WO2015177078A1

WO2015177078A1 - Aisle stacking device

Info

Publication number: WO2015177078A1
Application number: PCT/EP2015/060860
Authority: WO
Inventors: Matthias HEDDINGA
Original assignee: Ltw Intralogistics Gmbh
Priority date: 2014-05-21
Filing date: 2015-05-18
Publication date: 2015-11-26
Also published as: DE102014107138A1

Abstract

The invention relates to an aisle stacking device comprising a stacker platform (1) which is vertically adjustable along a main body (3) by a drive (2). The main body (3) comprises a curved element (4), and the stacker platform (1) is adjustable at least along a portion of said curved element (4).

Description

The invention relates to a storage and retrieval unit with an operating platform, which is height-adjustable by means of a drive along a base body.

Such stacker cranes have long been known, with their

Base body is formed as a mast or as a rectangular frame. When a load is received on the operator platform, the mast or portal frame must be able to absorb and divert great forces to prevent damage or breakage of the mast or portal frame. For this purpose, expensive support or support devices are often arranged on the main body of the storage and retrieval unit or complex control procedures performed. For example, in WO 2005/077 810 a storage and retrieval unit is shown in which the mast has a joint, which is a deflection of the

Knickmastes in the direction of the longitudinal process of the storage and retrieval system allows. This prevents the mast from breaking or tilting on the ceiling or shelf top. It is therefore an object of the invention to provide a simplified storage and retrieval unit, which has a greater stability.

This object is achieved with a storage and retrieval unit of the type mentioned above in that the main body comprises an arch element, and that the operating platform is at least partially adjustable along this arch element.

This allows a possibility of movement of the operating platform on the base body not only in a vertical direction, but at the same time in a horizontal direction. If a load at a transfer point has been handed over to the operating platform, then the stacker crane accelerates into a racking gangway. Through this

Acceleration due to the weight of the load absorbed large forces on the body. The possibility of movement

Operating platform along the bow element now causes the

Acceleration process of the stacker crane in the direction of

Regallagerganges at the same time a horizontal movement of the load along the arch element opposite to the direction of the shelf railing can be performed, whereby the forces acting on the body or on the sheet member force is reduced. It has proved to be preferable if one for the lateral, i. in

Longitudinal direction of the rack aisle, adjustment serving chassis is provided and when a first end of the bow member is arranged on the chassis or on a landing gear platform. Thus, the load of one

delivered as low as possible to the operating platform. At the same time, the storage and retrieval unit can also serve storage compartments, which are very close to the ground, ie located close to the chassis or the landing gear platform. The lower approach dimension is in other words very low and greatly reduced over that of known from the prior art storage and retrieval equipment.

It has proved preferable when a second end of the

Arch element is arranged on the chassis or on the chassis platform. This creates a curve starting from the chassis and right up to the

Landing gear. By this arrangement, the forces acting on the bow are optimally absorbed and the chassis to the

Shelf shelf delivered. A closed arch shape is - like a bridge - particularly stable. The arch element is a rigid or rigid structure.

In a further preferred embodiment, the operating platform is designed such that it has a vertex of the arch element

can overcome. This has the advantage that the operating platform is adjustable along the entire arch or arch element. In a side view of the stacker crane so that the operating platform can be positioned on the left and right sides. In other words, the operating platform can thus be arranged on both sides of the base body. This offers the advantage that now in comparison to other storage and retrieval units no front or rear approach distance in the shelf storage longer exists; or these Anfahrmaße are minimized. Thus, a larger proportion of

Base of the warehouse building can be used as a storage area. Thus, the building in which the shelf storage is located, starting from a front building wall to a rear building wall are provided with storage areas. In addition, small to no upper Anfahrmaße are no longer available, since the operating platform now also over the vertex is movable. The otherwise unusable storage bins can now be supplied by the storage and retrieval unit according to the invention.

It has proved to be preferable if the arch element comprises a (partially) elliptical or a semicircular or a (partially) cycloidal shape. Thus, the arch element is formed as a conic. These forms of the arch element allow a smooth movement of the operating platform along the arc. In addition, for example, in deep freeze storage

Cooling units arranged in corners of the shelf storage ceiling. By the

Arch shape ensures that the operating platform or the lifting carriage can not hit these aggregates or collide with them.

According to a preferred embodiment, the operating platform is adjustable along an outer side of the arch element, whereby also a front and rear approach dimension can be reduced.

An alternative preferred embodiment is characterized in that the operating platform in an inner region of the sheet member, limited by the sheet member in the vertical and optionally. In the horizontal direction is movable. By this configuration, the supposedly useless area of the body can be used without reducing the increased stability of the storage and retrieval unit. This embodiment can also be combined with an operating platform which runs along the

Outside of the stacker crane is adjustable, so that two

Operating platforms are provided.

It has proved to be advantageous if one of the adjustment of

Operating platform serving telescopic device is provided. These

Telescope device can in a storage and retrieval unit, whose Bedienplattfornn on the outer surface is arranged to secure the Bedienplattfornn in its horizontal position depending on their position on the arch element. In other words, the operating platform is thus held horizontally regardless of where the operating platform a bow element is located. This prevents loaded loads from tipping off the operator platform.

In a storage and retrieval unit, whose operating platform is adjustable in the interior of the sheet member, the telescopic device can be used to adjust the operating platform in the horizontal direction. In this constellation, the telescopic device with the drive of the

Storage and retrieval unit connected and thus adjustable along the sheet member itself. A very reliable telescopic device is formed from at least two telescopic telescopic elements.

An alternative embodiment provides that the storage and retrieval unit is formed such that the sheet member is provided multiple times, and that each of the sheet members is assigned at least one movable along this operating platform. This also ensures that front and rear approach dimensions are limited and thus the available storage space is optimally utilized. A further embodiment of the invention is characterized in that the base body has at least one linear element which is connected to the sheet element, and that the operating platform is at least partially along the linear element, preferably directly, adjustable. It is useful if a first linear element is connected to a first end of the sheet member. To further increase the stability of the storage and retrieval device is provided that a second Linear element is connected to a second end of the sheet member.

An advantageous arrangement has also shown an inclined arrangement of the linear element with respect to the vertical. Here again a saving of space is the result. Alternatively, the storage and retrieval unit can also provide that the at least one linear element is arranged substantially perpendicular to a chassis platform. This in turn generates a stable basic structure for the storage and retrieval unit.

In the following the invention is illustrated in the drawing

Embodiments explained in more detail; show it:

1 a, 1 b, 1 c a first embodiment of the invention,

2a, 2b, 2c, a second embodiment of the invention,

3a, 3b, 3c, a third embodiment of the invention,

4a, 4b, 4c, a fourth embodiment of the invention, Fig. 5a, 5b, a further embodiment of the invention,

Fig. 6 is a schematic diagram of the coupling of the operating platform with the curved element with a control platform according to a first embodiment, and a schematic diagram of the coupling of the operating platform with the sheet member with an operating platform according to another embodiment.

In figures, various embodiments of the storage and retrieval unit according to the invention are shown, wherein the base body 3 comprises a sheet member 4, on which the operating platform 1 of the stacker crane is adjustably arranged by means of a drive 2. The drive 2 is formed in a conventional manner as a motor. Preferably, this one by means of a

Frequency converter controlled asynchronous three-phase motor. Furthermore, the storage and retrieval unit comprises a controller (PLC), which - as well as the drive 2 - is not shown in more detail in the figures.

The storage and retrieval unit is preferably rail-bound in the

Regal alley moveable between two shelves. It is further preferred if the storage and retrieval unit according to the invention is designed to be curved, so that one and the same storage and retrieval unit storage compartments in

can supply different shelf aisles.

In Figures 1 a, 1 b and 1 c is the operating platform 1 with a

Coupling end 14 attached to the arch element 4 or fixed. In the figures, the operating platform 1 in different positions on

Bow element 4 shown. The arch element 4 in this case has a first end 6, which extends from the landing gear platform 7 or near the chassis 5 from. The operating platform 1 is vertically and partly horizontally adjustable on the base body 3 or on the arch element 4. In other words, the operating platform 1 follows in its adjustment so the curved shape of the sheet member 4; Preferably, that is Bedienplattfornn 1 directly to the base body 3, insbeonsdere at the arch element 4, respectively.

FIGS. 2 a, 2 b and 2 c show a further embodiment of the stacker crane according to the invention, with a second end 8 of the arch element 4 being arranged on the chassis platform 7 or on the chassis 5. This creates a closed,

parabolic arch element 4. The operating platform 1 is such

designed such that it can overcome a vertex 9 of the sheet member, so that the operating platform 1 can be positioned on the right or left side based on the representation in the figure, and front and rear relative to the direction of travel 23 of the storage and retrieval device.

FIGS. 3 a, 3 b and 3 c show a further embodiment of the storage and retrieval unit according to the invention, in which the operating platform 1 or the lifting carriage is arranged in an inner space or inner area 11 of the arch element 4. For this purpose, the operating platform 1 is attached to two telescopic elements 13 of a telescopic device 12. The

Telescope elements 13 are attached in the same way to the arch element 4 as the operating platform 1 according to the embodiments in Figures 1 and 2. These will be explained in more detail below. Within the inner region 1 1 of the arch member 4, the control platform 1 can be adjusted vertically and horizontally, in which case the operating platform 1 supporting telescopic elements 13 are accordingly extended or retracted.

In Figures 4a and 4b is another invention

Embodiment of the storage and retrieval unit shown, in which the

Arch element 4 is provided several times, in particular twice, where each of the arch elements 4 is associated with a movable operating platform 1 along this. The operating platforms 1, as shown in Figure 4b, independently of each other along the respectively associated sheet element 4 movable. For this purpose, the storage and retrieval device each provides its own drive 2 for each of the operator platforms 1.

FIGS. 5a and 5b show other preferred embodiments of the present invention. In both embodiments, the curved element 4 is associated with at least one linear element 28. The

Operating platform 1 is at least partially along the at least one linear element 28 movable. In this case, the first end 6 and / or the second end 8 of the arch element 4 form a flowing, impact-free transition with the respective associated linear element 28, so that there is no or at most a slight jerking or vibration when passing through the control platform 1 can. The arch elements 4 of both embodiments are formed parabolic.

In the embodiment of FIG. 5a, the base body 3 for

additional stabilization associated with a stabilizing element 29. It has proven to be beneficial to use several stabilizing elements 29 depending on the height of the stacker crane or in dependence on the permissible load.

At least one of the linear elements 28 shown in Fig. 5a is arranged inclined relative to the vertical or aligned. Preferably, the vertical is arranged substantially perpendicular to the plane which is predetermined by the chassis 5 of the storage and retrieval device. In this case, it has proven to be preferable for the at least one linear element 28 relative to the vertical between 1 and 15 degrees, preferably between 1 and 10 degrees, and further preferably between 2 and 5 degrees inclined to arrange. A particularly preferred embodiment provides a

Inclination of the at least one linear element from 3 to 4 degrees with respect to the vertical, i. Perpendicular with respect to the chassis platform 7, front.

In contrast, in the embodiment according to FIG. 5 b, at least one of the linear elements 28 is oriented completely perpendicular with respect to the chassis platform 7. In the embodiment shown, both linear elements 28 are aligned vertically and the operating platform 1 can over the

Vertex 9 of the arch member 4 away completely along the linear elements 28 are adjusted.

FIG. 6 shows a detailed view of an embodiment of the coupling of the operating platform 1 with the arch element 4. This can

For example, in a storage and retrieval device according to the embodiment of Figures 1, 3 or 4 find application.

The operating platform 1 according to this embodiment is formed in several parts. It has a base support 17 and has axes 18 on which platform rollers 19 are mounted. These platform rollers 19 have longitudinal guides formed in their circumferential direction. The arch element 4 is formed from a pair of two rails 16 extending substantially parallel to one another, with which the arch element 4 forms in other words a rail system for the platform rollers 19.

Between these rails 16, the platform rollers 19 of the

Operating platform 1. For this purpose, the rails 16 in the longitudinal guides of Platform rollers 19 immersed on both sides, which ensures that the platform rollers 19 can not leave the rail system unintentionally. The adjustment of the base support 17 is effected by means of an adjustable by the drive 2 adjusting device 20. This is preferably formed as a cable pulling device or as a belt drive. Preferably, the belt drive is formed with a toothed belt made of a durable rubber material. By the engine can thus the

Base support 17 along an outer side 10 of the sheet member 4 are adjusted. The operating platform 1 further comprises a receiving platform 21 on which a load or a loading aid can be placed or placed. This receiving platform 21 is hingedly connected to the base support 17 on one side. For this purpose is between the receiving platform 21 and the

Base support 17 a hinge arranged with a perpendicular to the direction of travel 23 of the storage and retrieval device aligned hinge axis 22nd

For supporting and horizontally supporting the receiving platform 21, i. the operating platform 1, a telescopic device 12 is provided. The telescopic device 12 is supported on or near the respective free platform end 15 of the receiving platform 21. The

Telescope device 12 comprises two or more telescopic elements 13 which are attached to each other and to the direction of travel 23 parallel to the base support 17 on the one hand and on the receiving platform 21 on the other hand.

The telescopic device 12 is also controlled by the

Storage and retrieval machine (PLC) controllable. For example, the

Telescope elements 13 expand as the base support 17 moves down the rails 16; and compressed when the Base support 17 a vertex 9 or an upper end point of the sheet member 4 approaches. This ensures that the recorded load does not fall from the receiving platform 21 or is always held horizontally. Alternatively or additionally, a support device for supporting or a clamping device for clamping the recorded load can be used, which secures the load against falling when the operating platform 1 inclines with respect to the horizontal.

FIG. 7 is a detail view of another embodiment of the invention

Coupling of the operating platform 1 shown with the arch element 4. This can, for example, in a stacker crane according to a

Embodiment to find Figures 2 or 5 application, wherein the operating platform 1 is designed such that it can overcome a vertex 9 of the arch member 4.

The operating platform 1 according to this embodiment likewise has platform rollers 19 guided in rails 16, which are arranged on a base carrier 17. At this base support 17, a support frame 24 is arranged, which in turn comprises a hinge axis 22. At this

Joint axis 22 is a receiving platform 21 hinged, for receiving the load or the loading aid. It is the

Receiving platform 21 arranged on a platform frame 25. In a first embodiment, the hinge axis 22 is formed such that the receiving platform 21 is under the influence of the weight of the load recorded or an additional mounted on the receiving platform 21 weight always in a horizontal position, regardless of the position of the control platform 1 on the arch element 4. According to another embodiment, the platform frame 25 is motorized with respect to the support frame 24 and with respect to the Base support 17 pivotable. In this configuration, so can the

Recording platform 21 are held horizontally by means of the control in dependence of the vertical position of the base support 17 on the base body 3.

If the operating platform 1 is at the level of the apex point 9 of the arch element 4, then the platform frame 25 and the support frame 24 are parallel to one another. The platform frame 25 can by the

Swing support frame 24 when the base support 17 is moved over the vertex 9 away.

Another embodiment, not shown in the figures provides, on the support frame 24 a parallelogram - also like a frame - to order. Such a parallelogram linkage is described for example in EP 0 560 022 B1 in column 2 rows 42 to column 3 row 4.

In addition, telescopic elements 13 of the telescopic device 12 are provided, which are extended or retracted as needed. For this purpose, a first telescopic element 13 is arranged in a crosswise offset to a second telescopic element 13. As a result, the receiving platform 21, always kept in a horizontal position, whereby a recorded load can not crash.

The loading aid or the load can be dispensed in the usual way in a shelf storage compartment or brought out of this.

For example, on the receiving platform 21 according to FIG. 5

Channel vehicle, a shuttle 26 or a satellite provided, the retractable perpendicular to the direction of travel 23 of the stacker crane on a shelf storage compartment can. With a lifting and lowering device, he can take a load or record.

According to the embodiment of Figure 6, a telescopic fork 27 is arranged on the receiving platform 21, which can be extended or retracted storage compartment perpendicular to the direction of travel 23 of the stacker crane to a shelf. Bilateral extension and retraction is possible. The lifting or lowering of the telescopic fork 27 takes place in a conventional manner.

LIST OF REFERENCE NUMBERS

1 operating platform

2 drive

3 basic body

4 arch element

5 suspension

6 first end of the bow element

7 landing gear platform

8 second end of the bow element

9 vertex

10 outside

1 1 indoor area

12 telescope device

13 telescopic element

14 coupling end

15 platform end

16 rails

17 basic beams

18 axis

19 platform rollers

20 adjusting device

21 recording platform

22 joint axis

23 direction of travel

24 support frame

25 platform frame

26 shuttle

27 telescopic fork Linear element stabilization element

Claims

Patent claims:

Storage and retrieval device with an operating platform (1), which is operated by means of a drive

(2) is height-adjustable along a base body (3), characterized in that the base body

(3) comprises an arch element (4), and that the operating platform (1) is at least partially adjustable along this arch element (4).

Storage and retrieval machine according to claim 1, characterized in that a chassis (5) serving for lateral adjustment is provided, and that a first end (6) of the arch element (4) is arranged on the chassis (5) or a chassis platform (7).

Storage and retrieval device according to claim 2, characterized in that a second end (8) of the arch element

(4) on the chassis

(5) or the chassis platform (7) is arranged.

Storage and retrieval device according to claim 3, characterized in that the operating platform (1) is designed such that it can overcome a vertex (9) of the arch element (4).

Storage and retrieval device according to one of claims 1 to 4, characterized in that the arch element (4) comprises an elliptical or a semicircular or a cycloid shape.

6. Storage and retrieval device according to one of claims 1 to 5, characterized in that the operating platform (1) along a

Outside (10) of the arch element (4) is adjustable.

7. Storage and retrieval unit according to one of claims 1 to 5, characterized

characterized in that the operating platform (1) in an interior area (1 1) of the arch element (4), delimited by the arch element (4), is movable in the vertical and, if necessary, in the horizontal direction.

8. Storage and retrieval unit according to one of claims 1 to 7, characterized

characterized in that a telescopic device (12) used to adjust the operating platform (1) is provided.

9. Storage and retrieval unit according to claim 8, characterized in that the telescopic device (12) is formed from at least two telescopic telescopic elements (13).

10. Storage and retrieval unit according to one of claims 1 to 9, characterized

characterized in that the arch element (4) is provided several times, and that each of the arch elements (4) is assigned an operating platform (1) that can be moved along it.

1 1 . Storage and retrieval device according to claim 1, characterized in that the base body (3) has at least one linear element (28; 28 ^* ), which is connected to the arch element (4), and that the operating platform (1) at least partially along the linear element (28; 28 ^* ) is adjustable.

12. Storage and retrieval unit according to claim 1 1, characterized in that a first linear element (28) at a first end (6) of the

Arch element (4) is connected.

13. Storage and retrieval unit according to claim 1 1 or 12, thereby

characterized in that a second linear element (28 ^* ) is connected to a second end (8) of the arch element (4).

14. Storage and retrieval unit according to one of claims 1 1 to 13, characterized in that the at least one linear element (28; 28 ^* ) is arranged inclined with respect to the vertical.

15. Storage and retrieval unit according to one of claims 1 1 to 13, characterized in that the at least one linear element (28; 28 ^* ) is arranged essentially vertically with respect to a chassis platform (7).