EP3594171B1 - Transport device - Google Patents

Transport device Download PDF

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Publication number
EP3594171B1
EP3594171B1 EP18182462.4A EP18182462A EP3594171B1 EP 3594171 B1 EP3594171 B1 EP 3594171B1 EP 18182462 A EP18182462 A EP 18182462A EP 3594171 B1 EP3594171 B1 EP 3594171B1
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EP
European Patent Office
Prior art keywords
belt
transport device
travel path
drive
profile
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EP18182462.4A
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German (de)
French (fr)
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EP3594171A1 (en
Inventor
Jörg Cavelius
Elmar Harting
Johannes Knoblauch
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Jungheinrich AG
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Jungheinrich AG
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Priority to ES18182462T priority Critical patent/ES2875750T3/en
Priority to EP18182462.4A priority patent/EP3594171B1/en
Publication of EP3594171A1 publication Critical patent/EP3594171A1/en
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Publication of EP3594171B1 publication Critical patent/EP3594171B1/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"
    • B66F9/072—Travelling gear therefor

Definitions

  • the present invention relates to a transport device, in particular a storage and retrieval unit, with a driveway, a carriage that can be moved along the driveway, and at least one stationary belt that is arranged along the driveway, rests on a support surface and at a first end and on one second end of the travel path is set relative to the travel path, the carriage having a drive device which is in engagement with the belt.
  • a transport device in particular a storage and retrieval unit, with a driveway, a carriage that can be moved along the driveway, and at least one stationary belt that is arranged along the driveway, rests on a support surface and at a first end and on one second end of the travel path is set relative to the travel path, the carriage having a drive device which is in engagement with the belt.
  • a stacker crane has a mast on the carriage on which a lift truck can be moved vertically.
  • Load handling devices are arranged on the lifting truck and can be moved transversely to the travel path in order to be able to remove pallets, containers or the like from a shelf.
  • the drive device is often designed as a so-called omega drive, in which the belt is guided over a driven drive wheel. When the drive wheel turns, the car pulls itself along the belt, so to speak, into the desired position.
  • the invention is based on the object of keeping the times for moving to a certain position small in a transport device.
  • a transport device of the type mentioned at the outset in that at least one detachable fixing device is arranged between the first end and the second end, with which the belt can be fixed relative to the travel path. It is assumed here that the oscillation of the carriage at the end of a movement is due to the fact that the belt acts as a kind of spring due to its elasticity. If you now have the opportunity to shorten the free length of the belt by fixing the belt between the first and the second end by the at least one detachable fixing device, then you can also weaken the effect of the spring formed thereby, so that the Pendulum motion no longer results in the scope. Depending on the properties of the belt, a free belt length of 80 m can still be tolerated, while the locking device can be used for longer lengths.
  • the fixing device preferably has at least one holding element which can be moved with a drive between a holding position within a movement space of the carriage, in which it fixes the belt relative to the travel path, and a release position outside the movement space of the carriage, in which it releases the belt .
  • the holding element can therefore on the one hand fix the belt in order to keep the free path length associated with the drive of the carriage short. On the other hand, it can release the belt in order to allow the carriage with its drive to drive past the fastening device.
  • One can then ensure, for example, that the fixing device fixes the belt again relative to the travel path after the carriage has passed.
  • the holding element can preferably be moved transversely to the travel path. This is a relatively simple measure to bring the holding element out of the movement space of the carriage.
  • the holding element can be moved perpendicular to the support surface. If the holding element can be moved perpendicular to the support surface, then in the holding position it can exert a normal force on the belt, that is to say press the belt against the support surface. It is also possible to move the holding element both perpendicular to the support surface and transversely to the support surface, that is to say transversely to the direction of movement of the carriage. The holding element is then moved, so to speak, in a plane on which the support surface is perpendicular.
  • the drive has a relocating device with which the holding element can be moved perpendicular to the support surface.
  • a relocating device with which the holding element can be moved perpendicular to the support surface.
  • the relocating device is designed as a toggle joint.
  • a toggle joint is a relatively simple construction element that can bring about the desired movement of the holding element.
  • the toggle joint can, for example, bring about a movement of the holding element perpendicular to the support surface when a carrier of the holding element has come to rest on the rail and cannot be moved any further.
  • the travel path is formed on one side of a rail and the securing device has a carrier which is arranged on an opposite side of the rail. So you can, for example, also arrange the track on an upper side of the rail and the carrier under the underside of the rail. In this way, the carrier and the holding device do not interfere with the route. The route remains free, so that only the holding element has to be moved out of the movement space of the carriage.
  • the carrier preferably projects beyond the rail on both sides of the rail and has a holding element on both sides of the rail.
  • a configuration is particularly advantageous when the belt is divided in the longitudinal direction.
  • the two holding elements can act on the two halves of the belt. Even if the belt is undivided, it can be advantageous to use two holding elements in order to keep the holding force sufficiently high.
  • the drive acts simultaneously on both holding elements. So you only need one drive motor to be able to drive both holding elements.
  • the drive has a revolving drive belt which drives the holding elements.
  • a rotating drive belt can easily be driven by a rotary motor. Since both holding elements are driven by the drive belt, a synchronous movement of the two holding elements is possible in a simple manner.
  • the belt has a profile at least on its side facing the support surface and a counter-profile adapted to the profile is provided on the support surface at least in the area of the fixing device.
  • the profile which can be designed as a tooth profile, for example, enables a very stable engagement between the drive and the belt, so that a considerable drive power can be transmitted here.
  • This profile can then also be used to fix the belt in relation to the support surface and thus in relation to the travel path.
  • the holding element then has the option of pressing the profile of the belt into the mating profile on the support surface, so that, so to speak, a form fit, but at least a greater frictional connection, results.
  • the counter-profile is arranged on a counter-profile carrier which is mounted floating relative to the support surface. Due to the stretching of the belt, it cannot always be guaranteed that the profile and the mating profile are aligned with one another in such a way that, when the holding element is actuated, engagement between the profile and the mating profile takes place automatically. But if the counter profile is arranged on the counter profile carrier, then the floating counter profile carrier can move a little to enable this engagement.
  • the counter-profile support preferably rests on the support surface. Basically, no further measures are required. When the counter profile beam rests on the support surface, then it automatically has a position in which it can come into engagement with the profile of the belt.
  • the counter-profile carrier is preferably arranged between holding elements which at least partially encompass the counter-profile carrier in a direction transverse to the belt. This means that the counter-profile carrier can be moved a small distance in the longitudinal direction of the belt, that is, in the direction of movement of the carriage, but movement transversely to the direction of movement of the carriage is excluded.
  • Fig. 1 shows, in a highly schematic manner, a transport device in the form of a storage and retrieval unit 1 with a carriage 2 which can be moved along a travel path.
  • the guideway 4 is formed here in a rail 3 or rail arrangement, more precisely on a base of a U-shaped recess in the rail 3.
  • a mast 5 is arranged on the carriage 2.
  • a lift truck can be moved vertically up and down in a manner not shown, which carries load handling devices which can be moved transversely to the longitudinal direction of the rail 3, as is known from storage and retrieval units.
  • a drive 6 is arranged on the carriage 2 and has a driven wheel 7 which is in engagement with a belt 8.
  • the belt 8 is guided around the drive wheel 7 in an omega-like manner by two guide rollers 9, 10, so that the drive 6 can be referred to as an "omega drive".
  • the belt 8 is divided into two, ie it has two halves which are arranged on the left and right of the carriage 2. Accordingly, the in Fig. 1 A corresponding drive wheel 7 is arranged on the rear side of the carriage 2, not visible.
  • the rail arrangement 3 has a support surface 11 on which the belt 8 rests. Even if it is not a split belt, as in the present case, so that one could in principle also speak of two belts, only the term “belt” is used in the singular for the sake of simplicity.
  • the belt 8 is fixed at a first end and at a second end of the travel path 4 formed in the rail 3.
  • the drive wheel 7 is driven and the carriage 2 then pulls itself because the drive device 6 engages with the belt 8 stands, along the belt 8 until it has reached a desired position.
  • the belt 8 is elastically stretchable.
  • the carriage 2 with mast 5 and possibly a load that has been picked up can definitely have a mass of several hundred kilograms.
  • the belt 8 which is elastically stretchable, is stretched.
  • the belt 8 acts like a spring which pulls the carriage 2 back a little from the stopped position, with the other end of the belt 8 stretching. This leads to a pendulum movement, which makes it difficult to approach a desired position precisely. You have to wait for the end of the pendulum movement in order to be able to go exactly to the desired position.
  • a securing device 12 is now provided, which is in the Figs. 2 and 3 is shown.
  • the securing device 12 has on both sides of the rail arrangement in each case a holding element 13, which consists of the in Fig. 2 release position shown in a in Fig. 3 shown holding position can be moved.
  • the securing device 12 has a carrier 14 which is arranged under the rail 3, so that the carrier 14 with further elements mounted thereon does not interfere with a movement of the carriage 2.
  • a drive motor 15 is mounted on the carrier 14 and drives both holding elements 13 via a drive belt 16.
  • the drive belt 16 is also passed under the rail arrangement 3. Since the drive belt 16 acts on both holding elements 13 at the same time, the holding elements are driven in the same direction and synchronously.
  • Each holding element 13 is arranged on a lever 17 which can be pivoted about a pivot point 18 on the carrier 14. The holding element 13 is thus moved transversely to the direction of movement of the carriage 2 when it is moved from the holding position into the release position or vice versa.
  • the lever 17, in turn, is pivoted via a tappet 19, which is connected to the drive belt 16 via a connecting element 20.
  • the lever 17 In the area of its upper end, the lever 17 has a section 21 which telescopes against a spring (not shown) and which can be moved relative to the lever 17 via a toggle lever 22.
  • the toggle lever 22 thus forms part of a toggle joint.
  • the toggle joint is a form of a relocating device with which a drive movement transverse to the rail 3 can be converted into a movement perpendicular to the contact surface 11.
  • the belt 8 has a profile at least on its side facing the contact surface 11.
  • this profile is designed as a tooth profile.
  • a profile carrier 22 is arranged on the contact surface 11, which has a corresponding counter profile 23.
  • the counter profile 23 is adapted to the profile of the belt 8, so that, as shown in Fig. 7 can recognize, a form fit can be achieved when the belt 8 is inserted with its profile in the counter-profile carrier 22.
  • the counter-profile support 22 is held in place on the contact surface with the aid of spring plates 24.
  • the counter-profile carrier 22 is arranged between holding elements 25 which at least partially encompass the counter-profile carrier 22 in a direction transverse to the belt 8. This prevents the counter-profile carrier 22 from being able to be displaced away from the support surface 11.
  • the counter-profile carrier 22 otherwise simply rests on the support surface 11 and can be moved a small distance, for example a tooth pitch of the profile, along the travel path 4 between two stops 26, ie it is mounted in a floating manner. If the profile of the belt 8 is not exactly opposite the counter profile 23, then the counter profile carrier 22 can be on the Move the support surface 11 until the profile of the belt 8 can enter the counter profile 23.
  • the free length of the belt 8 can be shortened with the holding device 12.
  • a holding device 12 can be provided every 20, 30, 40, 50 or 60 meters, for example.
  • the control can simultaneously actuate the holding device or the holding devices which are arranged along the route which the carriage 2 has to traverse in the case of the transport order.
  • the holding devices can be released before the movement begins. However, it is also possible to only release it during the movement, for example shortly before the carriage 2 reaches the respective holding device 12.

Description

Die vorliegende Erfindung betrifft eine Transporteinrichtung, insbesondere ein Regalbediengerät, mit einem Fahrweg, einem Wagen, der entlang des Fahrwegs verfahrbar ist, und mindestens einem stationären Riemen, der entlang des Fahrwegs angeordnet ist, an einer Auflagefläche anliegt und an einem ersten Ende und an einem zweiten Ende des Fahrwegs relativ zum Fahrweg festgelegt ist, wobei der Wagen eine Antriebseinrichtung aufweist, die mit dem Riemen in Eingriff steht. Das Dokument EP3336047A1 beschreibt eine solche herkömmliche Transporteinrichtung.The present invention relates to a transport device, in particular a storage and retrieval unit, with a driveway, a carriage that can be moved along the driveway, and at least one stationary belt that is arranged along the driveway, rests on a support surface and at a first end and on one second end of the travel path is set relative to the travel path, the carriage having a drive device which is in engagement with the belt. The document EP3336047A1 describes such a conventional transport device.

Die Erfindung wird im Folgenden am Beispiel eines Regalbediengeräts beschrieben. Ein Regalbediengerät weist auf dem Wagen einen Mast auf, an dem ein Hubwagen vertikal verfahrbar ist. An dem Hubwagen sind Lastaufnahmemittel angeordnet, die quer zum Fahrweg verfahrbar sind, um Paletten, Behälter oder dergleichen aus einem Regal entnehmen zu können. Die Antriebseinrichtung ist hierbei vielfach als so genannter Omega-Antrieb ausgebildet, bei dem der Riemen über ein angetriebenes Antriebsrad geführt ist. Wenn sich das Antriebsrad dreht, dann zieht sich der Wagen sozusagen am Riemen entlang in die gewünschte Position.The invention is described below using the example of a storage and retrieval unit. A stacker crane has a mast on the carriage on which a lift truck can be moved vertically. Load handling devices are arranged on the lifting truck and can be moved transversely to the travel path in order to be able to remove pallets, containers or the like from a shelf. The drive device is often designed as a so-called omega drive, in which the belt is guided over a driven drive wheel. When the drive wheel turns, the car pulls itself along the belt, so to speak, into the desired position.

Bei längeren Fahrwegen wird es zunehmend schwieriger, eine bestimmte Position mit einer gewünschten Genauigkeit schnell anzufahren, weil der Wagen am Ende seiner Bewegung vielfach um die gewünschte Position herum pendelt, also vor- und zurückfährt. Man muss das Ende dieser Pendelbewegung abwarten, bevor man die Lastaufnahmemittel betätigen kann. Dies wirkt sich negativ auf die Durchsatzleistung des Regalbediengeräts aus.In the case of longer travel distances, it becomes increasingly difficult to move quickly to a certain position with the desired accuracy, because at the end of its movement the carriage often oscillates around the desired position, i.e. moves back and forth. You have to wait for this pendulum motion to end before you can operate the load handling device. This has a negative effect on the throughput of the storage and retrieval machine.

Das gleiche Problem gibt es auch bei anderen Transporteinrichtungen, die sich an einem Riemen entlang ziehen und am Ende einer Bewegung um die gewünschte Zielposition herum pendeln.The same problem also occurs with other transport devices that pull themselves along a belt and at the end of a movement oscillate around the desired target position.

Der Erfindung liegt die Aufgabe zugrunde, bei einer Transporteinrichtung die Zeiten zum Anfahren einer bestimmten Position klein zu halten.The invention is based on the object of keeping the times for moving to a certain position small in a transport device.

Diese Aufgabe wird bei einer Transporteinrichtung der eingangs genannten Art dadurch gelöst, dass zwischen dem ersten Ende und dem zweiten Ende mindestens eine lösbare Festlegeeinrichtung angeordnet ist, mit der der Riemen relativ zum Fahrweg festlegbar ist. Man nimmt hierbei an, dass das Pendeln des Wagens am Ende einer Bewegung darauf zurückzuführen ist, dass der Riemen aufgrund seiner Elastizität als eine Art Feder wirkt. Wenn man nun die Möglichkeit hat, die freie Länge des Riemens zu verkürzen, indem man den Riemen zwischen dem ersten und dem zweiten Ende durch die mindestens eine lösbare Festlegeeinrichtung festlegt, dann kann man auch die Wirkung der dadurch gebildeten Feder abschwächen, so dass sich die Pendelbewegung nicht mehr in dem Umfang ergibt. In Abhängigkeit von den Eigenschaften des Riemens kann eine freie Riemenlänge von 80 m noch tolerierbar sein, während man bei größeren Längen die Festlegeeinrichtung verwenden kann.This object is achieved in a transport device of the type mentioned at the outset in that at least one detachable fixing device is arranged between the first end and the second end, with which the belt can be fixed relative to the travel path. It is assumed here that the oscillation of the carriage at the end of a movement is due to the fact that the belt acts as a kind of spring due to its elasticity. If you now have the opportunity to shorten the free length of the belt by fixing the belt between the first and the second end by the at least one detachable fixing device, then you can also weaken the effect of the spring formed thereby, so that the Pendulum motion no longer results in the scope. Depending on the properties of the belt, a free belt length of 80 m can still be tolerated, while the locking device can be used for longer lengths.

Bevorzugterweise weist die Festlegeeinrichtung mindestens ein Halteelement auf, das mit einem Antrieb zwischen einer Halteposition innerhalb eines Bewegungsraums des Wagens, in der es den Riemen relativ zum Fahrweg festlegt, und eine Freigabeposition außerhalb des Bewegungsraums des Wagens, in der es den Riemen freigibt, bewegbar ist. Das Halteelement kann also einerseits den Riemen fixieren, um die mit dem Antrieb des Wagens verbundene freie Weglänge kurz zu halten. Es kann andererseits den Riemen freigeben, um zu ermöglichen, dass der Wagen mit seinem Antrieb an der Festlegeeinrichtung vorbeifahren kann. Man kann dann beispielsweise dafür sorgen, dass die Festlegeeinrichtung den Riemen nach dem Vorbeifahren des Wagens wieder relativ zum Fahrweg fixiert.The fixing device preferably has at least one holding element which can be moved with a drive between a holding position within a movement space of the carriage, in which it fixes the belt relative to the travel path, and a release position outside the movement space of the carriage, in which it releases the belt . The holding element can therefore on the one hand fix the belt in order to keep the free path length associated with the drive of the carriage short. On the other hand, it can release the belt in order to allow the carriage with its drive to drive past the fastening device. One can then ensure, for example, that the fixing device fixes the belt again relative to the travel path after the carriage has passed.

Vorzugsweise ist das Halteelement quer zum Fahrweg bewegbar. Dies ist eine relativ einfache Maßnahme, um das Halteelement aus dem Bewegungsraum des Wagens herauszubringen.The holding element can preferably be moved transversely to the travel path. This is a relatively simple measure to bring the holding element out of the movement space of the carriage.

Hierbei ist bevorzugt, dass das Halteelement senkrecht zur Auflagefläche bewegbar ist. Wenn das Halteelement senkrecht zur Auflagefläche bewegbar ist, dann kann es in der Halteposition eine Normalkraft auf den Riemen ausüben, also Riemen gegen die Auflagefläche pressen. Es ist auch möglich, das Halteelement sowohl senkrecht zur Auflagefläche zu bewegen, als auch quer zur Auflagefläche, also quer zur Bewegungsrichtung des Wagens. Das Halteelement wird dann sozusagen in einer Ebene bewegt, auf der die Auflagefläche senkrecht steht.It is preferred here that the holding element can be moved perpendicular to the support surface. If the holding element can be moved perpendicular to the support surface, then in the holding position it can exert a normal force on the belt, that is to say press the belt against the support surface. It is also possible to move the holding element both perpendicular to the support surface and transversely to the support surface, that is to say transversely to the direction of movement of the carriage. The holding element is then moved, so to speak, in a plane on which the support surface is perpendicular.

Hierbei ist bevorzugt, dass der Antrieb eine Umsetzeinrichtung aufweist, mit der das Halteelement senkrecht zur Auflagefläche bewegbar ist. Man benötigt also für eine derartige kombinierte Bewegung quer zur Auflagefläche und senkrecht zur Auflagefläche nur einen einzelnen Antrieb, der durch die Umsetzeinrichtung die Bewegung des Halteelements in beide Richtungskomponenten bewirken kann, wobei die Umsetzeinrichtung beide Komponenten, falls erforderlich, zumindest teilweise entkoppeln kann.It is preferred here that the drive has a relocating device with which the holding element can be moved perpendicular to the support surface. For such a combined movement transverse to the support surface and perpendicular to the support surface, only a single drive is required which, through the relocating device, the movement of the holding element in both Can cause directional components, the relocating device, both components, if necessary, can at least partially decouple.

Hierbei ist bevorzugt, dass die Umsetzeinrichtung als Kniehebelgelenk ausgebildet ist. Ein Kniehebelgelenk ist ein relativ einfaches Konstruktionselement, das die gewünschte Bewegung des Halteelements bewirken kann. Das Kniehebelgelenk kann beispielsweise eine Bewegung des Halteelements senkrecht zur Auflagefläche bewirken, wenn ein Träger des Halteelements an der Schiene zur Anlage gekommen ist und nicht weiter bewegt werden kann.It is preferred here that the relocating device is designed as a toggle joint. A toggle joint is a relatively simple construction element that can bring about the desired movement of the holding element. The toggle joint can, for example, bring about a movement of the holding element perpendicular to the support surface when a carrier of the holding element has come to rest on the rail and cannot be moved any further.

In einer bevorzugten Ausgestaltung ist vorgesehen, dass der Fahrweg an einer Seite einer Schiene ausgebildet ist und die Festlegeeinrichtung einen Träger aufweist, der auf einer entgegengesetzten Seite der Schiene angeordnet ist. Man kann also beispielsweise den Fahrweg auch auf einer Oberseite der Schiene anordnen und den Träger unter der Unterseite der Schiene. Damit stören der Träger und die Halteeinrichtung den Fahrweg nicht. Der Fahrweg bleibt frei, so dass nur das Halteelement aus dem Bewegungsraum des Wagens herausbewegt werden muss.In a preferred embodiment it is provided that the travel path is formed on one side of a rail and the securing device has a carrier which is arranged on an opposite side of the rail. So you can, for example, also arrange the track on an upper side of the rail and the carrier under the underside of the rail. In this way, the carrier and the holding device do not interfere with the route. The route remains free, so that only the holding element has to be moved out of the movement space of the carriage.

Vorzugsweise steht der Träger auf beiden Seiten der Schiene über die Schiene vor und weist auf beiden Seiten der Schiene ein Halteelement auf. Eine derartige Ausgestaltung ist insbesondere von Vorteil, wenn der Riemen in Längsrichtung geteilt ist. In diesem Fall können die beiden Halteelemente auf die beiden Hälften des Riemens wirken. Auch dann, wenn der Riemen ungeteilt ist, kann es von Vorteil sein, zwei Halteelemente zu verwenden, um die Haltekraft ausreichend hoch zu halten.The carrier preferably projects beyond the rail on both sides of the rail and has a holding element on both sides of the rail. Such a configuration is particularly advantageous when the belt is divided in the longitudinal direction. In this case, the two holding elements can act on the two halves of the belt. Even if the belt is undivided, it can be advantageous to use two holding elements in order to keep the holding force sufficiently high.

Hierbei ist bevorzugt, dass der Antrieb auf beide Halteelemente gleichlaufend wirkt. Man benötigt also nur einen Antriebsmotor, um beide Halteelemente antreiben zu können.It is preferred here that the drive acts simultaneously on both holding elements. So you only need one drive motor to be able to drive both holding elements.

Hierbei ist bevorzugt, dass der Antrieb ein umlaufendes Antriebsband aufweist, das die Halteelemente antreibt. Ein umlaufendes Antriebsband lässt sich auf einfache Weise durch einen Rotationsmotor antreiben. Da beide Halteelemente durch das Antriebsband angetrieben werden, ist eine synchrone Bewegung der beiden Halteelemente auf einfache Weise möglich.It is preferred here that the drive has a revolving drive belt which drives the holding elements. A rotating drive belt can easily be driven by a rotary motor. Since both holding elements are driven by the drive belt, a synchronous movement of the two holding elements is possible in a simple manner.

In einer bevorzugten Ausgestaltung ist vorgesehen, dass der Riemen zumindest auf seiner der Auflagefläche zugewandten Seite ein Profil aufweist und zumindest im Bereich der Festlegeeinrichtung ein an das Profil angepasstes Gegenprofil an der Auflagefläche vorgesehen ist. Das Profil, das beispielsweise als Zahnprofil ausgebildet sein kann, ermöglicht einen sehr stabilen Eingriff zwischen dem Antrieb und dem Riemen, so dass hier eine erhebliche Antriebsleistung übertragen werden kann. Man kann dieses Profil dann auch zum Festlegen des Riemens gegenüber der Auflagefläche und damit gegenüber dem Fahrweg verwenden. Das Halteelement hat dann die Möglichkeit, das Profil des Riemens in das Gegenprofil an der Auflagefläche hineinzudrücken, so dass sich sozusagen ein Formschluss, zumindest aber ein größerer Reibschluss, ergibt.In a preferred embodiment it is provided that the belt has a profile at least on its side facing the support surface and a counter-profile adapted to the profile is provided on the support surface at least in the area of the fixing device. The profile, which can be designed as a tooth profile, for example, enables a very stable engagement between the drive and the belt, so that a considerable drive power can be transmitted here. This profile can then also be used to fix the belt in relation to the support surface and thus in relation to the travel path. The holding element then has the option of pressing the profile of the belt into the mating profile on the support surface, so that, so to speak, a form fit, but at least a greater frictional connection, results.

Hierbei ist bevorzugt, dass das Gegenprofil an einem Gegenprofilträger angeordnet ist, der schwimmend relativ zur Auflagefläche gelagert ist. Aufgrund der Dehnung des Riemens lässt sich nicht immer gewährleisten, dass das Profil und das Gegenprofil so zueinander ausgerichtet sind, dass mit dem Betätigen des Halteelements automatisch ein Eingriff zwischen dem Profil und dem Gegenprofil erfolgt. Wenn aber das Gegenprofil an dem Gegenprofilträger angeordnet ist, dann kann sich der schwimmend gelagerte Gegenprofilträger etwas bewegen, um diesen Eingriff zu ermöglichen.It is preferred here that the counter-profile is arranged on a counter-profile carrier which is mounted floating relative to the support surface. Due to the stretching of the belt, it cannot always be guaranteed that the profile and the mating profile are aligned with one another in such a way that, when the holding element is actuated, engagement between the profile and the mating profile takes place automatically. But if the counter profile is arranged on the counter profile carrier, then the floating counter profile carrier can move a little to enable this engagement.

Vorzugsweise liegt der Gegenprofilträger auf der Auflagefläche auf. Weitere Maßnahmen sind im Grunde nicht erforderlich. Wenn der Gegenprofilträger auf der Auflagefläche aufliegt, dann hat er automatisch eine Position, in der er mit dem Profil des Riemens in Eingriff kommen kann.The counter-profile support preferably rests on the support surface. Basically, no further measures are required. When the counter profile beam rests on the support surface, then it automatically has a position in which it can come into engagement with the profile of the belt.

Vorzugsweise ist der Gegenprofilträger zwischen Halteelementen angeordnet, die den Gegenprofilträger in eine Richtung quer zum Riemen zumindest teilweise umgreifen. Damit ist der Gegenprofilträger zwar in Längsrichtung des Riemens, also in Bewegungsrichtung des Wagens, um eine kleine Strecke bewegbar, eine Bewegung quer zur Bewegungsrichtung des Wagens wird jedoch ausgeschlossen.The counter-profile carrier is preferably arranged between holding elements which at least partially encompass the counter-profile carrier in a direction transverse to the belt. This means that the counter-profile carrier can be moved a small distance in the longitudinal direction of the belt, that is, in the direction of movement of the carriage, but movement transversely to the direction of movement of the carriage is excluded.

Die Erfindung wird im Folgenden anhand eines bevorzugten Ausführungsbeispiels in Verbindung mit der Zeichnung beschrieben. Hierin zeigen:

Fig. 1
eine schematische Darstellung eines Teils eines Regalbediengeräts,
Fig. 2
eine Festlegeeinrichtung in Freigabeposition,
Fig. 3
die Festlegeeinrichtung in Halteposition,
Fig. 4
die Festlegeeinrichtung in Freigabeposition von der Seite,
Fig. 5
die Festlegeeinrichtung in Halteposition in Seitenansicht,
Fig. 6
einen Ausschnitt aus einer Schiene mit Gegenprofilelement,
Fig. 7
die Ansicht nach Fig. 6 mit Riemen und
Fig. 8
eine Draufsicht auf die Darstellung der Fig. 6.
The invention is described below using a preferred exemplary embodiment in conjunction with the drawing. Show here:
Fig. 1
a schematic representation of part of a storage and retrieval unit,
Fig. 2
a locking device in the release position,
Fig. 3
the locking device in the holding position,
Fig. 4
the locking device in the release position from the side,
Fig. 5
the securing device in the holding position in a side view,
Fig. 6
a section of a rail with a counter profile element,
Fig. 7
the view Fig. 6 with straps and
Fig. 8
a top view of the representation of the Fig. 6 .

Fig. 1 zeigt stark schematisiert eine Transporteinrichtung in Form eines Regalbediengeräts 1 mit einem Wagen 2, der entlang eines Fahrwegs verfahrbar ist. Der Fahrweg 4 ist hier in einer Schiene 3 oder Schienenanordnung ausgebildet, genauer gesagt an einer Basis einer U-förmigen Vertiefung der Schiene 3. Fig. 1 shows, in a highly schematic manner, a transport device in the form of a storage and retrieval unit 1 with a carriage 2 which can be moved along a travel path. The guideway 4 is formed here in a rail 3 or rail arrangement, more precisely on a base of a U-shaped recess in the rail 3.

Auf dem Wagen 2 ist ein Mast 5 angeordnet. An dem Mast 5 ist in nicht näher dargestellter Weise ein Hubwagen vertikal auf- und abbewegbar, der Lastaufnahmemittel trägt, die quer zur Längsrichtung der Schiene 3 bewegbar sind, wie das von Regalbediengeräten her bekannt ist.A mast 5 is arranged on the carriage 2. On the mast 5, a lift truck can be moved vertically up and down in a manner not shown, which carries load handling devices which can be moved transversely to the longitudinal direction of the rail 3, as is known from storage and retrieval units.

Am Wagen 2 ist ein Antrieb 6 angeordnet, der ein angetriebenes Rad 7 aufweist, das mit einem Riemen 8 in Eingriff steht. Der Riemen 8 wird durch zwei Leitrollen 9, 10 Omega-artig um das Antriebsrad 7 herumgeführt, so dass der Antrieb 6 als "Omega-Antrieb" bezeichnet werden kann.A drive 6 is arranged on the carriage 2 and has a driven wheel 7 which is in engagement with a belt 8. The belt 8 is guided around the drive wheel 7 in an omega-like manner by two guide rollers 9, 10, so that the drive 6 can be referred to as an "omega drive".

Wie man in Fig. 2 und 3 erkennen kann, ist der Riemen 8 zweitgeteilt, d.h. er weist zwei Hälften auf, die links und rechts des Wagens 2 angeordnet sind. Dementsprechend ist auf der in Fig. 1 nicht sichtbaren Rückseite des Wagens 2 ein entsprechendes Antriebsrad 7 angeordnet.How to get in Figs. 2 and 3 As can be seen, the belt 8 is divided into two, ie it has two halves which are arranged on the left and right of the carriage 2. Accordingly, the in Fig. 1 A corresponding drive wheel 7 is arranged on the rear side of the carriage 2, not visible.

Die Schienenanordnung 3 weist eine Auflagefläche 11 auf, auf der der Riemen 8 aufliegt. Auch wenn es sich nicht, wie vorliegend, um einen geteilten Riemen handelt, so dass man prinzipiell auch von zwei Riemen sprechen könnte, wird im Folgenden der Einfachheit halber lediglich der Begriff "Riemen" in der Einzahl verwendet.The rail arrangement 3 has a support surface 11 on which the belt 8 rests. Even if it is not a split belt, as in the present case, so that one could in principle also speak of two belts, only the term “belt” is used in the singular for the sake of simplicity.

Der Riemen 8 ist an einem ersten Ende und an einem zweiten Ende des in der Schiene 3 ausgebildeten Fahrwegs 4 festgelegt. Wenn der Wagen 2 bewegt werden soll, dann wird das Antriebsrad 7 angetrieben und der Wagen 2 zieht sich dann, weil die Antriebseinrichtung 6 mit dem Riemen 8 in Eingriff steht, an dem Riemen 8 entlang, bis er eine gewünschte Position erreicht hat.The belt 8 is fixed at a first end and at a second end of the travel path 4 formed in the rail 3. When the carriage 2 is to be moved, the drive wheel 7 is driven and the carriage 2 then pulls itself because the drive device 6 engages with the belt 8 stands, along the belt 8 until it has reached a desired position.

Der Riemen 8 ist elastisch dehnbar. Der Wagen 2 mit Mast 5 und ggfs. einer aufgenommenen Last kann durchaus eine Masse von mehreren Hundert Kilogramm aufweisen. Um das Regalbediengerät mit einer hohen Effektivität betreiben zu können, ist es notwendig, den Wagen 2 möglichst schnell zu bewegen. Hierzu gehört eine starke Beschleunigung und ein ebenso starkes Abbremsen.The belt 8 is elastically stretchable. The carriage 2 with mast 5 and possibly a load that has been picked up can definitely have a mass of several hundred kilograms. In order to be able to operate the storage and retrieval unit with a high level of effectiveness, it is necessary to move the carriage 2 as quickly as possible. This includes strong acceleration and equally strong braking.

Wenn der Wagen 2 mit der hohen Masse abgebremst wird, dann wird der Riemen 8, der elastisch dehnbar ist, gedehnt. Wenn der Wagen 2 angehalten hat, dann wirkt der Riemen 8 wie eine Feder, die den Wagen 2 aus der Anhalteposition ein Stück zurückzieht, wobei sich das andere Ende des Riemens 8 dehnt. Dies führt zu einer Pendelbewegung, die ein genaues Anfahren einer gewünschten Position erschwert. Man muss das Ende der Pendelbewegung abwarten, um die gewünschte Position genau ansteuern zu können.When the carriage 2 with the high mass is braked, the belt 8, which is elastically stretchable, is stretched. When the carriage 2 has stopped, the belt 8 acts like a spring which pulls the carriage 2 back a little from the stopped position, with the other end of the belt 8 stretching. This leads to a pendulum movement, which makes it difficult to approach a desired position precisely. You have to wait for the end of the pendulum movement in order to be able to go exactly to the desired position.

Dieser Effekt tritt allerdings erst bei größeren Längen des Riemens 8 auf. Die entsprechende Länge hängt vom Material und vom Aufbau des Riemens 8 ab. Grundsätzlich kann man aber sagen, dass ab einer Länge von 80 oder 100 m ein kritischer Zustand erreicht wird.However, this effect only occurs with greater lengths of the belt 8. The corresponding length depends on the material and the structure of the belt 8. Basically, however, one can say that a critical state is reached from a length of 80 or 100 m.

Um dennoch relativ schnell eine gewünschte Position genau anfahren zu können, ist nun eine Festlegeeinrichtung 12 vorgesehen, die in den Fig. 2 und 3 dargestellt ist. Die Festlegeeinrichtung 12 weist auf beiden Seiten der Schienenanordnung jeweils ein Halteelement 13 auf, das aus der in Fig. 2 dargestellten Freigabeposition in eine in Fig. 3 dargestellte Halteposition bewegt werden kann.In order to be able to move to a desired position relatively quickly, a securing device 12 is now provided, which is in the Figs. 2 and 3 is shown. The securing device 12 has on both sides of the rail arrangement in each case a holding element 13, which consists of the in Fig. 2 release position shown in a in Fig. 3 shown holding position can be moved.

Hierzu weist die Festlegeeinrichtung 12 einen Träger 14 auf, der unter der Schiene 3 angeordnet ist, so dass der Träger 14 mit darauf montierten weiteren Elementen eine Bewegung des Wagens 2 nicht stört.For this purpose, the securing device 12 has a carrier 14 which is arranged under the rail 3, so that the carrier 14 with further elements mounted thereon does not interfere with a movement of the carriage 2.

Auf dem Träger 14 ist ein Antriebsmotor 15 montiert, der über ein Antriebsband 16 beide Halteelemente 13 antreibt. Auch das Antriebsband 16 ist also unter der Schienenanordnung 3 hindurchgeführt. Da das Antriebsband 16 auf beide Halteelemente 13 gleichzeitig wirkt, werden die Halteelemente gleichlaufend und synchron angetrieben.A drive motor 15 is mounted on the carrier 14 and drives both holding elements 13 via a drive belt 16. The drive belt 16 is also passed under the rail arrangement 3. Since the drive belt 16 acts on both holding elements 13 at the same time, the holding elements are driven in the same direction and synchronously.

Jedes Halteelement 13 ist an einem Hebel 17 angeordnet, der um einen Schwenkpunkt 18 am Träger 14 verschwenkbar ist. Damit wird das Halteelement 13 quer zur Bewegungsrichtung des Wagens 2 bewegt, wenn es aus der Halteposition in die Freigabeposition oder umgekehrt bewegt wird. Der Hebel 17 wiederum wird über einen Stößel 19, der über ein Verbindungselement 20 mit dem Antriebsband 16 verbunden ist, verschwenkt.Each holding element 13 is arranged on a lever 17 which can be pivoted about a pivot point 18 on the carrier 14. The holding element 13 is thus moved transversely to the direction of movement of the carriage 2 when it is moved from the holding position into the release position or vice versa. The lever 17, in turn, is pivoted via a tappet 19, which is connected to the drive belt 16 via a connecting element 20.

Der Hebel 17 weist im Bereich seines oberen Endes einen gegen eine nicht dargestellte Feder teleskopierenden Abschnitt 21 auf, der über einen Kniehebel 22 relativ zum Hebel 17 bewegbar ist.In the area of its upper end, the lever 17 has a section 21 which telescopes against a spring (not shown) and which can be moved relative to the lever 17 via a toggle lever 22.

Wenn der Hebel 17 soweit verschwenkt worden ist, dass er oder der teleskopierende Abschnitt 21 zur Anlage an der Schiene 3 gekommen ist, ist ein weiteres Verschwenken nicht mehr möglich. Wenn das Antriebsband 16 das Verbindungselement 20 jedoch weiter in Richtung auf die Schienenanordnung 3 bewegt, dann drückt der Stößel 19 den Kniehebel 22 ebenfalls weiter in Richtung auf die Schienenanordnung 3, so dass der teleskopierende Abschnitt 21 gegen die Kraft der oben erwähnten Feder in den Hebel 17 hineingezogen wird. Bei dieser Bewegung wird das Halteelement 13 senkrecht zur Auflagefläche 11 bewegt und drückt damit den Riemen 8 gegen die Auflagefläche 11 der Schienenanordnung 3. Der Kniehebel 22 bildet damit einen Teil eines Kniehebelgelenks. Das Kniehebelgelenk ist eine Form einer Umsetzeinrichtung, mit der eine Antriebsbewegung quer zur Schiene 3 in einer Bewegung senkrecht zur Anlagefläche 11 umgesetzt werden kann.If the lever 17 has been pivoted so far that it or the telescopic section 21 has come to rest on the rail 3, further pivoting is no longer possible. However, if the drive belt 16 moves the connecting element 20 further in the direction of the rail arrangement 3, then the plunger 19 also pushes the toggle lever 22 further in the direction of the rail arrangement 3, so that the telescoping section 21 against the force of the above-mentioned spring into the lever 17 is drawn into it. During this movement, the holding element 13 is moved perpendicular to the support surface 11 and thus presses the belt 8 against the support surface 11 of the rail arrangement 3. The toggle lever 22 thus forms part of a toggle joint. The toggle joint is a form of a relocating device with which a drive movement transverse to the rail 3 can be converted into a movement perpendicular to the contact surface 11.

Wie man in Fig. 7 erkennen kann, weist der Riemen 8 zumindest auf seiner der Anlagefläche 11 zugewandten Seite ein Profil auf. Dieses Profil ist im vorliegenden Fall als Zahnprofil ausgebildet.How to get in Fig. 7 can see, the belt 8 has a profile at least on its side facing the contact surface 11. In the present case, this profile is designed as a tooth profile.

Im Bereich einer Halteeinrichtung ist auf der Anlagefläche 11 ein Profilträger 22 angeordnet, der ein entsprechendes Gegenprofil 23 aufweist. Das Gegenprofil 23 ist an das Profil des Riemens 8 angepasst, so dass man, wie man in Fig. 7 erkennen kann, einen Formschluss erreichen kann, wenn der Riemen 8 mit seinem Profil in den Gegenprofilträger 22 eingelegt wird.In the area of a holding device, a profile carrier 22 is arranged on the contact surface 11, which has a corresponding counter profile 23. The counter profile 23 is adapted to the profile of the belt 8, so that, as shown in Fig. 7 can recognize, a form fit can be achieved when the belt 8 is inserted with its profile in the counter-profile carrier 22.

Der Gegenprofilträger 22 ist mit Hilfe von Federblechen 24 auf der Anlagefläche festgehalten.The counter-profile support 22 is held in place on the contact surface with the aid of spring plates 24.

Darüber hinaus ist der Gegenprofilträger 22 zwischen Halteelementen 25 angeordnet, die den Gegenprofilträger 22 in eine Richtung quer zum Riemen 8 zumindest teilweise umgreifen. Dadurch wird verhindert, dass der Gegenprofilträger 22 von der Auflagefläche 11 weg verschoben werden kann.In addition, the counter-profile carrier 22 is arranged between holding elements 25 which at least partially encompass the counter-profile carrier 22 in a direction transverse to the belt 8. This prevents the counter-profile carrier 22 from being able to be displaced away from the support surface 11.

Der Gegenprofilträger 22 liegt ansonsten einfach auf der Auflagefläche 11 auf und ist um eine kleine Strecke, z.B. eine Zahnteilung des Profils, entlang des Fahrwegs 4 zwischen zwei Anschlägen 26 bewegbar, d.h. er ist schwimmend gelagert. Wenn das Profil des Riemens 8 dem Gegenprofil 23 nicht genau gegenübersteht, dann kann sich der Gegenprofilträger 22 auf der Auflagefläche 11 verschieben, bis das Profil des Riemens 8 in das Gegenprofil 23 eintreten kann.The counter-profile carrier 22 otherwise simply rests on the support surface 11 and can be moved a small distance, for example a tooth pitch of the profile, along the travel path 4 between two stops 26, ie it is mounted in a floating manner. If the profile of the belt 8 is not exactly opposite the counter profile 23, then the counter profile carrier 22 can be on the Move the support surface 11 until the profile of the belt 8 can enter the counter profile 23.

Mit der Halteeinrichtung 12 lässt sich die freie Länge des Riemens 8 verkürzen. Man kann beispielsweise alle 20, 30, 40, 50 oder 60 Meter eine derartige Halteeinrichtung 12 vorsehen.The free length of the belt 8 can be shortened with the holding device 12. Such a holding device 12 can be provided every 20, 30, 40, 50 or 60 meters, for example.

Wenn der Wagen 2 einen Transportauftrag von einer Steuerung enthält, dann kann die Steuerung gleichzeitig die Halteeinrichtung oder die Halteeinrichtungen betätigen, die entlang der Strecke angeordnet sind, die der Wagen 2 bei dem Transportauftrag durchlaufen muss. Die Halteeinrichtungen können vor Beginn der Bewegung gelöst werden. Es ist aber auch möglich, sie erst während der Bewegung zu lösen, beispielsweise kurz bevor der Wagen 2 die jeweilige Halteeinrichtung 12 erreicht.If the carriage 2 contains a transport order from a controller, then the control can simultaneously actuate the holding device or the holding devices which are arranged along the route which the carriage 2 has to traverse in the case of the transport order. The holding devices can be released before the movement begins. However, it is also possible to only release it during the movement, for example shortly before the carriage 2 reaches the respective holding device 12.

Claims (14)

  1. A transport device (1), in particular storage and retrieval unit, having a travel path (4), a carriage (2) which can be moved along the travel path (4), and at least one stationary belt (8) which is arranged along the travel path (4), rests against a supporting surface (11) and is fixed relative to the travel path (4) at a first end and at a second end of the travel path (4), wherein the carriage (2) has a drive device (6) which is in engagement with the belt (8), characterized in that between the first end and the second end there is arranged at least one releasable fixing device (12) by means of which the belt (8) can be fixed relative to the travel path (4).
  2. The transport device according to claim 1, characterized in that the fixing device (12) has at least one holding element (13) which can be moved by a drive (15, 16) between a holding position within a movement space of the carriage (2), in which it fixes the belt (8) relative to the travel path (4), and a release position outside the movement space of the carriage (2), in which it releases the belt (8).
  3. The transport device according to claim 2, characterized in that the holding element (13) can be moved transverse to the travel path (4).
  4. The transport device according to claim 3, characterized in that the holding element (13) can be moved perpendicular to the supporting surface (11).
  5. The transport device according to claim 4, characterized in that the drive has a transfer device (22) with which the holding element can be moved perpendicular to the supporting surface.
  6. The transport device according to claim 5, characterized in that the transfer device (22) is formed as a toggle joint.
  7. The transport device according to any one of claims 1 to 6, characterized in that the travel path (4) is formed on one side of a rail (3) and the fixing device (12) has a support (14) which is arranged on an opposite side of the rail (3).
  8. The transport device according to claim 7, characterized in that the support (14) projects beyond the rail on both sides of the rail (3) and has a holding element (13) on both sides of the rail (3).
  9. The transport device according to claim 8, characterized in that the drive (15, 16) acts on both holding elements (13) in the same way.
  10. Transport device according to claim 9, characterized in that the drive (15, 16) has a circulating drive belt (16) which drives the holding elements (13).
  11. The transport device according to any one of claims 1 to 10, characterized in that the belt (8), at least on its side facing the supporting surface (11), has a profile, and a mating profile (23) adapted to the profile is provided on the supporting surface (11) at least in the region of the fixing device (12).
  12. The transport device according to claim 11, characterized in that the mating profile (23) is arranged on a mating profiled support (22) which is mounted in a floating manner relative to the supporting surface (11).
  13. The transport device according to claim 12, characterized in that the mating profiled support (22) rests on the supporting surface (11).
  14. The transport device according to claim 12 or 13, characterized in that the mating profiled support (22) is arranged between holding elements (25) which at least partially engage around the mating profiled support (22) in a direction transverse to the belt (8).
EP18182462.4A 2018-07-09 2018-07-09 Transport device Active EP3594171B1 (en)

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ES18182462T ES2875750T3 (en) 2018-07-09 2018-07-09 Transport device
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DE102020102828A1 (en) * 2020-02-04 2021-08-05 Witron Logistik + Informatik Gmbh Track drive for warehouse vehicle

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JP2000044012A (en) * 1998-07-28 2000-02-15 Toyota Autom Loom Works Ltd Stacker crain and automatic warehouse
JP2001261112A (en) * 2000-03-16 2001-09-26 Murata Mach Ltd Conveyance apparatus
DE102016124454A1 (en) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Storage and retrieval unit
DE102016124447A1 (en) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Storage and retrieval unit
DE102016124450A1 (en) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Storage and retrieval unit

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