EP3088347B1 - Shelf serving device - Google Patents

Shelf serving device Download PDF

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Publication number
EP3088347B1
EP3088347B1 EP16165272.2A EP16165272A EP3088347B1 EP 3088347 B1 EP3088347 B1 EP 3088347B1 EP 16165272 A EP16165272 A EP 16165272A EP 3088347 B1 EP3088347 B1 EP 3088347B1
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EP
European Patent Office
Prior art keywords
mast
supports
storage
support
chassis
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EP16165272.2A
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German (de)
French (fr)
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EP3088347A1 (en
Inventor
Herbert Aschauer
Ronald Fessl
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.)
Swisslog Evomatic GmbH
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Swisslog Evomatic GmbH
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Priority claimed from AT13932008A external-priority patent/AT507335B1/en
Priority claimed from AT0055308U external-priority patent/AT11688U1/en
Application filed by Swisslog Evomatic GmbH filed Critical Swisslog Evomatic GmbH
Publication of EP3088347A1 publication Critical patent/EP3088347A1/en
Application granted granted Critical
Publication of EP3088347B1 publication Critical patent/EP3088347B1/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"
    • 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
    • B66F9/08—Masts; Guides; Chains

Definitions

  • the invention relates to a storage and retrieval unit with a mast, at least one chassis for holding the mast, at least one rail on which the at least one chassis can be moved back and forth, and at least one lift truck that can be moved vertically on the mast.
  • Storage and retrieval machines are for example in the publications DE 196 31 511 A1 and EP 1 061 035 A2 described.
  • EP 1 061 035 A2 describes a mast of a storage and retrieval unit, which consists of a solid profile and a truss girder in front.
  • a storage and retrieval device from the DE 2154709 is a storage and retrieval device according to the preamble of claim 1 with a lattice mast, which is formed from four vertical supports, which are arranged in a square plan in the corner points, which are arranged outside the chassis and therefore cause a relatively large mast width.
  • the cross struts, via which the supports are connected to one another, are secured against rotating movements by tension members, but they extend parallel to the Direction of movement running cross struts strongly eccentric, which results in poor movement dynamics of the mast.
  • the lifting drive element which is designed, for example, in the form of a toothed belt, usually runs on one side of the mast, which is subjected to permanent bending stress due to the resulting pretensioning, which leads to a disadvantage with regard to the device statics and positioning accuracy.
  • the object of the invention is therefore to create a storage and retrieval unit with a mast that is as light as possible and yet stable in order to keep the mainly dynamic loads on the elements of the storage and retrieval unit caused by the acceleration and braking of the storage and retrieval unit as low as possible.
  • the aim is to ensure that the vertical and horizontal forces occurring in the mast are efficiently diverted into the chassis.
  • Another object of the invention is to specify a storage and retrieval unit which minimizes the mast bending when loaded by lifting movements.
  • the height of the mast should not be limited by specified component dimensions, but rather a modular design should make it possible to achieve different mast heights as required, with heights of over twenty meters without adverse consequences for the maneuverability of the storage and retrieval unit.
  • the aim of the invention is to enable such an arrangement of drive systems that asymmetrical loads on the chassis and the mast are prevented.
  • the mast is formed from two supports, which are spaced from one another in the direction of movement of the at least one chassis and are connected to one another by at least one transverse beam to form a mast profile, the connection of the at least one transverse beam to the supports being designed to be rigid, wherein the supports are formed from profiles and screwed onto the chassis at their base points, and that the rigid connection of the at least one crossbeam to the supports is formed by gusset plates.
  • the design of the mast by two supports creates a weight reduction that is advantageous for the operation of the storage and retrieval unit.
  • the supports are put together via one or more transverse beams to form a mast profile, which absorbs dynamic loads in both the longitudinal and transverse directions through the two supports, which happens solely through the rigid connection of the transverse beam in the direction of travel, with the transverse forces acting on one support as well can be partially taken over by the second support.
  • the width of the mast can therefore be reduced due to the significantly lower loads across the direction of travel. This makes it possible to choose a profile shape of the supports in the mast so that they essentially correspond to the width of the mast.
  • connection of the mast supports with one or more transverse beams results in a very light construction and also the possibility of the advantageous, central arrangement of chassis and drive components in the space between the mast supports.
  • Another advantage is the easy-to-implement modular assemblability of the supports to form very high masts.
  • the at least one crossbeam is rigidly connected to the supports of the mast via gusset plates arranged at its ends, so that a static and / or dynamic force which acts on one of the two supports is absorbed at least in part by the other support.
  • the transfer of occurring loads from one profile or one support of the mast to the other support causes an approximately even distribution of the loads between the supports and thus relieves the support along which the lift truck is guided.
  • the supports can thus be designed as elements that are significantly less stressed, that is to say a lighter material with lower strength such as aluminum and / or with a smaller cross section.
  • the crossbeam is connected by a specially designed gusset plate, which, with reference to the desired (continue on page 4 of the original description) Force transmission, but also with regard to the static and dynamic properties of the mast.
  • the mast preferably consists of individual modules that are connected by screw connections.
  • the joint connection of the individual profiles is designed as a screw connection and is preferably provided in the respective area of the gusset plate for the crossbeam.
  • the mast is preferably attached to the carriage of the chassis by a screw connection which is implemented by a specially designed mast foot on the respective supports of the mast.
  • One possible embodiment of the storage and retrieval unit can be that the lifting truck is guided along at least one of the profiles that form the supports of the mast.
  • the storage and retrieval unit can consist in that the at least one running gear comprises a travel drive system which is arranged within the mast profile between the two supports.
  • the traction drive belt can be guided centrally in the longitudinal direction with respect to the rail, and thus a central train close to the rail is possible.
  • the at least one chassis comprises a lifting drive system which is arranged within the mast profile between the two supports and, if necessary, that the travel drive system and / or the lifting drive system is arranged centrally in the direction of movement of the chassis.
  • This arrangement has an advantageous effect on the central course of the lifting drive element that can be realized as a result.
  • the drive motor of the lifting chassis which is guided vertically along the mast, is advantageously arranged on the lower, horizontal chassis of the mast within the supports of the mast, since this allows the horizontal chassis of the mast to be made shorter. The latter increases the working area of the stacker crane.
  • a further embodiment of the storage and retrieval unit according to the invention can consist in that the lifting carriage, which can be moved by means of a lifting drive element, is guided along one of the two supports and that the lifting drive element is guided around one support.
  • the central pull that can be achieved in this way creates a symmetrical deformation, which greatly reduces the torsional load on the mast.
  • the at least one support of the mast is mainly subjected to pressure and is hardly exposed to any bending load.
  • This pre-tensioning caused by the drive element on the mast has an especially advantageous effect during dynamic travel.
  • the profile forming the support can thus be of weaker dimensions, that is to say formed from a lighter, but a material with lower strength and / or with a smaller cross-section.
  • deflections for the lifting drive element can be provided at the base point and at the head point of one support, the lifting drive element being passed through a through opening of the support at the base and the lifting drive element being guided on both sides of the one support of the mast.
  • the lifting drive element surrounding a support of the mast is pretensioned, as a result of which the mast is symmetrically subjected to compressive stress.
  • a mast support of the storage and retrieval unit according to the invention can be prestressed in that at least one of the profiles forming the supports of the mast is prestressed by the guide of the drive belt.
  • This pre-tensioning thus has the effect that that support along which the lift truck is guided does not experience any bending load, since the tensile stresses are superimposed by the pre-tensioning of the support. Because of this preload, the support can be subjected to higher loads, or it can be dimensioned less strongly in the form of a reduction in cross-section or by choosing a light but material with lower strength.
  • the lifting drive element can be formed, for example, by a drive belt or a drive belt.
  • a permanent connection between the mast supports and the chassis is that the supports are screwed onto the chassis at their base points.
  • the supports of the mast are each composed of several support elements which are grooved together at their ends, the supports being formed by profiles, in particular light metal profiles.
  • a preferred embodiment of the storage and retrieval unit can be that the rail of the lifting carriage guided on the mast is attached to at least one of the profiles forming the supports of the mast.
  • the rails of the undercarriage guided on the mast are attached to the supports in such a way that off-center loading of the support is largely avoided.
  • the arrangement of the support is related to the optimization of the cross-sectional shape of the profile forming the support.
  • the means of fastening the vertical rail are to be selected so that the rail can easily be adjusted at any time.
  • the profile forming the support of the mast also serves as a rail.
  • construction heights of up to 24 meters and more can be achieved and high accelerations or decelerations can be managed when the storage and retrieval unit is being driven without adversely affecting the positioning accuracy.
  • FIG. 1 and Figure 3 show a storage and retrieval unit with a mast 10 and two trolleys 1, 1 'equipped with guide elements 2, 2' for holding the mast 10.
  • the trolleys 1, 1 ' can be moved to and fro on horizontal rails 4, 4' together with the mast 10 .
  • a lift truck 1 ′′ including lift guide elements 2 ′′ is provided, which is vertically displaceable on a lift rail 4 ′′ by means of a lift drive element 3.
  • the mast 10 is formed from two supports 11, 11 ', which are spaced from one another in the direction of movement of the chassis 1, 1' and are connected to one another by a plurality of transverse beams 12 to form a mast profile, the connection of the transverse beams 12 to the supports 11, 11 ' Is made rigid.
  • the supports 11, 11 ' are formed from profiles and screwed onto the chassis 1 at their base points.
  • the crossbeams 12 are rigidly connected to the supports 11, 11 'of the mast 10 via specially designed nodes 13, so that at least a portion of a horizontal force, which mainly results from an acceleration or braking process of the storage and retrieval unit, or a vertical force, usually a dead load of the storage and retrieval unit or the goods to be transported, from which a support 11 is derived to the second support 11 '.
  • the mast 10 is connected to the two bogies 1, 1 ′, one bogie 1 being arranged at the head of the mast 10 and a bogie 1 ′ being arranged at the foot of the mast 10. Due to the light and compact design of the control unit according to the invention, preferably only the lower chassis 1 is driven horizontally by a drive element not designated in detail.
  • the lift truck 1 ′′ is guided along the support 11 of the mast 10, a rail 4 ′′ provided for this purpose being attached to the support 11.
  • the risk of the support 11 buckling due to a bending load caused by the eccentric arrangement of the lift truck is minimized.
  • the lifting drive element 3 encloses the support 11 and is arranged at a distance from the center of inertia of the support 11 on both sides in such a way that the moments which are caused by the tensile forces mainly acting in the lifting drive element 3 almost cancel each other out.
  • the lifting drive element 3 At the foot point and at the head point of the one support 11 deflections are provided for the lifting drive element 3, the lifting drive element 3 being passed through a through opening of the support 11 at the base point.
  • a traction drive system is provided on the chassis 1 which comprises a drive motor 5 and which is arranged within the mast profile between the two external supports 11, 11 '.
  • chassis 1 comprises a lifting drive system, which is also arranged within the mast profile between the two supports 11, 11 '.
  • the drive motor 5 for driving the horizontal drive element is arranged on the slide of the chassis 1 inside the mast 10.
  • FIG 2A the structure of the mast 10 is shown.
  • the supports 11, 11 'of the mast 10, which are designed as profiles, are spaced apart from one another by the crossbeams 12, two of which are arranged in parallel at the same height.
  • the nodes 13 for the rigid connection between the crossbar 12 and the respective support 11, 11 ' are formed by gusset plates.
  • the profile of the support 11 ' is designed with a smaller cross-section than the support 11, which guides the lift truck 1 ′′, for the purpose of saving weight and material, whereby the crossbeams 12 are arranged at an angle deviating from the parallel position.
  • the crossbeams 12 are connected to the supports 11, 11 'in a rigid manner.
  • Fig. 4 shows a connection in a pieced mast 10, in which the mast supports 11, 11 'are composed of several elements and over parallel lying crossbeams or cross struts 12 are connected.
  • the mast supports 11, 11 ′ in the form of aluminum profiles are divided exactly in the middle in the area of the crossbeams 12 and the gusset plates 13 and are connected to one another with various additional plates 27.
  • FIG. 5 an embodiment in which the mast supports 11, 11 'are rigidly connected to the transverse beams 12 via the gusset plates 13, the mast supports not having any division in these areas.

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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)
  • Forklifts And Lifting Vehicles (AREA)

Description

Die Erfindung betrifft ein Regalbediengerät mit einem Mast, zumindest einem Fahrwerk zur Halterung des Mastes, zumindest einer Schiene, auf der das zumindest eine Fahrwerk hin- und her bewegbar ist, sowie zumindest einem auf dem Mast vertikal verschiebbaren Hubwagen.The invention relates to a storage and retrieval unit with a mast, at least one chassis for holding the mast, at least one rail on which the at least one chassis can be moved back and forth, and at least one lift truck that can be moved vertically on the mast.

Durch das starke Wachstum des Versandhandels, nicht zuletzt durch den Verkauf von Waren über das Internet hervorgerufen, ergeben sich erhöhte Anforderungen an die Bewältigung von Material- und Warenflüssen innerhalb eines Betriebsgeländes. Hochregallager und automatische Kleinteilelager, die über Regalbediengeräte zugänglich sind, stellen dafür die Grundlage dar.Due to the strong growth of the mail order business, not least caused by the sale of goods over the Internet, there are increased demands on the management of material and goods flows within a company premises. High-bay warehouses and automatic small parts warehouses that are accessible via stacker cranes provide the basis for this.

Regalbediengeräte sind beispielsweise in den Druckschriften DE 196 31 511 A1 und EP 1 061 035 A2 beschrieben.Storage and retrieval machines are for example in the publications DE 196 31 511 A1 and EP 1 061 035 A2 described.

In der DE 196 31 511 A1 ist ein Mast eines Regalbediengerätes in Leichtbauweise beschrieben, der nach oben verjüngt ausgeführt wird. Der beschriebene Mast ist weiters so ausgeführt, dass das Mastinnere für Einbauten verwendet werden kann. Diese Ausführung mit den Stäben in den Eckpunkten eines Rechtecks bewirkt zwar eine hohe Biegesteifigkeit, wirkt sich jedoch in Bezug auf die begrenzten Platzverhältnisse nachteilig aus.In the DE 196 31 511 A1 describes a mast of a stacker crane in lightweight construction, which is tapered upwards. The mast described is also designed so that the inside of the mast can be used for built-in components. This design with the rods in the corner points of a rectangle results in a high level of flexural rigidity, but has a disadvantageous effect in relation to the limited space available.

EP 1 061 035 A2 beschreibt einen Mast eines Regalbediengerätes, welcher aus einem massiven Profil und einem vorgelagerten Fachwerksträger besteht. EP 1 061 035 A2 describes a mast of a storage and retrieval unit, which consists of a solid profile and a truss girder in front.

Aus der DE 2154709 geht ein Regalbediengerät nach dem Oberbegriff des Anspruchs 1 mit einem Gittermast hervor, der aus vier vertikalen Stützen gebildet ist, die in einem quadratischen Grundriss in den Eckpunkten angeordnet sind, welche außerhalb des Fahrwerks angeordnet sind und daher eine relativ große Mastbreite bewirken. Die Querstreben, über welche die Stützen miteinander verbunden sind, sind durch Spannglieder gegen Drehbewegungen gesichert, jedoch erstrecken sich die parallel zur Bewegungsrichtung verlaufenden Querstreben stark außermittig, woraus sich eine schlechte Bewegungsdynamik des Mastes ergibt.From the DE 2154709 is a storage and retrieval device according to the preamble of claim 1 with a lattice mast, which is formed from four vertical supports, which are arranged in a square plan in the corner points, which are arranged outside the chassis and therefore cause a relatively large mast width. The cross struts, via which the supports are connected to one another, are secured against rotating movements by tension members, but they extend parallel to the Direction of movement running cross struts strongly eccentric, which results in poor movement dynamics of the mast.

Üblicherweise verläuft das Hubantriebselement, das z.B. in Form eines Zahnriemens ausgebildet ist, auf einer Seite des Mastes, welcher durch die resultierende Vorspannung einer permanenten Biegebelastung ausgesetzt ist, was zu einem Nachteil hinsichtlich der Gerätestatik und Positioniergenauigkeit führt.The lifting drive element, which is designed, for example, in the form of a toothed belt, usually runs on one side of the mast, which is subjected to permanent bending stress due to the resulting pretensioning, which leads to a disadvantage with regard to the device statics and positioning accuracy.

Ein weiterer Nachteil der Masten bekannter Regalbediengeräte ist durch ihr hohes Eigengewicht gegeben, welches die Energiekosten erhöht und in vielen Fällen auch eine Beschränkung in der Masthöhe mit sich bringt.Another disadvantage of the masts of known storage and retrieval units is their high dead weight, which increases energy costs and in many cases also entails a limitation in the mast height.

Aufgabe der Erfindung ist es daher, ein Regalbediengerät mit einem möglichst leichten und trotzdem stabilen Mast zu schaffen, um so die in der Hauptsache dynamischen Belastungen, die durch das Beschleunigen und Abbremsen des Regalbediengerätes hervorgerufen werden, auf die Elemente des Regalbediengerätes möglichst gering zu halten. Es soll gewährleistet werden, dass die auftretenden vertikalen und horizontalen Kräfte im Mast auf eine effiziente Weise in das Fahrwerk abgeleitet werden.The object of the invention is therefore to create a storage and retrieval unit with a mast that is as light as possible and yet stable in order to keep the mainly dynamic loads on the elements of the storage and retrieval unit caused by the acceleration and braking of the storage and retrieval unit as low as possible. The aim is to ensure that the vertical and horizontal forces occurring in the mast are efficiently diverted into the chassis.

Weitere Aufgabe der Erfindung ist es, ein Regalbediengerät anzugeben, welches die Mastverbiegungen bei Belastung durch Hubbewegungen minimiert.Another object of the invention is to specify a storage and retrieval unit which minimizes the mast bending when loaded by lifting movements.

Weiters soll die Bauhöhe des Mastes nicht durch vorgegebene Bauteilmaße beschränkt sein, sondern eine modulare Bauweise es ermöglichen, je nach Bedarf unterschiedliche Masthöhen zu erreichen, wobei Bauhöhen von über zwanzig Metern ohne nachteilige Folgen für die Verfahrbarkeit des Regalbediengerätes erreichbar sein sollen.Furthermore, the height of the mast should not be limited by specified component dimensions, but rather a modular design should make it possible to achieve different mast heights as required, with heights of over twenty meters without adverse consequences for the maneuverability of the storage and retrieval unit.

Schließlich ist es Ziel der Erfindung, eine derartige Anordnung von Antriebssystemen zu ermöglichen, dass asymmetrische Belastungen des Fahrwerks und des Mastes verhindert werden.Finally, the aim of the invention is to enable such an arrangement of drive systems that asymmetrical loads on the chassis and the mast are prevented.

Erfindungsgemäß wird dies dadurch gelöst, dass der Mast aus zwei Stützen gebildet ist, welche in Bewegungsrichtung des zumindest einen Fahrwerks voneinander beabstandet und durch zumindest einen Querbalken zu einem Mastprofil miteinander verbunden sind, wobei die Anbindung des zumindest einen Querbalkens an die Stützen biegesteif ausgeführt ist, wobei die Stützen aus Profilen gebildet und an ihren Fußpunkten auf dem Fahrwerk angeschraubt sind, und dass die biegesteife Anbindung des zumindest einen Querbalkens an die Stützen durch Knotenbleche ausgebildet ist.According to the invention, this is achieved in that the mast is formed from two supports, which are spaced from one another in the direction of movement of the at least one chassis and are connected to one another by at least one transverse beam to form a mast profile, the connection of the at least one transverse beam to the supports being designed to be rigid, wherein the supports are formed from profiles and screwed onto the chassis at their base points, and that the rigid connection of the at least one crossbeam to the supports is formed by gusset plates.

Die Ausbildung des Mastes durch zwei Stützen, welche an die auftretenden Belastungen optimiert sind, schafft eine für den Betrieb des Regalbediengerätes vorteilhafte Gewichtsreduktion. Die Stützen sind über einen oder mehrere Querbalken zu einem Mastprofil zusammengesetzt, welches dynamische Belastungen sowohl in Längs- als auch in Querrichtung durch die zwei Stützen aufnimmt, was allein durch die biegesteife Anbindung des Querbalkens in Fahrtrichtung geschieht, wobei auch die auf eine Stütze wirkenden Querkräfte von der zweiten Stütze teilweise übernommen werden. Durch die wesentlich geringeren Belastungen quer zur Fahrtrichtung kann die Breite des Mastes daher reduziert werden. Dadurch ist es möglich, eine Profilform der Stützen im Mast so zu wählen, dass sie im wesentlichen der Breite des Mastes entsprechen.The design of the mast by two supports, which are optimized for the loads that occur, creates a weight reduction that is advantageous for the operation of the storage and retrieval unit. The supports are put together via one or more transverse beams to form a mast profile, which absorbs dynamic loads in both the longitudinal and transverse directions through the two supports, which happens solely through the rigid connection of the transverse beam in the direction of travel, with the transverse forces acting on one support as well can be partially taken over by the second support. The width of the mast can therefore be reduced due to the significantly lower loads across the direction of travel. This makes it possible to choose a profile shape of the supports in the mast so that they essentially correspond to the width of the mast.

Bedingt durch die Verbindung der Maststützen mit einem oder mehreren Querbalken ergibt sich eine sehr leichte Bauweise und zudem die Möglichkeit der vorteilhaften, zentralen Anordnung von Fahrwerks- und Antriebskomponenten im Zwischenraum zwischen den Maststützen.The connection of the mast supports with one or more transverse beams results in a very light construction and also the possibility of the advantageous, central arrangement of chassis and drive components in the space between the mast supports.

Weiterer Vorteil ist die einfach verwirklichbare modulare Zusammensetzbarkeit der Stützen zu sehr hohen Masten.Another advantage is the easy-to-implement modular assemblability of the supports to form very high masts.

Weiters ist erfindungsgemäß der zumindest eine Querbalken über an seinen Enden angeordnete Knotenbleche biegesteif an die Stützen des Mastes angebunden, sodass eine statische und/oder dynamische Kraft, welche an einer der zwei Stützen angreift, zumindest zu einem Anteil von der anderen Stütze aufgenommen wird.Furthermore, according to the invention, the at least one crossbeam is rigidly connected to the supports of the mast via gusset plates arranged at its ends, so that a static and / or dynamic force which acts on one of the two supports is absorbed at least in part by the other support.

Die Weitergabe von auftretenden Belastungen von einem Profil beziehungsweise einer Stütze des Mastes zu der anderen Stütze bewirkt eine in etwa gleichmäßige Verteilung der Lasten zwischen den Stützen und schafft somit eine Entlastung der Stütze, entlang welcher der Hubwagen geführt ist. Die Stützen können somit als deutlich geringer belastete Elemente, das heißt einem leichteren Werkstoff mit geringerer Festigkeit wie beispielsweise Aluminium und/oder mit einem geringeren Querschnitt ausgebildet werden. Die Anbindung des Querbalkens erfolgt durch ein speziell ausgebildetes Knotenblech, welches in Bezugnahme auf die gewünschte (Weiter auf Seite 4 der ursprünglichen Beschreibung) Kraftweiterleitung, aber auch in Bezug auf die statischen und dynamischen Eigenschaften des Mastes ausgelegt ist.The transfer of occurring loads from one profile or one support of the mast to the other support causes an approximately even distribution of the loads between the supports and thus relieves the support along which the lift truck is guided. The supports can thus be designed as elements that are significantly less stressed, that is to say a lighter material with lower strength such as aluminum and / or with a smaller cross section. The crossbeam is connected by a specially designed gusset plate, which, with reference to the desired (continue on page 4 of the original description) Force transmission, but also with regard to the static and dynamic properties of the mast.

Der Mast besteht vorzugsweise aus einzelnen Modulen, die durch Schraubverbindungen verbunden sind. Dadurch ist auch eine einfache und vor allem auch kostengünstige Anpassung des Mastes an unterschiedlich geforderte Bauhöhen möglich. Dies wird auch vor allem dadurch erreicht, dass auf Grund der kleineren Profilabmessungen die Werkzeugkosten für die Profilherstellung geringer sind und weiters auch geringere Abnahmemengen im Gegensatz zu Stahlrollprofilen möglich sind. Die Stoßverbindung der einzelnen Profile ist als Schraubverbindung ausgeführt und vorzugsweise im jeweiligen Bereich des Knotenbleches für den Querbalken vorgesehen.The mast preferably consists of individual modules that are connected by screw connections. As a result, a simple and, above all, inexpensive adaptation of the mast to different heights required is possible. This is achieved above all by the fact that, due to the smaller profile dimensions, the tool costs for profile production are lower and, furthermore, lower purchase quantities are possible in contrast to steel roll profiles. The joint connection of the individual profiles is designed as a screw connection and is preferably provided in the respective area of the gusset plate for the crossbeam.

Der Mast ist vorzugsweise am Schlitten des Fahrwerks durch eine Schraubverbindung befestigt, die durch einen speziell ausgebildeten Mastfuß an den jeweiligen Stützen des Mastes ausgeführt ist.The mast is preferably attached to the carriage of the chassis by a screw connection which is implemented by a specially designed mast foot on the respective supports of the mast.

Eine mögliche Ausführungsform des Regalbediengerätes kann sein, dass entlang zumindest eines der die Stützen des Mastes bildenden Profile der Hubwagen geführt ist.One possible embodiment of the storage and retrieval unit can be that the lifting truck is guided along at least one of the profiles that form the supports of the mast.

Eine mögliche Ausführungsform des Regalbediengerätes kann darin bestehen, dass das zumindest eine Fahrwerk ein Fahrantriebssystem umfasst, das innerhalb des Mastprofils zwischen den zwei Stützen angeordnet ist. Auf diese Weise ist eine gegenüber der Schiene in Längsrichtung mittige Führung des Fahrantriebsriemens und damit ein schienennaher und zentrischer Zug möglich. Zugleich liegt eine günstige Gewichtsbelastung in der Mitte zwischen den Maststützen vor.One possible embodiment of the storage and retrieval unit can consist in that the at least one running gear comprises a travel drive system which is arranged within the mast profile between the two supports. In this way, the traction drive belt can be guided centrally in the longitudinal direction with respect to the rail, and thus a central train close to the rail is possible. At the same time, there is a favorable weight load in the middle between the mast supports.

Es kann in diesem Zusammenhang auch vorgesehen sein, dass das zumindest eine Fahrwerk ein Hubantriebssystem umfasst, das innerhalb des Mastprofils zwischen den zwei Stützen angeordnet ist und gegebenenfalls, dass das Fahrantriebssystem und/oder das Hubantriebssystem in Bewegungsrichtung des Fahrwerks mittig angeordnet ist. Diese Anordnung wirkt sich auf den dadurch realisierbaren mittigen Verlauf des Hubantriebselements vorteilhaft aus.In this context, it can also be provided that the at least one chassis comprises a lifting drive system which is arranged within the mast profile between the two supports and, if necessary, that the travel drive system and / or the lifting drive system is arranged centrally in the direction of movement of the chassis. This arrangement has an advantageous effect on the central course of the lifting drive element that can be realized as a result.

Der Antriebsmotor des Hubfahrwerkes, welches vertikal entlang des Mastes geführt wird, ist vorteilhaft am unteren, horizontalen Fahrwerk des Mastes innerhalb der Stützen des Mastes angeordnet, da dadurch das horizontale Fahrwerk des Mastes kürzer ausgebildet werden kann. Durch letzteres wird der Arbeitsbereich des Regalbediengerätes vergrößert.The drive motor of the lifting chassis, which is guided vertically along the mast, is advantageously arranged on the lower, horizontal chassis of the mast within the supports of the mast, since this allows the horizontal chassis of the mast to be made shorter. The latter increases the working area of the stacker crane.

Eine weitere Ausführungsform des erfindungsgemäßen Regalbediengeräts kann darin bestehen, dass der mittels eines Hubantriebselements bewegbare Hubwagen entlang einer der zwei Stützen geführt ist und dass das Hubantriebselement die eine Stütze umschließend geführt ist.A further embodiment of the storage and retrieval unit according to the invention can consist in that the lifting carriage, which can be moved by means of a lifting drive element, is guided along one of the two supports and that the lifting drive element is guided around one support.

Diese an beiden Seiten zumindest eine Stütze umschließende Führung des Antriebselementes des Hubwagens, der vertikal am Mast geführt wird, schafft den Vorteil, dass die Spannungen im Mast und Mastfuß günstig beeinflusst werden. Durch den damit erreichbaren zentrischen Zug entsteht eine symmetrische Verformung, welche die Torsionsbelastung des Mastes stark herabsetzt. Dadurch wird die zumindest eine Stütze des Mastes vorwiegend auf Druck belastet und kaum einer Biegebelastung ausgesetzt. Diese durch das Antriebselement am Mast hervorgerufene Vorspannung wirkt sich vor allem bei der dynamischen Fahrt vorteilhaft aus.This guiding of the drive element of the lift truck, which is guided vertically on the mast, which encloses at least one support on both sides, creates the advantage that the tensions in the mast and mast base are favorably influenced. The central pull that can be achieved in this way creates a symmetrical deformation, which greatly reduces the torsional load on the mast. As a result, the at least one support of the mast is mainly subjected to pressure and is hardly exposed to any bending load. This pre-tensioning caused by the drive element on the mast has an especially advantageous effect during dynamic travel.

Das die Stütze bildende Profil kann somit schwächer dimensioniert, das heißt aus einem leichteren, jedoch einem Werkstoff mit geringerer Festigkeit und/oder mit einem geringerem Querschnitt gebildet werden.The profile forming the support can thus be of weaker dimensions, that is to say formed from a lighter, but a material with lower strength and / or with a smaller cross-section.

Gemäß einer Weiterbildung der Erfindung können am Fußpunkt und am Kopfpunkt der einen Stütze Umlenkungen für das Hubantriebselement vorgesehen sein, wobei das Hubantriebselement am Fußpunkt durch eine Durchgangsöffnung der Stütze hindurchgeführt ist und wobei das Hubantriebselement an beiden Seiten der einen Stütze des Mastes geführt ist.According to a further development of the invention, deflections for the lifting drive element can be provided at the base point and at the head point of one support, the lifting drive element being passed through a through opening of the support at the base and the lifting drive element being guided on both sides of the one support of the mast.

Es ergibt sich dadurch neben der Verringerung der asymmetrischen Belastungen und dem Verhindern von unerwünschten Spannungsüberlagerungen eine stark verbesserte Platzsituation im Bereich der Hubschlittenführung.In addition to reducing the asymmetrical loads and preventing undesirable stress superimpositions, this results in a greatly improved space situation in the area of the lifting carriage guide.

Weiters kann in diesem Zusammenhang vorgesehen sein, dass das die eine Stütze des Mastes umschließende Hubantriebselement vorgespannt ist, wodurch der Mast symmetrisch mit einer Druckspannung beaufschlagt ist.Furthermore, it can be provided in this context that the lifting drive element surrounding a support of the mast is pretensioned, as a result of which the mast is symmetrically subjected to compressive stress.

Eine Vorspannung einer Maststütze des erfindungsgemäßen Regalbediengerätes kann dadurch ausgeführt sein, dass zumindest eines der die Stützen des Mastes bildenden Profile durch die Führung des Antriebsgurtes vorgespannt ist.A mast support of the storage and retrieval unit according to the invention can be prestressed in that at least one of the profiles forming the supports of the mast is prestressed by the guide of the drive belt.

Diese Vorspannung bewirkt somit, dass jene Stütze, entlang welcher der Hubwagen geführt ist, keine Biegebelastung erfährt, da die Zugspannungen von der Vorspannung der Stütze überlagert ist. Die Stütze kann aufgrund dieser Vorspannung höher belastet werden beziehungsweise schwächer in Form einer Querschnittsreduktion oder durch die Wahl eines leichten, jedoch Materials mit geringerer Festigkeit dimensioniert werden.This pre-tensioning thus has the effect that that support along which the lift truck is guided does not experience any bending load, since the tensile stresses are superimposed by the pre-tensioning of the support. Because of this preload, the support can be subjected to higher loads, or it can be dimensioned less strongly in the form of a reduction in cross-section or by choosing a light but material with lower strength.

Das Hubantriebselement kann beispielweise durch einen Antriebsgurt oder einen Antriebsriemen gebildet sein.The lifting drive element can be formed, for example, by a drive belt or a drive belt.

Es sei im Rahmen dieser Erfindung nicht ausgeschlossen, dass das Hubfahrwerk des Regalbediengerätes durch andere, dem Fachmann bekannte Mittel sowie eine Kombination dieser Mittel angetrieben wird.In the context of this invention, it is not excluded that the lifting gear of the storage and retrieval unit is driven by other means known to the person skilled in the art, as well as a combination of these means.

Eine dauerhafte Verbindung der Maststützen mit dem Fahrwerk besteht darin, dass die Stützen an ihren Fußpunkten auf dem Fahrwerk angeschraubt sind.A permanent connection between the mast supports and the chassis is that the supports are screwed onto the chassis at their base points.

Zur Ermöglichung einer modularen Bauweise und einer möglichst großen Bauhöhe kann vorgesehen sein, dass die Stützen des Mastes jeweils aus mehreren Stützenelementen zusammengesetzt sind, die an ihren Enden miteinander vernutet sind, wobei die Stützen durch Profile, insbesondere Leichtmetallprofile gebildet sind.To enable a modular design and the greatest possible height, the supports of the mast are each composed of several support elements which are grooved together at their ends, the supports being formed by profiles, in particular light metal profiles.

Eine bevorzugte Ausführungsform des Regalbediengerätes kann sein, dass die Schiene des am Mast geführten Hubfahrwerkes an zumindest einem der die Stützen des Mastes bildenden Profile befestigt ist.A preferred embodiment of the storage and retrieval unit can be that the rail of the lifting carriage guided on the mast is attached to at least one of the profiles forming the supports of the mast.

Die Schienen des am Mast geführten Fahrwerkes sind so an den Stützen befestigt, dass eine außermittige Belastung der Stütze weitgehendst vermieden wird. Die Anordnung der Stütze steht im Zusammenhang mit der Optimierung der Querschnittsform des die Stütze bildenden Profils. Die Mittel der Befestigung der vertikalen Schiene sind so zu wählen, dass eine Justierbarkeit der Schiene jederzeit leicht möglich ist.The rails of the undercarriage guided on the mast are attached to the supports in such a way that off-center loading of the support is largely avoided. The arrangement of the support is related to the optimization of the cross-sectional shape of the profile forming the support. The means of fastening the vertical rail are to be selected so that the rail can easily be adjusted at any time.

Im Rahmen dieser Erfindung ist es auch möglich, dass das die Stütze des Mastes bildende Profil auch als Schiene dient.In the context of this invention it is also possible that the profile forming the support of the mast also serves as a rail.

Durch diese optimierte erfindungsgemäße Ausgestaltung der Mastkonstruktion können Bauhöhen bis zu 24 Meter und mehr erreicht sowie hohe Beschleunigungen bzw. Verzögerungen beim Fahrbetrieb des Regalbediengerätes bewältigt werden ohne dass die Positioniergenauigkeit nachteilig beeinflusst wird.With this optimized configuration of the mast construction according to the invention, construction heights of up to 24 meters and more can be achieved and high accelerations or decelerations can be managed when the storage and retrieval unit is being driven without adversely affecting the positioning accuracy.

Weiters wird durch die bevorzugte Verwendung von Schraubverbindungen gegenüber Schweißkonstruktionen die Produktlebensdauer erhöht, da dadurch Dauerfestigkeitsprobleme, wie sie bei Schweißnähten auftreten, nahezu eliminiert werden. Zusätzliche Vorteile ergeben sich auch bei der Montage, da einzelne Baugruppen vormontiert, leicht transportiert und am Aufstellungsort einfach zusammengebaut und ggf. justiert werden können.Furthermore, the preferred use of screw connections over welded constructions increases the product service life, as this almost eliminates fatigue strength problems such as occur with welded seams become. Additional advantages also arise during assembly, since individual assemblies can be preassembled, easily transported and simply assembled and, if necessary, adjusted at the installation site.

Nachfolgend wird die Erfindung anhand der in den Zeichnungen dargestellten Ausführungsbeispiele eingehend erläutert. Es zeigt dabei

  • Fig.1 eine schematische Seitenansicht einer Ausführungsform des erfindungsgemäßen Regalbediengerätes;
  • Fig. 2A einen horizontalen Schnitt durch die Ausführungsform gemäß Figur 1;
  • Fig.2B einen horizontalen Schnitt durch eine weitere Ausführungsform des erfindungsgemäßen Regalbediengeräts;
  • Fig. 3 eine schaubildliche (dreidimensionale) Darstellung der in Figur 1 dargestellten Ausführungsform des erfindungsgemäßen Regalbediengerätes;
  • Fig. 4 eine dreidimensionale Ansicht eines Details einer weiteren Ausführungsform des erfindungsgemäßen Regalbediengeräts und
  • Fig.5 eine dreidimensionale Ansicht eines Details einer weiteren Ausführungsform des erfindungsgemäßen Regalbediengeräts.
The invention is explained in detail below with reference to the exemplary embodiments shown in the drawings. It shows
  • Fig. 1 a schematic side view of an embodiment of the storage and retrieval unit according to the invention;
  • Figure 2A a horizontal section through the embodiment according to Figure 1 ;
  • Fig.2B a horizontal section through a further embodiment of the storage and retrieval unit according to the invention;
  • Fig. 3 a graphical (three-dimensional) representation of the in Figure 1 illustrated embodiment of the storage and retrieval unit according to the invention;
  • Fig. 4 a three-dimensional view of a detail of a further embodiment of the storage and retrieval unit according to the invention and
  • Fig. 5 a three-dimensional view of a detail of a further embodiment of the storage and retrieval unit according to the invention.

Figur 1 und Figur 3 zeigen ein Regalbediengerät mit einem Mast 10 und zwei mit Führungselementen 2, 2' ausgestatteten Fahrwerken 1, 1' zur Halterung des Mastes 10. Die Fahrwerke 1, 1' sind zusammen mit dem Mast 10 auf horizontalen Schienen 4, 4' hin und her bewegbar. Weiters ist ein Hubwagen 1" samt Hubführungselementen 2" vorgesehen, der auf einer Hubschiene 4" durch ein Hubantriebselement 3 vertikal verschiebbar ist. Figure 1 and Figure 3 show a storage and retrieval unit with a mast 10 and two trolleys 1, 1 'equipped with guide elements 2, 2' for holding the mast 10. The trolleys 1, 1 'can be moved to and fro on horizontal rails 4, 4' together with the mast 10 . Furthermore, a lift truck 1 ″ including lift guide elements 2 ″ is provided, which is vertically displaceable on a lift rail 4 ″ by means of a lift drive element 3.

Erfindungsgemäß ist der Mast 10 aus zwei Stützen 11, 11' gebildet, welche in Bewegungsrichtung des Fahrwerks 1, 1' voneinander beabstandet und durch mehrere Querbalken 12 zu einem Mastprofil miteinander verbunden sind, wobei die Anbindung der Querbalken 12 an die Stützen 11, 11' biegesteif ausgeführt ist. Die Stützen 11, 11' sind aus Profilen gebildet und an ihren Fußpunkten auf dem Fahrwerk 1 angeschraubt.According to the invention, the mast 10 is formed from two supports 11, 11 ', which are spaced from one another in the direction of movement of the chassis 1, 1' and are connected to one another by a plurality of transverse beams 12 to form a mast profile, the connection of the transverse beams 12 to the supports 11, 11 ' Is made rigid. The supports 11, 11 'are formed from profiles and screwed onto the chassis 1 at their base points.

Die Querbalken 12 sind an den Stützen 11, 11' des Mastes 10 über speziell ausgebildete Knoten 13 biegesteif angebunden, sodass zumindest ein Anteil einer horizontalen Kraft, welche in der Hauptsache aus einem Beschleunigungs- - oder Abbremsvorgang des Regalbediengerätes resultiert, oder einer vertikalen Kraft, in der Regel eine Eigenlast des Regalbediengerätes oder der zu transportierenden Ware, von der einen Stütze 11 zu der zweiten Stütze 11' abgeleitet wird.The crossbeams 12 are rigidly connected to the supports 11, 11 'of the mast 10 via specially designed nodes 13, so that at least a portion of a horizontal force, which mainly results from an acceleration or braking process of the storage and retrieval unit, or a vertical force, usually a dead load of the storage and retrieval unit or the goods to be transported, from which a support 11 is derived to the second support 11 '.

Der Mast 10 ist an die zwei Fahrwerke 1, 1' angebunden, wobei ein Fahrwerk 1 am Kopf des Mastes 10 und ein Fahrwerk 1' am Fuß des Mastes 10 angeordnet ist. Aufgrund der leichten und kompakten Bauweise des erfindungsgemäßen Regelbediengerätes wird vorzugsweise nur das untere Fahrwerk 1 durch ein nicht näher bezeichnetes Antriebselement horizontal angetrieben.The mast 10 is connected to the two bogies 1, 1 ′, one bogie 1 being arranged at the head of the mast 10 and a bogie 1 ′ being arranged at the foot of the mast 10. Due to the light and compact design of the control unit according to the invention, preferably only the lower chassis 1 is driven horizontally by a drive element not designated in detail.

Der Hubwagen 1" wird entlang der Stütze 11 des Mastes 10 geführt, wobei eine dafür vorgesehene Schiene 4" an der Stütze 11 befestigt ist.The lift truck 1 ″ is guided along the support 11 of the mast 10, a rail 4 ″ provided for this purpose being attached to the support 11.

Durch das beidseitig der Stütze 11 geführte Hubantriebselement 3, z.B. ein Hubzahnriemen, wird der Hubwagen 1" bewegt und die Stütze 11 vorgespannt. Die Gefahr des Ausknickens der Stütze 11 aufgrund einer Biegebelastung, welche durch die exzentrische Anordnung des Hubwagens hervorgerufen wird, wird minimiert.The lifting drive element 3 guided on both sides of the support 11, e.g. a toothed lifting belt, moves the lift truck 1 ″ and preloads the support 11. The risk of the support 11 buckling due to a bending load caused by the eccentric arrangement of the lift truck is minimized.

Das Hubantriebselement 3 umschließt die Stütze 11 und ist beidseitig von der Trägheitsmittelachse der Stütze 11 so beabstandet angeordnet, dass sich die Momente, welche durch die in der Hauptsache in dem Hubantriebselement 3 wirkenden Zugkräften hervorgerufen werden, nahezu aufheben.The lifting drive element 3 encloses the support 11 and is arranged at a distance from the center of inertia of the support 11 on both sides in such a way that the moments which are caused by the tensile forces mainly acting in the lifting drive element 3 almost cancel each other out.

Am Fußpunkt und am Kopfpunkt der einen Stütze 11 sind Umlenkungen für das Hubantriebselement 3 vorgesehen, wobei das Hubantriebselement 3 am Fußpunkt durch eine Durchgangsöffnung der Stütze 11 hindurchgeführt ist.At the foot point and at the head point of the one support 11 deflections are provided for the lifting drive element 3, the lifting drive element 3 being passed through a through opening of the support 11 at the base point.

Auf dem Fahrwerk 1 ist ein Fahrantriebssystem vorgesehen, das einen Antriebsmotor 5 umfasst und das innerhalb des Mastprofils zwischen den zwei außen liegenden Stützen 11, 11' angeordnet ist.A traction drive system is provided on the chassis 1 which comprises a drive motor 5 and which is arranged within the mast profile between the two external supports 11, 11 '.

Weiters umfasst das Fahrwerk 1 ein Hubantriebssystem, das ebenfalls innerhalb des Mastprofils zwischen den zwei Stützen 11, 11' angeordnet ist.Furthermore, the chassis 1 comprises a lifting drive system, which is also arranged within the mast profile between the two supports 11, 11 '.

Der Antriebsmotor 5 für den Antrieb des horizontalen Antriebselements ist dabei am Schlitten des Fahrwerkes 1 im Inneren des Mastes 10 angeordnet.The drive motor 5 for driving the horizontal drive element is arranged on the slide of the chassis 1 inside the mast 10.

In Figur 2A ist der Aufbau des Mastes 10 dargestellt. Die als Profile ausgeführten Stützen 11, 11' des Mastes 10 sind durch die Querbalken 12, von denen jeweils zwei parallel auf gleicher Höhe angeordnet sind, von einander beabstandet angeordnet. Die Knoten 13 zur biegesteifen Anbindung zwischen den Querbalken 12 und der jeweiligen Stütze 11, 11' sind durch Knotenbleche ausgebildet.In Figure 2A the structure of the mast 10 is shown. The supports 11, 11 'of the mast 10, which are designed as profiles, are spaced apart from one another by the crossbeams 12, two of which are arranged in parallel at the same height. The nodes 13 for the rigid connection between the crossbar 12 and the respective support 11, 11 'are formed by gusset plates.

An der Stütze 11 ist die Schiene 4" befestigt, entlang welcher der Hubwagen 1" über Führungselemente 2" geführt ist.The rail 4 ″, along which the lift truck 1 ″ is guided via guide elements 2 ″, is fastened to the support 11.

Die Profile der Stützen 11, 11' werden in bevorzugter Weise als stranggepresste Alu-Hohlprofile ausgebildet, können jedoch auch wie in Fig.2 gezeigt aus entsprechenden Vollprofilen ausgeführt werden.The profiles of the supports 11, 11 'are preferably designed as extruded aluminum hollow profiles, but can also be used as in FIG Fig. 2 shown are made from corresponding full profiles.

In der Ausführungsform gemäß Fig.2B ist für eine niedrige Masthöhe das Profil der Stütze 11' zum Zwecke der Gewichts- und Materialeinsparung mit kleinerem Querschnitt als die Stütze 11, welche den Hubwagen 1" führt, ausgebildet, wodurch die Querbalken 12 in einem von der Parallellage abweichenden Winkel zueinander angeordnet sind. Auch in diesem Ausführungsbeispiel sind erfindungsgemäß die Querbalken 12 an die Stützen 11, 11' biegesteif angebunden.In the embodiment according to Fig.2B For a low mast height, the profile of the support 11 'is designed with a smaller cross-section than the support 11, which guides the lift truck 1 ″, for the purpose of saving weight and material, whereby the crossbeams 12 are arranged at an angle deviating from the parallel position. In this exemplary embodiment, too, according to the invention, the crossbeams 12 are connected to the supports 11, 11 'in a rigid manner.

Fig.4 zeigt eine Verbindung bei einem gestückelten Mast 10, bei dem die Maststützen 11, 11' aus mehreren Elementen zusammengesetzt und über parallel liegende Querbalken oder Querstreben 12 verbunden sind. Die in Form von Alu-Profilen ausgeführten Maststützen 11, 11' sind genau mittig im Bereich der Querbalken 12 und der Knotenbleche 13 geteilt und mit verschiedenen zusätzlichen Platten 27 miteinander verbunden. Fig. 4 shows a connection in a pieced mast 10, in which the mast supports 11, 11 'are composed of several elements and over parallel lying crossbeams or cross struts 12 are connected. The mast supports 11, 11 ′ in the form of aluminum profiles are divided exactly in the middle in the area of the crossbeams 12 and the gusset plates 13 and are connected to one another with various additional plates 27.

Im Vergleich dazu zeigt Fig.5 eine Ausführungsform, bei der die Maststützen 11, 11' über die Knotenbleche 13 mit den Querbalken 12 biegesteif verbunden sind, wobei die Maststützen in diesen Bereichen keine Stückelung aufweist.In comparison shows Fig. 5 an embodiment in which the mast supports 11, 11 'are rigidly connected to the transverse beams 12 via the gusset plates 13, the mast supports not having any division in these areas.

Claims (11)

  1. A storage and retrieval machine comprising a mast (10), at least one chassis (1, 1') for supporting said mast (10), at least one rail (4, 4') on which said at least one chassis (1, 1') can be moved back and forth and at least one lifting truck (1") which is vertically slidable along said mast (10), characterized in that said mast (10) is formed by two supports (11, 11') which are spaced apart from one another in the direction of movement of said at least one chassis (1, 1') and are connected to each other via at least one transversal bar (12, 12') to obtain a mast profile, the attachment of said at least one transversal bar (12, 12') to the supports is resistant to bending, said supports (11, 11') being formed by profiles and bolted onto the chassis (1) at their foot points, and in that the bending-resistant attachment of said at least one transversal bar (12, 12') to said supports is formed by gusset plates.
  2. The storage and retrieval machine according to claim 1, characterized in that said at least one chassis (1, 1') comprises a travel drive system that is arranged within the mast profile between the two supports (11, 11').
  3. The storage and retrieval machine according to claim 1 or claim 2, characterized in that said at least one chassis (1, 1') comprises a lifting drive system that is arranged within the mast profile between the two supports (11, 11').
  4. The storage and retrieval machine according to the claims 2 and 3, characterized in that said travel drive system and/or said lifting drive system are arranged centrally in the direction of movement of the chassis.
  5. The storage and retrieval machine according to any one of the claims 1 to 4, characterized in that the lifting truck (1") that is movable by means of a lifting drive element (3) is guided along one of the two supports (11, 11') and in that said lifting drive element (3) is guided along said support (11) while enclosing it.
  6. The storage and retrieval machine according to claim 5, characterized in that diverting elements for the lifting drive element (3) are provided at the foot point and at the head point of the one support (11), said lifting drive element (3) passes through a through hole of the support (11) at the foot point.
  7. The storage and retrieval machine according to claim 5 or claim 6, characterized in that said lifting drive element (3) is guided along both sides of the one support of the mast (10).
  8. The storage and retrieval machine according to any one of the claims 5, 6 or 7, characterized in that the lifting drive element (3) enclosing the one support of the mast (10) is prestressed, whereby compressive stress is applied symmetrically to the mast (10).
  9. The storage and retrieval machine according to any one of the preceding claims, characterized in that said lifting drive element (3) is formed by a drive belt
  10. The storage and retrieval machine according to any one of the preceding claims, characterized in that the supports (11, 11') of the mast (10) are each composed of several support elements that are tongued and grooved together at their ends.
  11. The storage and retrieval machine according to any one of the preceding claims, characterized in that the profiles are formed by light-metal profiles.
EP16165272.2A 2008-09-08 2009-09-08 Shelf serving device Active EP3088347B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AT13932008A AT507335B1 (en) 2008-09-08 2008-09-08 STACKER UNIT
AT0055308U AT11688U1 (en) 2008-10-02 2008-10-02 STACKER UNIT
EP09450162A EP2161237A3 (en) 2008-09-08 2009-09-08 Stacker crane with a mast

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Also Published As

Publication number Publication date
EP2161237A2 (en) 2010-03-10
US8397645B2 (en) 2013-03-19
EP2161237A3 (en) 2012-06-27
EP3088347A1 (en) 2016-11-02
US20100068022A1 (en) 2010-03-18

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