EP2565148A1 - Stacker crane with a lifting carriage powered by a kind of pulley block - Google Patents

Stacker crane with a lifting carriage powered by a kind of pulley block Download PDF

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Publication number
EP2565148A1
EP2565148A1 EP12006139A EP12006139A EP2565148A1 EP 2565148 A1 EP2565148 A1 EP 2565148A1 EP 12006139 A EP12006139 A EP 12006139A EP 12006139 A EP12006139 A EP 12006139A EP 2565148 A1 EP2565148 A1 EP 2565148A1
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European Patent Office
Prior art keywords
traction means
wheel
storage
frame
lifting
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Granted
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EP12006139A
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German (de)
French (fr)
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EP2565148B1 (en
Inventor
Konrad Eberle
Urs Gerber
Mario Gerber
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LTW Intralogistics GmbH
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LTW Intralogistics GmbH
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Priority to PL12006139T priority Critical patent/PL2565148T3/en
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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"

Definitions

  • the invention relates to a stacker crane with a, at least substantially vertical frame, a movable along this frame lifting and a drive device for moving the lifting carriage, wherein the drive device comprises a motor, a drivable by the motor traction means, at least one rotatably mounted on the lifting, with the Traction means cooperating and movable from the traction means deflecting wheel and at least one arranged on the frame deflection roller, wherein the deflection wheel, the deflection roller and the traction means form a pulley.
  • storage and retrieval machines are usually used in large storage warehouses and move in rack aisles, which provide sufficient space. About the lifting stored goods are transported to the individual parking spaces or storage bins or removed from these.
  • An example of a generic type stacker crane shows the German patent DE 198 09 369 C2 in accordance with which a lifting carriage is height-displaceable by means of a motor-driven chain held in an end-point fixed point.
  • the chain is also held like a pulley on a frame.
  • On the lifting a lifting wheel is arranged, which moves the carriage in the height direction by moving the traction means.
  • a disadvantage of this design is that the time for lowering the car mainly depends on its weight and thus the cycle times during storage and retrieval can be very long.
  • the object of the present invention is therefore to provide a comparison with the prior art improved storage and retrieval system.
  • the shortest possible cycle time should be achieved when storing and retrieving stored goods.
  • two deflection wheels - a lifting wheel and a lowering wheel - are arranged on the lifting carriage and the traction means has a running area leading from the lifting wheel to the lowering wheel, the engine engaging the traction means in this running region.
  • the motor or the driven wheel engages the traction means in a region lying between the two rollers arranged on the lifting roller.
  • two pulleys are arranged on the frame, around which the traction means runs flaschenzugartig, wherein a deflection roller in a region of the traction means between the engine and the lowering wheel and a Deflecting roller engages in a region of the traction means between the engine and lifting wheel on the traction means.
  • the motor is arranged on the lifting carriage itself.
  • the weight of the engine must be transported. Therefore, it is preferably provided that the motor is arranged on the frame.
  • the traction means is preferably guided over the aforementioned deflection roller from the motor to the deflection wheel.
  • the traction means may be attached to the frame via a retractor.
  • the traction means has two ends and is fixed with both ends to the frame.
  • one end of the traction means in the lower region of the frame and one end of the traction means in the upper region of the frame via belt tensioning devices attached, preferably tightened or clamped be.
  • this clamping or Rremenspannvorraumen and spring elements may be provided to improve the circumferential bias of the traction means.
  • the traction means is a Zahnrlemen.
  • a toothed belt is shatter-proof and less worn.
  • the disadvantage of a flat belt is that it can only be driven by friction, which leads to unwanted slippage, especially in the case of the high forces that occur in storage and retrieval machines. As a result, the Hubschlittenpositiontechnik is inaccurate.
  • the required 10-flat resistance to breakage is ensured by the toothed belt.
  • the toothed belt can be driven via a drive wheel driven by the motor in the form of a toothed wheel or toothed disk, the teeth of the toothed belt and of the toothed wheel or toothed disk intermeshing in a form-fitting manner. It is also important that the teeth of the belt are solid and do not tear off. In order to ensure safe driving of the deflection wheels with the traction means, a good contact between these two components should be given. This can preferably be achieved by frictional engagement alone. However, it should not be ruled out that the traction means and the at least one deflection wheel engage in a form-fitting manner. However, it is preferably provided that the traction mechanism designed as a toothed belt rests with its flat, tooth-side facing away from a support surface of the at least one deflection wheel.
  • a drive device for the lifting carriage is provided on the frame.
  • the frame may have two substantially horizontal masts, wherein a drive device for moving the one lifting slide is arranged on each of the two masts. It is also possible to provide two masts for a single drive device.
  • a control or regulating unit may be provided for the engine.
  • the maximum accelerations and other parameters can be set individually.
  • Such a control or regulating unit is particularly advantageous if both drive devices are operated via a common control unit.
  • the structure of the frame is arbitrary per se, however, it is preferably provided that the masts are connected in their head and in their foot area via cross members.
  • a chassis for horizontal operation of the storage and retrieval unit can be arranged in a rack aisle.
  • the lifting can have conventional storage and retrieval devices.
  • Fig. 1 shows a storage and retrieval unit 1 with a frame 2 of two vertical masts 12 and 13 and two cross members 14 and 15. Between the masts 12 and 13, a lifting slide 3 vertically in the vertical direction HR and lowering direction SR along a guide not shown in detail movable. On frame 2, a traction means 6 is tightened. On lifting 3 deflecting wheels 7 (lowering 9 and 8) are mounted on a Umlenkradrahmen 19. On the frame 2 also pulleys 10 and 11 are arranged. The guide roller 10, the traction means 6 and the lifting wheel 8 form a pulley for the lifting carriage 3, while the guide roller 11, the traction means 6 and the lowering 9 form another pulley for the lifting slide 3.
  • an only schematically indicated motor 5 is arranged on the frame 2 via a corresponding fastening means, which engages via a drive wheel 17 on the traction means 6 and this moves.
  • the traction means 6 is held in the upper region via a preferably spring-loaded, belt tensioning device 16 on the frame 2, via the lifting wheel 8 and the guide rollers 10 and 18 to the driven drive wheel 17. From there, the traction means 6 continues over the lower guide roller 11 towards Lowering wheel 9 and is attached at the lower end with the belt tensioning device 16 on the lower cross member 15 of the frame 2.
  • the drive device 4 is essentially formed by the motor 5, the traction means 6 driven by the motor, the deflection rollers 10 and 11 and the deflection wheels 7.
  • the drive wheel 17 shown on the left runs in opposite directions. That is, when lifting the lifting carriage 3, this left drive wheel 17 rotates counterclockwise, when lowering in a clockwise direction.
  • the motor 5 may be reversible. But it can also be a transmission between the motor 5 and drive wheel 17 are formed to switch the direction of rotation.
  • an electrically driven gear motor can be used as the motor 5, an electrically driven gear motor.
  • the deflection rollers 10, 11 and 18 and the deflection wheels 7 may each have a standard rope roller bearings.
  • the driven by the motor 5 drive wheel 17 may be designed in the form of a gear or a toothed disc with bearing insert.
  • a further embodiment of the drive device 4 is shown. Since the two according to Fig. 1 and 2 Turning wheels 8 and lowering wheels 9 shown rotate in the same clockwise direction, the traction means 6 could also attack twice on a single, connected to the lifting 3 guide wheel 7. For this purpose, only the toothed belt 6 for the lifting movement or lowering movement would have to act on the one deflecting wheel 7.
  • Fig. 4 schematically shows the lifting wheels 8 and lowering wheels 9 together with the traction means 6 and the lifting carriage 3.
  • Fig. 5 is a section through these lifting wheels 8 and lowering wheels 9 shown.
  • this was also found that this is further improved if the support surface 20 in the central region a circumferential crowning 21 as in Fig. 5 has shown.
  • the speed of the drive wheel 7 in the region of the crowning 21 is highest and this ensures the centering of the toothed belt.
  • This crown 21 may be applied separately to the drive roller 7. However, it is preferably provided that the crown 21 and the drive roller 7 are in one piece.
  • the in Fig. 5 not shown toothed belt with its tooth-facing side on the support surface 20.

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

Abstract

The stacker crane (1) has a frame (2) and drive device (4) which moves lifting carriage (3). The lifting carriage is rotatably provided with a traction unit (6) which is provided with a pulley, and the frame is arranged on a guide roller (10). The acceleration forces of a motor (5) are transmitted in stroke direction and lowering direction by traction unit through a guide wheel (7) to the lifting carriage.

Description

Die Erfindung betrifft ein Regalbediengerät mit einem, zumindest im Wesentlichen vertikalen, Rahmen, einem entlang dieses Rahmens verfahrbaren Hubschlitten und einer Antriebsvorrichtung zum Bewegen des Hubschlittens, wobei die Antriebsvorrichtung einen Motor, ein vom Motor antreibbares Zugmittel, zumindest ein am Hubschlitten drehbar angeordnetes, mit dem Zugmittel zusammenwirkendes und vom Zugmittel bewegbares Umlenkrad und zumindest eine am Rahmen angeordnete Umlenkrolle aufweist, wobei das Umlenkrad, die Umlenkrolle und das Zugmittel einen Flaschenzug bilden.The invention relates to a stacker crane with a, at least substantially vertical frame, a movable along this frame lifting and a drive device for moving the lifting carriage, wherein the drive device comprises a motor, a drivable by the motor traction means, at least one rotatably mounted on the lifting, with the Traction means cooperating and movable from the traction means deflecting wheel and at least one arranged on the frame deflection roller, wherein the deflection wheel, the deflection roller and the traction means form a pulley.

Generell sind auf dem gattungsfremden technischen Gebiet der Liftherstellung diverse Antriebsvananten für Liftkabinen bekannt. So zeigt die gattungsfremde US 2007/02227825 A1 ein Liftsystem mit einem Flaschenzug. Auch die gattungsfremden WO 2010/133745 A1 und die CH 699 578 A1 zeigen flaschenzugartige Aufhängungen für Lifte. Die grundsätzliche Idee dieser Anmeldungen liegt darin, auf die sonst üblichen Gegengewichte zu verzichten, um mehr Platz im Kabinenschacht zu schaffen.In general, various propulsion elevators for lift cabins are known in the non-generic technical field of lift production. This is how the non-generic shows US 2007/02227825 A1 a lift system with a pulley. Even the strangers WO 2010/133745 A1 and the CH 699 578 A1 show hoist-type suspension for lifts. The basic idea of these applications is to forego the usual counterweights to create more space in the cabin shaft.

Dagegen werden Regalbediengeräte meist in großen Regallagern eingesetzt und verfahren in Regalgassen, die ausreichend Platz bieten. Über den Hubschlitten werden Lagergüter in die einzelnen Stellplätze bzw. Lagerplätze transportiert bzw. von diesen entnommen.On the other hand, storage and retrieval machines are usually used in large storage warehouses and move in rack aisles, which provide sufficient space. About the lifting stored goods are transported to the individual parking spaces or storage bins or removed from these.

Ein Beispiel für ein gattungsbildendes Regalbediengerät zeigt die deutsche Patentschrift DE 198 09 369 C2 , gemäß der über eine motorisch angetriebene und in einem endseitigen Festpunkt gehaltene Kette ein Hubschlitten höhenverfahrbar ist. Die Kette ist dabei auch flaschenzugartig an einem Rahmen gehalten. Am Hubschlitten ist ein Hubrad angeordnet, welches durch Bewegen des Zugmittels den Wagen in Höhenrichtung bewegt. Nachteilig bei dieser Ausführung ist, dass die Zeit zum Senken des Wagens vor allem von dessen Gewicht abhängt und somit die Zykluszeiten beim Ein- und Auslagern sehr lang sein können.An example of a generic type stacker crane shows the German patent DE 198 09 369 C2 in accordance with which a lifting carriage is height-displaceable by means of a motor-driven chain held in an end-point fixed point. The chain is also held like a pulley on a frame. On the lifting a lifting wheel is arranged, which moves the carriage in the height direction by moving the traction means. A disadvantage of this design is that the time for lowering the car mainly depends on its weight and thus the cycle times during storage and retrieval can be very long.

Die Aufgabe der vorliegenden Erfindung besteht daher darin, ein gegenüber dem Stand der Technik verbessertes Regalbediengerät anzugeben. Insbesondere soll eine möglichst kurze Zykluszeit beim Ein- und Auslagern von Lagergut erreicht werden.The object of the present invention is therefore to provide a comparison with the prior art improved storage and retrieval system. In particular, the shortest possible cycle time should be achieved when storing and retrieving stored goods.

Dies wird für ein Regalbediengerät mit den Merkmalen des Oberbegriffes von Anspruch 1 dadurch gelöst, dass durch das Zugmittel über das zumindest eine Umlenkrad Beschleunigungskräfte des Motors sowohl in Hubrichtung als auch in Senkrichtung aktiv auf den Hubschlitten übertragbar sind. Dadurch kann eine gezielte - aktive - Beschleunigung sowohl beim Heben als auch beim Senken erreicht werden. Somit ist vor allem die Senkbewegung des Hubschlittens unabhängig von einem aufwändigen und teuren - passiven - Gegengewicht durchführbar. Der Hubschlitten ist dadurch unabhängig von der Schwerkraft aktiv durch den Motor heb- und senkbar. Im Gegensatz zu den gattungsfremden Liftsystemen ist diese erfindungsgemäß ermöglichte Beschleunigung nur bei Regalbediengeräten sinnvoll, da dort Lagergüter transportiert werden, die sehr hohen Beschleunigungen und Abbremsvorgängen ausgesetzt werden können. Bei Personenliften dagegen dürfen keine beliebigen Beschleunigungen oder abrupte Abbremsungen erfolgen, da sonst die Sicherheit der darin beförderten Personen nicht mehr gewährleistet ist.This is achieved for a stacker crane with the features of the preamble of claim 1, characterized in that by the traction means via the at least one guide wheel acceleration forces of the motor in the stroke direction as well as in the lowering direction are actively transferable to the lifting. As a result, a targeted - active - acceleration can be achieved both when lifting and lowering. Thus, especially the lowering movement of the lifting carriage is independent of a complex and expensive - passive - counterweight feasible. The lifting carriage can thereby be raised and lowered independently of gravity by the motor. In contrast to the non-generic lift systems, this acceleration enabled according to the invention makes sense only in storage and retrieval units, as warehousing goods are transported there, which can be exposed to very high accelerations and deceleration processes. In the case of passenger lifts, however, no accelerations or abrupt decelerations may be carried out as otherwise the safety of the passengers carried therein would no longer be guaranteed.

Um eine gezieltere Übertragung der Beschleunigungskräfte auf den Hubschlitten zu ermöglichen, kann gemäß einem besonders bevorzugten Ausführungsbeispiel der vorliegenden Erfindung vorgesehen sein, dass am Hubschlitten zwei Umlenkräder - ein Heberad und ein Senkrad - angeordnet sind und das Zugmittel einen vom Heberad zum Senkrad führenden Laufbereich aufweist, wobei der Motor in diesem Laufbereich am Zugmittel angreift. Mit anderen Worten greift der Motor bzw. das angetriebene Rad in einem zwischen den beiden am Hubschlitten angeordneten Rollen liegenden Bereich am Zugmittel an. Somit kann über das Senkrad gezielt Antriebskraft und dadurch zusätzliche Beschleunigung auf den Hubschlitten in Senkrichtung gebracht werden.In order to enable a more targeted transmission of the acceleration forces on the lifting carriage, according to a particularly preferred embodiment of the present invention it can be provided that two deflection wheels - a lifting wheel and a lowering wheel - are arranged on the lifting carriage and the traction means has a running area leading from the lifting wheel to the lowering wheel, the engine engaging the traction means in this running region. In other words, the motor or the driven wheel engages the traction means in a region lying between the two rollers arranged on the lifting roller. Thus, driving force and thus additional acceleration on the lifting carriage can be brought in the lowering direction on the lowering wheel.

Um die Vorteile des Flaschenzugs sowohl beim Heben als auch beim Senken zu haben, kann bevorzugt vorgesehen sein, dass am Rahmen zwei Umlenkrollen angeordnet sind, um die das Zugmittel flaschenzugartig verläuft, wobei eine Umlenkrolle in einem Bereich des Zugmittels zwischen Motor und Senkrad und eine Umlenkrolle in einem Bereich des Zugmittels zwischen Motor und Heberad am Zugmittel angreift.In order to have the advantages of the pulley both when lifting and lowering, it can be preferably provided that two pulleys are arranged on the frame, around which the traction means runs flaschenzugartig, wherein a deflection roller in a region of the traction means between the engine and the lowering wheel and a Deflecting roller engages in a region of the traction means between the engine and lifting wheel on the traction means.

Es soll grundsätzlich nicht ausgeschlossen sein, dass der Motor am Hubschlitten selbst angeordnet ist. Dabei muss allerdings das Gewicht des Motors mittransportiert werden. Deshalb ist bevorzugt vorgesehen, dass der Motor am Rahmen angeordnet ist. Um dies zu ermöglichen, ist das Zugmittel bevorzugt über die bereits erwähnte Umlenkrolle vom Motor zum Umlenkrad geführt.In principle, it should not be ruled out that the motor is arranged on the lifting carriage itself. However, the weight of the engine must be transported. Therefore, it is preferably provided that the motor is arranged on the frame. To make this possible, the traction means is preferably guided over the aforementioned deflection roller from the motor to the deflection wheel.

Grundsätzlich kann das Zugmittel am Rahmen über eine Aufrollvorrichtung befestigt sein. Bevorzugt ist allerdings vorgesehen, dass das Zugmittel zwei Enden aufweist und mit beiden Enden am Rahmen fixiert ist. Besonders bevorzugt kann ein Ende des Zugmittels im unteren Bereich des Rahmens und ein Ende des Zugmittels im oberen Bereich des Rahmens über Riemenspannvorrichtungen befestigt, vorzugsweise festgespannt oder festgeklemmt, sein. Im Bereich dieser Klemm- bzw. Rfemenspannvorrichtungen können auch Federelemente vorgesehen sein, um die umlaufende Vorspannung des Zugmittels zu verbessern. Grundsätzlich ist durch eine Vorspannung, die mit den Umlenkrollen, den Umlenkrädern und den Ktemmvornchtungen erreicht wird, die Beruhigungszeit nach dem Verzögern bzw. Abbremsen fast gleich Null, was die Spielzeit und die Zykluszeit in einem vollautomatischen Hochregallager verkürzt.In principle, the traction means may be attached to the frame via a retractor. Preferably, however, it is provided that the traction means has two ends and is fixed with both ends to the frame. Particularly preferably, one end of the traction means in the lower region of the frame and one end of the traction means in the upper region of the frame via belt tensioning devices attached, preferably tightened or clamped be. In the area of this clamping or Rremenspannvorrichtungen and spring elements may be provided to improve the circumferential bias of the traction means. Basically, by a bias voltage, which is achieved with the pulleys, the pulleys and the Ktemmvornchtungen, the settling time after deceleration or deceleration almost zero, which shortens the playing time and the cycle time in a fully automatic high-bay warehouse.

Um eine möglichst gute Kraftübertragung auf das zugmittel zu ermöglichen, ist bevorzugt vorgesehen, dass das Zugmittel ein Zahnrlemen Ist. Gegenüber Seilen besteht ein Vorteil darin, dass ein Zahnriemen bruchsicherer ist und weniger verschlissen wird. Der Nachteil eines Flachriemens liegt darin, dass dieser nur über Reibung antreibbar ist, was vor allem bei den hohen Kräften die bei Regalbediengeräten auftreten zu unerwünschtem Schlupf führt. Dadurch wird auch die Hubschlittenpositionierung ungenau. Zudem ist durch die Zahnriemen die geforderte 10-flache Bruchsicherheit gewährleistet.In order to enable the best possible power transmission to the traction means, it is preferably provided that the traction means is a Zahnrlemen. Compared to ropes, there is an advantage in that a toothed belt is shatter-proof and less worn. The disadvantage of a flat belt is that it can only be driven by friction, which leads to unwanted slippage, especially in the case of the high forces that occur in storage and retrieval machines. As a result, the Hubschlittenpositionierung is inaccurate. In addition, the required 10-flat resistance to breakage is ensured by the toothed belt.

Bevorzugt ist weiters vorgesehen, dass der Zahnriemen über ein vom Motor angetriebenes Antriebsrad in Form eines Zahnrads oder einer Zahnscheibe antreibbar ist, wobei die Zähne des Zahnriemens und des Zahnrads bzw. der Zahnscheibe formschlüssig ineinandergreifen. Wichtig ist zudem, dass die Zähne des Zahnriemens fest ausgebildet sind und nicht abreißen. Um auch ein sicheres Antreiben der Umlenkräder mit den Zugmitteln zu gewährleisten, sollte ein guter Kontakt zwischen diesen beiden Komponenten gegeben sein. Dies kann bevorzugt durch Reibschlüssigkeit allein erreicht werden. Es soll aber nicht ausgeschlossen sein, dass das Zugmittel und das zumindest eine Umlenkrad formschlüssig ineinandergreifen. Bevorzugt ist aber vorgesehen, dass das als Zahnriemen ausgebildete Zugmittel mit seiner flachen, zahnabgewandten Seite an einer Auflagefläche des zumindest einen Umlenkrads anliegt.Preferably, it is further provided that the toothed belt can be driven via a drive wheel driven by the motor in the form of a toothed wheel or toothed disk, the teeth of the toothed belt and of the toothed wheel or toothed disk intermeshing in a form-fitting manner. It is also important that the teeth of the belt are solid and do not tear off. In order to ensure safe driving of the deflection wheels with the traction means, a good contact between these two components should be given. This can preferably be achieved by frictional engagement alone. However, it should not be ruled out that the traction means and the at least one deflection wheel engage in a form-fitting manner. However, it is preferably provided that the traction mechanism designed as a toothed belt rests with its flat, tooth-side facing away from a support surface of the at least one deflection wheel.

Grundsätzlich genügt, wenn am Rahmen eine Antriebsvorrichtung für den Hubschlitten vorgesehen ist. Um aber auch größere Lasten transportieren zu können und eine höhere Stabilität zu bieten, kann bevorzugt vorgesehen sein, dass der Rahmen zwei im Wesentlichen horizontale Masten aufweist, wobei an beiden Masten jeweils eine Antriebsvorrichtung zum Bewegen des einen Hubschlittens angeordnet ist. Es ist auch möglich zwei Masten für eine einzige Antriebsvorrichtung vorzusehen.In principle, it suffices if a drive device for the lifting carriage is provided on the frame. However, in order to be able to transport larger loads and to provide greater stability, it may be preferable for the frame to have two substantially horizontal masts, wherein a drive device for moving the one lifting slide is arranged on each of the two masts. It is also possible to provide two masts for a single drive device.

Um ein gezieltes Abbremsen und Beschleunigen beim Heben und Senken des Hubschlittens zu gewährleisten, kann eine Steuer- oder Regeleinheit für den Motor vorgesehen sein. Darin können die Maximalbeschleunigungen und sonstige Parameter individuell eingestellt werden. Besonders vorteilhaft ist eine solche Steuer- oder Regeleinheit, wenn beide Antriebsvorrichtungen über eine gemeinsame Steuer- oder Regeleinheit betrieben werden.In order to ensure a targeted braking and accelerating the lifting and lowering of the lifting carriage, a control or regulating unit may be provided for the engine. In it, the maximum accelerations and other parameters can be set individually. Such a control or regulating unit is particularly advantageous if both drive devices are operated via a common control unit.

Der Aufbau des Rahmens ist an sich beliebig, jedoch ist bevorzugt vorgesehen, dass die Masten in ihrem Kopf- und in ihrem Fußbereich über Querträger verbunden sind. Zusätzlich kann vor allem im Bereich des unteren Querträgers ein Fahrwerk zum horizontalen Verfahren des Regalbediengeräts in einer Regalgasse angeordnet sein. Zudem kann der Hubschlitten herkömmliche Ein- und Auslagervorrichtungen aufweisen.The structure of the frame is arbitrary per se, however, it is preferably provided that the masts are connected in their head and in their foot area via cross members. In addition, especially in the region of the lower cross member, a chassis for horizontal operation of the storage and retrieval unit can be arranged in a rack aisle. In addition, the lifting can have conventional storage and retrieval devices.

Weitere Einzelheiten und Vorteile der vorliegenden Erfindung werden anhand der Figurenbeschreibung unter Bezugnahme auf die in den Zeichnungen dargestellten Ausführungsbeispiele im Folgenden näher erläutert. Darin zeigen:

Fig. 1
ein Regalbediengerät mit einem Hubschlitten in der höchsten Stellung,
Fig. 2
ein Regalbediengerät mit einem Hubschlitten in der tiefsten Stellung,
Fig. 3
ein Ausführungsbeispiel für eine Antriebsvorrichtung mit einem einzigen am Hubschlitten angeordneten Umlenkrad,
Fig. 4
schematisch den Hubschlitten mit Zugmittel und Umlenkrollen und
Fig. 5
einen Schnitt durch ein Antriebsrad.
Further details and advantages of the present invention will be explained in more detail below with reference to the description of the figures with reference to the exemplary embodiments illustrated in the drawings. Show:
Fig. 1
a stacker crane with a lifting carriage in the highest position,
Fig. 2
a storage and retrieval unit with a lifting carriage in the lowest position,
Fig. 3
An exemplary embodiment of a drive device with a single guide wheel arranged on the lifting,
Fig. 4
schematically the lifting with traction means and pulleys and
Fig. 5
a section through a drive wheel.

Fig. 1 zeigt ein Regalbediengerät 1 mit einem Rahmen 2 aus zwei vertikalen Masten 12 und 13 und zwei Querträgern 14 und 15. Zwischen den Masten 12 und 13 ist ein Hubschlitten 3 vertikal in Höhenrichtung HR und Senkrichtung SR entlang einer nicht näher bezeichneten Führung verfahrbar. Am Rahmen 2 ist ein Zugmittel 6 festgespannt. Am Hubschlitten 3 sind Umlenkräder 7 (Senkrad 9 und Hubrad 8) über einen Umlenkradrahmen 19 befestigt. Am Rahmen 2 sind zudem Umlenkrollen 10 und 11 angeordnet. Die Umlenkrolle 10, das Zugmittel 6 und das Heberad 8 bilden einen Flaschenzug für den Hubschlitten 3, währen die Umlenkrolle 11, das Zugmittel 6 und das Senkrad 9 einen weiteren Flaschenzug für den Hubschlitten 3 bilden. Weiters ist am Rahmen 2 über ein entsprechendes Befestigungsmittel ein nur schematisch angedeuteter Motor 5 angeordnet, der über eine Antriebsrad 17 am Zugmittel 6 angreift und dieses bewegt. Das Zugmittel 6 ist im oberen Bereich über eine, vorzugsweise gefederte, Riemenspannvorrichtung 16 am Rahmen 2 gehalten, führt über das Heberad 8 und die Umlenkrollen 10 und 18 zum angetriebenen Antriebsrad 17. Von dort führt das Zugmittel 6 weiter über die untere Umlenkrolle 11 hin zum Senkrad 9 und ist am unteren Ende mit der Riemenspannvorrichtung 16 am unteren Querträger 15 des Rahmens 2 befestigt. Die Antriebsvorrichtung 4 wird im Wesentlichen durch den Motor 5, das vom Motor angetriebene Zugmittel 6, die Umlenkrollen 10 und 11 und die Umlenkräder 7 gebildet. Fig. 1 shows a storage and retrieval unit 1 with a frame 2 of two vertical masts 12 and 13 and two cross members 14 and 15. Between the masts 12 and 13, a lifting slide 3 vertically in the vertical direction HR and lowering direction SR along a guide not shown in detail movable. On frame 2, a traction means 6 is tightened. On lifting 3 deflecting wheels 7 (lowering 9 and 8) are mounted on a Umlenkradrahmen 19. On the frame 2 also pulleys 10 and 11 are arranged. The guide roller 10, the traction means 6 and the lifting wheel 8 form a pulley for the lifting carriage 3, while the guide roller 11, the traction means 6 and the lowering 9 form another pulley for the lifting slide 3. Furthermore, an only schematically indicated motor 5 is arranged on the frame 2 via a corresponding fastening means, which engages via a drive wheel 17 on the traction means 6 and this moves. The traction means 6 is held in the upper region via a preferably spring-loaded, belt tensioning device 16 on the frame 2, via the lifting wheel 8 and the guide rollers 10 and 18 to the driven drive wheel 17. From there, the traction means 6 continues over the lower guide roller 11 towards Lowering wheel 9 and is attached at the lower end with the belt tensioning device 16 on the lower cross member 15 of the frame 2. The drive device 4 is essentially formed by the motor 5, the traction means 6 driven by the motor, the deflection rollers 10 and 11 and the deflection wheels 7.

Wenn das vom Motor 5 angetriebene und in Fig. 1 und 2 rechts dargestellte Antriebsrad 17 gegen den Uhrzeigersinn gedreht wird, bewegt sich das Zugmittel 6 im Bereich des Motors 5 in Höhenrichtung HR. Dadurch wird der untere Teil des Zugmittels 6 eingezogen bzw. verkürzt, wodurch über das Senkrad 9 der Hubschlitten 3 aktiv in Senkrichtung SR bewegt wird. Dadurch gelangt der Hubschlitten 3 bis in die Stellung gemäß Fig. 2. Wenn in dieser Stellung das Antriebsrad 17 im Uhrzeigersinn angetrieben wird, wird der obere Bereich des Zugmittels 6 eingezogen bzw. verkürzt, wodurch über das sich drehende Heberad 8 der Hubschlitten 3 entlang dem Zugmittel 6 aktiv angehoben wird und in die Stellung gemäß Fig. 1 gelangen kann. Für dieselbe Bewegung des Hubschlittens 3 läuft das links dargestellte Antriebsrad 17 gegenläufig. Das heißt, beim Heben des Hubschlittens 3 dreht sich dieses linke Antriebsrad 17 gegen den Uhrzeigersinn, beim Senken im Uhrzeigersinn. Um diese Bewegungen durchführen zu können, kann der Motor 5 reversierbar sein. Es kann aber auch ein Getriebe zwischen Motor 5 und Antriebsrad 17 zum Umschalten der Drehrichtung ausgebildet sein.When driven by the engine 5 and in Fig. 1 and 2 Drive wheel 17 shown to the right is rotated counterclockwise, the traction means 6 moves in the height direction HR in the region of the motor 5. As a result, the lower part of the traction means 6 is retracted or shortened, whereby the lifting carriage 3 is actively moved in the lowering direction SR via the lowering wheel 9. As a result, the lifting carriage 3 reaches the position according to Fig. 2 , If the drive wheel 17 is driven clockwise in this position, the upper portion of the traction means 6 is retracted or shortened, whereby over the rotating lifting wheel 8 of the lifting carriage 3 is actively raised along the traction means 6 and in the position according to Fig. 1 can get. For the same movement of the lifting carriage 3, the drive wheel 17 shown on the left runs in opposite directions. That is, when lifting the lifting carriage 3, this left drive wheel 17 rotates counterclockwise, when lowering in a clockwise direction. To perform these movements, the motor 5 may be reversible. But it can also be a transmission between the motor 5 and drive wheel 17 are formed to switch the direction of rotation.

Durch die vorzugsweise beidseitige Ausführung einer Antriebsvorrichtung 4 an einem Rahmen 2 und zumindest einer Flaschung für einen einzelnen Hubschlitten 3 ist die in der Norm geforderte Bruchsicherheit erfüllt und es können trotzdem ausreichend hohe Lasten transportiert werden. Besonders vorteilhaft ist, dass der Hubschlitten 3 aktiv nach oben und auch nach unten gezogen wird, wodurch vor allem die Abwärtsbeschleunigung derart gesteuert bzw. geregelt wird, dass die Zykluszeiten erheblich gesenkt werden.Due to the preferably two-sided execution of a drive device 4 on a frame 2 and at least one bottle for a single lifting 3 required in the standard break resistance is met and it can still be transported sufficiently high loads. It is particularly advantageous that the lifting carriage 3 is actively pulled upwards and also downwards, whereby above all the downward acceleration is controlled or regulated in such a way that the cycle times are considerably reduced.

Als Motor 5 kann ein elektrisch angetriebener Getriebemotor verwendet werden. Die Umlenkrollen 10, 11 und 18 und die Umlenkräder 7 können jeweils eine Standardseilrollenlagerung aufweisen. Das vom Motor 5 angetriebene Antriebsrad 17 kann in Form eines Zahnrads oder einer Zahnscheibe mit Lagereinsatz ausgeführt sein.As the motor 5, an electrically driven gear motor can be used. The deflection rollers 10, 11 and 18 and the deflection wheels 7 may each have a standard rope roller bearings. The driven by the motor 5 drive wheel 17 may be designed in the form of a gear or a toothed disc with bearing insert.

Gemäß Fig. 3 ist eine weitere Ausführungsvariante der Antriebsvorrichtung 4 dargestellt. Da sich die beiden gemäß Fig. 1 und 2 dargestellten Heberäder 8 bzw. Senkräder 9 in dieselbe Uhrzeigerrichtung drehen, könnte das Zugmittel 6 auch zweimal an einem einzigen, mit dem Hubschlitten 3 verbundenen Umlenkrad 7 angreifen. Dazu müsste lediglich der Zahnriemen 6 für die Hebebewegung bzw. Senkbewegung versetzt an dem einen Umlenkrad 7 angreifen.According to Fig. 3 a further embodiment of the drive device 4 is shown. Since the two according to Fig. 1 and 2 Turning wheels 8 and lowering wheels 9 shown rotate in the same clockwise direction, the traction means 6 could also attack twice on a single, connected to the lifting 3 guide wheel 7. For this purpose, only the toothed belt 6 for the lifting movement or lowering movement would have to act on the one deflecting wheel 7.

Fig. 4 zeigt schematisch die Heberäder 8 und Senkräder 9 mitsamt den Zugmitteln 6 und dem Hubschlitten 3. Gemäß Fig. 5 ist ein Schnitt durch diese Heberäder 8 bzw. Senkräder 9 gezeigt. Wie sich bei Versuchen gezeigt hat, verursacht die Verwendung von Antriebsrädern 7 mit einer flachen Auflagefläche 20 für das Zugmittel 6 (Zahnriemen) einen hohen Verschleiß, da die Zahnriemen ständig stark an den Bordscheiben 22 anstoßen. Um diesen Nachteil weitgehend zu unterbinden, wurde überraschend herausgefunden, dass bei konvex gewölbter Ausbildung der Auflagefläche 20 der Zahnriemen viel weniger verschleißt. Bei weiteren Versuchen wurde zudem herausgefunden, dass dies noch verbessert wird, wenn die Auflagefläche 20 im zentralen Bereich eine umlaufende Bombierung 21 wie in Fig. 5 dargestellt aufweist. Dies liegt vermutlich daran, dass die Geschwindigkeit des Antriebsrads 7 im Bereich der Bombierung 21 am höchsten ist und dies die Zentrierung des Zahnriemens gewährleistet. Diese Bombierung 21 kann separat auf die Antriebsrolle 7 aufgebracht sein. Bevorzugt ist aber vorgesehen, dass die Bombierung 21 und die Antriebsrolle 7 einstückig sind. Bevorzugt liegt der in Fig. 5 nicht dargestellt Zahnriemen mit seiner zahnabgewandten Seite auf der Auflagefläche 20 auf. Fig. 4 schematically shows the lifting wheels 8 and lowering wheels 9 together with the traction means 6 and the lifting carriage 3. According Fig. 5 is a section through these lifting wheels 8 and lowering wheels 9 shown. As has been shown in experiments, causes the use of drive wheels 7 with a flat support surface 20 for the traction means 6 (timing belt) high wear, since the timing belt constantly strong to the Collide flanges 22. In order to largely prevent this disadvantage, it has surprisingly been found that with convexly curved design of the support surface 20 of the toothed belt wears much less. In further experiments, it was also found that this is further improved if the support surface 20 in the central region a circumferential crowning 21 as in Fig. 5 has shown. This is probably due to the fact that the speed of the drive wheel 7 in the region of the crowning 21 is highest and this ensures the centering of the toothed belt. This crown 21 may be applied separately to the drive roller 7. However, it is preferably provided that the crown 21 and the drive roller 7 are in one piece. Preferably, the in Fig. 5 not shown toothed belt with its tooth-facing side on the support surface 20.

Claims (14)

Regalbediengerät (1) mit einem, zumindest im Wesentlichen vertikalen, Rahmen (2), einem entlang dieses Rahmens (2) verfahrbaren Hubschlitten (3) und einer Antriebsvorrichtung (4) zum Bewegen des Hubschlittens (3), wobei die Antriebsvorrichtung (4) - einen Motor (5), - ein vom Motor (5) antreibbares Zugmittel (6), - zumindest ein am Hubschlitten (3) drehbar angeordnetes, mit dem Zugmittel (6) zusammenwirkendes und vom Zugmittel (6) bewegbares Umlenkrad (7) und - zumindest eine am Rahmen (2) angeordnete Umlenkrolle (10) aufweist, wobei das Umlenkrad (7), die Umlenkrolle (10) und das Zugmittel (6) einen Flaschenzug bilden, dadurch gekennzeichnet, dass durch das Zugmittel (6) über das zumindest eine Umlenkrad (7) Beschleunigungskräfte des Motors (5) sowohl in Hubrichtung (HR) als auch in Senkrichtung (SR) aktiv auf den Hubschlitten (3) übertragbar sind. Storage and retrieval unit (1) with a, at least substantially vertical, frame (2), along this frame (2) movable lifting carriage (3) and a drive device (4) for moving the lifting carriage (3), wherein the drive device (4) a motor (5), a traction means (6) which can be driven by the motor (5), - At least one on the lifting carriage (3) rotatably mounted, with the traction means (6) cooperating and the traction means (6) movable deflecting wheel (7) and - At least one on the frame (2) arranged deflection roller (10), wherein the deflection wheel (7), the deflection roller (10) and the traction means (6) form a pulley, characterized in that by the traction means (6) via the at least a deflection wheel (7) acceleration forces of the motor (5) both in the stroke direction (HR) and in the lowering direction (SR) are actively transferable to the lifting carriage (3). Regalbediengerät nach Anspruch 1, dadurch gekennzeichnet, dass am Hubschlitten (3) zwei Umlenkräder (7) - ein Heberad (8) und ein Senkrad (9) - angeordnet sind und das Zugmittel (6) einen vom Heberad (8) zum Senkrad (9) führenden Laufbereich aufweist, wobei der Motor (5) über ein Antriebsrad (17) in diesem Laufbereich am Zugmittel (6) angreift.Storage and retrieval unit according to claim 1, characterized in that on the lifting carriage (3) two deflecting wheels (7) - a lifting wheel (8) and a lowering wheel (9) - are arranged and the traction means (6) from a lifting wheel (8) to the lowering wheel (9 ) leading running region, wherein the motor (5) via a drive wheel (17) engages in this running region on the traction means (6). Regalbediengerät nach Anspruch 2, dadurch gekennzeichnet, dass am Rahmen (2) zwei Umlenkrollen (10, 11) angeordnet sind, um die das Zugmittel (6) verläuft, wobei eine Umlenkrolle (11) in einem Bereich des Zugmittels (6) zwischen Motor (5) und Senkrad (9) und eine Umlenkrolle (10) in einem Bereich des Zugmittels (6) zwischen Motor (5) und Heberad (8) am Zugmittel (6) angreift.Storage and retrieval unit according to claim 2, characterized in that on the frame (2) two deflection rollers (10, 11) are arranged around which the traction means (6), wherein a deflection roller (11) in a region of the traction means (6) between the engine ( 5) and lowering wheel (9) and a deflection roller (10) in a region of the traction means (6) between the motor (5) and lifting wheel (8) on the traction means (6) engages. Regalbediengerät nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der Motor (5) am Rahmen (2) angeordnet ist.Storage and retrieval unit according to one of claims 1 to 3, characterized in that the motor (5) on the frame (2) is arranged. Regalbediengerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das Zugmittel (6) zwei Enden aufweist und mit beiden Enden am Rahmen (2) fixiert ist, wobei ein Ende des Zugmittels (6) im unteren Bereich des Rahmens (2) und ein Ende des Zugmittels (6) im oberen Bereich des Rahmens (2) über Riemenspannvorrichtungen (16) befestigt, vorzugsweise festgespannt, ist.Storage and retrieval unit according to one of claims 1 to 4, characterized in that the traction means (6) has two ends and is fixed with both ends on the frame (2), wherein one end of the traction means (6) in the lower region of the frame (2) and one end of the traction means (6) in the upper region of the frame (2) via belt tensioning devices (16) attached, preferably tightened, is. Regalbediengerät nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass das Zugmittel (6) ein Zahnriemen ist.Storage and retrieval unit according to one of claims 1 to 5, characterized in that the traction means (6) is a toothed belt. Regalbediengerät nach Anspruch 6, dadurch gekennzeichnet, dass der Zahnriemen über ein vom Motor (5) angetriebenes Antriebsrad (17) in Form eines Zahnrads oder einer Zahnscheibe antreibbar ist, wobei die Zähne des Zahnriemens und des Zahnrads bzw. der Zahnscheibe formschlüssig ineinandergreifen.Storage and retrieval unit according to claim 6, characterized in that the toothed belt via a motor (5) driven drive wheel (17) is drivable in the form of a gear or a toothed disc, wherein the teeth of the toothed belt and the gear or the toothed disc engage in a form-fitting manner. Regalbediengerät nach Anspruch 6 oder 7, dadurch gekennzeichnet, dass das als Zahnriemen ausgebildete Zugmittel (6) mit seiner flachen, zahnabgewandten Seite an einer Auflagefläche (20) des zumindest einen Umlenkrads (7) anliegt.Storage and Retrieval device according to claim 6 or 7, characterized in that the toothed belt formed as a traction means (6) with its flat, tooth away side abuts against a support surface (20) of the at least one guide wheel (7). Regalbediengerät nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass das zumindest eine Umlenkrad (7) eine konvex gewölbte Auflagefläche (20) für das Zugmittel (6) aufweist.Storage and retrieval unit according to one of claims 1 to 8, characterized in that the at least one guide wheel (7) has a convexly curved bearing surface (20) for the traction means (6). Regelbediengerät nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass das zumindest eine Umlenkrad (7) eine Auflagefläche (20) für das Zugmittel (6) aufweist, wobei die Auflagefläche (20) im zentralen Bereich eine umlaufende Bombierung (21) aufweist.Control operating device according to one of claims 1 to 9, characterized in that the at least one deflection wheel (7) has a bearing surface (20) for the traction means (6), wherein the bearing surface (20) in the central region has a circumferential crowning (21). Regalbediengerät nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass der Rahmen (2) zwei im Wesentlichen horizontale Masten (12, 13) aufweist, wobei an beiden Masten (12, 13) jeweils eine Antriebsvorrichtung (4) zum Bewegen des einen Hubschlittens (3) angeordnet ist.Storage and Retrieval device according to one of claims 1 to 10, characterized in that the frame (2) comprises two substantially horizontal masts (12, 13), wherein on both masts (12, 13) each have a drive device (4) for moving the one lifting carriage (3) is arranged. Regalbediengerät nach Anspruch 11, dadurch gekennzeichnet, dass beide Antriebsvorrichtungen (4) über eine gemeinsame Steuer- oder Regeleinheit steuer- bzw. regelbar sind.Storage and retrieval unit according to claim 11, characterized in that both drive devices (4) can be controlled or regulated via a common control unit. Regalbediengerät nach Anspruch 11 oder 12, dadurch gekennzeichnet, dass die Masten (12, 13) in ihrem Kopf- und in ihrem Fußbereich über Querträger (14, 15) verbunden sind.Storage and retrieval unit according to claim 11 or 12, characterized in that the masts (12, 13) in their head and in their foot area via cross members (14, 15) are connected. Regalbediengerät nach einem der Ansprüche 1 bis 13, gekennzeichnet durch ein Fahrwerk zum horizontalen Verfahren in einer Regalgasse.Storage and retrieval unit according to one of claims 1 to 13, characterized by a chassis for horizontal movement in a rack aisle.
EP12006139.5A 2011-08-31 2012-08-29 Stacker crane with a lifting carriage powered by a kind of pulley block Active EP2565148B1 (en)

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ATA1242/2011A AT511857A1 (en) 2011-08-31 2011-08-31 SHELVING UNIT WITH BOTTLE OF SUPPLIED HELMETS

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CN106365058A (en) * 2016-09-20 2017-02-01 张新国 Portal crane for assembling motor with weight being above 100T
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CN107521757A (en) * 2017-09-20 2017-12-29 苏州鸿安机械有限公司 A kind of automatic arranging goods shape dress is put
CN107572450A (en) * 2017-09-25 2018-01-12 沈阳蓝英工业自动化装备股份有限公司 A kind of high-speed buck stacker for half steel fetus storehouse
WO2018068500A1 (en) * 2016-10-13 2018-04-19 罗伯泰克自动化科技（苏州）有限公司 Horizontal guide wheel support base
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CN110641886A (en) * 2018-06-26 2020-01-03 沈阳新松机器人自动化股份有限公司 Automatic change three-dimensional warehouse system and use multilayer stacker
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EP3064466A1 (en) * 2015-03-02 2016-09-07 Liebherr-Verzahntechnik GmbH Vehicle for a pallet handling system
CN105730954A (en) * 2016-03-29 2016-07-06 浙江厚达智能科技股份有限公司 Stacking RGV
CN106477327A (en) * 2016-07-21 2017-03-08 苏州布德机电设备有限公司 The storing pay-off of automation equipment
CN106365058A (en) * 2016-09-20 2017-02-01 张新国 Portal crane for assembling motor with weight being above 100T
WO2018068500A1 (en) * 2016-10-13 2018-04-19 罗伯泰克自动化科技（苏州）有限公司 Horizontal guide wheel support base
CN107521757A (en) * 2017-09-20 2017-12-29 苏州鸿安机械有限公司 A kind of automatic arranging goods shape dress is put
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CN107572450A (en) * 2017-09-25 2018-01-12 沈阳蓝英工业自动化装备股份有限公司 A kind of high-speed buck stacker for half steel fetus storehouse
CN110641886A (en) * 2018-06-26 2020-01-03 沈阳新松机器人自动化股份有限公司 Automatic change three-dimensional warehouse system and use multilayer stacker
CN110239932A (en) * 2019-05-27 2019-09-17 安庆雅德帝伯活塞有限公司 A kind of handling equipment
CN110217720A (en) * 2019-05-27 2019-09-10 安庆雅德帝伯活塞有限公司 A kind of material frame lifting mechanism
CN110217720B (en) * 2019-05-27 2024-04-05 安庆雅德帝伯活塞有限公司 Material frame lifting mechanism
EP3747826A1 (en) 2019-06-04 2020-12-09 Dematic GmbH Lifting device for a lift truck
WO2022068159A1 (en) * 2020-09-29 2022-04-07 上海精星物流设备工程有限公司 Double-column stacking machine
CN112432654A (en) * 2020-11-20 2021-03-02 浙江大华汽车技术有限公司 State analysis method and device for muck truck and storage medium
CN112432654B (en) * 2020-11-20 2023-04-07 浙江华锐捷技术有限公司 State analysis method and device for muck truck and storage medium
WO2024055504A1 (en) * 2022-09-14 2024-03-21 科达制造股份有限公司 Hydraulic lifting rgv, and material conveying system using same
CN116002263A (en) * 2022-12-28 2023-04-25 安徽哥伦布智能科技有限公司 Elevator and intelligent storage equipment

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AT511857A1 (en) 2013-03-15
ES2478221T3 (en) 2014-07-21
EP2565148B1 (en) 2014-04-09
PL2565148T3 (en) 2014-08-29
PT2565148E (en) 2014-04-23

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