EP2550228A1 - Rack loader having a vertical mast - Google Patents

Rack loader having a vertical mast

Info

Publication number
EP2550228A1
EP2550228A1 EP11715674A EP11715674A EP2550228A1 EP 2550228 A1 EP2550228 A1 EP 2550228A1 EP 11715674 A EP11715674 A EP 11715674A EP 11715674 A EP11715674 A EP 11715674A EP 2550228 A1 EP2550228 A1 EP 2550228A1
Authority
EP
European Patent Office
Prior art keywords
chassis
mast
rail
storage
wheels
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.)
Granted
Application number
EP11715674A
Other languages
German (de)
French (fr)
Other versions
EP2550228B1 (en
Inventor
Markus Riedl
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.)
Riedl GmbH
Original Assignee
Riedl GmbH
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Filing date
Publication date
Application filed by Riedl GmbH filed Critical Riedl GmbH
Publication of EP2550228A1 publication Critical patent/EP2550228A1/en
Application granted granted Critical
Publication of EP2550228B1 publication Critical patent/EP2550228B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

Definitions

  • the invention relates to a rail-guided storage and retrieval unit for driving and positioning in a rack with a vertical mast and a lower and upper chassis, which are each guided on a lower and upper rail, which may consist of straight and curved rail sections in plan.
  • Traction drives which transfer the horizontal drive forces positively - by means of gear and rack or toothed belt - on the stacker crane.
  • the chassis is space-saving short, the horizontal drive forces are usually initiated both at the mast base and the mast head.
  • the form-locking drives used are also a source of noise that can interfere with certain applications.
  • the storage and retrieval performance of a storage and retrieval unit depends, among other things, on the achievable accelerations and speeds of the storage and retrieval unit. A performance increase by means of higher - -
  • Accelerations and higher speeds thus means a higher energy input.
  • the object of the invention is to provide a curvilinear
  • Storage and retrieval unit that enables accurate positioning of the stacker crane along a lower and upper rail with less construction costs, less noise and significantly lower energy consumption during operation.
  • the two running gears are provided with wheels rolling on vertical rail side surfaces, which are pressed against the rail and can transmit horizontal drive forces by friction.
  • these trolleys are mounted transversely to the rail parallelverschastlich mast base and mast head, with mast base and mast head are both tied by their own side guide wheels to the rail center.
  • the entire weight of the stacker crane is removed via one or more wheels with congruent horizontal axis of rotation of the mast base on the lower rail.
  • An essential feature of the invention is that at mast base and mast head ever a chassis is articulated, which carries on both sides of the running rail wheels with vertical axes of rotation, which under bias on the
  • Unroll rail side surfaces The axes of rotation of two of these wheels per chassis are firmly connected to the chassis, while the remaining wheels or the rest of the wheel are mounted transversely to the rail movable on the chassis or is. At least one of these wheels per chassis is driven and due to the bias can transfer horizontal drive forces tangentially by friction to a side surface of the rail.
  • the vertical arrangement of the wheel axles has the advantage that when cornering neither friction losses nor wheel and rail wear occur due to friction in the Radaufstandsthesis, as would be the case with horizontal axles. While the immovable wheels determine the position of the chassis relative to the rail in the floor plan, the sliding wheels
  • both suspensions are transversely displaceable relative to the rail relative to the mast base and mast head substantially parallel. This feature allows the trolleys, following a rail turn, to move across the rail without moving the mast foot or mast head also across the rail.
  • both trolleys relative to the mast base or the mast head in a normal plane on the mast axis transversely to the rail are approximately parallelverschieling articulated by a sliding joint on the mast head or on Mastfuß.
  • the mast base and mast head are always guided centrally to the rail by a pair of side guide wheels. This ensures that the position of the load-carrying device in a shelf curve is approximately the same relative to the shelf as in a straight line
  • the dead weight of the storage and retrieval unit is transmitted via one or more wheels directly from the mast base on the approximately horizontal surface of the lower rail, wherein the or
  • Impellers have a common horizontal axis.
  • several narrow wheels are used instead of a wide impeller because - -
  • the upper chassis may have a corresponding impeller.
  • the storage and retrieval unit according to the invention has an electrical energy store, which can significantly reduce the operating and construction costs of a shelf storage with the storage and retrieval unit according to the invention. Due to the moving memory, a portion of the kinetic energy to be converted during braking can be temporarily stored on the storage and retrieval unit in order to then use the energy again for accelerating. In this case, the heat loss is minimized.
  • This inventive concept of powering the vehicle with an electrical energy storage on the vehicle which can be charged and discharged very quickly and is large enough to a large part of the fed back from the engines
  • the nimble energy storage leads, in addition to the reduction of energy consumption, to a smoothing of the external energy supply - power supply,
  • Components are sized for a much lower power output.
  • the not inconsiderable volume of the energy storage in otherwise unused cavities of the structure, for example, the mast be accommodated so as to realize a particularly space-saving design.
  • the described solution according to the invention has the following advantages over known solutions: It requires neither racks nor toothed belt along the alternately curved roadway.
  • the transmission of driving forces via friction wheels avoids noise.
  • the use of a running on the stacker crane nimble storage which is designed so that it can absorb the energy returned during braking as much as possible, saves costs for the construction and operation of an automatic storage operated by the storage and retrieval unit.
  • FIG. 1 An advantageous embodiment of the invention is shown in the drawings.
  • the drawings depict top views of a horizontal section through a single-mast stacker operating on a straight rail section ( Figures la and lb) and on a curved rail section ( Figures 2a and 2b).
  • the upper and lower chassis are designed essentially the same. Therefore, the various elements of both suspensions are designated by the same reference numerals.
  • FIGS. 1a, 2a The illustration applies to the viewing direction downwards (lower rail, lower chassis, FIGS. 1a, 2a) and likewise to the viewing direction upwards (upper rail, upper chassis, FIGS. 1b, 2b).
  • the figures la, lb, 2a and 2b show how the immovably mounted in the chassis 3 wheels 2 abut due to the prestressed springs 5 in the straight and curved rail section on the rail 1 and that the
  • Mast base 11, mast 12 and mast head 11 in plan view the direction of the tangent to a midpoint between the wheel axles point of the rail circle.
  • the impeller 9 is arranged with the side guide wheels 8 in this middle of the mast base 11 and mast head 11, so that the rolling direction of the impeller 9 deviates as little as possible from the direction of movement of the mast.
  • the displaceably mounted wheels 4 are also always in contact with the rail 1.
  • the biasing springs 5 yield slightly, so that the axes of rotation 15 of the sliding wheels can adapt to the changed rail geometry.
  • All pressed wheels 2, 4 can be driven and horizontal
  • Pressing forces of the wheels 2.4 are set so that even with faster retraction into a curved track segment 1 lifting one of the pressed wheels 2, 4 is avoided.
  • Wheel rolling on rail side surface, mounted on in the chassis transverse to the rail slidable axis of rotation and braced with spring against the chassis
  • Handlebar that connects a wheel 4 horizontally displaceable with the chassis 3

Abstract

The invention relates to a rack loader having a vertical mast (12) and a first driven chassis (3) associated with the foot of the mast (11), said chassis being guided on a lower rail (1), and a second driven chassis (3) associated with the head of the mast (11), said second chassis being guided on an upper rail (1), characterized in that each chassis (3) comprises at least three wheels (2, 4) rolling on the two outer rail surfaces and having vertical axes of rotation (14, 15), wherein two of the axes of rotation (14) are separated from each other in the direction of travel and fixedly connected to the chassis (3), the axis of rotation or axes of rotation (15) of the remaining wheels or the remaining wheel (4) are displaceably mounted transversely to the rail (1) on the chassis and clamped against the chassis, so that the wheels (2,4) are pressed against the rail (1), wherein at least one of the wheels (2, 4) of each chassis can be driven.

Description

Regalbediengerät mit vertikalem Mast  Storage and retrieval machine with vertical mast
Die Erfindung betrifft ein schienengeführtes Regalbediengerät zum Fahren und Positionieren in einem Regal mit einem vertikalen Mast und je einem unteren und oberen Fahrwerk, die auf je einer unteren und oberen Fahrschiene geführt werden, die im Grundriss aus geraden und gekrümmten Schienenabschnitten bestehen können. The invention relates to a rail-guided storage and retrieval unit for driving and positioning in a rack with a vertical mast and a lower and upper chassis, which are each guided on a lower and upper rail, which may consist of straight and curved rail sections in plan.
Bekannte Regalbediengeräte verwenden feststehende oder mitfahrende Known storage and retrieval machines use stationary or moving
Fahrantriebe, welche die horizontalen Antriebskräfte formschlüssig - mittels Zahnrad und Zahnstange oder Zahnriemen - auf das Regalbediengerät übertragen. Damit das Fahrwerk platzsparend kurz ist, werden in der Regel die horizontalen Antriebskräfte sowohl am Mastfuß als auch am Mastkopf eingeleitet. Diese Lösungen bedingen, insbesondere wenn die Bahn des Fahrzeugs mehrere Kurven mit wechselndem Krümmungsvorzeichen und unterschiedlicher Krümmung hat, einen erheblichen Aufwand. Traction drives, which transfer the horizontal drive forces positively - by means of gear and rack or toothed belt - on the stacker crane. Thus, the chassis is space-saving short, the horizontal drive forces are usually initiated both at the mast base and the mast head. These solutions require, especially if the track of the vehicle has several curves with alternating curvature and different curvature, a considerable effort.
Die verwendeten formschlüssigen Antriebe sind außerdem eine Lärmquelle, die bei bestimmten Anwendungen stören kann. The form-locking drives used are also a source of noise that can interfere with certain applications.
Die Offenlegungsschrift DE 10 2004 007 411 AI beschreibt eine andere Lösung für die Fahrantriebe eines Regalbediengeräts, indem die Fahrwerke am Fuß und Kopf des Masts nicht formschlüssig, sondern als Reibradantriebe ausgeführt sind. Die beschriebene Lösung ist aber nicht geeignet, ein Regalbediengerät auf gekrümmter Bahn spielfrei genau zu bewegen und zu positionieren. The published patent application DE 10 2004 007 411 AI describes another solution for the travel drives of a storage and retrieval device by the chassis at the foot and head of the mast are not form-fitting, but designed as a friction wheel. However, the described solution is not suitable to accurately move and position a storage and retrieval unit on a curved path without play.
Beim Betrieb eines Regalbediengeräts werden ständig Massen beschleunigt und wieder abgebremst. Die Ein- und Auslagerleistung eines Regalbediengeräts hängt unter anderem von den erzielbaren Beschleunigungen und Geschwindigkeiten des Regalbediengeräts ab. Eine Leistungssteigerung mittels höherer - - When operating a storage and retrieval unit masses are constantly accelerated and decelerated again. The storage and retrieval performance of a storage and retrieval unit depends, among other things, on the achievable accelerations and speeds of the storage and retrieval unit. A performance increase by means of higher - -
Beschleunigungen und höherer Geschwindigkeiten bedeutet somit einen höheren Energieeinsatz. Accelerations and higher speeds thus means a higher energy input.
Aufgabe der Erfindung ist die Schaffung eines kurvengängigen The object of the invention is to provide a curvilinear
Regalbediengeräts, das mit geringerem Bauaufwand, geringerer Lärmentwicklung und wesentlich geringerem Energiebedarf im Betrieb ein genaues Positionieren des Regalbediengeräts längs je einer unteren und oberen Fahrschiene ermöglicht. Storage and retrieval unit that enables accurate positioning of the stacker crane along a lower and upper rail with less construction costs, less noise and significantly lower energy consumption during operation.
Gelöst wird die der Erfindung zugrunde liegende Aufgabe durch ein The problem underlying the invention is solved by a
Regalbediengerät der im Anspruch 1 angegebenen Art, vorteilhaft erweitert durch die Merkmale der Ansprüche 2 bis 6. Storage and retrieval unit of the type specified in claim 1, advantageously extended by the features of claims 2 to 6.
Bei dem erfindungsgemäßen Regalbediengerät, das auf geraden und gekrümmten Schienenabschnitten in einem Regal fährt und positioniert, sind die beiden Fahrwerke mit auf vertikalen Schienenseitenflächen abrollenden Rädern versehen, die an die Schiene angepresst werden und horizontale Antriebskräfte durch Reibung übertragen können. Weiterhin sind diese Fahrwerke quer zur Schiene parallelverschieblich an Mastfuß und Mastkopf angelenkt, wobei Mastfuß und Mastkopf jeweils beide durch eigene Seitenführungsräder an die Schienenmitte gefesselt sind. Vorzugsweise wird das ganze Gewicht des Regalbediengeräts über ein oder mehrere Laufräder mit deckungsgleicher horizontaler Drehachse vom Mastfuß auf die untere Fahrschiene abgetragen. In the storage and retrieval unit according to the invention, which travels and positions on straight and curved rail sections in a rack, the two running gears are provided with wheels rolling on vertical rail side surfaces, which are pressed against the rail and can transmit horizontal drive forces by friction. Furthermore, these trolleys are mounted transversely to the rail parallelverschastlich mast base and mast head, with mast base and mast head are both tied by their own side guide wheels to the rail center. Preferably, the entire weight of the stacker crane is removed via one or more wheels with congruent horizontal axis of rotation of the mast base on the lower rail.
Ein wesentliches Merkmal der Erfindung besteht darin, dass an Mastfuß und Mastkopf je ein Fahrwerk angelenkt ist, welches zu beiden Seiten der Fahrschiene Räder mit vertikalen Drehachsen trägt, die unter Vorspannung auf den An essential feature of the invention is that at mast base and mast head ever a chassis is articulated, which carries on both sides of the running rail wheels with vertical axes of rotation, which under bias on the
Schienenseitenflächen abrollen. Die Drehachsen von jeweils zwei dieser Räder je Fahrwerk sind fest mit dem Fahrwerk verbunden, während die restlichen Räder oder das restliche Rad quer zur Schiene beweglich auf dem Fahrwerk gelagert sind bzw. ist. Wenigstens eines dieser Räder je Fahrwerk ist angetrieben und kann aufgrund der Vorspannung horizontale Antriebskräfte tangential durch Reibung auf eine Seitenfläche der Schiene übertragen. Die vertikale Anordnung der Radachsen hat den Vorteil, dass bei Kurvenfahrt weder Reibungsverluste noch Rad- und Schienenverschleiß durch Bohrreibung in der Radaufstandsfläche auftreten, wie das bei horizontalen Radachsen der Fall wäre. Während die unverschieblichen Räder die Lage des Fahrwerks relativ zur Schiene im Grundriss bestimmen, können die verschieblichen Räder Unroll rail side surfaces. The axes of rotation of two of these wheels per chassis are firmly connected to the chassis, while the remaining wheels or the rest of the wheel are mounted transversely to the rail movable on the chassis or is. At least one of these wheels per chassis is driven and due to the bias can transfer horizontal drive forces tangentially by friction to a side surface of the rail. The vertical arrangement of the wheel axles has the advantage that when cornering neither friction losses nor wheel and rail wear occur due to friction in the Radaufstandsfläche, as would be the case with horizontal axles. While the immovable wheels determine the position of the chassis relative to the rail in the floor plan, the sliding wheels
kinematischen Zwängen folgen, etwa bei der Kurvenfahrt oder kinematic constraints follow, such as when cornering or
Dickenabweichungen der Schiene. Thickness deviations of the rail.
Ein weiteres bevorzugtes Merkmal der Erfindung besteht darin, dass beide Fahrwerke quer zur Schiene relativ zum Mastfuß und Mastkopf im Wesentlichen parallelverschieblich sind. Diese Eigenschaft ermöglicht es, dass die Fahrwerke, einer Schienenkurve folgend, sich quer zur Schiene verschieben können, ohne den Mastfuß bzw. Mastkopf ebenfalls quer zur Schiene zu verschieben. Another preferred feature of the invention is that both suspensions are transversely displaceable relative to the rail relative to the mast base and mast head substantially parallel. This feature allows the trolleys, following a rail turn, to move across the rail without moving the mast foot or mast head also across the rail.
Vorzugsweise sind hierbei beide Fahrwerke gegenüber dem Mastfuß bzw. dem Mastkopf in einer Normalebene auf der Mastachse quer zur Schiene etwa parallelverschieblich durch ein Schiebegelenk am Mastkopf bzw. am Mastfuß angelenkt. Preferably, both trolleys relative to the mast base or the mast head in a normal plane on the mast axis transversely to the rail are approximately parallelverschieblich articulated by a sliding joint on the mast head or on Mastfuß.
In einer bevorzugten Ausführungsform der Erfindung werden der Mastfuß und Mastkopf durch je ein Paar von Seitenführungsrädern stets mittig zur Schiene geführt. Damit ist sichergestellt, dass die Position des Lastaufnahmemittels in einer Regalkurve relativ zum Regal etwa gleich ist wie in einem geraden In a preferred embodiment of the invention, the mast base and mast head are always guided centrally to the rail by a pair of side guide wheels. This ensures that the position of the load-carrying device in a shelf curve is approximately the same relative to the shelf as in a straight line
Regalabschnitt. Das vereinfacht die Regalkonstruktion und gestattet eine bessere Ausnutzung von Lagerplatz in Kurven. Shelf section. This simplifies the shelf construction and allows better utilization of storage space in curves.
Mit Vorteil ist es vorgesehen, dass das Eigengewicht des Regalbediengeräts über eines oder mehrere Laufräder direkt vom Mastfuß auf die etwa horizontale Oberfläche der unteren Fahrschiene übertragen wird, wobei das oder die It is advantageously provided that the dead weight of the storage and retrieval unit is transmitted via one or more wheels directly from the mast base on the approximately horizontal surface of the lower rail, wherein the or
Laufräder eine gemeinsame horizontale Achse aufweisen. Vorteilhafterweise werden mehrere schmale Räder anstelle eines breiten Laufrades verwendet, weil - - Impellers have a common horizontal axis. Advantageously, several narrow wheels are used instead of a wide impeller because - -
dadurch die bei Kurvenfahrt auftretende Bohrreibung in der Radaufstandsfläche verringert wird. Auch das obere Fahrwerk kann ein entsprechendes Laufrad aufweisen. thereby reducing the occurring during cornering bore friction in the Radaufstandsfläche is reduced. Also, the upper chassis may have a corresponding impeller.
In besonders bevorzugter Weise weist das erfindungsgemäße Regalbediengerät einen elektrischen Energiespeicher auf, der die Betriebs- und Baukosten eines Regallagers mit dem erfindungsgemäßen Regalbediengerät erheblich senken kann. Durch den mitfahrenden Speicher kann ein Anteil der beim Bremsen zu wandelnden kinetischen Energie auf dem Regalbediengerät zwischengespeichert werden, um die Energie danach wieder zum Beschleunigen zu verwenden. Hierbei wird die Verlustwärme minimiert. Diese erfindungsgemäße Konzeption der Energieversorgung des Fahrzeugs mit einem elektrischen Energiespeicher auf dem Fahrzeug, der sehr schnell geladen und entladen werden kann und groß genug ist, um einen großen Teil der von den Motoren rückgespeisten In a particularly preferred manner, the storage and retrieval unit according to the invention has an electrical energy store, which can significantly reduce the operating and construction costs of a shelf storage with the storage and retrieval unit according to the invention. Due to the moving memory, a portion of the kinetic energy to be converted during braking can be temporarily stored on the storage and retrieval unit in order to then use the energy again for accelerating. In this case, the heat loss is minimized. This inventive concept of powering the vehicle with an electrical energy storage on the vehicle, which can be charged and discharged very quickly and is large enough to a large part of the fed back from the engines
Bremsenergie aufzunehmen, führt- verstärkt durch die angewendete Absorb braking energy leads, reinforced by the applied
Leichtbauweise - gegenüber bekannten vergleichbaren Regalbediengeräten bei vergleichbarer Betriebsweise zu einer Energieeinsparung von mehr als 50 %. Lightweight construction - compared to known comparable storage and retrieval devices with comparable operation to an energy saving of more than 50%.
Der flinke Energiespeicher führt neben der Minderung des Energieverbrauchs zu einer Glättung der von der externen Energieversorgung - Netzteil, The nimble energy storage leads, in addition to the reduction of energy consumption, to a smoothing of the external energy supply - power supply,
Notstromversorgung oder unterbrechungsfreie Stromversorgung sowie Emergency power or uninterruptible power supply as well
Energieleitungen - abgeforderten Leistung. Deshalb können alle diese Power lines - requested power. That's why all of these can
Komponenten für eine wesentlich geringere Leistungsabgabe bemessen werden. Components are sized for a much lower power output.
Vorteilhafterweise kann das nicht unerhebliche Bauvolumen des Energiespeichers in ansonsten ungenutzten Hohlräumen des Tragwerks, beispielsweise des Masts, untergebracht werden, um so eine besonders platzsparende Ausgestaltung zu realisieren. Advantageously, the not inconsiderable volume of the energy storage in otherwise unused cavities of the structure, for example, the mast, be accommodated so as to realize a particularly space-saving design.
Die beschriebene erfindungsgemäße Lösung hat folgende Vorteile gegenüber bekannten Lösungen: Sie benötigt weder Zahnstangen noch Zahnriemen längs der wechselnd gekrümmten Fahrbahn. The described solution according to the invention has the following advantages over known solutions: It requires neither racks nor toothed belt along the alternately curved roadway.
Sie benötigt nur zwei anstelle von vier Schienen und kommt ohne Scharniergelenke zwischen Mast und Fahrwerken aus.  It requires only two instead of four rails and comes without hinged joints between mast and chassis.
Die Übertragung der Antriebskräfte über Reibräder vermeidet Lärm. Der Einsatz eines auf dem Regalbediengerät mitfahrenden flinken Speichers, der so bemessen ist, dass er die beim Bremsen rückgespeiste Energie weitestgehend aufnehmen kann, spart Kosten beim Bau und Betrieb eines vom Regalbediengerät bedienten automatischen Lagers.  The transmission of driving forces via friction wheels avoids noise. The use of a running on the stacker crane nimble storage, which is designed so that it can absorb the energy returned during braking as much as possible, saves costs for the construction and operation of an automatic storage operated by the storage and retrieval unit.
Eine vorteilhafte Ausführung der Erfindung ist in den Zeichnungen dargestellt. Die Zeichnungen stellen Draufsichten auf einen horizontalen Schnitt durch ein Einmast-Regalbediengerät dar, das auf einem geraden Schienenabschnitt (Fig. la und lb) und auf einem gekrümmten Schienenabschnitt (Fig. 2a und 2b) fährt. Das obere und das untere Fahrwerk sind im Wesentlichen gleich gestaltet. Daher sind die verschiedenen Elemente beider Fahrwerke mit den gleichen Bezugszeichen bezeichnet. An advantageous embodiment of the invention is shown in the drawings. The drawings depict top views of a horizontal section through a single-mast stacker operating on a straight rail section (Figures la and lb) and on a curved rail section (Figures 2a and 2b). The upper and lower chassis are designed essentially the same. Therefore, the various elements of both suspensions are designated by the same reference numerals.
Die Darstellung gilt für die Blickrichtung nach unten (untere Schiene, unteres Fahrwerk, Fig. la, 2a) und genauso für die Blickrichtung nach oben (obere Schiene, oberes Fahrwerk, Fig. 1 b, 2b). The illustration applies to the viewing direction downwards (lower rail, lower chassis, FIGS. 1a, 2a) and likewise to the viewing direction upwards (upper rail, upper chassis, FIGS. 1b, 2b).
Die Figuren la, lb, 2a und 2b zeigen, wie die im Fahrwerk 3 unverschieblich gelagerten Räder 2 infolge der vorgespannten Federn 5 im geraden und im gekrümmten Schienenabschnitt an der Schiene 1 anliegen und dass die The figures la, lb, 2a and 2b show how the immovably mounted in the chassis 3 wheels 2 abut due to the prestressed springs 5 in the straight and curved rail section on the rail 1 and that the
Verbindungsgerade ihrer Achsmitten 14 parallel zum Mastfuß 11 ausgerichtet ist. Somit hat der Mastfuß, ebenso der Mastkopf und der mit beiden starr verbundene Mast 12 im Grundriss immer die Richtung dieser Verbindungsgeraden. Auf diese Weise wird beim Einfahren in ein gekrümmtes Schienenstück der Mast 12 vom Fahrwerk 3 in die Kurve gelenkt. Wenn beide unverschieblich gelagerten Räder 2 auf einem kreisförmig gekrümmten Schienenabschnitt abrollen, dann haben - - Straight line connecting their center axes 14 is aligned parallel to the mast base 11. Thus, the mast base, as well as the mast head and with two rigidly connected mast 12 in plan always the direction of this connecting line. In this way, the mast 12 is steered by the chassis 3 in the curve when entering a curved rail section. If both non-displaceably mounted wheels 2 roll on a circular curved rail section, then have - -
Mastfuß 11, Mast 12 und Mastkopf 11 im Grundriss die Richtung der Tangente an einen mittig zwischen den Radachsen liegenden Punkt des Schienenkreises. Mast base 11, mast 12 and mast head 11 in plan view the direction of the tangent to a midpoint between the wheel axles point of the rail circle.
Vorteilhaft ist das Laufrad 9 mit den Seitenführungsrädern 8 in dieser Mitte am Mastfuß 11 und Mastkopf 11 angeordnet, damit die Rollrichtung des Laufrades 9 möglichst wenig von der Bewegungsrichtung des Masts abweicht. Advantageously, the impeller 9 is arranged with the side guide wheels 8 in this middle of the mast base 11 and mast head 11, so that the rolling direction of the impeller 9 deviates as little as possible from the direction of movement of the mast.
Die verschieblich gelagerten Räder 4 sind ebenfalls stets im Kontakt mit der Schiene 1. Im gekrümmten Schienenabschnitt geben die Vorspannfedern 5 etwas nach, so dass sich die Drehachsen 15 der verschieblichen Räder der veränderten Schienengeometrie anpassen können. The displaceably mounted wheels 4 are also always in contact with the rail 1. In the curved rail section, the biasing springs 5 yield slightly, so that the axes of rotation 15 of the sliding wheels can adapt to the changed rail geometry.
Alle angepressten Räder 2, 4 können angetrieben werden und horizontale All pressed wheels 2, 4 can be driven and horizontal
Antriebskräfte zwischen Schiene 1 und Mastfuß 11 übertragen, deren Größe durch die eingestellte Vorspannkraft und den Reibwert zwischen Rad und Schiene begrenzt wird. Gegebenenfalls ist es ausreichend, wenn nur eines oder einige der Räder 2,4 angetrieben werden. Mit der Spanneinrichtung 6 können die Transferring forces between rail 1 and mast base 11 whose size is limited by the set biasing force and the coefficient of friction between the wheel and rail. Optionally, it is sufficient if only one or some of the wheels 2,4 are driven. With the tensioning device 6, the
Anpresskräfte der Räder 2,4 so eingestellt werden, dass auch beim schnelleren Einfahren in ein gekrümmtes Bahnsegment 1 ein Abheben eines der angepressten Räder 2, 4 vermieden wird. Pressing forces of the wheels 2.4 are set so that even with faster retraction into a curved track segment 1 lifting one of the pressed wheels 2, 4 is avoided.
- - - -
B E Z U G S Z E I C H E N L I S T E gerader bzw. gekrümmter Abschnitt der unteren/oberen Fahrschiene Rad, auf Schienenseitenfläche abrollend, auf im Fahrwerk unverschieblicher Drehachse gelagert B E N G L I S E S E T E S Straight or curved section of the lower / upper running rail Wheel, rolling on rail side surface, mounted on swivel axle that is fixed in the running gear
Fahrwerk, unteres/oberes Suspension, lower / upper
Rad, auf Schienenseitenfläche abrollend, auf im Fahrwerk quer zur Schiene verschieblicher Drehachse gelagert und mit Feder gegen das Fahrwerk verspannt Wheel, rolling on rail side surface, mounted on in the chassis transverse to the rail slidable axis of rotation and braced with spring against the chassis
vorgespannte Feder preloaded spring
Spannglied zum Einstellen der Vorspannkraft Tensioning element for adjusting the preload force
Schiebegelenkige Anlenkung des Fahrwerks am Mastfuß/Mastkopf Sliding articulated suspension of the chassis at the mast base / mast head
Seitenführungsrad mit vertikaler Drehachse fest im Mastfuß/Mastkopf Laufrad, auf horizontaler Schienenfläche abrollend, mit horizontaler Drehachse Side guide wheel with vertical axis of rotation fixed in the mast base / mast head Impeller, unwinding on horizontal rail surface, with horizontal axis of rotation
Lenker, der ein Rad 4 horizontal verschieblich mit dem Fahrwerk 3 verbindet Handlebar that connects a wheel 4 horizontally displaceable with the chassis 3
Mastfuß/Mastkopf Mast / mast head
Mast mast
Energiespeicher im Mast Energy storage in the mast
Drehachse der unverschieblich gelagerten Räder Rotary axis of the non-displaceably mounted wheels
Drehachse der verschieblich gelagerten Räder Rotary axis of the slidably mounted wheels

Claims

P A T E N T A N S P R Ü C H E PATENT APPLICATIONS
1. Regalbediengerät mit vertikalem Mast (12) und einem dem Mastfuß (11) zugeordneten ersten angetriebenen Fahrwerk (3), das an einer unteren 1. Storage and retrieval unit with vertical mast (12) and a mast base (11) associated with the first driven chassis (3), which at a lower
Fahrschiene (1) geführt wird, und einem dem Mastkopf (11) zugeordneten zweiten angetriebenen Fahrwerk (3), das an einer oberen Fahrschiene (1) geführt wird, dadurch gekennzeichnet, dass jedes Fahrwerk (3) wenigstens drei auf den beiden Schienenaußenflächen abrollende Räder (2, 4) mit vertikalen Running rail (1) is guided, and one of the mast head (11) associated second driven chassis (3), which is guided on an upper rail (1), characterized in that each chassis (3) at least three rolling on the two rail outer surfaces wheels (2, 4) with vertical
Drehachsen (14, 15) aufweist, wobei zwei der Drehachsen (14) in Fahrtrichtung voneinander entfernt unverschieblich mit dem Fahrwerk (3) verbunden sind, die Drehachse(n) (15) der restlichen Räder (4) oder des restlichen Rades quer zur Schiene (1) verschieblich auf dem Fahrwerk gelagert und gegen das Fahrwerk verspannt sind, sodass die Räder (2, 4) an die Schiene (1) angepresst werden, wobei wenigstens eines der Räder (2, 4) je Fahrwerk (3) antreibbar ist. Rotary axes (14, 15), wherein two of the axes of rotation (14) in the direction of travel away from each other are immovably connected to the chassis (3), the axis of rotation (s) (15) of the remaining wheels (4) or the rest of the wheel transversely to the rail (1) slidably mounted on the chassis and braced against the chassis, so that the wheels (2, 4) are pressed against the rail (1), wherein at least one of the wheels (2, 4) per chassis (3) is drivable.
2. Regalbediengerät nach Anspruch 1, dadurch gekennzeichnet, dass eine schiebegelenkige Anlenkung (7) des Fahrwerks (3) am Mastfuß bzw. 2. Storage and retrieval unit according to claim 1, characterized in that a sliding articulated linkage (7) of the chassis (3) at the mast base or
Mastkopf (11) vorgesehen ist. Mast head (11) is provided.
3. Regalbediengerät nach Anspruch 1 oder Anspruch 2, dadurch 3. Storage and retrieval unit according to claim 1 or claim 2, characterized
gekennzeichnet, dass Mastfuß und Mastkopf (11) je ein Paar auf den etwa vertikalen Schienenseitenflächen abrollender, gegenüberliegender characterized in that the mast base and mast head (11) each have a pair on the approximately vertical rail side surfaces rolling, opposite
Seitenführungsräder (8) tragen, deren vertikale Drehachsen unverschieblich mit dem Mastfuß bzw. Mastkopf (11) verbunden sind und vorzugsweise sämtlich etwa in einer Ebene liegen. Side guide wheels (8) wear whose vertical axes of rotation are immovably connected to the mast base or mast head (11) and preferably all lie approximately in a plane.
4. Regalbediengerät nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass dem Mastfuß (11) wenigstens ein Laufrad (9) mit horizontaler Achse zugeordnet ist, die vorzugsweise etwa in der von den Achsen der Mastfuß-Seitenführungsräder (8) und Mastkopf-Seitenführungsräder (8) aufgespannten Ebene liegt, wobei das wenigstens eine Laufrad (9) auf einer oberen horizontalen Fläche der unteren Fahrschiene (1) abrollt und dabei das Gewicht des Regalbediengeräts im Wesentlichen trägt. 4. Storage and retrieval unit according to one of the preceding claims, characterized in that the mast base (11) with at least one impeller (9) is associated with the horizontal axis, which is preferably located approximately in the plane spanned by the axes of the Mastfuß Seitenführungsräder (8) and Mastkopf Seitenführungsräder (8) plane, said at least one impeller (9) on an upper horizontal surface of the lower running rail (1) unwinds while the weight of the stacker crane essentially carries.
5. Regalbediengerät nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass auf wenigstens einem der Fahrwerke (3) ein ladbarer und entladbarer elektrischer Energiespeicher (13) vorgesehen ist, der zumindest einen Anteil der Bewegungsenergie des Regalbediengeräts speichern kann. 5. Storage and retrieval unit according to one of the preceding claims, characterized in that on at least one of the running gears (3) a loadable and dischargeable electrical energy store (13) is provided which can store at least a portion of the kinetic energy of the storage and retrieval device.
6. Regalbediengerät nach Anspruch 5, dadurch gekennzeichnet, dass der elektrische Energiespeicher (13) im Innern eines hohlen Tragwerksteils, insbesondere des Masts (12), angeordnet ist. 6. Storage and retrieval unit according to claim 5, characterized in that the electrical energy store (13) is arranged in the interior of a hollow structural part, in particular of the mast (12).
EP11715674.5A 2010-03-25 2011-03-24 Rack loader having a vertical mast Active EP2550228B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201010012855 DE102010012855A1 (en) 2010-03-25 2010-03-25 Storage and retrieval machine with vertical mast
PCT/EP2011/054526 WO2011117340A1 (en) 2010-03-25 2011-03-24 Rack loader having a vertical mast

Publications (2)

Publication Number Publication Date
EP2550228A1 true EP2550228A1 (en) 2013-01-30
EP2550228B1 EP2550228B1 (en) 2013-11-20

Family

ID=44314988

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11715674.5A Active EP2550228B1 (en) 2010-03-25 2011-03-24 Rack loader having a vertical mast

Country Status (5)

Country Link
EP (1) EP2550228B1 (en)
DE (1) DE102010012855A1 (en)
ES (1) ES2448647T3 (en)
PT (1) PT2550228E (en)
WO (1) WO2011117340A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017107369A1 (en) * 2017-04-06 2018-10-11 Jungheinrich Aktiengesellschaft Storage and retrieval unit
DE102020202436A1 (en) 2020-02-26 2021-08-26 Mias Maschinenbau, Industrieanlagen & Service Gmbh GUIDE ROLLERS FOR SHELVING EQUIPMENT

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19534291C2 (en) 1995-09-15 2002-02-21 Mannesmann Ag Shelf system with a storage and retrieval unit guided on rails
AT500378B1 (en) 2001-06-13 2006-12-15 Tgw Transportgeraete Gmbh STACKER UNIT
DE102004007411A1 (en) 2004-02-16 2005-09-01 Knapp Logistik Automation Ges.M.B.H. Storage and retrieval unit and method for a longitudinal positioning on a shelf, preferably in a picking system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2011117340A1 *

Also Published As

Publication number Publication date
EP2550228B1 (en) 2013-11-20
ES2448647T3 (en) 2014-03-14
WO2011117340A1 (en) 2011-09-29
PT2550228E (en) 2014-02-25
DE102010012855A1 (en) 2011-09-29

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