EP3088347B1 - Appareil de commande de rayonnage - Google Patents

Appareil de commande de rayonnage 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
Authority
EP
European Patent Office
Prior art keywords
mast
supports
storage
support
chassis
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
EP16165272.2A
Other languages
German (de)
English (en)
Other versions
EP3088347A1 (fr
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
Original Assignee
Swisslog Evomatic GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AT13932008A external-priority patent/AT507335B1/de
Priority claimed from AT0055308U external-priority patent/AT11688U1/de
Application filed by Swisslog Evomatic GmbH filed Critical Swisslog Evomatic GmbH
Publication of EP3088347A1 publication Critical patent/EP3088347A1/fr
Application granted granted Critical
Publication of EP3088347B1 publication Critical patent/EP3088347B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • 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.

Landscapes

  • 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)

Claims (11)

  1. Machine de stockage automatique comprenant un mât (10), au moins un châssis (1, 1') pour supporter ledit mât (10), au moins un rail (4, 4') sur lequel ledit au moins un châssis (1, 1') peut aller et venir et au moins un chariot élévateur (1") qui est verticalement coulissant le long dudit mât (10), caractérisée en ce que ledit mât (10) est formé par deux supports (11, 11') qui sont espacés l'un de l'autre dans la direction du mouvement dudit au moins un châssis (1, 1') et sont reliés l'un à l'autre par au moins une barre transversale (12, 12') pour obtenir un profil de mât, le raccord de ladite au moins une barre transversale (12, 12') aux supports étant formée résistant à la flexion, lesdits supports (11, 11') étant formés par des profilés et vissés au châssis (1) à leurs pieds, et en ce que le raccord résistant à la flexion de ladite au moins une barre transversale (12, 12') auxdits supports est formée par des plaques goussets.
  2. Machine de stockage automatique selon la revendication 1, caractérisée en ce que ledit au moins un châssis (1, 1') comprend un système d'entraînement qui est disposé à l'intérieur du profil du mât entre les deux supports (11, 11').
  3. Machine de stockage automatique selon la revendication 1 ou 2, caractérisée en ce que ledit au moins un châssis (1, 1') comprend un système d'entraînement de levage qui est disposé à l'intérieur du profil de mât entre les deux supports (11, 11').
  4. Machine de stockage automatique selon les revendications 2 et 3, caractérisée en ce que ledit système d'entraînement et/ou ledit système d'entraînement de levage sont disposés de manière centrale dans la direction de déplacement du châssis.
  5. Machine de stockage automatique selon l'une des revendications 1 à 4, caractérisée en ce que le chariot élévateur (1") qui peut être déplacé au moyen d'un élément d'entraînement de levage (3) est guidé le long de l'un des deux supports (11, 11') et en ce que ledit élément d'entraînement de levage (3) est guidé le long dudit support (11) tout en l'entourant.
  6. Machine de stockage automatique selon la revendication 5, caractérisé en ce que des éléments de déviation pour l'élément d'entraînement de levage (3) sont prévus au pied et à la tête de l'un des supports (11), ledit élément d'entraînement de levage (3) passant à travers le support (11) à travers un trou de passage à pied.
  7. Machine de stockage automatique selon la revendication 5 ou 6, caractérisée en ce que ledit élément d'entraînement de levage (3) est guidé le long des deux côtés de l'un des supports du mât (10).
  8. Machine de stockage automatique selon l'une des revendications 5, 6 ou 7, caractérisée en ce que l'élément d'entraînement de levage (3) entourant l'un des supports du mât (10) est précontraint, de sorte qu'une contrainte de compression est appliquée de manière symétrique au mât (10).
  9. Machine de stockage automatique selon l'une des revendications précédentes, caractérisée en ce que ledit élément d'entraînement de levage (3) est formé par une courroie de transmission.
  10. Machine de stockage automatique selon l'une des revendications précédentes, caractérisée en ce que chacun des supports (11, 11') du mât (10) consiste en plusieurs éléments de support qui sont languetés l'un à l'autre à leurs extrémités.
  11. Machine de stockage automatique selon l'une des revendications précédentes, caractérisée en ce que les profilés sont formés par des profilés en métal léger.
EP16165272.2A 2008-09-08 2009-09-08 Appareil de commande de rayonnage Active EP3088347B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AT13932008A AT507335B1 (de) 2008-09-08 2008-09-08 Regalbediengerät
AT0055308U AT11688U1 (de) 2008-10-02 2008-10-02 Regalbediengerät
EP09450162A EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP09450162A Division EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât

Publications (2)

Publication Number Publication Date
EP3088347A1 EP3088347A1 (fr) 2016-11-02
EP3088347B1 true EP3088347B1 (fr) 2021-08-04

Family

ID=41426166

Family Applications (2)

Application Number Title Priority Date Filing Date
EP09450162A Ceased EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât
EP16165272.2A Active EP3088347B1 (fr) 2008-09-08 2009-09-08 Appareil de commande de rayonnage

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP09450162A Ceased EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât

Country Status (2)

Country Link
US (1) US8397645B2 (fr)
EP (2) EP2161237A3 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8397645B2 (en) * 2008-09-08 2013-03-19 Swisslog Evomatic Gmbh Storage and retrieval machine
EP2161236B1 (fr) * 2008-09-08 2014-04-30 Swisslog Evomatic GMBH Transstockeur avec train de roulement
DE102008059711A1 (de) * 2008-11-29 2010-06-10 Eisenmann Anlagenbau Gmbh & Co. Kg Vorrichtung zum Umsetzen von Gegenständen sowie Förderanlagen mit einer solchen Vorrichtung
EP2382430A4 (fr) * 2008-12-03 2013-04-24 Translogic Corp Système de stockage et de récupération automatique de température double
DE102012000197A1 (de) * 2012-01-09 2013-07-11 Gebhardt Fördertechnik GmbH Regalbediengerät zum Ein- und/oder Auslagern von Gütern
CN102963840B (zh) * 2012-11-20 2015-03-11 无锡海古德新技术有限公司 自动叉送机
US9409709B2 (en) 2013-03-13 2016-08-09 Symbotic, LLC Automated storage and retrieval system structure
JP6256420B2 (ja) * 2015-06-30 2018-01-10 村田機械株式会社 スタッカクレーン
DE102020202438A1 (de) 2020-02-26 2021-08-26 Mias Maschinenbau, Industrieanlagen & Service Gmbh Mastanordnung für ein regalbediengerät
DE102021206764A1 (de) 2021-06-29 2022-12-29 Gebhardt Fördertechnik GmbH Regalbediengerät
AT525824B1 (de) 2022-01-15 2024-01-15 Vectron Logistics Gmbh Mast für ein Regalbediengerät

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Also Published As

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

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