J. Sandt Ag, 6780 Pirmasens | Shelving arrangement with at least one storage and retrieval unit |
DE3442682A1 (en) * | 1984-11-23 | 1986-06-05 | Audi AG, 8070 Ingolstadt | Independent wheel suspension for motor vehicles |
DE3446310A1 (en) * | 1984-12-19 | 1986-06-26 | Köttgen GmbH & Co KG, 5060 Bergisch Gladbach | Storage and retrieval system |
DE3531444A1 (en) * | 1985-08-14 | 1987-02-26 | Ohra Regalanlagen Gmbh | DEVICE FOR STORING OR EXHAUSTING GOODS IN OR FROM A HONEYCOMB RACK |
FR2603243A1 (en) * | 1986-08-29 | 1988-03-04 | Materiel De Voirie | MOTOR VEHICLE WITH AT LEAST FOUR WHEELS, HAVING A LOW TURNING RADIUS |
-
1988
- 1988-02-06 DE DE3803626A patent/DE3803626A1/en active Granted
- 1988-12-24 DE DE8888121657T patent/DE3870604D1/en not_active Expired - Lifetime
- 1988-12-24 EP EP88121657A patent/EP0327724B1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP0327724A1 (en) | 1989-08-16 |
DE3870604D1 (en) | 1992-06-04 |
DE3803626A1 (en) | 1989-08-17 |
DE3803626C2 (en) | 1990-02-15 |
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