EP3784617A1

EP3784617A1 - Storage and retrieval unit

Info

Publication number: EP3784617A1
Application number: EP19718358.5A
Authority: EP
Inventors: Matthias Upmeyer
Original assignee: GaUp GmbH
Current assignee: GaUp GmbH
Priority date: 2018-04-24
Filing date: 2019-04-17
Publication date: 2021-03-03
Also published as: WO2019206761A1; DE102018122952A1

Abstract

A storage and retrieval unit (2) has a chassis (4), a mast (8) and a lifting carriage (10) which can be moved vertically on the mast (8) between an upper starting position and a lower starting position. The storage and retrieval unit (2) further has a control device (12). According to the invention, the storage and retrieval unit (2) has a strut arrangement (18) which is movable between a reinforcement position, in which the strut arrangement (18) extends in a reinforcing manner between the mast (8) and the chassis (4), and an inoperative position, in which the strut arrangement (18), for the purpose of moving the lifting carriage (10) into the lower starting position, is arranged outside the lifting path of the lifting carriage (10).

Description

Storage and retrieval unit

The invention relates to a storage and retrieval device referred to in the preamble of claim 1 Art.

Such stacker cranes are well known and are used for handling, especially for on or off, used by loads in shelf storage. The most ten stacker cranes have a chassis, a mast and a lifting slide, which is vertically movable on the mast between an upper starting position and a lower starting position. For controlling the components of the storage and retrieval unit, in particular a traction drive, the lifting carriage and a angeord Neten to the lifting device load receiving means, a control device is provided.

The invention is based on the object to provide a shelf operating device, through which the storage performance and storage efficiency can be improved in a rack warehouse can .

This object is achieved by the invention defined in claim 1.

The invention is based on the idea of providing a Regalbe diengerät, the lifting can be moved in a pos as low low starting position. As a result, such storage places can be approached and operated in a racking store, which are located in the immediate vicinity of the ground.

In order to realize the lowest possible starting position, it is desirable to make the frame structure of the vehicle frame space-saving and accordingly Zier Lich. However, this has the consequence that the oscillatory system formed by the frame structure and the mast is relatively soft and thus susceptible ge conditions vibrations. In such a vibration-prone system, it is desirable to avoid the tendency to oscillate to limit the positioning speed of the system. However, this is in contradiction to the demand for a high bearing capacity.

On this basis, the invention is based on the idea to design the storage and retrieval unit so that the system formed by the frame and the mast is as immune to vibration as possible and at the same time the lowest possible starting position is realized.

The invention provides that the storage and retrieval device comprises a strut arrangement, the stiffening position between a Ver, in which the strut assembly ver stiff extends between the mast and the chassis, and a rest position is movable, in which the struts arrangement for moving the lifting carriage in the below is arranged driving position outside of the stroke of the lifting to.

In the stiffening position the Strebenanord tion forms an effective stiffening in the mast base, so that the system of chassis and mast is relatively unanfäl lig against vibration. With the strut arrangement in the stiffening position, the shelf operating device can thus be moved at a high lifting and driving speed without vibrations occurring. In the se way, a high storage performance is achieved.

When the lifting carriage is to be moved to the lower starting position, the strut assembly is moved to the rest position in which it is outside the stroke away from the lifting carriage. In this position, the lifting can be moved to the lower starting position who the. Without the stiffening by the strut arrangement, the system is more susceptible to vibrations. However, it is ever possible to reduce the tendency of the system to oscillate by operating at a reduced positioning speed when the lifting carriage is in the region of its lower starting position. In terms of overall storage performance, a corresponding reduction is readily acceptable.

The storage and retrieval device according to the invention allows due to a relatively low lower starting position and the approach of lying in the field of storage space, which increases the storage efficiency in terms of the best possible use of the shelf in a store available storage space by not usable for storage spaces dead space in the bearing is minimized. At the same time, the storage and retrieval system according to the invention allows high Positioning speeds, which increases the bearing performance.

The invention thus provides a storage and retrieval unit be ready, the combination due to its structural design in a particularly clever way a low bottom Anfahrpo position with a high positioning speed nested.

Another solution of the invention underlying lowing object is given in claim 2.

The specified in claim 2 solution to the problem assumes that the chassis of the storage and retrieval device has a running on the ground ver running rail guided lower chassis with egg nem along the running rail translationally movable lower drive wheel when operating the stacker crane. In particular, with larger mast heights, the chassis additionally has a rich in the upper loading of the mast, when operating the Regalbedi engerätes guided on an upper guide rail obe res suspension with a translationally movable along the upper guide rail upper drive wheel.

If, during operation of the storage and retrieval unit, the upper drive wheel and the lower drive wheel travel differently along the travel rail or the upper guide rail due to slippage, the mast will tilt, which may lead to vibrations in the sequence.

The solution specified in claim 2 of the inven tion underlying the underlying idea is based on constructive measures to avoid tilting of the mast and resulting vibrations to ver. According to claim 2, the storage and retrieval unit has a Drivetrain for transmitting a drive torque from the lower drive wheel on the upper drive wheel, so that the driving torque generated by a drive of the Regalbedienge drive torque is introduced both in the lower drive wheel on and in the upper drive wheel and, accordingly, the upper drive wheel associated separate drive is not required.

In this way, the Regalbedienge invention advises a relatively simple and thus low maintenance on construction.

If, during a movement of the storage and retrieval device between the upper drive wheel and the lower drive wheel due to slip translational Wegdiffe difference, this path difference is inventively compensated by temporarily set at the upper drive wheel rads deviating from the speed of the lower drive speed becomes. For this purpose, according to the invention arranged in the drive train between the Unte Ren drive wheel and the upper drive wheel can be controlled by the control device speed superimposition gearbox.

The operating principle of a Drehzahlüberlagungsge gear is based on the principle of a planetary gear, but with the difference that the outer ring of the plane tengetriebes not firmly connected to the main body of the planet gear, but by means of a rotatable by a rotary drive worm shaft is rotatable so that depending on the direction of rotation Outer ring the output speed can be positively or negatively influenced. Thus, within certain design limits, the operating speed deviates from the drive speed. be presented.

For example, and in particular, the storage and retrieval device may comprise sensor means which are designed to detect a translational path difference between the lower drive wheel and the upper drive wheel during a movement of the storage and retrieval device and with the control device in signal transmission connection are for transmitting a path difference signal to the control device, wherein the control device for controlling the speed superposition gear is formed and programmed such that the speed superimposition gearbox is driven in accordance with a detected Wegdiffe difference to compensate for the path difference.

Thus, if during operation of the storage and retrieval device on the basis of slip in the drive train an inclination of the mast occurs, according to the detected path difference, the speed of the upper drive wheel briefly so deviating from the speed of the lower drive wheel set that the path difference ausgegli chen and thus the inclination of the mast is eliminated.

Due to the fact that according to the invention by a Schrägstel ment of the mast vibrations are avoided, the storage and retrieval device according to the invention can be operated with a ho hen positioning speed, so that the above in connection with the claim 1 geschil derten advantages, wherein in the above also in connection with the claim 1 way, the storage and retrieval unit can nevertheless have a relatively low lower starting position.

A particular advantage of specified in claim 2 Storage and retrieval device is that in case of power failure, the last position or position of the mast is maintained, which is not possible in an electric head drive in case of power failure.

The technical teachings of claim 1 and claim to 2 can be used to achieve a high Positioning speed at the same time lower lower starting position each taken for themselves. However, they can also be combined with each other. In the Sense a specified in claim 3 Weiterbil tion of claim 1 provides that the storage and retrieval unit has a drive train for transmitting a drive torque of a traction drive from the lower drive wheel to the upper drive wheel, wherein in the drive train between the lower drive wheel and the upper drive Rad is a controllable by the control device speed superposition gear is arranged. As a result, he give the described in connection with the teaching of claim 2. An advantage.

In this complementary manner specified in claim 4 development of claim 2 provides that the storage and retrieval device has a strut arrangement between a rule stiffening position in which the Stre benanordnung stiffening between the mast and the running gear extends, and a rest position is movable in which the strut arrangement for moving the lifting carriage is arranged in the lower starting position outside the stroke of the lifting carriage. This results in the described in connection with the teaching of claim 1 advantages. An advantageous development of the invention provides that the control device for controlling the lifting carriage is set up and programmed so that when stiffened in the stiffening Stre benanordnung the stacker crane with a higher lifting and driving speed and be in the rest position sensitive strut arrangement, the stacker crane with egg ner lower lifting and driving speed is movable or moves. In this embodiment, the storage and retrieval unit is operated in an advantageous manner with one in the sense of avoiding vibrations in each case hömög union positioning. If the strut arrangement is in the stiffening position and the system is accordingly less susceptible to vibrations, a higher positioning speed is used. If the lower starting position of the lifting carriage to be approached and accordingly the strut assembly must be moved to the rest position, it is operated speed with a lower Positionierge. Under the condition that vibrations should be avoided, so is always gearbei tet with a maximum positioning speed.

According to the invention, the strut arrangement can be biased by Fe dermittel in the stiffening position, wherein the lifting pushes the strut assembly against the spring action of the spring means in its rest position when the lifting moves in the region of the Mastfußes in which the strut assembly is located. As the lift moves away from the lower launch position, the strut assembly returns under spring action the spring means back to its stiffening position. To achieve that the strut assembly automatically moves between its stiffening position and its Ruhepositi on, provides an extremely advantageous Wei training of the invention that the strut assembly for moving the same between the stiffening position and rest position is assigned by the control device to controllable positioning drive.

A further development of the aforementioned embodiment provides that the control device for driving the positioning drive is designed and programmed in such a way that the positioning drive moves the strut arrangement into the rest position when the lifting carriage is in a movement in the direction of the lower approach position of the approaches the stiffening position strut assembly approaches.

In the embodiments with the positioning drive, the same can be configured according to the respective requirements in any suitable manner, for example, operated as an electromotive or pneumatic to drive. In terms of a simple and robust construction, an advantageous development of the invention provides that the positioning drive has at least one Hydraulikzy cylinder. In this embodiment, a pressure relief valve may be arranged in the hydraulic circuit of the hydraulic cylinder. If in a movement of the Hubschlit least, for example, due to a fault, the strut arrangement is not automatically moved from the stroke of the Hubschlit least, so the lift pushes the struts arrangement in its rest position, wherein the pressure relief valve opens and in this way damage to the strut arrangement or the hydraulic cylinder is avoided.

The strut assembly may have a continuous strut in the simplest case that stiffening in the stiffening position extends between the mast and the chassis and is moved by a suitable order from the stroke of the lifting, when the lifting moves in the direction of the lower driving position , An extremely advantageous development of the invention provides that the Strebena arrangement has a first strut part and a second Strebent express that are formed and connected to a hinge axis hinged together that they in the stiffening a straight, stiffening between mast and chassis form extending strut and in the rest position angled, in particular at right angles, are arranged to each other. In this way, the Stre benanordnung in their function is further improved. In the stiffening position, which consists of the first strut member and the second strut part Stre benanordnung in a dead center, resulting in an extremely high stiffening effect in the longitudinal direction of the strut due to the straight course of the strut formed by the first strut member and the second strut. At the same time, the dead center can be overcome by loading the strut assembly transversely to the longitudinal direction of the strut with little effort, so that a moving with relatively low power is sufficient to move the strut assembly between the rest position and the stiffening position. A further development of the aforementioned embodiment provides that the first strut part with its end facing away from the Ge is pivotally connected to the mast at a pivot point and that the second strut part is guided with its end remote from the hinge axis linearly displaceable ver on the chassis, so that in the rest position, the first strut part is applied parallel to the mast extending to the mast, the second

Strut part is applied to the landing gear arranged at right angles to the first strut part.

A further development of the aforementioned embodiment provides that the positioning drive is connected to the strut arrangement such that the Positionieran drive pushes the strut assembly in the stiffening position and moves into the rest position.

The drive train between the lower drive wheel and the upper drive wheel can be performed in accordance with the respec conditions requirements and design conditions in many ways. An advantageous development of the invention provides insofar as in the drive train between the lower drive wheel and the upper drive wheel, a cardan shaft assembly is arranged.

In the embodiments with the speed superimposition gearbox a path difference between the lower drive wheel and the upper drive wheel, which is decisive for a control on the speed superposition gear, be detected by any suitable sensor means. In that regard, an advantageous development of the invention provides that the storage and retrieval unit has sensor means which are used to detect a translational pathway. Difference between the lower drive wheel and the upper drive wheel are formed in a movement of the storage and retrieval device with the control device in Sig nalübertragungsverbindung stand for transmission of a path difference signal to the control device, wherein the control device for controlling the speed of superposition gear is formed and programmed program is that the Speed superposition gearbox accordingly a detected path difference is controlled or is driven to compensate for the path difference. For example, and in particular, both the lower drive wheel and the upper drive wheel can each be assigned a displacement measuring system.

A shelf storage according to the invention is specified in claim 14. It has at least one inventive Re galbediengerät on.

The invention will be explained in more detail with reference to the accompanying schematic drawing with reference to an embodiment. In this case, all described, shown in the drawing and claimed in the claims characteristics taken alone and in any suitable combination with each other the subject of the invention, regardless of their co neral term in the claims and their back references and regardless of their description or representation in the Drawing. The subject matter and disclosure of the present application also Unterkombinatio NEN of the claims, in which individual features of the respective claim omitted or replaced by other features. It is obvious to a person skilled in the art that the individual features of each embodiment play the embodiment taken for themselves, so regardless of the other features of Ausführungsbei game, educate.

It shows

1 is a perspective view of an example Ausfüh approximately an inventive Shen storage and retrieval unit,

2 is a side view of the Regalbedienge advises according to FIG. 1,

Fig. 3 shows a block diagram of components of the storage and retrieval unit according to FIG. 1,

4 is a perspective view of a Ein zelheit the stacker crane of Figure 1 in the region of a Strebenanord voltage, wherein the strut assembly is in its stiffening stigung det,

5 in the same representation as FIG. 4, the detail in the area of the Stre benanordnung, wherein the struts arrangement is in its rest position be,

Fig. FIG. 6 shows a side view of the strut arrangement according to FIG. 4 in the stiffening fung position,

7A to 7C respectively in a sectional view ver different kinematic phases in the movement of the strut assembly from the stiffening position in the rest position,

8 is a perspective view of a one zelheit the stacker crane of Figure 1 in the region of a lower drive,

9A 9B schematic diagrams to illustrate the

Operating principle of a speed superposition gearbox,

10 taken in a perspective view of the rotational number superposition gearboxes taken,

11 is a perspective view of a single unit of the storage and retrieval device in the region of the speed superposition gear,

Fig. 12 in a side view of the detail of FIG. 11 in the range of rotation number superposition gear and Fig. 13 in a perspective view, a one zelheit in the region of the upper end of the mast of the storage and retrieval device.

Hereinafter, an embodiment of a Re galbediengeräts invention will be explained in more detail with reference to FIG. 1 to FIG.

Fig. 1 shows in a perspective view of an Ausfüh approximately example of a storage and retrieval device 2 according to the invention, which has a chassis 4, that during operation of the Re galbediengeräts 2 on a running on the ground running rail 6 is guided. With the chassis 4, a mast 8 is connected to which a lifting 10 by means of a

Lifting drive between an upper starting position and egg ner lower starting position is vertically movable. The general structure of corresponding storage and retrieval units is generally known to the person skilled in the art and will therefore not be explained in more detail here.

Fig. 2 shows the stacker crane 2 in a side view.

3 shows a block diagram of components of the storage and retrieval unit 2. The storage and retrieval unit 2 has a control device 12 for controlling the components of the storage and retrieval unit 2. The control device 12 is in control connection, inter alia, with a traction drive 14 of the storage and retrieval device 2 and a Huban drive 16 of the lifting slide 10th

4 shows a perspective view of a single unit of the storage and retrieval device 2 in the region of the chassis 4. According to the invention, the storage and retrieval device 2 has a rail arrangement 18, which is arranged between a stiffening position. tion, in which the strut assembly 18 stiffening between the mast 8 and the chassis 4 extends, and egg ner rest position is movable, in which the Strebenanord tion 18 is arranged to move the lifting slide 10 in the lower starting position outside the stroke of the lifting slide 10. As can be seen from FIG. 4, the strut arrangement 18 is arranged in the region of the mast base of the mast 8.

In the stiffening position shown in Fig. 4, the strut assembly 18 stiffening between tween the mast 8 and the chassis 4. In this way, a stiff and thus against vibrations Ver binding of the mast 8 is made with the chassis 4.

In order to be able to drive to the lower starting position of the lifting carriage 10, according to the invention the strut arrangement 18 is moved into its rest position in which it is arranged outside the stroke path of the lifting carriage 10.

Fig. 5 shows the strut assembly 18 in its Ruhepo position in which the lifting carriage 10 moves along the mast 8 in its lowest possible vertical position who can, which corresponds to the lower starting position.

To move the strut assembly 18 between the United stiffening position and the rest position of Strebenan Regulation 18 is associated with a positioning drive, which in this embodiment by a control device 12 by the Steue controllable hydraulic cylinder 20 (see Fig. 3, Fig. 4, Fig. 6 and 7A to IC) is formed.

The control device 12 is designed to control the hydraulic cylinder 20 and programmed programs that the hydraulic cylinder 20 moves the strut assembly 18 in the rest position when the lifting 10 in a movement in the direction of the lower approach position of the located in the stiffening position strut assembly 18 approaches. In order to determine that the lifting of the 10 be in the stiffening position sensitive strut assembly 18 approaches, beispielswei se in the stroke of the lifting slide 10, a switch 22 may be arranged, which is actuated by the lifting slide 10. However, it is also possible to associate the lifting carriage 10 with a displacement sensor or the like.

Hereinafter, with reference to FIG. 6 and FIGS. 7A to 7C, the strut assembly 18 and its kinematics will be explained in detail in the movement between the stiffening position and the rest position.

Fig. 6 shows the strut assembly 18 in a side view in its stiffening position.

Fig. 7A shows a section in the region of Strebenan Regulation 18 in the stiffening position. The Strebenanord tion 18 has a first strut member 24 and a second strut member 26 which are formed and connected by means of a horizontal hinge axis 28 hinged together that they in the stiffening a straight, stiffening between the mast 8 and the chassis 4 extending strut form and in the Ruhepo position in the illustrated embodiment are arranged at right angles to each other.

The first strut member 24 is pivotally connected at its end remote from the hinge 28 at a pivot point 30 to the mast 8. The second strut part 26 is guided with its end facing away from the hinge axis 28 linearly displaceable on the chassis 4, such that in the rest position (see Fig. IC), the first strut part 24th parallel to the mast 8 extending to the mast 8 is applied and the second strut member 26 is attached to the chassis 4 is and perpendicular to the first strut member 24 is arranged.

A lug 32 (see Fig. 7A) is connected to the first strut part 24 remote from the steering axis 28 and the pivot point 30, to which the free end of the piston rod 34 of the hydraulic cylinder 20 is connected in an articulated manner.

As is clear from a comparison of Figures 7A to 7C, it is the hydraulic cylinder 20 in operative connection with the strut assembly 18 that the hydraulic cylinder 20, the strut assembly 18 in the United stiffening position (see Fig. 7A) presses and in the rest position ( see Fig. IC) pulls.

As can be seen from Fig. 7A, form the Strebent hurry 24, 26 in the stiffening position a straight, stiffening between the mast 8 and the chassis 4 he stretching strut, which has exceptionally high rigidity in its longitudinal direction. In this way, the existing of the mast 8 and the chassis 4 system has a high rigidity, so that vibrations are reliably avoided.

The assembly formed by the means of the hinge axis 28 interconnected strut members 24, 26 arrangement be found in the stiffening position of the strut members 24, 26 in its dead center, so that even with occurring loads acting in the longitudinal direction of the strut members 24, 26 prevents in that the strut parts 24, 26 move in the direction of the rest position. At the same time, this dead center can be easily overcome by a force acting transversely to the longitudinal direction of the strut parts 24, 26 be so that the force required to move the strut assembly 18 is relatively small and accordingly accordingly the hydraulic cylinder 20 can be dimensioned accordingly low di.

In the hydraulic circuit of the hydraulic cylinder 20, a pressure relief valve is arranged in the illustrated embodiment. If, for example, due to a disturbance, the strut assembly 10 is not automatically moved 10 in its our starting position at a movement of the Hubschlit least in its rest position, the Hubschlit ten 10 moves against the strut assembly 18 and presses the same in its further downward movement in its rest position. This opens the pressure relief valve, so that damage to the strut assembly 18 and the hydraulic cylinder 20 are reliably avoided.

The control device 12 is set up to control the lifting drive 16 of the lifting carriage 10 and programmed so that when lifting in the stiffening position strut assembly 18 of the lifting with egg ner higher lifting speed and at befindlicher in the Ruhepositi strut assembly 18 moves with a lower lifting speed. Accordingly, therefore, the storage and retrieval device 2 is operated speed with a higher Positionierge when the strut assembly 18 ih re stiffening function performs. In contrast, the storage and retrieval device 2 is operated at a lower speed Positionierge when the strut assembly 18 is in its rest position to approach the lower approach position of the lifting carriage 10. This cleverly optimizes the positioning speed, taking into account the constraint that be avoided.

Fig. 7C shows the strut assembly 18 in its rest position and Fig. 7B in an intermediate position.

Fig. 8 shows a perspective view of a single unit in the chassis 4, the rail during operation of the storage and retrieval device 2 on the floor running drive 6 guided lower chassis 36 with a along the running rail 6 translationally movable lower drive wheel 38 and an im Upper area of the mast 4 is arranged, when operating the storage and retrieval device 2 guided on an upper guide rail upper chassis 40 with a along the upper guide rail translationally movable upper drive wheel 42 (see Fig. 13) has.

The drive torque of the traction drive 14 is transmitted to the lower drive wheel 38 and from the same by means of a drive train, which is explained in more detail below, on the upper drive wheel 42.

According to the invention, in the drive train between the lower drive wheel 38 and the upper drive wheel 42, a controllable by the control device 12 speed superposition gear 44 is arranged.

Based on Fig. 9A and Fig. 9B, the operating principle of a speed superposition gear is explained nä ago.

The operating principle of a Drehzahlüberlagungsge gear is based on the principle of a planetary gear, but with the difference that the outer ring of the planet gear not fixed to the main body of the planetary gear connected, but by means of a rotatable by a rotary drive worm shaft is rotatable, so that Depending on the direction of rotation of the outer ring, the output speed can be positively or negatively influenced. This can be adjusted within certain design limits from the operating speed deviating from the drive speed is.

Fig. 9A and Fig. 9B show a corresponding rotation number superposition gear 44 in highly schematic sections. The speed superposition gear 44 has ei ne input shaft (sun gear) 46 and planet gears 48. An outer ring (overlay ring) 50 is rotatably supported relative to a base body 52 and formed as a worm wheel, which is in a handle (for example by means of a servo drive) rotatably driven screw 54 in a handle. The output shaft of the speed superposition gear 44 is designated in Fig. 9A and Fig. 9B with the reference numeral 56.

In Fig. 8, the reference numeral 58, the Ab

drive shaft 58 of the traction drive 14, to which the lower drive wheel 38 is mounted rotationally fixed. The output shaft 58 forms the input shaft for a bevel gear 60, which serves to divert the drive torque of the traction drive 14 by 90 ° and to initiate the downstream speed superposition gear 44.

Fig. 10 shows the speed superposition gear 44 with flanged bevel gear 60. In Fig. 10, the output shaft 56 of the speed transmission 44 can be seen. The worm 54 is rotatably mounted in a sub-housing 62 of the speed superposition gear 44 and by means of a servo motor 64, the control device 12 is driven by the Steue, rotatably driven.

Fig. 11 and Fig. 12 show in a perspective view In the drive train between the lower drive wheel 38 and the upper drive wheel 42 to 42 is a cardan shaft assembly angeord net, on the one hand to the output shaft 56 of the speed-multiplier 44 (see FIG .. 11 and Fig. 12) and on the other hand with the upper drive wheel 42 (see Fig. 13) is connected.

The storage and retrieval unit 2 has sensor means 68, the rule for detecting a translational path difference between the lower drive wheel 38 and in the upper drive wheel 42 in a movement of the storage and retrieval device 2 are formed with the control device in signal transmission connection for the transmission of a path difference signal the control device 12, wherein the control device 12 for controlling the Servomo sector 64 of the speed superposition gear out forms and is programmed so that the speed override ment gear 44 is driven in accordance with a detected Wegdif difference to compensate for the path difference. In the illustrated embodiment, the Sen sormittel 2 displacement sensors 70, 72, of which the displacement sensor 70 is associated with the lower drive wheel 38 and the displacement sensor 72 to the upper drive wheel 42.

When operating the storage and retrieval device 2, the same moves along the running rail 6, wherein the lower drive wheel 38 on the running rail 6 and the upper drive wheel 42 on an upper guide rail (not constitute provided) runs. Since the driving torque of Fahran drive 14 both in the lower drive wheel 38 and (via the between the lower drive wheel 38 and the Upper drive wheel 42 formed drive train) is introduced into the upper drive wheel 42, without slip, the lower drive wheel 38 and the upper drive wheel 42, which have the same outer diameter in the illustrated embodiment, translational corre sponding to the revolutions of the output shaft 58 of Fahran drive 14 to move the same distance along the running rail 6 and the upper guide rail, ie synchronously. The mast 8 would always stand straight.

Occurring slip can cause between the distance covered by the lower drive wheel 38 and the path traveled by the upper drive wheel 42, a path difference occurs that leads without further action to egg ner inclination of the mast 8, occur in undesirable manner by the vibrations can affect the operation of the stacker crane 2.

According to the invention, a corresponding path difference is obtained by comparing the output signals of the displacement sensors 70,

72 and transmit a corresponding path difference signal to the control device 12 (see Fig. 3). Starting from the path difference signal, the control device 12 controls the servomotor 64 of the speed-limiting transmission 44 in such a way that the drive speed of the upper drive wheel 42 is adjusted corresponding to the detected path difference for a short time deviating from the drive speed of the lower drive wheel 38 so that the path difference is compensated.

If the upper drive wheel 42, for example, the un direct drive wheel 38 translationally, the drive speed of the upper drive wheel 42 is briefly increased by means of the speed superposition gear 44 until the lower drive wheel 38 and the upper drive wheel 42 move synchronously again.

On the other hand, if the upper drive wheel 42 precedes the lower drive wheel 38 in translation, the drive speed of the upper drive wheel 42 is temporarily reduced by means of the speed superposition gear 44 until the lower drive wheel 38 and upper drive wheel 42 move synchronously again.

In this way, inclinations of the mast 8 and thus caused vibrations are reliably avoided. As a result, the storage and retrieval unit 2 according to the invention can be operated with high positioning speeds, which increases the storage capacity of a storage rack provided with a storage and retrieval unit according to the invention.

Claims

claims

First storage and retrieval unit (2), with a chassis (4), with a mast (8) and with a lifting carriage (10) on the mast (8) between an upper approach position and a lower Anfahrposi tion is vertically movable, and with a control device (12), characterized in that the stacker crane (2) comprises a strut assembly (18) extending between a stiffening position in which the strut assembly (18) stiffening between the mast (8) and the chassis (4), and a rest Position is movable, in which the strut assembly (18) for moving the lifting carriage (10) in the lower starting position outside the stroke of the lifting carriage (10) is arranged.

2. Storage and retrieval unit (2),

with a chassis (4), the one in operation of the Regalbe diengeräts (2) on a floor running on the floor sliding ne (6) guided lower chassis (36) along with a guide rail (6) translationally movable lower drive wheel (38) and a In the upper area of the mast (8) arranged, when operating the storage and retrieval device (2) guided on an upper guide rail upper chassis (40) trans with the upper guide rail transactionally movable upper drive wheel (42) and with a mast (8), with a lifting carriage (10) which is vertically movable on the mast (8) between an upper starting position and a lower Anfahrposi tion, and with a control device (12), characterized in that the storage and retrieval unit (2) has a drive train for transmitting a drive torque a traction drive (14) from the lower drive wheel (38) on the upper drive wheel on (42) and that in the drive train between the lower drive wheel (38) and the upper drive wheel (42) by the control device (12) controllable speed Überla gerungsgetriebe (44) is arranged.

3. A storage and retrieval device according to claim 1, wherein the Regalbe serving device (2) during operation of the storage and retrieval device (2) on a running on the ground running rail (6) lower chassis (36) with a along the running rail (6) translationally movable lower drive wheel ( 38) and in the upper region of the mast (8) arranged, when operating the storage and retrieval device (2) guided on an upper guide rail upper chassis (40) along with an upper guide rail translationally movable upper upper drive wheel (42), characterized marked in that the storage and retrieval unit (2) has a drive train for transmitting a drive torque of a traction drive (14) from the lower drive wheel (38) to the upper drive wheel (42) and that in the drive train to between the lower drive wheel (38) and the upper Drive wheel (42) through the Steuerungsein direction (12) controllable speed superposition gear (44) is arranged.

4. Storage and retrieval unit according to claim 2, characterized in that the storage and retrieval unit (2) has a Strebenano ring (18), the position between a Stiffening Po in which the strut assembly (18) stiffening between the mast (8) and the chassis ( 4), and a rest position is movable, in which the Strebenano rdnung (18) for moving the lifting carriage (10) in the un direct starting position outside the stroke of the Hubschlit least (10) is arranged.

5. Storage and retrieval unit according to one of the preceding claims, characterized in that the Steuerungssein direction (12) for controlling a lifting drive (16) of the lifting carriage (10) is set up and programmed such that at befindlichem in the stiffening position strut assembly (18) the storage and retrieval unit (2) with a higher lifting and driving speed and when in the rest position befindlicher strut assembly (18) the Regalbe diengerät (2) with a lower lifting and Fahrge speed is moved or moves.

6. Storage and retrieval unit according to one of the preceding claims, wherein the strut assembly (18) for moving the same between the stiffening position and rest position is assigned by the control device (12) controllable positioning drive.

7. A storage and retrieval device according to claim 6, characterized in that the control device (12) for Ansteu tion of the positioning drive is designed and programmed so that the positioning drive the Strebenan Regulation (18) moves to the rest position when the lifting carriage (10). on a move towards the lower approach position of be in the stiffening position sensitive strut assembly (18) approaches.

8. Storage and retrieval unit according to claim 6 or 7, characterized in that the positioning drive has at least ei nen hydraulic cylinder (20).

9. storage and retrieval unit according to one of the preceding claims, characterized in that the Strebenanord voltage (18) has a first strut member (24) and a second strut member (26) formed and by means of a hinge axis (28) articulated ver each other in that, in the stiffening position, they form a straight strut which extends between the mast (8) and the chassis (4) and are arranged at an angle, in particular at right angles, to one another in the rest position.

10. Storage and retrieval unit according to claim 9, characterized marked characterized in that the first strut member (24) facing away from the hinge axis end at a pivot point (30) is rotatably connected to the mast (8) and that the two te strut part with its the hinge axis ( 28) abgewand th end linearly displaceable on the chassis (4) is guided, such that in the rest position the first Strebent express (24) parallel to the mast (8) extending to the mast (8) is applied to the second strut member (26 ) to the driving applied (4) and at right angles to the first longwall strut (24) is arranged.

11. Storage and retrieval unit according to claim 10, characterized in that the positioning drive is connected to the Strebenanordung (18), that the positioning nierantrieb the strut assembly (18) presses in the stiffener tion position and moves into the rest position.

12. Storage and retrieval unit according to one of the preceding claims, characterized in that in the drive train between the lower drive wheel (38) and the upper drive wheel (42) a cardan shaft arrangement (66) is arranged.

13. A storage and retrieval device according to one of the preceding claims, characterized in that the Regalbedienge advises (2) comprises sensor means for detecting a translational path length difference between the lower drive wheel (38) and the upper drive wheel (42) at egg ner movement of the storage and retrieval device ( 2) and are in signal transmission with the control device (12) for transmitting a path length difference signal to the control device (12), wherein the control device (12) for controlling the speed superposition gear (44) is designed and programmed in such a way that the speed superimposition quantity gear (44) corresponding to a detected path length difference can be controlled or is controlled to compensate equal to the path length difference.

14. shelf storage, with at least one storage and retrieval unit (2) according to one of the preceding claims.