EP3914552B1 - Warehouse vehicle having a tracked drive - Google Patents

Warehouse vehicle having a tracked drive Download PDF

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Publication number
EP3914552B1
EP3914552B1 EP21701950.4A EP21701950A EP3914552B1 EP 3914552 B1 EP3914552 B1 EP 3914552B1 EP 21701950 A EP21701950 A EP 21701950A EP 3914552 B1 EP3914552 B1 EP 3914552B1
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EP
European Patent Office
Prior art keywords
drive
warehouse vehicle
guide rail
warehouse
belt
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EP21701950.4A
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German (de)
French (fr)
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EP3914552A1 (en
Inventor
Patrick Zeis
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Witron Logistik and Informatik GmbH
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Witron Logistik and Informatik GmbH
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Publication of EP3914552A1 publication Critical patent/EP3914552A1/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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
    • B61C11/04—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to racks

Definitions

  • the invention relates to a drive for vehicles that are used in warehouses, such as storage and retrieval devices for storing and retrieving articles in/from storage racks.
  • Such storage and retrieval devices take over, for example, the loading and unloading of goods from a high-bay warehouse.
  • the storage and retrieval device drives to the respective storage locations in the rack storage and removes or loads the respective goods.
  • the performance, i.e. the goods throughput of such a rack storage system depends critically on the speed and in particular the possible maximum acceleration of the stacker cranes or other storage vehicles. This places high demands on the drive technology of the warehouse vehicles, especially for vehicles with a high dead weight or high payload.
  • the present invention is therefore based on the object of proposing a drive concept for a storage vehicle that enables high acceleration and deceleration values while at the same time requiring little maintenance and assembly work for the drive elements.
  • the object is achieved by the storage vehicle described in claim 1 according to the invention, which can be moved along a guide rail provided with engagement elements and has a chassis and a drive unit connected to the chassis.
  • the drive unit has a drive wheel coupled to a drive motor with engagement elements on the circumference, an endless drive belt provided with engagement elements, and a steering roller arrangement for guiding the endless drive belt, which is designed in such a way that the endless drive belt for driving the storage vehicle can be connected to both the drive wheel and the drive wheel as well as being engageable with the engaging elements of the guide rail.
  • the engagement elements or teeth of the endless drive belt engage the engagement elements of the guide rail over a greater distance, as do the engagement elements of the drive wheel with those of the endless drive belt.
  • the driving force is therefore distributed to a plurality of pairs of engaging elements, respectively.
  • the drive according to the invention thus enables high acceleration and deceleration values in both directions of movement, even with heavy loads, and thus high performance of the storage vehicle with low maintenance costs and low noise development at the same time.
  • the endless drive belt is routed in an omega geometry around the drive wheel and caster wheel assembly such that the engagement elements on the same side of the endless drive belt engage both the drive wheel and the guide rail provided with engagement elements.
  • the omega geometry enables a "compact" construction of the drive.
  • the guide roller arrangement preferably comprises two deflection rollers on the guide rail side and two deflection rollers facing away from the guide rail, it being possible for one or more of the deflection rollers to be designed as a tensioning roller for tensioning the endless drive belt.
  • the drive unit can have pressure elements, preferably pressure rollers, for pressing the endless drive belt against the guide rail provided with engagement elements.
  • the endless drive belt can be made of elastic material such as plastic or rubber material, preferably made of polyurethane.
  • the use of an NFC fabric can further reduce the noise development.
  • the storage vehicle preferably has guide rollers to maintain a defined distance between the drive unit and the guide rail.
  • the drive unit can have one or more drive motors, which is/are coupled to the axle of the drive wheel via a belt drive.
  • the belt drive can have a step-up or step-down and can thus serve as a gear.
  • a gear flanged to the drive motor can be dispensed with, as a result of which a considerable weight can be saved.
  • the drive motor can be arranged separately from the drive unit.
  • the chassis of the storage vehicle preferably has a chassis body and one or more running wheels.
  • the invention further relates to a storage vehicle system having a guide rail provided with engagement elements and a storage vehicle according to the invention that can be moved along the guide rail.
  • the engagement elements of the guide rail can be formed by toothed belts attached to it.
  • the toothed belts can be made of elastic material, preferably made of polyurethane. NFC fabric can also be used here to reduce noise.
  • the toothed belts are preferably fixed to the guide rail at certain intervals.
  • the invention also relates to warehouses which have one or more warehouse vehicle systems according to the invention, the guide rails being arranged in the longitudinal and/or transverse direction or also in the vertical direction corresponding to a direction of movement of the respective warehouse vehicle.
  • Figures 1-4 show a first embodiment of the storage vehicle according to the invention.
  • Figure 1A shows a schematic perspective view of the chassis 50 of the embodiment of a storage vehicle according to the invention.
  • the warehouse vehicle can perform any functions within a warehouse and have corresponding structures and handling elements that are not shown here and are independent of the invention.
  • the storage vehicle can be used as a shelf vehicle for loading and unloading goods from a high-bay warehouse or as a cross conveyor for connecting different conveyor technology elements such as roller or belt conveyors.
  • the invention relates to the drive of the storage vehicle, which storage vehicle can fulfill a wide variety of functions.
  • wheel carrier which include wheels 30. These are used to guide the warehouse vehicle through the aisle. However, other wheel arrangements are also possible.
  • the guide rail 40 is also shown, which is arranged in a stationary manner in the storage building and defines the route of the storage vehicle. As in particular in the detailed representations of Figures 1B and 1C can be seen, is on the guide rail 40 with a toothed belt 42 engagement elements (teeth) 43 (cf. 4 ) appropriate.
  • the toothed belt 42 is preferably made of an elastic material such as a plastic or rubber material, in particular made of polyurethane, and is fixed at certain distances to the guide rail 40 and forms a fixed unit with it. This unit is preferably mounted over the entire length of the aisle/lane of the warehouse and can be fixed to the floor by means of a rail foot or the like.
  • the toothed belt 42 fixed to a guide rail 40 has the further advantage of a significantly lower assembly effort, since several toothed rack elements mounted one behind the other must be aligned very precisely with one another, which means a high manufacturing effort. This effort does not apply when using a toothed belt.
  • FIG. 2 shows a schematic horizontal sectional view and 3 a perspective view of the drive unit 20, which accelerates and drives the storage vehicle on the track.
  • the drive unit 20 accelerates and drives the storage vehicle on the track.
  • a part of the chassis support 51 and one of the running wheels 30 is visible.
  • the engagement elements (teeth) of an endless drive belt 25 engage in the toothed belt 42 21 is guided.
  • the toothed side of the endless drive belt 25 is inserted into the toothed belt 42 .
  • One or more deflection rollers are designed to be movable as tension roller(s) 24a for setting a suitable tension of the endless drive belt 25.
  • the drive wheel 21 is coupled to an electric motor or another suitable drive unit. Due to the omega geometry, the engagement elements of the drive wheel 21 are in engagement with the engagement elements of the endless drive belt 25 over a significant part of the circumference of the drive wheel 21, so that good power transmission from the drive wheel 21 to the endless drive belt 25 is ensured with little maintenance .
  • the drive unit 20 is preferably firmly connected to the chassis support 51 of the storage vehicle and can be detached from it by dismantling various components.
  • a guide roller 27, in particular in the 3 and 4 is visible, the drive unit 20 is kept at a constant distance from the chassis beam 51, so that a good engagement of the engagement elements of the endless drive belt 25 in the corresponding engagement elements of the toothed belt 42 is possible.
  • pressure rollers 28 are provided for the for Force transmission required contact pressure of the endless drive belt 25 on the toothed belt 42 provides. The power transmission from the endless drive belt 25 to the toothed belt 42 is distributed over a large number of pairs of engagement elements, so that the force and thus the wear on the individual engagement elements is reduced.
  • noise-reducing materials such as polyurethane and NFC fabric can also be used for the drive wheel 21, the endless drive belt 25 and the toothed belt 42.
  • the toothed belt 42 transmits the force via the guide rail 40 and the ground connection to the ground.
  • the figures 5 and 6 show a second embodiment of the drive unit 20 of the storage vehicle according to the invention.
  • the mode of operation of the second exemplary embodiment essentially corresponds to that of the first exemplary embodiment, but is characterized by a particularly compact design.
  • figure 7 again shows a third exemplary embodiment of the drive unit 20 of the storage vehicle according to the invention, which is based on the second exemplary embodiment but differs from it in that two drive motors 60 are attached directly to the drive unit.
  • the drive force is transmitted from the motors 60 to the drive shaft of the drive wheel 21 via belt drives 29 .
  • a suitable transmission or reduction can be selected between the drive motors 60 and the drive wheel 21 by suitably selecting the diameter of the pulleys.
  • the belt drive can also serve as a gear, which means that a heavy and bulky motor gear can be omitted.
  • the warehouse vehicle according to the invention thus enables high accelerations and decelerations in both directions of movement, even with heavy loads, and thus an increase in the performance of the associated warehouse.
  • the storage vehicle can be moved along the aisle of a rack warehouse or used as a cross conveyor at right angles to the direction of the aisle or to connect different conveyor technology elements such as roller or belt conveyors.
  • the drive according to the invention can also be used to drive vertical conveyors.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Transmission Devices (AREA)

Description

Gebiet der Erfindungfield of invention

Die Erfindung betrifft einen Antrieb für Fahrzeuge, die in Lagern zum Einsatz kommen, wie beispielsweise Regalbediengeräte zum Ein- und Auslagern von Artikeln in/aus Regallagern.The invention relates to a drive for vehicles that are used in warehouses, such as storage and retrieval devices for storing and retrieving articles in/from storage racks.

Hintergrund der ErfindungBackground of the Invention

Derartige Regalbediengeräte übernehmen zum Beispiel das Bestücken und Entnehmen von Ware aus einem Hochregellager. Hierzu fährt das Regalbediengerät im Regallager zu den jeweiligen Stellplätzen und entnimmt oder bestückt die jeweilige Ware. Die Leistung, d.h. der Warendurchsatz eines solchen Regallagers hängt kritisch von der Geschwindigkeit und insbesondere der möglichen maximalen Beschleunigung der Regalbediengeräte oder anderer Lagerfahrzeuge ab. Dies stellt insbesondere für Fahrzeuge mit hohem Eigengewicht bzw. hohen Nutzlasten hohe Anforderungen an die Antriebstechnik der Lagerfahrzeuge.Such storage and retrieval devices take over, for example, the loading and unloading of goods from a high-bay warehouse. For this purpose, the storage and retrieval device drives to the respective storage locations in the rack storage and removes or loads the respective goods. The performance, i.e. the goods throughput of such a rack storage system depends critically on the speed and in particular the possible maximum acceleration of the stacker cranes or other storage vehicles. This places high demands on the drive technology of the warehouse vehicles, especially for vehicles with a high dead weight or high payload.

Überwiegend werden in der Fahrantriebstechnik für Lagerfahrzeuge zwei unterschiedliche Antriebsvarianten verfolgt:
Beim Reibradantrieb erzeugt die Eigenmasse des Fahrzeugs die Anpresskraft zwischen Antriebsrad und Fahrbahn. Durch die Reibung zwischen Antriebsrad und Fahrbahn kann mittels dieser Anpresskraft eine Vorschubkraft vom Antriebsrad an die Fahrbahn generiert werden, um das Fahrzeug zu beschleunigen. Die Größe des Betrages der Beschleunigung oder Verzögerung hängt dementsprechend vom Reibungskoeffizienten Antriebsrad/Fahrbahn ab. Durch die kraftschlüssige Verbindung zwischen Reibrad und Fahrbahn (ähnlich einem Kraftfahrzeug auf der Straße) können nur relativ kleine Momente übertragen und somit nur vergleichsweise geringe Beschleunigungen bzw. Verzögerungen erzielt werden.Two different drive variants are mainly pursued in the travel drive technology for warehouse vehicles:
With the friction wheel drive, the vehicle's own mass generates the contact pressure between the drive wheel and the road surface. Due to the friction between the drive wheel and the road, this contact pressure force can be used to generate a feed force from the drive wheel to the road in order to accelerate the vehicle. Accordingly, the magnitude of the amount of acceleration or deceleration depends on the friction coefficient of the driving wheel/road. Due to the non-positive connection between the friction wheel and the road (similar to a motor vehicle on the road), only relatively small moments can be transmitted and thus only comparatively small accelerations or decelerations can be achieved.

Beim Zahnstangenantrieb wird eine Zahnstange auf der kompletten Länge des Verfahrweges des Fahrzeugs verbaut. Mithilfe eines in die Zahnstange eingreifenden Antriebszahnrades (Ritzels), welches mit dem Fahrwerk des Lagerfahrzeugs verbunden ist, wird die Rotationsbewegung des angetriebenen Zahnrades in eine translatorische Bewegung umgewandelt. Mit dem Zahnstangenantrieb können hohe Momente übertragen und daher hohe Beschleunigungen und Verzögerungen erzielt werden. Nachteilig ist jedoch der hohe Wartungsaufwand (Schmierung) und die große Lärmentwicklung sowie die vergleichsweise hohen Installationskosten. EP 0 621 231 A1 und EP 3 594 171 A1 offenbaren den Oberbegriff des Anspruchs 1.With the rack and pinion drive, a rack is installed along the entire length of the vehicle's travel path. The rotational movement of the driven gear wheel is converted into a translatory movement with the help of a drive gear wheel (pinion) which engages in the rack and is connected to the chassis of the storage vehicle. With the rack and pinion drive, high torques can be transmitted and therefore high accelerations and decelerations can be achieved. Disadvantages, however, are the high maintenance costs (lubrication) and the high level of noise as well as the comparatively high installation costs. EP 0 621 231 A1 and EP 3 594 171 A1 disclose the preamble of claim 1.

Der vorliegenden Erfindung liegt daher die Aufgabe zu Grunde, ein Antriebskonzept für ein Lagerfahrzeug vorzuschlagen, das hohe Beschleunigungs- und Verzögerungswerte bei gleichzeitig niedrigem Wartungsaufwand und Montageaufwand der Antriebselemente ermöglicht.The present invention is therefore based on the object of proposing a drive concept for a storage vehicle that enables high acceleration and deceleration values while at the same time requiring little maintenance and assembly work for the drive elements.

Zusammenfassung der ErfindungSummary of the Invention

Gelöst wird die Aufgabe durch das in Anspruch 1 beschriebene erfindungsgemäße entlang einer mit Eingriffselementen versehenen Führungsschiene verfahrbares Lagerfahrzeug mit einem Fahrwerk und einer mit dem Fahrwerk verbundenen Antriebseinheit. Die Antriebseinheit weist ein mit einem Antriebsmotor gekoppeltes Antriebsrad mit umfangsseitigen Eingriffselementen, ein mit Eingriffselementen versehenen Endlos-Antriebsriemen, und eine Lenkrollenanordnung zur Führung des Endlos-Antriebsriemens auf, die derart ausgebildet ist, dass der Endlos-Antriebsriemen zum Antrieb des Lagerfahrzeugs sowohl mit dem Antriebsrad als auch mit den Eingriffselementen der Führungsschiene in Eingriff bringbar ist. Die Eingriffselemente oder Zähne des Endlos-Antriebsriemens sind über eine größere Distanz mit den Eingriffselementen der Führungsschiene im Eingriff, ebenso wie die Eingriffselemente des Antriebsrades mit denjenigen des Endlos-Antriebsriemens. Die Antriebskraft wird daher jeweils auf eine Vielzahl von Eingriffselementepaaren verteilt.The object is achieved by the storage vehicle described in claim 1 according to the invention, which can be moved along a guide rail provided with engagement elements and has a chassis and a drive unit connected to the chassis. The drive unit has a drive wheel coupled to a drive motor with engagement elements on the circumference, an endless drive belt provided with engagement elements, and a steering roller arrangement for guiding the endless drive belt, which is designed in such a way that the endless drive belt for driving the storage vehicle can be connected to both the drive wheel and the drive wheel as well as being engageable with the engaging elements of the guide rail. The engagement elements or teeth of the endless drive belt engage the engagement elements of the guide rail over a greater distance, as do the engagement elements of the drive wheel with those of the endless drive belt. The driving force is therefore distributed to a plurality of pairs of engaging elements, respectively.

Der erfindungsgemäße Antrieb ermöglicht so hohe Beschleunigungs- und Verzögerungswerte in beide Bewegungsrichtungen auch bei großen Lasten und damit eine hohe Leistungsfähigkeit des Lagerfahrzeugs bei gleichzeitig geringem Wartungsaufwand und geringer Lärmentwicklung.The drive according to the invention thus enables high acceleration and deceleration values in both directions of movement, even with heavy loads, and thus high performance of the storage vehicle with low maintenance costs and low noise development at the same time.

Vorzugsweise ist der Endlos-Antriebsriemen in einer Omega-Geometrie derart um das Antriebsrad und die Lenkrollenanordnung geführt, dass die Eingriffselemente auf der gleichen Seite des Endlos-Antriebsriemens sowohl mit dem Antriebsrad als auch mit der mit Eingriffselementen versehenen Führungsschiene in Eingriff kommen. Die Omega-Geometrie ermöglicht eine "kompakte" Bauweise des Antriebes.Preferably, the endless drive belt is routed in an omega geometry around the drive wheel and caster wheel assembly such that the engagement elements on the same side of the endless drive belt engage both the drive wheel and the guide rail provided with engagement elements. The omega geometry enables a "compact" construction of the drive.

Die Lenkrollenanordnung umfasst vorzugsweise zwei führungsschienenseitige Umlenkrollen und zwei von der Führungsschiene abgewandte Umlenkrollen, wobei eine oder mehrere der Umlenkrollen als Spannrolle zum Spannen des Endlos-Antriebsriemens ausgebildet sein kann.The guide roller arrangement preferably comprises two deflection rollers on the guide rail side and two deflection rollers facing away from the guide rail, it being possible for one or more of the deflection rollers to be designed as a tensioning roller for tensioning the endless drive belt.

Ferner kann die Antriebseinheit Anpresselemente, vorzugsweise Anpressrollen, zum Anpressen des Endlos-Antriebsriemens an die mit Eingriffselementen versehene Führungsschiene aufweisen.Furthermore, the drive unit can have pressure elements, preferably pressure rollers, for pressing the endless drive belt against the guide rail provided with engagement elements.

Der Endlos-Antriebsriemen kann aus elastischem Material wie Kunststoff- oder Gummimaterial, vorzugsweise aus Polyurethan ausgebildet sein. Der Einsatz eines NFC-Gewebes kann die Geräuschentwicklung weiter reduzieren.The endless drive belt can be made of elastic material such as plastic or rubber material, preferably made of polyurethane. The use of an NFC fabric can further reduce the noise development.

Das Lagerfahrzeug weist vorzugsweise Führungsrollen zur Aufrechterhaltung eines definierten Abstandes zwischen Antriebseinheit und Führungsschiene auf.The storage vehicle preferably has guide rollers to maintain a defined distance between the drive unit and the guide rail.

Die Antriebseinheit kann einen oder mehrere Antriebsmotoren aufweisen, der/die über einen Riemenantrieb mit der Achse des Antriebsrads gekoppelt ist/sind. Der Riemenantrieb kann dabei durch die Wahl geeigneter Durchmesser der Riemenräder eine Über- oder Untersetzung aufweisen und so als Getriebe dienen. Dadurch kann sich ein an dem Antriebsmotor angeflanschtes Getriebe erübrigen, wodurch erheblich Gewicht eingespart werden kann.The drive unit can have one or more drive motors, which is/are coupled to the axle of the drive wheel via a belt drive. By selecting a suitable diameter for the belt wheels, the belt drive can have a step-up or step-down and can thus serve as a gear. As a result, a gear flanged to the drive motor can be dispensed with, as a result of which a considerable weight can be saved.

Alternativ kann der Antriebsmotor separat von der Antriebseinheit angeordnet sein.Alternatively, the drive motor can be arranged separately from the drive unit.

Das Fahrwerk des Lagerfahrzeugs weist vorzugsweise einen Fahrwerkskörper sowie eine oder mehrere Laufräder auf.The chassis of the storage vehicle preferably has a chassis body and one or more running wheels.

Die Erfindung betrifft ferner ein Lagerfahrzeugsystem aufweisend eine mit Eingriffselementen versehenen Führungsschiene sowie ein entlang der Führungsschiene verfahrbares erfindungsgemäßes Lagerfahrzeug.The invention further relates to a storage vehicle system having a guide rail provided with engagement elements and a storage vehicle according to the invention that can be moved along the guide rail.

Die Eingriffselemente der Führungsschiene können durch an dieser angebrachte Zahnriemen gebildet sein. Die Zahnriemen können dabei aus elastischem Material, vorzugsweise aus Polyurethan ausgebildet sein. Auch hier kann NFC-Gewebe zur Verringerung der Geräuschentwicklung zum Einsatz kommen. Die Zahnriemen sind vorzugsweise in gewissen Abständen an der Führungsschiene fixiert.The engagement elements of the guide rail can be formed by toothed belts attached to it. The toothed belts can be made of elastic material, preferably made of polyurethane. NFC fabric can also be used here to reduce noise. The toothed belts are preferably fixed to the guide rail at certain intervals.

Die Erfindung betrifft ferner Lager welche ein oder mehrere erfindungsgemäße Lagerfahrzeugsysteme aufweisen, wobei die Führungsschienen in Längs- und/oder Querrichtung oder auch in vertikaler Richtung entsprechend einer Bewegungsrichtung des jeweiligen Lagerfahrzeugs angeordnet sind.The invention also relates to warehouses which have one or more warehouse vehicle systems according to the invention, the guide rails being arranged in the longitudinal and/or transverse direction or also in the vertical direction corresponding to a direction of movement of the respective warehouse vehicle.

Figurenbeschreibungcharacter description

Die Erfindung wird nachstehend anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen im Einzelnen beschrieben. Dabei zeigt:

Fig. 1
eine schematische perspektivische Darstellung eines ersten Ausführungsbeispiels des Fahrwerks eines erfindungsgemäßen Lagerfahrzeugs ohne Antriebselement;
Fig. 2
eine schematische Horizontalschnittansicht des Antriebselements des ersten Ausführungsbeispiels des erfindungsgemäßen Lagerfahrzeugs;
Fig. 3
eine schematische perspektivische Darstellung des Antriebselements gemäß Fig. 2;
Fig. 4
eine schematische Detaildarstellung des Antriebselements gemäß Fig. 2;
Fig. 5
eine schematische Horizontalschnittansicht des Antriebselements eines zweiten Ausführungsbeispiels des erfindungsgemäßen Lagerfahrzeugs;
Fig. 6
eine schematische perspektivische Darstellung des Antriebselements gemäß Fig. 5; und
Fig. 7
eine schematische perspektivische Darstellung des Antriebselements eines dritten Ausführungsbeispiels des erfindungsgemäßen Lagerfahrzeugs.
The invention is described in detail below using exemplary embodiments with reference to the drawings. It shows:
1
a schematic perspective view of a first embodiment of the chassis of a storage vehicle according to the invention without a drive element;
2
a schematic horizontal sectional view of the drive element of the first embodiment of the storage vehicle according to the invention;
3
a schematic perspective view of the drive element according to FIG 2 ;
4
a schematic detailed representation of the drive element according to FIG 2 ;
figure 5
a schematic horizontal sectional view of the drive element of a second embodiment of the storage vehicle according to the invention;
6
a schematic perspective view of the drive element according to FIG figure 5 ; and
Figure 7
a schematic perspective view of the drive element of a third embodiment of the storage vehicle according to the invention.

Detaillierte Beschreibung der ErfindungDetailed description of the invention

Die Figuren 1-4 zeigen ein erstes Ausführungsbeispiel des erfindungsgemäßen Lagerfahrzeugs. Figur 1A zeigt dabei eine schematische perspektivische Darstellung des Fahrwerks 50 des Ausführungsbeispiels eines erfindungsgemäßen Lagerfahrzeugs. Das Lagerfahrzeug kann beliebige Funktionen innerhalb eines Lagers ausführen und entsprechende Aufbauten und Handhabungselemente aufweisen, die hier nicht dargestellt und von der Erfindung unabhängig sind. Beispielsweise kann das Lagerfahrzeug als Regalfahrzeug zum Bestücken und Entnehmen von Ware aus einem Hochregellager oder auch als Querförderer zum Verbinden von verschiedenen Fördertechnikelementen wie Rollen- oder Bandförderern verwenden werden. Die Erfindung betrifft den Antrieb des Lagerfahrzeugs, welches Lagerfahrzeug verschiedenste Funktionen erfüllen kann.the Figures 1-4 show a first embodiment of the storage vehicle according to the invention. Figure 1A shows a schematic perspective view of the chassis 50 of the embodiment of a storage vehicle according to the invention. The warehouse vehicle can perform any functions within a warehouse and have corresponding structures and handling elements that are not shown here and are independent of the invention. For example, the storage vehicle can be used as a shelf vehicle for loading and unloading goods from a high-bay warehouse or as a cross conveyor for connecting different conveyor technology elements such as roller or belt conveyors. The invention relates to the drive of the storage vehicle, which storage vehicle can fulfill a wide variety of functions.

Am Fahrwerk 50 des in Fig. 1 gezeigten Ausführungsbeispiels sind beidseitig Radträger montiert, welche Laufräder 30 beinhalten. Diese dienen der Führung des Lagerfahrzeugs durch die Regalgasse. Andere Radanordnungen sind jedoch ebenfalls möglich.At the landing gear 50 of the in 1 shown embodiment are mounted on both sides wheel carrier, which include wheels 30. These are used to guide the warehouse vehicle through the aisle. However, other wheel arrangements are also possible.

In Fig. 1 ist weiterhin die Führungsschiene 40 gezeigt, die im Lagergebäude ortsfest angeordnet ist und den Fahrweg des Lagerfahrzeugs definiert. Wie insbesondere in den Detaildarstellungen der Fig. 1B und 1C erkennbar ist, ist an der Führungsschiene 40 ein Zahnriemen 42 mit Eingriffselementen (Zähnen) 43 (vgl. Fig. 4) angebracht. Der Zahnriemen 42 ist vorzugsweise aus elastischem Material wie einem Kunststoff- oder Gummimaterial, insbesondere aus Polyurethan, ausgebildet und in gewissen Abständen an der Führungsschiene 40 fixiert und bildet mit dieser eine feste Einheit. Diese Einheit ist vorzugsweise über die komplette Länge der Gasse/Fahrbahn des Lagers montiert und kann mittels eines Schienenfußes oder dergleichen am Boden befestigt sein. Gegenüber einer Zahnstange hat der an einer Führungsschiene 40 fixierte Zahnriemen 42 den weiteren Vorteil eines deutlich geringeren Montageaufwandes, da mehrere hintereinander montierte Zahnstangenelemente sehr exakt zueinander ausgerichtet sein müssen, was einen hohen Fertigungsaufwand bedeutet. Dieser Aufwand entfällt bei der Verwendung eines Zahnriemens.In 1 the guide rail 40 is also shown, which is arranged in a stationary manner in the storage building and defines the route of the storage vehicle. As in particular in the detailed representations of Figures 1B and 1C can be seen, is on the guide rail 40 with a toothed belt 42 engagement elements (teeth) 43 (cf. 4 ) appropriate. The toothed belt 42 is preferably made of an elastic material such as a plastic or rubber material, in particular made of polyurethane, and is fixed at certain distances to the guide rail 40 and forms a fixed unit with it. This unit is preferably mounted over the entire length of the aisle/lane of the warehouse and can be fixed to the floor by means of a rail foot or the like. Compared to a toothed rack, the toothed belt 42 fixed to a guide rail 40 has the further advantage of a significantly lower assembly effort, since several toothed rack elements mounted one behind the other must be aligned very precisely with one another, which means a high manufacturing effort. This effort does not apply when using a toothed belt.

Fig. 2 zeigt eine schematische Horizontalschnittansicht und Fig. 3 eine perspektivische Ansicht der Antriebseinheit 20, die das Lagerfahrzeug auf dem Fahrweg beschleunigt und antreibt. Im oberen Bildteil der Fig. 2 ist ein Teil des Fahrwerksträgers 51 sowie eines der Laufräder 30 sichtbar. 2 shows a schematic horizontal sectional view and 3 a perspective view of the drive unit 20, which accelerates and drives the storage vehicle on the track. In the upper part of the picture 2 a part of the chassis support 51 and one of the running wheels 30 is visible.

In den Zahnriemen 42 greifen die Eingriffselemente (Zähne) eines Endlos-Antriebsriemens 25 ein, der in dem gezeigten Ausführungsbeispiel in einer Omega-Geometrie um eine Anordnung von Umlenkrollen 22, 24, 24a sowie ein ebenfalls mit Eingriffselementen (Zähnen) versehenes Antriebsrad bzw. Antriebsscheibe 21 geführt ist. Dabei wird die Zahnseite des Endlos-Antriebsriemens 25 in den Zahnriemen 42 eingeführt. Eine oder mehrere Umlenkrollen sind beweglich als Spannrolle(n) 24a zum Einstellen einer geeigneten Spannung des Endlos-Antriebsriemens 25 ausgebildet.The engagement elements (teeth) of an endless drive belt 25 engage in the toothed belt 42 21 is guided. The toothed side of the endless drive belt 25 is inserted into the toothed belt 42 . One or more deflection rollers are designed to be movable as tension roller(s) 24a for setting a suitable tension of the endless drive belt 25.

Das Antriebsrad 21 ist mit einem Elektromotor oder einer anderen geeigneten Antriebseinheit gekoppelt. Aufgrund der Omega-Geometrie sind die Eingriffselemente des Antriebsrades 21 über einen erheblichen Teil des Umfangs des Antriebsrades 21 im Eingriff mit den Eingriffselementen des Endlos-Antriebsriemens 25, so dass eine gute Kraftübertragung vom Antriebsrad 21 auf den Endlos-Antriebsriemen 25 bei geringem Wartungsaufwand gewährleistet ist.The drive wheel 21 is coupled to an electric motor or another suitable drive unit. Due to the omega geometry, the engagement elements of the drive wheel 21 are in engagement with the engagement elements of the endless drive belt 25 over a significant part of the circumference of the drive wheel 21, so that good power transmission from the drive wheel 21 to the endless drive belt 25 is ensured with little maintenance .

Die Antriebseinheit 20 ist vorzugsweise fest mit dem Fahrwerksträger 51 des Lagerfahrzeugs verbunden und kann durch Demontage diverser Bauteile von diesem gelöst werden. Mittels einer Führungsrolle 27, die insbesondere in den Fig. 3 und 4 sichtbar ist, wird die Antriebseinheit 20 in einer konstanten Entfernung zum Fahrwerksträger 51 gehalten, so dass ein guter Eingriff der Eingriffselemente des Endlos-Antriebsriemens 25 in die entsprechenden Eingriffselemente des Zahnriemens 42 möglich ist. Weiterhin sind Anpressrollen 28 vorgesehen, die für den für die Kraftübertragung erforderlichen Anpressdruck des Endlos-Antriebsriemens 25 auf den Zahnriemen 42 sorgt. Da Kraftübertragung vom Endlos-Antriebsriemen 25 auf den Zahnriemen 42 wird auf eine Vielzahl von Eingriffselementepaaren verteilt, so dass die Kraft und damit der Verschleiß am einzelnen Eingriffselement reduziert ist. Dadurch können auch sowohl für das Antriebsrad 21, den Endlos-Antriebsriemen 25 als auch den Zahnriemen 42 lärmreduzierende Materialien wie etwa Polyurethan und auch NFC-Gewebe zum Einsatz kommen. Der Zahnriemen 42 leitet die Kraft über die Führungsschiene 40 und die Bodenanbindung in den Untergrund ein.The drive unit 20 is preferably firmly connected to the chassis support 51 of the storage vehicle and can be detached from it by dismantling various components. By means of a guide roller 27, in particular in the 3 and 4 is visible, the drive unit 20 is kept at a constant distance from the chassis beam 51, so that a good engagement of the engagement elements of the endless drive belt 25 in the corresponding engagement elements of the toothed belt 42 is possible. Furthermore, pressure rollers 28 are provided for the for Force transmission required contact pressure of the endless drive belt 25 on the toothed belt 42 provides. The power transmission from the endless drive belt 25 to the toothed belt 42 is distributed over a large number of pairs of engagement elements, so that the force and thus the wear on the individual engagement elements is reduced. As a result, noise-reducing materials such as polyurethane and NFC fabric can also be used for the drive wheel 21, the endless drive belt 25 and the toothed belt 42. The toothed belt 42 transmits the force via the guide rail 40 and the ground connection to the ground.

Die Figuren 5 und 6 zeigen ein zweites Ausführungsbeispiel der Antriebseinheit 20 des erfindungsgemäßen Lagerfahrzeugs. Die Funktionsweise des zweiten Ausführungsbeispiels entspricht im Wesentlichen derjenigen des ersten Ausführungsbeispiels, zeichnet sich jedoch durch eine besonders kompakte Bauweise aus.the figures 5 and 6 show a second embodiment of the drive unit 20 of the storage vehicle according to the invention. The mode of operation of the second exemplary embodiment essentially corresponds to that of the first exemplary embodiment, but is characterized by a particularly compact design.

Figur 7 wiederum zeigt ein drittes Ausführungsbeispiel der Antriebseinheit 20 des erfindungsgemäßen Lagerfahrzeugs, welches auf dem zweiten Ausführungsbeispiel basiert, sich von diesem jedoch dadurch unterscheidet, dass an der Antriebseinheit zwei Antriebsmotoren 60 direkt angebracht sind. Die Antriebskraft wird dabei von den Motoren 60 über Riemenantriebe 29 auf die Antriebswelle des Antriebsrades 21 übertragen. Durch geeignete Auswahl der Durchmesser der Riemenräder kann zwischen Antriebsmotoren 60 und dem Antriebsrad 21 eine geeignete Übersetzung oder Untersetzung gewählt werden. So kann der Riemenantrieb gleichzeitig als Getriebe dienen, wodurch ein schweres und voluminöses Motorgetriebe entfallen kann. figure 7 again shows a third exemplary embodiment of the drive unit 20 of the storage vehicle according to the invention, which is based on the second exemplary embodiment but differs from it in that two drive motors 60 are attached directly to the drive unit. The drive force is transmitted from the motors 60 to the drive shaft of the drive wheel 21 via belt drives 29 . A suitable transmission or reduction can be selected between the drive motors 60 and the drive wheel 21 by suitably selecting the diameter of the pulleys. In this way, the belt drive can also serve as a gear, which means that a heavy and bulky motor gear can be omitted.

Das erfindungsgemäße Lagerfahrzeug ermöglicht so hohe Beschleunigungen und Verzögerungen in beide Bewegungsrichtungen auch bei großen Lasten und damit eine Leistungssteigerung des zugehörigen Lagers. Das Lagerfahrzeug kann entlang der Regalgasse eines Regallagers verfahrbar oder auch als Querförderer quer zur Regalgassenrichtung oder zum Verbinden von verschiedenen Fördertechnikelementen wie Rollen- oder Bandförderern eingesetzt werden. Der erfindungsgemäße Antrieb ist außerdem zum Antrieb von Vertikalförderern einsetzbar.The warehouse vehicle according to the invention thus enables high accelerations and decelerations in both directions of movement, even with heavy loads, and thus an increase in the performance of the associated warehouse. The storage vehicle can be moved along the aisle of a rack warehouse or used as a cross conveyor at right angles to the direction of the aisle or to connect different conveyor technology elements such as roller or belt conveyors. The drive according to the invention can also be used to drive vertical conveyors.

Claims (15)

  1. A warehouse vehicle which can be moved along a guide rail (40) provided with engagement elements (43), having a chassis (50) and a drive unit (20) connected to the chassis (50), wherein the drive unit (20) has
    a drive wheel (21) coupled to a drive motor (60), wherein the drive wheel (21) comprises peripheral contact elements, characterised in that the warehouse vehicle comprises:
    an endless drive belt (25) provided with contact elements,
    a guide roller arrangement (22, 24, 24a) for guiding said endless drive belt (25), wherein said guide roller arrangement (22, 24, 24a) is configured in such that the endless drive belt (25) is engageable with both the drive wheel (21) and the engagement elements (43) of the guide rail (40) to drive the warehouse vehicle.
  2. The warehouse vehicle according to claim 1, wherein the endless drive belt (25) is guided in an omega geometry around the drive wheel (21) and the guide roller arrangement (22, 24, 24a) in such a way that the engagement elements on the same side of the endless drive belt (25) engage with both the drive wheel (21) and the guide rail (40) provided with the engagement elements (43).
  3. The warehouse vehicle according to claim 2, wherein the guide roller arrangement (22, 24, 24a) comprises two guide rail side guide rollers (22) and two guide rollers (24, 24a) facing away from the guide rail (40).
  4. The warehouse vehicle according to claim 3, wherein at least one of the guide rollers (24a) is designed as a displaceable tensioning roller for tensioning the endless drive belt (25).
  5. The warehouse vehicle according to claim 4, comprising pressing elements (28) for pressing the endless drive belt (25) against the guide rail (40) provided with engagement elements (43).
  6. The warehouse vehicle according to claim 5, wherein the pressing elements (28) are designed as pressing rollers.
  7. The warehouse vehicle according to any one of claims 1-6, comprising one or more guide rollers (27) for maintaining a defined distance between the drive unit (20) and guide rail (40).
  8. The warehouse vehicle according to any one of claims 1-7, wherein the endless drive belt (25) is formed of elastic material, preferably polyurethane.
  9. The warehouse vehicle according to any one of claims 1-8, wherein the drive unit (20) comprises at least one drive motor (60) coupled to the axle of the drive wheel (21) via a belt drive (29).
  10. The warehouse vehicle according to claim 9, wherein the belt drive (29) realises an increase or reduction of the driving force.
  11. The warehouse vehicle according to any one of claims 1-10, wherein the chassis (50) comprises a chassis body (51) and one or more running wheels (30).
  12. A warehouse vehicle system comprising a guide rail (40) provided with engagement elements (43) and a warehouse vehicle movable along the guide rail (40) according to any one of claims 1-11.
  13. The warehouse vehicle system according to claim 12, wherein the engagement elements (43) are formed by toothed belts (42) applied to the guide rail.
  14. The warehouse vehicle system according to claim 13, wherein the toothed belts (42) are formed of elastic material, preferably polyurethane, and are fixed at intervals to the guide rail (40).
  15. A warehouse comprising one or more warehouse vehicle systems according to one of the claims 12-14, wherein the guide rails (40) are arranged in a longitudinal and/or transverse direction or, in addition, in a vertical direction, corresponding to a direction of movement of the respective warehouse vehicle.
EP21701950.4A 2020-02-04 2021-01-21 Warehouse vehicle having a tracked drive Active EP3914552B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020102828.8A DE102020102828B4 (en) 2020-02-04 2020-02-04 TRACKED DRIVE FOR STOCK VEHICLE
PCT/EP2021/051258 WO2021156062A1 (en) 2020-02-04 2021-01-21 Warehouse vehicle having a tracked drive

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EP3914552A1 EP3914552A1 (en) 2021-12-01
EP3914552B1 true EP3914552B1 (en) 2022-11-02

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US (1) US20230059295A1 (en)
EP (1) EP3914552B1 (en)
AU (1) AU2021215788B2 (en)
CA (1) CA3163368C (en)
DE (1) DE102020102828B4 (en)
ES (1) ES2936308T3 (en)
FI (1) FI3914552T3 (en)
WO (1) WO2021156062A1 (en)

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DE102023131012A1 (en) * 2023-11-08 2025-05-08 Ltw Intralogistics Gmbh Channel vehicle and storage and retrieval system with such a

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US3946836A (en) * 1974-11-25 1976-03-30 Maack Norris N Elevator system having co-moving and short-length annular-belt for suspending and propelling the carriage
DE2540252A1 (en) 1975-09-10 1977-03-17 Adolf Theobald Palletised flat item storage system - has portal loading machine travelling over movable shelf sets on rails
DE3813897A1 (en) 1988-04-21 1989-11-09 Mannesmann Ag WORK TOOL
DE9304210U1 (en) * 1993-03-20 1993-06-17 C. Haushahn Automationssysteme GmbH, 7000 Stuttgart Storage and retrieval machine
CA2096703A1 (en) * 1993-04-02 1994-10-03 Kurt M. Lloyd Automatic storage and retrieval system
US5452774A (en) * 1993-10-25 1995-09-26 Davis; Link H. Endless roller chain drive with interlocking traction rail
AT500378B1 (en) * 2001-06-13 2006-12-15 Tgw Transportgeraete Gmbh STACKER UNIT
DE10216014B4 (en) 2002-04-11 2006-04-27 Knapp Logistik Automation Ges.M.B.H. Movable stacker crane, preferably in a picking system
JP2006193271A (en) * 2005-01-13 2006-07-27 Shin Meiwa Ind Co Ltd Conveyor crane and conveyor crane equipment
JP4538735B2 (en) * 2005-03-25 2010-09-08 株式会社ダイフク Lift device
US7478597B2 (en) * 2006-10-06 2009-01-20 Pacific Bearing Company Multi-axis gantry system
AT507334B1 (en) 2008-09-08 2012-04-15 Swisslog Evomatic Gmbh STACKER UNIT
US8875636B2 (en) * 2011-04-14 2014-11-04 Production Resource Group, Llc Universal powerpack and attachments
CN106217410B (en) 2016-08-25 2018-06-19 宁波朝平智能科技有限公司 Axis is moved for the section of full-automatic compact shelving repository box taking machine tool hand
EP3594171B1 (en) 2018-07-09 2021-03-17 Jungheinrich Aktiengesellschaft Transport device

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EP3914552A1 (en) 2021-12-01
CA3163368A1 (en) 2021-08-12
WO2021156062A1 (en) 2021-08-12
ES2936308T3 (en) 2023-03-16
AU2021215788B2 (en) 2024-11-21
US20230059295A1 (en) 2023-02-23
FI3914552T3 (en) 2023-01-31
AU2021215788A1 (en) 2022-07-21
CA3163368C (en) 2025-05-06
DE102020102828B4 (en) 2025-12-11
DE102020102828A1 (en) 2021-08-05

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