EP2838832B1 - Transtockeur à amortissement du mât - Google Patents

Transtockeur à amortissement du mât Download PDF

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Publication number
EP2838832B1
EP2838832B1 EP13721284.1A EP13721284A EP2838832B1 EP 2838832 B1 EP2838832 B1 EP 2838832B1 EP 13721284 A EP13721284 A EP 13721284A EP 2838832 B1 EP2838832 B1 EP 2838832B1
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EP
European Patent Office
Prior art keywords
storage
mast
retrieval device
chassis
shelf
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.)
Active
Application number
EP13721284.1A
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German (de)
English (en)
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EP2838832A1 (fr
Inventor
Gerd Harald Ketterer
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.)
SSI Schaefer Noell GmbH Lager und Systemtechnik
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SSI Schaefer Noell GmbH Lager und Systemtechnik
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Publication of EP2838832A1 publication Critical patent/EP2838832A1/fr
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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
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • 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 present invention relates to a storage and retrieval unit for use in a rack aisle, which is defined between two in a transverse direction opposite shelves, with an upper chassis, a lower chassis, at least one mast and a load receiving means. Furthermore, the invention relates to a shelf assembly with a corresponding storage and retrieval unit.
  • the European patent EP 2 022 732 B1 in paragraph [0055] discloses a stacker crane (hereinafter also abbreviated as "RBG") with a vertical mast having upper and lower landing gear.
  • the RBG is coupled via the trolleys in each case to a head-side or foot-side guide rail.
  • a guide is proposed in the middle height, which is supported on one of the shelves of the rack aisle and which is rigidly connected to the mast.
  • a longitudinal direction of the rack aisle or alley is referred to as X-direction, a transverse direction as Z-direction and a height direction as Y-direction (XYZ form a Cartesian coordinate system).
  • XYZ form a Cartesian coordinate system
  • an RBG experiences loads or forces in the Z-direction when stored goods are stored in one of the rack's lanes or outsourced from one of the racks that define the lane between them.
  • the RBG is first positioned in front of a corresponding shelf space or shelf.
  • the RBG moves in the longitudinal direction X to a rack column, in which the corresponding shelf is provided.
  • a load-receiving means hereinafter also referred to for short as "LAM" is moved to a corresponding height (by means of a lifting mechanism).
  • V P ⁇ L 3 48 ⁇ e ⁇ I .
  • V [mm] is the deformation
  • P [N] is the acting force
  • L [mm] is a mast height
  • E [N / mm 2 ] is the modulus of elasticity
  • I [mm 4 ] is the second order moment of area or the rigidity of the mast RBG is.
  • V thus represents a measure of a way around which a (bending) beam is deflected by fixing the ends of the beam and acting with a force perpendicular to the beam, the force being ideally introduced centrally between the ends of the beam ,
  • the LAM weighs 30 kg, resulting in a force F of about 476th N, which acts in the transverse direction Z during the transfer of the stored goods to the mast of the RBG.
  • This force creates oscillations of the mast in the transverse direction Z.
  • a second change of motion eg a deceleration of the LAM after the initial acceleration
  • the vibrations of the mast in the transverse direction Z then become stronger. This can lead to undesired changes in position of stored storage goods within the shelf. Slow down storage and retrieval processes because you have to wait longer until the vibrations are within acceptable tolerances to move the RBG in the lane.
  • the vibrations are also transferred to the rack construction.
  • the shelf starts to swing or deforms.
  • the vibrations of the shelf can cause the stored goods to move within the rack. If the stored goods move beyond a permissible position tolerance, they can no longer be outsourced because they are no longer where a warehouse management expects them. Furthermore, such dynamic loads on the shelf can lead to life problems, which require expensive repairs or rework.
  • An RBG for automated small parts storage can simultaneously handle up to four stored goods with a respective weight of up to 50 kg.
  • a ratio of the weight of the gas-bonded RBG (2 to 7 tons, depending on the height of the RBG) to the payload (e.g., 4 x 50 kg) is relatively poor, especially from an energetic point of view, because much energy is needed to move a high total mass.
  • This problem has recently been reinforced because operators of shelf assemblies always want more shelf space with a constant number of RBG in the warehouse, which can only be achieved by higher shelves. The higher the shelf, the higher the mast of the RBG must be. To comply with deformation limits, after the o.g. Formula the mast stiffness I grow with increasing height in the cube.
  • the EP 2 239 226 A1 discloses a stacker crane with a stabilizer mounted at a medium height.
  • the stabilizer braces the storage and retrieval unit during storage and retrieval between the adjacent shelves.
  • US 3,184,083 A discloses a stacker crane with an upper, a middle and a lower chassis, wherein the central chassis is arranged on a stabilizing arm.
  • the damping unit is capable of allowing slow mast vibration in the Z direction without transmitting forces, whereas rapid vibration is damped by generating counterforce.
  • the (fast) vibrations are therefore damped as much as possible in order to bring the oscillation amplitudes below the permissible deformation values as quickly as possible.
  • the damping can be purely mechanical, ie passive. A complex control system is not required. Lightweight, energy efficient mast constructions can be used together with light shelf constructions without jamming and loading the shelf.
  • the deformation V is reduced by a factor of 2 to 8 in the invention due to the damping, even if the RBG and the shelf are manufactured in lightweight construction.
  • the deflection or deformation of the RBG in the transverse direction Z is damped during the storage goods transfer.
  • the muted guidance of the mast on the shelf - with play - makes it possible to introduce no or only very small forces in the rack construction.
  • the actual damping is essentially active during a stock transfer.
  • this is possible because the Z-movements of the RBG run in the longitudinal direction of the rack aisle much slower than the vibrations of the mast in the transverse direction Z during storage goods transfer.
  • the vibrations of the mast are missing and can not accumulate cumulatively.
  • the damping unit transfers high forces to the shelf at high speeds (e.g., during load transfer) and transfers little or no load to the rack with less change in distance (shelf to RBG) as the RBG travels.
  • the attenuator is a passive, unregulated damper.
  • the passive damper is a cylinder having a closed chamber filled with a fluid and a piston having a piston crown, the piston being reciprocally supported in the chamber and having one or more through-holes for the fluid, a number and size of the through holes is selected so that the fluid viscous (viscous) acts.
  • the damper may be e.g. to act a hydraulic damper.
  • the piston When small forces act on the piston, the piston can move through the chamber with virtually no resistance. For larger forces, the fluid can not flow so quickly through the through holes due to its viscosity, so that the piston can be moved only inhibited. In this case, a resistance builds up within the chamber, which causes a corresponding counterforce to act on the piston. This counterforce acts on the rack construction when the causative force is caused by the LAM, which carries out a storage goods transfer.
  • the central chassis couples so loosely to the central guide rail, that the central chassis is not permanently connected kraftschlüsig with the middle guide rail during travel of the storage and retrieval device in the longitudinal direction through the rack aisle.
  • the RBG thus couples only in exceptional cases to the shelf. There is no fixed guide between the mast and the shelf. This allows the middle guide rail to have deformations which do not immediately lead to a force being exerted on the shelf (forced guidance). As a result, a migration of the stored goods is suppressed.
  • the RBG gives virtually no forces on the shelf during longitudinal travel.
  • the middle chassis preferably has one or more wheels and one or more support wheels.
  • the boom has a first arm and a second arm, wherein the arms are movably connected to each other via the damping member and wherein one of the arms is guided guided along the other arm.
  • a controller and a sensor are provided, wherein the sensor detects a value and delivers to the controller a signal corresponding to an instantaneous distance of the at least one mast in the transverse direction relative to one of the shelves, wherein the attenuator is an actively controlled actuator, which is operated by the controller based on the value of the sensor 102 such that the actuator counteracts vibration of the at least one mast in the transverse direction.
  • the attenuator has a brake.
  • the boom is oriented substantially horizontally.
  • a shelf assembly with at least one rack aisle, which is defined between each two shelves, and with a stacker crane according to the invention.
  • a storage and retrieval device (also abbreviated as “RBG”) is understood below to mean a conveyor or operating device which is moved in a rack aisle between two shelves, usually rail-guided.
  • RBG has a landing gear, one or more masts, a hoist and at least one load handling device (also abbreviated as “LAM”) on.
  • the mast can be guided on an upper / lower guide rail and / or connected to the floor with a crossbar, which transmit the forces via support and guide rollers.
  • Drives are often designed as friction drives or toothed belt drives.
  • a linear actuator of the RBG is often done by circulating traction means, such as by means of toothed belts, chains or ropes.
  • a ride-on omega drive is suitable in which the RBG pulls with Omega-shaped rollers along a toothed belt.
  • the load is taken up in pallets, for example via a telescopic fork and in containers, for example by circulation by means of belt conveyors or pulling with drawbars (eg hook, lasso or swivel arm).
  • a storage unit is understood below to mean a handling unit within a warehouse, which is used in particular with shelves.
  • a storage unit is typically article-like (sorted), but can also be mixed (several articles of different grades / types).
  • the storage unit may comprise a storage aid and the stored goods themselves. However, the storage unit can only be the stored goods if the storage aid is omitted.
  • loading aids are usually used, such as e.g. Pallets, lattice boxes, containers, containers, boxes, trays, etc.
  • Storage goods include piece goods, bulk goods, liquids or gases. Bulk solids, liquids and gases may require packaging for further handling to define packages. In the following, empty and filled containers or cartons will be considered as stored goods by way of example.
  • a bearing assembly typically includes a plurality of shelves, most of which are arranged in parallel in the form of single shelves or double shelves. Double shelves are single shelves that are placed back to back. Regal shelves are defined between the shelves, which usually run in the longitudinal direction of the shelves along their longitudinal sides and serve as an action space for the RBG. The shelves end at their respective opposite end faces, which in turn are oriented in a plane perpendicular to the longitudinal direction of the rack aisle. The shelves themselves have a plurality of (shelf) storage spaces or parking spaces, which are arranged in the form of superimposed shelf levels.
  • a shelf column extends vertically within a shelf and usually has as many storage or parking spaces on top of each other, as shelving levels are available.
  • Fig. 1 shows a view along the longitudinal direction X in a rack aisle 14 of a shelf assembly 10.
  • a RBG 12 is provided in the rack aisle 14 .
  • the rack aisle 14 is defined between a first shelf 16-1 and a second shelf 16-2.
  • the shelves 16 have a shelf structure 18, which in turn shelf racks 20, not shown cross members, shelves 22 or other holding elements and (optional) cross-connections 28 may have.
  • the shelves 22 each define a shelf or a shelf space 24 for single or multi-depth storage of stored goods 26.
  • the Fig. 1 is shown a single deep storage.
  • the two lower shelves 24 are each occupied by one of the stored goods 26.
  • the right shelf 16-2 is only the bottom shelf with one of the stored goods 26 occupied.
  • the remaining shelves 24 are eg free, that is not occupied.
  • the RBG 12 has a load receiving means (LAM) 30 which is adjustable in height (see arrow 32).
  • the LAM 30 may include an unspecified and shown gripping mechanism which is on or extendable, as indicated by a double arrow 34.
  • the LAM 30 is attached to a non-descript lifting table.
  • the RBG 12 further includes one or more vertically oriented masts 36. For simplicity of description, a single mast 36 per RBG 12 is assumed below.
  • the lift table moves vertically along the mast 36 and is guided vertically by the mast 36.
  • the mast 36 is here exemplarily with a lower chassis 38 and an upper chassis 40 equipped.
  • the lower chassis 38 is coupled to a lower guide rail 42.
  • the upper chassis 40 is coupled to an upper guide rail 44.
  • the coupling of the chassis 38 and 40 to the rails 42 and 44 takes place via one or more guide wheels 46.
  • the lower guide rail 42 is exemplary in attached to a hall floor.
  • the upper guide rail 44 is attached to the shelf structure 18 by way of example.
  • the lower guide rail 42 may also be attached to the rack 18.
  • the upper guide rail 44 may be attached to a hall ceiling.
  • the manner of attachment of the rails 42 and 44 has an effect on a transmission of vibrations of the RBG 12, in particular of the mast 36, on the one or more shelves 16.
  • a damping unit 50 is further provided which comprises an attenuator 52 and a boom 54.
  • the damping unit 50 may further include a (middle) chassis 56.
  • the damping unit 50 couples with its chassis 56 to a central guide rail 58 which extends substantially horizontally in the longitudinal direction X of the rack aisle 14 and which is attached to the rack 18 (here on the shelf 16-2). Manufacturing tolerances on the guide rail 58 can lead to slight deviations from the horizontal orientation in the longitudinal direction X.
  • An exemplary shape of the middle guide rail 58 will be described with reference to FIG Fig. 3 will be explained in more detail.
  • the damping unit 50 of Fig. 1 is fixedly connected to the mast 36 and coupled via the middle guide rail 58 to the rack 18.
  • the damping unit 50 and the middle guide rail 58 are arranged in a central height region of the rack aisle 14 and the mast 36 and the shelves 16.
  • the boom 54 is oriented substantially horizontally. Slight angular deviations from the horizontal are possible.
  • Fig. 2 is a perspective enlargement of the designated by "II" and shown in phantom circle of Fig. 1 shown.
  • the damping member 52 of the damping unit 50 is implemented in the form of a cylinder (eg, hydraulic damper) having a housing 62, a chamber 64, and a piston 66.
  • the piston 66 is axially reciprocally mounted in the chamber 64.
  • the piston 66 is connected, preferably rigidly, to a bearing block 68, which in turn is connected to a first arm 70 of the boom 54.
  • the first arm 70 is connected via a mounting plate 72 to the mast 36.
  • the first arm 70 may be connected via a screw 74 with the mounting plate 72.
  • the first arm 70 can be mounted pivotably about an axis of rotation 76 (see arrow 78) on the mast 36.
  • the axis of rotation 76 represents an imaginary extension of a longitudinal direction of the screw connection 74.
  • the extension arm 54 is pivotably mounted, the shelf 16 or the middle guide rail 58 may vary in the height Y.
  • a height of the guide rail 58 varies in the order of +/- 30 mm. For example, if the shelf 16 is heavily loaded, the effective height of the rail 58 may be lowered by 20mm. Due to the pivotable mounting of the boom 54, the RBG 12 can easily follow this height variation.
  • the boom 54 may further comprise a second arm 80 which is force-transmitting connected only via the cylinder 60 with the first arm 70.
  • the first arm 70 and the second arm 80 are not directly connected to each other. But you can lead each other.
  • the second arm 80 is supported so as to be movably guided along the first arm 70, as indicated by an arrow 82 in FIG Fig. 2 is indicated.
  • the second arm 80 may be mechanically guided within the first arm 70.
  • the second arm 80 may be connected to a frame 88, which is opposite the first arm 70 and which has the central chassis 56.
  • the center landing gear 56 may include one or more wheels 84 and one or more support wheels 86 for coupling to the center guide rail 58.
  • the middle guide rail 58 has, for example, a downwardly open, U-shaped configuration and may have a horizontally oriented running leg 90 and a vertically oriented vertical support leg 92.
  • the vertical support leg 92 is preferably oriented parallel to a further vertical (fastening) leg 94, which in turn is oriented perpendicular to the leg 90.
  • the middle guide rail 58 is fastened eg via the leg 94 on the shelf 16 (not shown).
  • the idler 90 serves to vertically guide the idler wheels 84.
  • the idler wheels 84 follow the idler 90 as the RBG 12 travels through the lane 14 in the vertical direction Y.
  • the support leg 92 serves to horizontally guide the one or more support wheels 86 in the transverse direction Z, while the RBG 12 is standing or driving in the alley 14.
  • an impeller 84 and two support wheels 86-1 and 86-2 are shown.
  • the wheels 84 and 86 are preferably elastically mounted.
  • the wheels 86 may be mounted horizontally adjustable to be mounted on a site (warehouse) on site and adjusted.
  • the support wheel 86-1 is mounted so that in a resting state of the RBG 12 (ie the RBG 12 does not run and there is no stored goods transfer instead) from the outside firmly against the support leg 92, because it at least partially the weight of the damping unit 50 on Shelf 18 is supported.
  • the second support wheel 86-2 is disposed within the U-shaped portion of the middle guide rail 58 so as to be horizontally guided by the legs 92 and / or 94.
  • the wheel 86-2 is preferably mounted so that it rests lightly from the inside on the leg 92 in the resting state of the RBG 12.
  • the wheels 84 and 86 do not transfer forces from the mast 36 to the center guide rail 58 in the normal state (travel of the RBG 12 through the lane 14).
  • No play is provided between the wheels 84 and 86 and the center guide rail 58 in the normal state so that the RBG 12 during a ride in the longitudinal direction X is constrained by the middle guide rail 58.
  • the arms 70 and 80 can balance over the attenuator 52 distance tolerances between the mast 36 and the shelf 16. This has the advantage that manufacturing and assembly tolerances of the middle guide rail 58 are irrelevant, but still forces, in particular vibrations during a storage product transfer can be attenuated.
  • Fig. 4 shows two functional principles for the damping unit 50 and 50 '.
  • the chamber 64 of the cylinder 60 is self-contained (sealed) and filled with an unspecified fluid (preferably a liquid, such as a heat-conducting hydraulic oil).
  • the piston 66 is axially movable within the chamber 64 to and fro, as indicated by a double arrow.
  • the piston 66 may have a piston head 67, which in turn may have unspecified passage openings.
  • the chamber 64 is variably divided by the piston head 67 into a first (left) half 64-1 and a second (right) half 64-2, which fluidly communicate via the through holes.
  • an actively controlled damping unit 50 is used.
  • the cylinder 60 or its chamber halves 64-1 and 64-2 are then coupled to fluid lines 106, which in turn are connected to a (not shown in detail) fluid reservoir.
  • a controller 10 is then provided which sends control signals to a pump P.
  • the pump P is provided within the path of one of the conduits 106 for pumping or pumping out the fluid into one of the chamber halves 64-1 or 64-2.
  • the controller 100 is further connected to a sensor 102 via a signal line 104. It is understood that the signal line 104 may also be implemented wirelessly.
  • the sensor 102 detects a value equivalent to a distance of the mast 36 in the transverse direction Z relative to one of the shelves 16. In the Fig.
  • sensor 102 determines a distance A to an end face of second arm 80, sensor 102 being fixedly connected to first arm 170 and measuring substantially in a longitudinal direction of arms 70 and 80.
  • the sensor 102 may be disposed inside the first arm 70, for example. From the distance A or a rate of change of the distance A, the speed / acceleration of the mast 36 relative to the shelf 16 in the transverse direction Z can be determined.
  • the controller 100 has appropriate control algorithms to evaluate the signals from the sensor 102 and to be able to convert into corresponding control signals for the pump P. The control is such that it is damped ie is controlled against the initiated force. Rapid movements of the RBG 12 (eg during a load transfer) in the transverse direction Z are actively damped, whereas slow movements (eg travel of the RBG 12 in the lane 14) are not actively dampened.
  • FIG. 5 A further modification of a damping unit 50 "is shown, and the damping member 52 of the damping unit 50" is realized in the form of a brake 110.
  • a cylinder 60 is not provided here.
  • the first arm 70 and the second arm 80 are in turn guided horizontally guided against each other, as indicated by a double arrow.
  • the second arm 70 is connected via unspecified brake shoes of the brake 110 with the first arm 70.
  • the brake shoes engage the outside of the first arm 70.
  • the first arm 70 and second arm 80 can be moved freely horizontally against each other, without frictional losses.
  • the first arm 70 and the second arm 80 can be moved only more difficult horizontally against each other.
  • the braking effect of the brake 110 is indicated in the form of four arrows. It is understood that the damping unit 50 "is also actively regulated, so that again a sensor 102 (not shown) as well as a controller 100 (also not shown) is used.
  • the brake 110 can be actuated to different degrees in real time Forces to respond.
  • FIG. 15 shows a diagram in which a force [N] over a travel [mm] for an adjustable damping unit 50 of the first variant of FIG Fig. 3
  • Fig. 6 shows the damping force curve.
  • the cylinder 60 was clamped in a vibration testing machine, which with a sine of 0.25 Hz at a stroke of +/- 25 mm was excited to vibrate, so that it resulted in a speed of 0.04 m / s.
  • Tensile forces of 100 to 1750 N were measured. Under pressure, forces of 230 to 1500 N were measured. The difference of the tensile and compressive forces results from a volume compression in the cylinder housing 66th

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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)

Claims (10)

  1. Transtockeur (12) destiné à être utilisé dans une allée (14) qui est définie entre deux rayonnages (16-1, 16-2) opposés l'un à l'autre dans une direction transversale (Z), comprenant :
    un châssis supérieur (40) qui peut être accouplé à un rail de guidage supérieur (44) ;
    un châssis inférieur (38) qui peut être accouplé à un rail de guidage inférieur (42), dans lequel les rails de guidage (42, 44) s'étendent dans une direction longitudinale (X) le long de l'allée (14) ;
    au moins un mât (36) qui relie l'un à l'autre le châssis inférieur (38) et le châssis supérieur (40) dans une direction verticale (Y) ;
    un moyen de réception de charges (30) servant, dans la direction transversale (Z), au stockage d'un produit (26) dans l'un des rayonnages (16) ou à son déstockage hors de l'un des rayonnages (16), dans lequel le moyen de réception de charges (30) est mobile et réglable en hauteur (32) le long de l'au moins un mât (36) ; caractérisé par une unité d'amortissement (50) qui comprend :
    un élément d'amortissement (52),
    une flèche (54) et
    un châssis central (56) ;
    dans lequel la flèche (54) est fixée de manière rigide à l'au moins un mât (36) et est reliée de manière amortie dans la direction transversale (Z) par l'intermédiaire de l'élément d'amortissement (52) au châssis central (56), lequel peut être accouplé à un rail de guidage central (58) qui est fixé de manière rigide à l'un des rayonnages (16-2) et qui s'étend sensiblement dans la direction longitudinale (X) le long de l'allée (14).
  2. Transtockeur selon la revendication 1, dans lequel l'élément d'amortissement (54) est un amortisseur passif non régulé.
  3. Transtockeur selon la revendication 2, dans lequel l'amortisseur passif est un cylindre (60) qui comporte une chambre (64) fermée remplie de fluide et un piston (66) ayant une tête de piston (67), dans lequel le piston (66) est monté de façon à effectuer un mouvement de va-et-vient dans la chambre (64) et comporte une ou plusieurs ouvertures de passage destinées au fluide, dans lequel le nombre et la taille des ouvertures de passage sont sélectionnés de manière à ce que le fluide agisse de manière visqueuse.
  4. Transtockeur selon l'une quelconque des revendications 1 à 3, dans lequel le châssis central (56) est accouplé de manière lâche au rail de guidage central (58) afin que le châssis central (56) soit relié par complémentarité de force de manière non permanente au rail de guidage central (58) à travers l'allée (14) pendant un déplacement du transtockeur (12) dans la direction longitudinale (X).
  5. Transtockeur selon l'une quelconque des revendications 1 à 4, dans lequel le châssis central (56) comporte une ou plusieurs roues de roulement (84) ainsi qu'une ou plusieurs roues d'appui (86).
  6. Transtockeur selon l'une quelconque des revendications 1 à 5, dans lequel la flèche (54) comporte un premier bras (70) et un second bras (80), dans lequel les bras (70, 80) sont accouplés l'un à l'autre de manière mobile (82) l'un par rapport à l'autre par l'intermédiaire de l'élément d'amortissement (52) et dans lequel l'un des bras (70, 80) est supporté de manière guidée le long de l'autre bras (80, 70).
  7. Transtockeur selon la revendication 1, comportant en outre une unité de commande (100) et un capteur (102), dans lequel le capteur (102) détermine une valeur et la délivre à l'unité de commande (102) en tant que signal qui correspond à un espace instantané (A) de l'au moins un mât (36) dans la direction transversale (Z) par rapport à l'un des rayonnages (16), dans lequel l'élément d'amortissement (52) est un actionneur actif régulé qui est actionné par l'unité de commande (100) sur la base de la valeur du capteur (102) de manière à ce que l'actionneur s'oppose à une vibration de l'au moins un mât (36) dans la direction transversale (36).
  8. Transtockeur selon la revendication 7, dans lequel l'élément d'amortissement (52) comporte un frein (110).
  9. Transtockeur selon l'une quelconque des revendications 1 à 8, dans lequel la flèche (54) est orientée sensiblement horizontalement.
  10. Système de rayonnage (10) comportant au moins une allée (14) qui est définie entre deux rayonnages respectifs (16-1, 16-2) et dans lequel il est prévu un transtockeur selon l'une quelconque des revendications 1 à 9.
EP13721284.1A 2012-04-17 2013-04-16 Transtockeur à amortissement du mât Active EP2838832B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012007923A DE102012007923A1 (de) 2012-04-17 2012-04-17 Regalbediengerät mit Mastdämpfung
PCT/EP2013/057856 WO2013156455A1 (fr) 2012-04-17 2013-04-16 Transtockeur à amortissement du mât

Publications (2)

Publication Number Publication Date
EP2838832A1 EP2838832A1 (fr) 2015-02-25
EP2838832B1 true EP2838832B1 (fr) 2016-06-08

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EP13721284.1A Active EP2838832B1 (fr) 2012-04-17 2013-04-16 Transtockeur à amortissement du mât

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EP (1) EP2838832B1 (fr)
DE (1) DE102012007923A1 (fr)
ES (1) ES2588600T3 (fr)
WO (1) WO2013156455A1 (fr)

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US3184083A (en) * 1963-01-25 1965-05-18 Triax Co Load checking and positioning devices for automatic warehouse system
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EP2838832A1 (fr) 2015-02-25

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