EP0621231A1 - Regalbediengerät - Google Patents

Regalbediengerät Download PDF

Info

Publication number
EP0621231A1
EP0621231A1 EP94101774A EP94101774A EP0621231A1 EP 0621231 A1 EP0621231 A1 EP 0621231A1 EP 94101774 A EP94101774 A EP 94101774A EP 94101774 A EP94101774 A EP 94101774A EP 0621231 A1 EP0621231 A1 EP 0621231A1
Authority
EP
European Patent Office
Prior art keywords
conveyor according
rack
shelf
mast
impeller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP94101774A
Other languages
German (de)
English (en)
French (fr)
Inventor
Bernhard Breitenbach
Dietrich Fichter
Thomas Kirschner
Andreas Krause
Wolfgang Rieger
Thomas Riffert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
C HAUSHAHN AUTOMATIONSSYSTEME GmbH
Original Assignee
C HAUSHAHN AUTOMATIONSSYSTEME GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by C HAUSHAHN AUTOMATIONSSYSTEME GmbH filed Critical C HAUSHAHN AUTOMATIONSSYSTEME GmbH
Publication of EP0621231A1 publication Critical patent/EP0621231A1/de
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track

Definitions

  • the object of the present invention is a rack operating device which can be moved back and forth between several shelves, by means of which the objects to be stored are either stored in the different shelves or removed from the same shelves.
  • a storage and retrieval unit has a vertical mast, which is equipped with a lifting carriage that can be pushed back and forth in the vertical direction. This mast is guided by means of both a lower running rail and an upper running rail, with a motor-driven undercarriage being assigned to it.
  • a motor-driven undercarriage is generally only provided on the bottom side. If the mast carrying the pallet truck has now reached its desired position, the trolley is stopped. However, since this mast has a relatively large length, the mass of the mast thus also causes the mass of the lift truck carried by the mast, both when moving off and when decelerating, to swing out of the mast tip against the approach direction or in the previous direction of travel. This swinging out of the mast tip is guided through the upper running rail, but is not slowed down. As a result of these vibrations occurring when starting up and decelerating the reciprocable mast, the mast must be dimensioned correspondingly stiff, which not only results in corresponding costs, but above all also a relatively high weight of the mast.
  • This invention is based on the object of eliminating the difficulties outlined above and thus also bringing about a reduction in the total weight of the device and also in the drive power.
  • the mast is positively guided both on the bottom side and on the head side and is thus supported on both the lower running rail and the upper running rail.
  • the upper mast tip can no longer deflect when accelerating or decelerating, so that any vibrations are only possible in the area towards the middle of the mast are, and thereby the dimensions of this truck mast can be reduced by two to three times. Since the total weight of such a storage and retrieval device is essentially determined by the weight of the mast, which is often very high, the overall device weight is thus reduced considerably. This reduction in the weight of the device has the further advantage that the drive power of the device can also be reduced.
  • this forced guidance of the mast is effected by means of the undercarriage.
  • the running gear expediently has two drives, one of which then directly or indirectly engages one drive with the upper running rail and the other drive with the lower running rail.
  • the two drives can each have their own motor, in which case both drive motors are controlled synchronously in such a way that the speeds of these two drive motors match exactly.
  • the two drives each have their own drive element, that is to say, for example, their own drive pinion, these two drive elements then being arranged on a drive shaft which is rotated by a common motor.
  • either one or the other option is preferred.
  • chains, toothed belts or toothed racks can be provided on the one hand, and chain or toothed pinions on the other hand.
  • the impeller When driving on the track, especially when cornering, the wheel is moved sideways.
  • the impeller In order to keep the lateral forces occurring in the direction of the impeller axis as low as possible, it is advantageous if the impeller is mounted on a fixed axis alone or together with the latter to a limited extent in its longitudinal direction.
  • the impeller can then be arranged fixedly on a bushing, in particular a linear guide bushing, a sliding bushing or the like, the bushing then being mounted such that it can be displaced to a limited extent on the fixed axis.
  • the impeller is arranged directly on a cylindrical roller bearing and this is then limitedly displaceable on the previously mentioned fixed axis.
  • the toothed pinion is designed in a ring shape and, in addition to its external toothing, also has an internal toothing which is fixedly arranged in the external toothing on the drive shaft Engages hub.
  • a compensating tilting movement of the pinion relative to the associated rack can, however, possibly be achieved in that the hub is at least partially spherical and the pinion is then secured on both sides by guide rings or the like resting on the hub.
  • a secure engagement of the pinion in the associated rack can be achieved according to the invention in that the outer shells of the two guide rings on both sides of the rack on the carrier and ball-bearing guide rollers are arranged, which lie snugly against the carrier with their lateral surfaces.
  • Such a tight fit of the guide rings of the pinion can optionally also be improved by a counter roller arranged on a bearing of the drive shaft by means of a bracket or the like, which is under the action of a spring and thus constantly on the side of the carrier facing away from the pinion is present.
  • the conveyor 1 shown diagrammatically in FIG. 1 consists of a mast designated by 2 and a lifting truck 4 belonging to it, which can be raised and lowered in the vertical direction 3. As can be seen in particular from FIG. 2, this mast 2 is supported by means of a Impeller 5 on a track 7 shown only schematically and anchored to the floor 6.
  • this mast 2 is assigned a drive shaft 9 which is oriented in parallel and is driven by a motor 10.
  • the two pinions designated with 13 and 14 are arranged, each of which engages in corresponding racks 15 and 16, which are shown only schematically and are shown on the one hand on the bottom and on the other hand on the head side.
  • two guide rollers, designated 18, are arranged on the head 17 of the mast 2, which cause this mast head 17 to be supported on both sides transversely to the longitudinal axis of the upper rack 15.
  • This common drive shaft 9, which is put into circulation by the motor 10, and the two pinions 13 and 14 ensure that both the head 17 of the mast 2 and the base 19 thereof are advanced at the same speed and their movement again in the same Way is delayed.
  • this means that the mast head 17 can no longer swing out in the direction of travel both when accelerating and when decelerating the conveyor 1.
  • the dimensions of both the conveyor mast 2 and the drive device can thus be significantly reduced.
  • FIG. 4 shows a first example of the axially displaceable mounting of the impeller 5.
  • a fixed wedge axis 20 is provided, the two ends 21 of which are mounted in fixed bushings 22.
  • a similar design is provided, in which the same components are identified by the same reference numerals.
  • a slide bush designated 28 is provided, which is connected via a feather key 29 to the fixed axis 20, which is secured by an axle holder 30, for rotation is.
  • the axial displacement of the impeller 5 in the direction of the arrow 27 also takes place in this case between the sliding bush 28 and the wedge axis 20.
  • the impeller 5 is seated on a cylindrical roller bearing 31 which is mounted directly on the axis 20.
  • the rotary movement takes place between this axis 20 and the outer ring of the cylindrical roller bearing 31, the axial displacement of the impeller 5 in the direction of arrow 27, however, between the axis 5 and the cylindrical rollers of the cylindrical roller bearing 31.
  • this hub 38 has the shape of a ball flattened at the top and bottom, the individual teeth of the external toothing 36 having an arcuate shape.
  • This design allows the associated lower pinion 14 with respect to this hub 38 a Can perform tilting movement in the direction of the double arrow 39 without coming out of engagement. However, this ensures that the toothed pinion 14 is securely meshed with the toothed rack 16 at any time even if the associated toothed rack 16 is inclined.
  • this pinion 14 is covered on both sides by a guide ring 40, which also partially extends around the top or bottom of the hub 38 and with the other guide ring 40 through the pinion 14 through tie rod 41 is connected.
  • Ball-bearing-mounted guide rollers 43 are also arranged on the cylindrical outer surfaces 42 of these two guide rings 40, which rest on both sides of the associated toothed rack 16 on the carrier 33 and roll on the latter.
  • a secure contact of these two guide rollers 43 on the carrier 33 is also ensured by a counter roller 45 loaded by a spring 44, which is arranged on a bracket 47 fastened to a bearing 46 of the drive shaft 9 and on the side of the carrier 33 facing away from the pinion 14 is present.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Transmission Devices (AREA)
EP94101774A 1993-03-20 1994-02-07 Regalbediengerät Withdrawn EP0621231A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE9304210U DE9304210U1 (de) 1993-03-20 1993-03-20 Regalbediengerät
DE9304210U 1993-03-20

Publications (1)

Publication Number Publication Date
EP0621231A1 true EP0621231A1 (de) 1994-10-26

Family

ID=6890967

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94101774A Withdrawn EP0621231A1 (de) 1993-03-20 1994-02-07 Regalbediengerät

Country Status (9)

Country Link
EP (1) EP0621231A1 (hu)
JP (1) JPH06321315A (hu)
KR (1) KR940021409A (hu)
CZ (1) CZ61594A3 (hu)
DE (1) DE9304210U1 (hu)
HU (1) HUT69877A (hu)
IL (1) IL109024A0 (hu)
SK (1) SK32694A3 (hu)
TW (1) TW240212B (hu)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19534291A1 (de) * 1995-09-15 1997-03-20 Axel Dipl Ing Bitsch Regalanlage mit an Schienen geführtem Regalbediengerät
AT500378B1 (de) * 2001-06-13 2006-12-15 Tgw Transportgeraete Gmbh Regalbediengerät
EP2261164A3 (de) * 2009-06-13 2011-12-07 Werner Herz Führungseinrichtung mit Mitten- und Geradlaufregelung für einen mit Laufrädern versehenen Kran auf einer Kranbahn mit Kranschienen
CN108100546A (zh) * 2016-11-25 2018-06-01 深圳市今天国际智能机器人有限公司 高速堆垛机及其防抖动驱动机构
WO2021156062A1 (de) * 2020-02-04 2021-08-12 Witron Logistik + Informatik Gmbh Lagerfahrzeug mit raupenantrieb

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19608293C2 (de) * 1996-02-21 2002-11-14 Siemens Ag Handhabungsgerät
DE19806198B4 (de) * 1998-02-04 2004-09-23 Siemens Ag Gassenwechseleinrichtung für Regallager
DE10216014B4 (de) * 2002-04-11 2006-04-27 Knapp Logistik Automation Ges.M.B.H. Verfahrbares Regalbediengerät vorzugsweise in einer Kommissionieranlage
JP5453986B2 (ja) * 2009-07-30 2014-03-26 村田機械株式会社 スタッカークレーン
DE202015004370U1 (de) * 2015-06-15 2016-09-19 Winkel Gmbh Regalbediengerät mit einem Hubmast
CN114031020A (zh) * 2021-11-19 2022-02-11 内蒙古电力（集团）有限责任公司内蒙古电力经济技术研究院分公司 一种带有巡检功能的输电线路带电作业应急平台

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE345700C (hu) *
CH340599A (de) * 1956-03-23 1959-08-31 Rueegger & Cie Ag Maschf Einrichtung zur selbsttätigen elektrischen Ausgleichssteuerung der elektrischen Antriebsmotore von auf verschiedenen Laufschienen fahrenden Fahrwerken eines fahrbaren Gerätes, insbesondere eines Kranes
DE1120658B (de) * 1957-09-21 1961-12-28 Maschf Augsburg Nuernberg Ag Geradlaufeinrichtung fuer Verladebruecken
US3189205A (en) * 1962-11-08 1965-06-15 Yale & Towne Inc Stacking mechanism
FR1457605A (fr) * 1965-09-21 1966-01-24 M E T O Soc D Applic Mecanique Système mécanique de synchronisation du mouvement d'avance des parties hautes et basses d'un appareil de levage de grande hauteur
DE2035455A1 (hu) * 1969-07-22 1971-02-04
FR1604013A (hu) * 1968-08-23 1971-06-28
CH518862A (de) * 1970-01-19 1972-02-15 Von Roll Ag Regalbedienungsmaschine
CH518863A (de) * 1970-01-19 1972-02-15 Von Roll Ag Regalbedienungsmaschine
US3840131A (en) * 1972-12-11 1974-10-08 Supreme Equip & Syst Storage and retrieval system
DE2319187A1 (de) * 1973-04-16 1974-10-31 Abus Krantechnik Werner Buehne Laufradantrieb
DE2835688A1 (de) * 1978-08-14 1980-02-21 Mannesmann Ag Verfahren und einrichtung zum messen des fahrverhaltens von schienengebundenen fahreinrichtungen, insbesondere von kraenen, sowie zum steuern und regeln derselben
GB2096080A (en) * 1981-04-07 1982-10-13 Surman Ind Ltd Improvement relating to load- carrying carriages which run on tracks

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD261925A3 (de) * 1986-12-24 1988-11-16 Werkzeugmaschinenbau Fz Schienengefuehrte und mit einem regal verbundene beschickungsvorrichtung
DE3717751A1 (de) * 1987-05-26 1988-12-15 Man Lager & Systemtechnik Einrichtung zum vermindern bzw. aufheben des biegemoments in einem oder mehreren masten eines verfahrbaren hebezeugs

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE345700C (hu) *
CH340599A (de) * 1956-03-23 1959-08-31 Rueegger & Cie Ag Maschf Einrichtung zur selbsttätigen elektrischen Ausgleichssteuerung der elektrischen Antriebsmotore von auf verschiedenen Laufschienen fahrenden Fahrwerken eines fahrbaren Gerätes, insbesondere eines Kranes
DE1120658B (de) * 1957-09-21 1961-12-28 Maschf Augsburg Nuernberg Ag Geradlaufeinrichtung fuer Verladebruecken
US3189205A (en) * 1962-11-08 1965-06-15 Yale & Towne Inc Stacking mechanism
FR1457605A (fr) * 1965-09-21 1966-01-24 M E T O Soc D Applic Mecanique Système mécanique de synchronisation du mouvement d'avance des parties hautes et basses d'un appareil de levage de grande hauteur
FR1604013A (hu) * 1968-08-23 1971-06-28
DE2035455A1 (hu) * 1969-07-22 1971-02-04
CH518862A (de) * 1970-01-19 1972-02-15 Von Roll Ag Regalbedienungsmaschine
CH518863A (de) * 1970-01-19 1972-02-15 Von Roll Ag Regalbedienungsmaschine
US3840131A (en) * 1972-12-11 1974-10-08 Supreme Equip & Syst Storage and retrieval system
DE2319187A1 (de) * 1973-04-16 1974-10-31 Abus Krantechnik Werner Buehne Laufradantrieb
DE2835688A1 (de) * 1978-08-14 1980-02-21 Mannesmann Ag Verfahren und einrichtung zum messen des fahrverhaltens von schienengebundenen fahreinrichtungen, insbesondere von kraenen, sowie zum steuern und regeln derselben
GB2096080A (en) * 1981-04-07 1982-10-13 Surman Ind Ltd Improvement relating to load- carrying carriages which run on tracks

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19534291A1 (de) * 1995-09-15 1997-03-20 Axel Dipl Ing Bitsch Regalanlage mit an Schienen geführtem Regalbediengerät
DE19534291C2 (de) * 1995-09-15 2002-02-21 Mannesmann Ag Regalanlage mit an Schienen geführtem Regalbediengerät
AT500378B1 (de) * 2001-06-13 2006-12-15 Tgw Transportgeraete Gmbh Regalbediengerät
US7281608B2 (en) 2001-06-13 2007-10-16 TGW Transportgeräte GmbH Loading/unloading device for shelving
EP2261164A3 (de) * 2009-06-13 2011-12-07 Werner Herz Führungseinrichtung mit Mitten- und Geradlaufregelung für einen mit Laufrädern versehenen Kran auf einer Kranbahn mit Kranschienen
CN108100546A (zh) * 2016-11-25 2018-06-01 深圳市今天国际智能机器人有限公司 高速堆垛机及其防抖动驱动机构
WO2021156062A1 (de) * 2020-02-04 2021-08-12 Witron Logistik + Informatik Gmbh Lagerfahrzeug mit raupenantrieb

Also Published As

Publication number Publication date
HUT69877A (en) 1995-09-28
CZ61594A3 (en) 1994-10-19
SK32694A3 (en) 1994-11-09
JPH06321315A (ja) 1994-11-22
IL109024A0 (en) 1994-06-24
KR940021409A (ko) 1994-10-17
DE9304210U1 (de) 1993-06-17
HU9400804D0 (en) 1994-06-28
TW240212B (hu) 1995-02-11

Similar Documents

Publication Publication Date Title
EP0120979B1 (de) Schienengebundenes Fördersystem
DE202008004190U1 (de) Roll- oder Gelenkanordnung
EP1375409B1 (de) Scherenhubvorrichtung für eine Rollenbahnförderanlage
EP0621231A1 (de) Regalbediengerät
DE1162538B (de) Mehrstoeckige Kraftfahrzeuggarage mit Aufzug und Fingerrostparkvorrichtung
DE2638325C2 (hu)
DE2556691A1 (de) Foerdervorrichtung, insbesondere zum heben von lasten
EP1840056B1 (de) Einrichtung zum Auf- und Abladen einer Befülleinrichtung quer zu deren Transportrichtung
EP0367913B1 (de) Vorrichtung zur Einlagerung und Entnahme von Werkstücken bei einem Lagerregal
DE2301581A1 (de) Foerderer mit schraubspindelantrieb
DE2635197A1 (de) Scherenhebetisch
DE2146960A1 (de) Laufkran, Fordergestell od dgl, dessen Untergestell mit gummibereiften Radern versehen ist
DE102008029451B4 (de) Vorrichtung zur automatischen Entnahme von Gegenständen aus Behältern
DE4325446C2 (de) Regalbediengerät mit Gegengewichtsanordnung und einem einzigen Antriebsmittel für Hub- und Senkbewegung
DE3407099A1 (de) Einrichtung zum transport von beispielsweise paletten mittels kettentrieb
DE3921123A1 (de) Trolleyfahrzeug zum ein- und auslagern von speicherguttragenden ladungstraegern
EP0379060A1 (de) Kippvorrichtung zum Entleeren eines Müllbehälters, insbesondere für Müllfahrzeuge
DE2449755B2 (de) Transporthubwagen fuer schwere lasten
DE4319846A1 (de) Scherenhubtisch
DE102020206306A1 (de) Fahrerloses Transportfahrzeug mit einer Nutzlast-Hubvorrichtung.
DE2648251A1 (de) Lastkraftfahrzeug mit einer hebeeinrichtung
DE3739136A1 (de) Regalfoerderzeug
EP3572056B1 (de) Tragenlagerungseinrichtung
DE2622792A1 (de) Hubschlitten mit lastaufnahmeeinrichtung fuer industrielle stapelfahrzeuge
DE202007010824U1 (de) Vorrichtung zur automatischen Entnahme von Gegenständen aus Behältern

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH DE ES FR GB IT LI NL SE

17P Request for examination filed

Effective date: 19941203

17Q First examination report despatched

Effective date: 19961022

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 19970304