EP2883831B1 - Small access device - Google Patents
Small access device Download PDFInfo
- Publication number
- EP2883831B1 EP2883831B1 EP14196033.6A EP14196033A EP2883831B1 EP 2883831 B1 EP2883831 B1 EP 2883831B1 EP 14196033 A EP14196033 A EP 14196033A EP 2883831 B1 EP2883831 B1 EP 2883831B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- guide
- lifting platform
- masts
- small components
- running gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
Definitions
- the present invention relates to a small scale divider with a vertically movable on a guide device lifting platform and arranged on the lifting platform horizontally movable load-carrying means and each one arranged at an upper and lower end of the guide device chassis for horizontal movement of Kleinvongerats, wherein the guide device two at least substantially parallel to each other Having arranged with a gap guide poles and the lifting platform is arranged in the intermediate space, according to the preamble of claim 1.
- a generic small parts device is used for storage and outsourcing of goods in a small parts shelf, which is intended for the temporary inclusion of goods of all kinds, for example, light consumer goods.
- the small parts shelf is operated in an automated manner together with the small parts device with which the goods are handled.
- the small parts device thus corresponds functionally to a storage and retrieval unit and has a lifting platform, arranged on the load handling device is, with which the goods can be handled together with an outer packaging or, for example, goods on a receiving device for the goods in the form of a tray or the like.
- the lifting platform is usually vertically movable on a structure carrying the lifting platform and can be moved horizontally along with the supporting structure along the small parts rack.
- a storage and retrieval unit which has a mast, which is arranged on an upper and lower chassis and has a boom on which a stored goods arranged vertically and with which the stored goods can be moved.
- the traction drives for the movement of the trolleys are arranged on the trolleys, so driving along formed and the mast is arranged to maintain a largely vertical orientation on the lower and upper chassis articulated.
- the mast is exposed by the boom principle of the mast vertically movable lifting platform a large bending moment and must therefore be made very rigid.
- a storage and retrieval unit which has a vertical mast on which a lift table designed as a boom is vertically movable, on which a take-out unit for loading and unloading of an associated shelf is arranged.
- the storage and retrieval unit has a drive which is used for both the lifting movement and for the movement, whereby the net mass of the storage and retrieval unit, which must be accelerated during the movements, can be reduced.
- the design of the lifting table as a boom ensures that the vertical mast is subjected to a bending load and is therefore rigid and heavy.
- a storage and retrieval unit and a picking system have become known, wherein the storage and retrieval unit has a mast, which is designed as a folding mast with a joint between the mast and an upper and lower chassis.
- the travel drives are each designed to ride along on the upper and lower chassis, with the chassis running on rails that are integrated into the rack system.
- the storage and retrieval machine can be moved along driving and guide rails which are arranged on the shelf.
- the stacker crane has a vertically movable lifting platform and a shelf mast, which is connected to a lower and upper chassis.
- the trolleys each have a traveling drive with the trolleys and the lifting platform is designed as a mast vertically displaceable boom, so that the mast is again exposed to a bending moment and therefore must be rigid, which has the result that the mast has a high intrinsic mass and the storage and retrieval unit designed in this way requires high electrical drive power for the movement movements.
- the US 2013/0156419 A1 shows a stacker crane, which has two vertical masts and at the top and bottom of each chassis, with which the stacker crane can be moved to longitudinal rails.
- a lifting platform has a fork carriage, which has a fork which is perpendicular to the horizontal direction Traversing direction of the car can be operated between a retracted position and an extended position.
- a shelf storage has become known with a storage and retrieval unit, which can be moved between the shelves and two vertically arranged truss girder and has a vertically movable lifting platform between the truss girders, which is provided with a horizontally movable load-carrying means.
- the storage and retrieval unit is provided at the lower and at the upper area in each case with trolleys for movement along rails.
- a device with a vertically movable on a guide device lifting platform and arranged on the lifting platform horizontally movable load-carrying means known.
- a chassis for horizontal movement of the device is provided in each case and the guide device has two largely parallel to each other with a space arranged guide masts and the lifting platform is arranged in the space.
- the said stacker cranes suffer from the disadvantage that their masts are loaded due to the cantilever principle of the lift truck with high bending moments and the masts must therefore be designed rigid with large surface areas and therefore have high to be accelerated and braked masses. These masses in turn require due to the short required transfer times for the respective procedural operations powerful drive motors, the energy consumption is high accordingly. In the storage and retrieval units, in which the drive motors are designed to ride, the energy consumption increases in addition. The large moving masses cause the payload ratio from which the moving goods taking into account useful mass to the moving mass of the storage and retrieval device is very small.
- the present invention for eliminating the disadvantages described the object of providing a small scale device, which has a significantly higher payload ratio and can be operated with drive motors for the small scale device, which have a lower energy consumption at comparable acceleration and speed values of Kleinmaschinegerats and the guide device is not distorted during operation.
- the invention provides a small part of a device with a vertically movable on a guide lifting platform and arranged on the lifting platform horizontally movable load-carrying means and each one arranged at an upper and lower end of the guide device chassis for horizontal movement of the Kleinmaschineêts, the guide device two at least substantially parallel to each other an intermediate space arranged guide masts and the lifting platform is arranged in the intermediate space, wherein the guide masts are rotatably mounted on the lower chassis in a respective fixed bearing and the upper chassis in a respective floating bearing.
- the weight of the entire system of lifting platform, load-carrying means and goods or goods arranged on the load-receiving means and any containers for receiving the goods or goods is advantageously the lifting platform of two holding holding ropes that extend from the lifting platform towards the upper chassis, there are supported on the upper chassis, which then absorbs the weight and initiates in rails of the upper chassis.
- the rails are set in an advantageous manner to the shelf structure of a small parts rack, which is operated with the small parts device.
- the weight force can be introduced into the rack structure and does not have to be taken up by the guide masts, which accordingly do not have to be dimensioned to accommodate the weight.
- the guide device By forming the guide device with two at least largely parallel to each other and spaced apart to form a gap arranged guide masts the possibility is created that the weight of the entire system of lifting platform, load handling equipment and arranged on the load handling goods or goods and any container for receiving the goods or goods throughout the horizontal process operations of Kleinmaschinenisms along a provided small parts rack is held so relative to the guide masts that no transversely to the vertical direction of the guide masts force components occur and accordingly the guide masts are not charged to bending in the direction transverse to the direction of the Kleinmaschinefits.
- the small parts device is controlled by a controller so that the horizontal movement stops at the corresponding horizontal position of the shelf storage space to be loaded. Thereafter, or even during the movement of the Kleinmaschinenos towards the horizontal target position, the lifting platform is moved vertically with the attached load-carrying means and the goods to be stored on the guide poles until the vertical position of the Zielregallagerplatzes has been reached.
- the lifting platform with the center of gravity of the overall system remains arranged in the intermediate space of the guide masts such that the weight force does not execute a bending moment about a horizontal axis which lies centrally between two parallel virtual planes enclosing the guide masts.
- the guide masts are therefore not burdened by the weight force on bending transversely to the direction of travel of Kleinmaschinefits.
- the guide masts are charged only to bending and they are not additionally burdened by a resulting from the weight force normal force component, such a load collective in the dimensioning of the guide masts also not be taken into account, which in turn means that the guide masts no must have large area moments of inertia and therefore have a low mass.
- a reduction in the mass of the guide masts means that the masses of the small parts device to be accelerated and braked can be reduced, and thus low-power drive motors with low energy consumption are sufficient for their movements.
- the lifting platform is arranged relative to the guide masts so that one of the normal force of the horizontally moved load-carrying means caused bending load largely uniformly distributed on the guide masts.
- the two guide masts may be a structure which is similar in each case to a conductor, so that each guide mast has two elongate rods arranged largely parallel to one another, between which respective parallel struts extending at right angles to the vertical direction of the rods or at an angle to one another are located ,
- a guide mast can therefore also be referred to as ladder mast.
- the two conductor masts of the guide device can thus be arranged so that the four vertical bars each extend substantially parallel to each other and are arranged between two respective pairs of rods parallel or at an angle to each other extending struts, which ensure that the vertically extending bars of a conductor mast for each considered, for example, can be designed as a thin-walled tube or thin-walled hollow profile and thus have little net mass and a mast-like structure is formed by the connection with the struts connecting a respective pair of rods.
- the lifting platform Since the lifting platform is arranged between the two guide masts or ladder masts, divides in a storage or Auslagerspiel by the horizontal displacement movement of the lifting device with or without goods located thereon towards Kleinerregalfach and occurring back from this bending load of the guide device to the two conductor masts largely equal parts on - so in each case in half - so that each ladder pole receives an approximately equal bending load, but only during the projecting from the center position of the lifting device relative to the lifting platform position and not, for example, during movements of Kleinmaschineaces along the longitudinal direction of the small parts rack, during which the lifting platform is located in the middle position in the space between the two guide poles.
- a guide device is created with only low net mass, which is about 50 percent lower than the net mass of the shelf masts of the storage and retrieval units described above in their execution as a small parts device for an automatic small parts warehouse.
- the effect of this significant reduction in moving masses during Fahroperationen the Kleinmaschinenados can be further improved by the fact that the drive motors are arranged stationary and spaced from the chassis and coupled by means of a respective power transmission means with the chassis for power transmission.
- the power transmission means may, for example, be a traction means with which the two running gears can be displaced by the respective drive motor.
- the power transmission means has been referred to herein in the form of a traction means, another power transmission means may be used to displace the respective chassis toward the drive motor and away from the drive motor.
- the trolleys are not provided with moving drive motors, so that can be further reduced by this configuration during moving operations of moving in the Kleinmaschinecommunications invention masses and therefore compared with known small parts shelves and their Kleinmaschineellan at comparable Speed and acceleration values low-power drive motors can be used, the energy consumption is comparatively low.
- the guide masts are rotatably mounted on the lower chassis in a respective fixed bearing and the upper chassis in a respective floating bearing.
- the two running gears are synchronized by the two drive motors with respect to their respective position and torque moves, so that the conductor masts of the guide device in principle run parallel to each other.
- connection of the ladder masts or guide masts on the lower chassis in a respective fixed bearing which allows the degree of freedom of rotation of the ladder mast at least an orthogonal to the direction of the guide device along the Kleinmaschineregals axis is achieved that any slight inclination the ladder mast during operation or during, for example, an emergency stop situation does not cause the guide device is braced.
- the trolleys have a rectangular shaped travel frame with arranged in the region of the longitudinal ends wheels and at least one longitudinal side in the area the longitudinal ends of a respective pair of guide rollers is provided.
- the trolleys can be moved in rails along a small parts rack.
- the lower rails these may be provided at the bottom of a warehouse, which accommodates the Kleinmaschineregal with the small parts device according to the invention.
- the upper rails can be fixed to the roof structure of the warehouse, the rails can be arranged in an advantageous manner but also on the shelf structure, so be integrated into the shelf.
- the trolleys can be provided with noise-damping and low-wear rollers of, for example, a polyurethane plastic and are moved horizontally in each horizontally disposed leg of advantageously U-shaped rails.
- the trolleys can be guided by a longitudinal guide in the direction of travel via guide rollers arranged on a longitudinal side of the trolleys, which can roll on a vertically arranged leg of the rails.
- the trolleys can advantageously have a rectangular shaped travel frame which is formed, for example, from prefabricated profiles or modules made of an aluminum alloy, wherein the profiles or modules can be fixed to one another by means of screw connections and / or plug connections.
- a respective, disposed on the vertically disposed leg inside lying leadership may be assigned to the chassis, the leg lying outside lying leadership associated with it, it is also possible to bias at least one guide roller of a pair of guide rollers with a compression spring towards the vertical leg of the rail so that slight unevenness of the rails do not lead to a tension of the chassis around a virtual vertical axis of the chassis.
- the guide rollers can also be designed to be adjustable by means of an eccentric, so that thickness tolerances of the rails can also be compensated.
- the arrangement of the guide rollers on only a rail has the advantage that occurring in the longitudinal direction of the rails angle tolerances need not be compensated in addition and do not lead to a distortion of the two chassis relative to each other.
- the invention also provides for a development that a chassis is provided with an electrically actuated geared motor, which is coupled with two positively coupled to the lifting platform hoisting ropes for actuating the lifting platform.
- the geared motor can be provided for example on the lower chassis and act on two hoisting ropes, which in turn are fixed to the lifting platform.
- the power transmission from the geared motor on the hoisting ropes can be done for example via driven by the gear motor rope drums, the power transmission from the geared motor can take place on the cable drums positively or frictionally.
- the hoisting ropes can run from the lower chassis in the direction of the upper chassis and be deflected there via a deflection roller and then extend to the lifting platform, where they can be fixed.
- This design has the advantage that the weight of the lifting platform and arranged thereon lifting device and any other provided on the lifting platform facilities on the upper chassis and the upper rails in the small parts rack can be initiated, as has already been explained above and thus not over the guide device must be supported on the lower chassis. Therefore, since the weight force does not lead to a pressurization of the guide device, the weight must not be supported on the vertical bars of the ladder masts, which must therefore not be dimensioned to accommodate the weight dimensioned, which accommodates the lightweight construction of the Kleinmaschinefits invention.
- an optical path measuring system is arranged on the lower chassis, which cooperates with a arranged on the lifting platform reflector for vertical positioning of the lifting platform.
- the upper and lower chassis each have a reflector is provided which cooperates with a, the respective suspension associated optical path measuring system for horizontal position detection of the two chassis.
- the optical path measuring system for the lower chassis may be provided on the shelf or hall floor of a small scale device according to the invention receiving warehouse and the optical path measuring system for the upper chassis can be provided on the shelf or for example on the roof of the hall. This means that essential components of the respective optical path measuring system are not designed to ride along with the small part device and therefore do not increase the intrinsic mass of the small part device to be accelerated and braked.
- the lifting platform has a rectangular shaped support frame, which is designed to accommodate the moving with the lifting platform components, such as the load receiving means. Similar to the traveling frame of the upper and lower chassis of the support frame of the lifting platform can be designed as a screwed construction, wherein the individual profiles may be formed, for example, of an aluminum alloy material to form the support frame, which therefore have only a small intrinsic mass.
- the support frame may be provided with rollers for contacting guide surfaces on the guide masts or ladder masts of the guide device for guiding the lifting platform in a first horizontal direction
- the lifting platform may comprise a guide frame coupled to the support frame provided with rollers for contact with guide surfaces on the guide masts
- Guide the Hubbühne is provided in a direction orthogonal to the first horizontal direction second horizontal direction.
- a controller synchronizes the position of the two carriages in the direction of travel relative to each other, so that any skew of the ladder masts can be minimized relative to a vertical position of the ladder booms, even if such a skew due to the articulated connection the guide masts on the chassis can not lead to a tension of Kleinmaschinenados.
- This control is not provided arranged on the chassis, so that the driving mass of the chassis is not increased thereby. Since the drive motors for the trolleys are not designed to ride along with the trolleys, the driving mass is not increased by the drive motors.
- the invention provides for a development that a first drive motor is associated with the lower chassis and is coupled to the lower chassis via a rotating toothed belt for power transmission and the first drive motor is assigned a spaced first deflecting roller and the lower chassis between the first drive motor and the first deflection roller is arranged and a second drive motor assigned to the upper chassis and coupled to the upper chassis via a rotating toothed belt for power transmission is, wherein the second drive motor associated with a second spaced deflection roller assigned and the upper chassis between the second drive motor and the second deflection roller is arranged, wherein the second drive motor and the second deflection roller are arranged on a Kleinmaschineger associated Kleinmaschineregal.
- the second drive motor and the second pulley are positioned at a distance from the second chassis, as well as the first drive motor and the first guide roller, so that the respective net mass of the chassis is not increased by said components.
- a control device for controlling the operation of the load-receiving means is arranged and the lifting platform by means of a vertical conductor rail with electrical energy can be supplied and an optical data transmission device is provided between the lower chassis and the lifting platform.
- the lower chassis can be powered by means of a guided by a drag chain power supply line with electrical energy.
- Both the control for the trolleys and a control for the actuation of the lifting platform are stationary, so not with the trolleys ride, but spaced to the trolleys and the lifting platform arranged, whereby the driving mass of the trolleys and Kleinmaschinegerats can be reduced.
- each guide mast has two largely mutually parallel elongated rods, between which each parallel and transverse to the vertical direction of the rods or at an angle to each other located struts.
- the guide masts are therefore similar to a ladder formed with two vertical bars and connecting the two bars cross struts.
- the guide poles or ladder poles are also designed as an ascent, since the crossbars, which are preferably bolted to the vertical bars, simultaneously serve as ladder rungs, so where the service personnel at the small partition can rise high, for example, to eliminate a breakdown.
- the cross struts may be provided with an anti-slip coating, or be provided, for example, with plastic strips that prevent slipping off the strut.
- the struts running transversely or at an angle to the vertical bars also increase the stability of the guide mast or ladder mast.
- the conductor masts can be modular, so that a mast with the desired predeterminable length is created by connecting a plurality of conductor mast modules.
- a Ladermastmodul can consist of two equal length and prefabricated main profiles with interspaced at regular intervals rungs or struts, as already mentioned above.
- the guide mast or ladder mast can therefore have at least two modular guide mast sections, which are longitudinally connectable by means of connector sections which can be brought into engagement with the guide mast sections.
- the connection of the guide mast sections via the connector sections can be detachable, for example by means of a screw connection.
- the guide mast sections can be made of an aluminum alloy to reduce the mass, the sections can be brought to rest with their end portion to each other to produce a guide mast of predetermined desired length.
- the guide mast sections are bolted together under bias to achieve a sufficiently high rigidity and to form the transition region between two guide mast sections without great shock. The avoidance of a large shock clearance leads to a quiet driving over the transition region by the rollers or guide rollers of the lifting platform.
- the guide masts are rotatably mounted on the lower chassis by means of respective arranged in formed from a plastic material receptacles pivot pin.
- the invention also provides, according to a development, for the guide masts to be mounted displaceably on the upper chassis by means of respective hinge pins arranged in a receptacle provided with a slot.
- the lower bearing is thus designed as a fixed bearing and has hinge pins about whose longitudinal axis the guide masts can rotate, the hinge pins are arranged in a respective plastic material for noise damping and vibration isolation, wherein the plastic material may be formed self-lubricating.
- the fixed bearing absorbs the self-weight force of the guide mast and, due to the provision of the degree of freedom of rotation about the hinge pins, ensure that the two ladder masts or guide masts coupled to one another via the lifting platform do not brace against one another in the event of an inclined position of the guide device.
- the end portion of the guide masts relative to the recording perform a longitudinal displacement, which, for example, in the above-mentioned inclined position of the guide device leads to the fact that the small parts device not braced.
- the two running gears are synchronized by the above-mentioned two drive motors with respect to their respective position and torque, so that the conductor masts of the guide device are basically parallel to each other. But it can also occur in an emergency stop situation of Kleinmaschine Corporations the situation of a slight inclination of the two ladder masts or guide masts.
- the guide masts are arranged in operation of the small parts device in a vertical orientation in front of the small parts shelf.
- the guide masts are loaded transversely to the Hochachsraum with positive and negative acceleration forces. These acceleration forces ensure that the vertical bars of the guide masts are subjected to a bending load transversely to their longitudinal direction.
- the guide masts spaced horizontal stabilizers which detachably interconnect the spaced guide poles, provide, the horizontal stabilizers each having a space spanning carrier, by means of at least one respective spacer on the respective guide mast is fixed.
- the horizontal stabilizers are parallel to the horizontal traversing direction of the Kleinmaschineêts and connect one vertical bar of a guide mast with a vertical bar of the other guide mast.
- a plurality of such horizontal beams may be disposed between a first pair of vertical bars and a second pair of vertical bars, one vertical bar of each pair being associated with a respective guide pole.
- the carriers are in each case arranged at a slight distance from the vertical bars in order to run outside the travel range of lifting platform and outside the working range of the lifting device. The carriers are therefore placed like a collar between the small parts device and an equipped small parts shelf.
- Such a Kleinerregal can be a Einplatzregal, so that the horizontal support are each arranged at the height of a shelf longitudinal dressing, while placed in multi-user shelves in an advantageous manner at the height of a longitudinal recording medium.
- the connection of the horizontal stabilizers on the guide poles takes place in an advantageous manner via hinge pins, so that the horizontal stabilizers can move relative to the guide poles or ladder masts, which helps ensure that the small parts device is not braced relative to each other with an offset of the lower and upper chassis.
- the guide masts in Hochachscardi spaced from their vertical bars have vertical stabilizers, each having an elongate carrier, which is fixed by means of respective spacers on the vertical bar.
- Each guide post has two vertical bars, so that two vertical stabilizers are provided on each guide post, which are fastened thereto by spacers at several points in the vertical axis of the vertical bars.
- the small-part device has, in contrast to known Kleinmaschineziern on a mast structure that is not rigidly connected to the chassis and the mast structure has two mutually spaced guide pylons or conductor masts, the lifting platform is arranged with the load receiving means in the space in such a way that the Mass center of Hubbühne and not projecting load handling equipment and any other arranged on the lifting platform components of Kleinvonmaschinecommunications in the direction of Kleinvonmaschinegerats is centrally located in the space and is also arranged in a direction orthogonal to the direction of travel centered in the space.
- the small part of the device is therefore not acted upon in a non-cantilevered rest position of the load-carrying means of a bending load to the horizontal direction of the Kleinmaschinefits.
- FIG. 1 The drawing shows a perspective view of a small parts shelf 100 with an embodiment of a movable along the small parts rack Kleinmaschineêts 101.
- the small parts device 101 travels between the two rack structures and can store and retrieve small items to be loaded and unloaded in all rack storage spaces 6. From a small parts shelf 100 receiving warehouse only schematically illustrated hall floor 102 can be seen.
- the Kleinerregal 100 has a plurality of juxtaposed and stacked shelf storage bins 6 which are adapted to receive containers, trays or boxes.
- the small parts device 101 has a lower chassis 1 and an upper chassis 2, as shown by Fig. 2B is apparent.
- the small parts device 101 is movable with its lower chassis 1 on lower rails 7 and with its upper chassis 2 on upper rails 8 along the small parts rack 100.
- the rails 7 and 8 are integrated into the rack structure, as will be explained in more detail below.
- the small parts device 101 has a guide device 103 with two at least substantially parallel to each other with a gap 104 arranged guide masts 3, wherein the lifting platform 4 is arranged with its arranged thereon load-receiving means 5 in the space 104 between the two guide masts 3, as shown in FIG Fig. 2A is apparent.
- a first drive motor 9 which is assigned to the lower chassis 1, arranged on the hall floor 102 and at a distance from the chassis 1.
- the drive motor 1 is used for horizontal movement of the chassis 1 and is not arranged on the chassis 1, so not moving educated.
- a lower toothed belt 11 extends in the direction of a deflecting station 13 arranged at a distance from the drive motor 9, on which a deflection roller 58 is rotatably mounted, as described with reference to FIG Fig. 14 the drawing is visible.
- the upper chassis 2 can be moved horizontally via an upper circulating toothed belt 12 which is driven by a second or upper drive motor 10 integrated into the rack structure. From the drive motor 10, the upper toothed belt 12 extends in the direction of a spaced-apart from the drive motor 10 upper deflection station 14, which has a rotatably mounted guide roller 58 similar to the lower deflection.
- the lower toothed belt 11 and the upper toothed belt 12 are releasably fixed to the lower chassis 1 and upper chassis 2, so that the drive motors 9, 10 both the chassis 1 and 2 can accelerate and decelerate.
- the drive motors 9, 10 are controlled via a control unit or control unit arranged in the control cabinet 19.
- a control unit or control unit arranged in the control cabinet 19.
- the cabinet 19 is this a programmable logic controller, a control console in the form of a touch panel, a braking resistor and the controller for drive the Verfahroperationen the drive motors 9, 10 and the lifting movement of the lifting platform 4.
- From the main cabinet 19 from a horizontal cable drag chain 20 extends to the lower chassis 1, the is arranged in the hall floor 102 in a guide channel 59.
- a vertical conductor line 17 ( Fig. 3B ), the power supply of the control cabinet 44 and the traveling on the lifting platform 4 associated cabinets 48 and the load receiving means. 5
- a Wegmesssystem 42 and the shelf structure in the upper part of the small parts rack 100 a further Wegmesssystem 43 are provided with the provided on the trolleys 1 and 2 reflectors 41 for determining the Collaborate horizontal positions.
- the guide masts 3 as explained in more detail by Fig. 2B to Fig. 3C is visible, ladder-shaped.
- Each guide mast 3 has two mutually parallel vertical bars 105, between which transverse struts 106 are arranged, which can serve at the same time advantageously as a climbing aid for a user during maintenance or service work or the like.
- maintenance platforms 60 are also provided on the small parts shelf, from the in Fig. 1 the drawing is shown only one, another working platform but can be provided on the opposite end face of the small parts rack 100.
- FIG. 3B The arrangement of the guide masts 3 on the lower chassis 1 via in Fig. 3B illustrated fixed bearing 15, for which purpose mounting plates 107 are provided, on which the vertical bars 105 via respective hinge pins 108 vertically and horizontally fixed, but can be rotatably arranged.
- Fig. 16 The drawing shows an enlarged detail view Fig. 3B , On the mounting plates 107 shown fixed bearings 15 are arranged on both sides in the form of bolted to the mounting plates 107 tabs 150, which are penetrated by the hinge pin 108.
- the tabs 150 also serve to arrange block-shaped receivers 151 made of a plastic material in the form of, for example, polyamide PA6 or PA12G, which are penetrated by the hinge pins 108 and on which the vertical bars 105 of the conductor bars 103 are supported. Between the vertical bars 105 extend at a distance of about 30 cm parallel to each other arranged transverse struts 106, which are provided with plastic pads 152 which serve the slip-off. A user or service personnel can climb over the cross struts 106, the ladder pole, for example, to reach the lifting platform 4 for performing a relaxation. For this purpose, 3 fall protection cables 153 are provided on both ladder masts, in which a user can attach a fall protection device.
- the mounting plates 107 may be attached to the in Fig. 4 the drawing visible travel frame 109 are releasably fixed, for example by means of a screw, so that the guide device 103 is pivotally mounted on the traveling frame 109 and a basis of Fig. 2A can perform by the double arrow 110 apparent rotational movement, so that, for example, in a deviation of the chassis 1, 2 from a synchronous movement in the direction of the longitudinal direction of the small parts rack 100 or even in an emergency stop the trolleys 1, 2 does not come to a tension of Kleinmaschinegerats 101 ,
- FIG. 3C The drawing shows floating bearing 16, arranged at the upper end of the vertical bars 105 plates 110 A, each provided with a slot 111, in the basis of Fig. 6 visible hinge pin 63 can engage, which are arranged on the receptacle 62 for the floating bearing of the traveling frame 109, so that it does not lead to a distortion of the guide device 103 at a possible inclination of the conductor mast or guide masts 3.
- the guide masts 3 are therefore hinged to the trolleys 1, 2 and can be based on Fig. 2A perform with the double arrow 110 apparent displacement movement.
- the conductor masts or guide masts 3 are connected to each other via horizontal stabilizers 112, which may be arranged in the height direction of the guide masts 3 at regular intervals, in order to increase the rigidity of the guide device 103 transversely to the Hochachscardi the guide device 103.
- the horizontal stabilizers 112 are supported by spacers 154 and diagonal struts 155 in such a way that the diagonal struts 155 are screwed to the spacers 154, which in turn via a respective mounting block 156 made of a plastic material in the form of polyamide PA6 or PA12G with the vertical bars 105 are bolted.
- the vertical bars on a receiving groove 157 in which sliding blocks can be inserted which are bolted with hinge pins 158 so that the horizontal stabilizers 112 remain movable relative to the vertical bars 105 and an inclination of the conductor bar 3 to each other not to a bracing Kleinmaschinecuits 101 leads.
- vertical stabilizers 114 are provided which increase the rigidity of the guide device 103 in the high axis direction.
- the vertical stabilizers 114 are parallel to the Hochachscardi the vertical bars 105 via based on Fig. 3C apparent spacers 159 fixed to the vertical rods 105 and serve to increase the rigidity of the conductor mast 3 in Hochachs512.
- the vertical stabilizers 114 are connected along their Hochachsplatz via a plurality of spacers 159 with a respective vertical rod 105.
- a vertical bar 105 may, as in Fig. 17 is formed of two or more guide pole sections 160 which are defined in the region of their end faces 162 via connector portions 161 in the form of connector plates in such a way that a connector portion 161 spans the two end faces 162 and by means of bolts 163, the be screwed with inserted in longitudinal grooves 164 groove stones are fixed to the guide pole sections 160.
- abutment plates 165 are screwed to the guide mast sections 160 and the guide mast sections 160 are abutted against each other with interposition of abutting plates 165 and screwed together via bolts, not shown, arranged in the grooves 166.
- the lifting platform 4 and the load receiving means 5 loading normal force is thus displaced off-center and there is a vertical bars 105 loading bending moment, which is but in a good approximation with almost the same amount on all vertical bars 105 is shifted in equal parts, of which each one so is loaded with only a small bending moment and the individual rods can therefore be designed as a hollow profile with low wall thickness, for example with a pipe cross-section or with a square or rectangular cross-section and therefore have only a small intrinsic mass.
- This makes it possible to design the drive motors 9, 10, which are provided for the movement of the small-unit device 101, comparatively poorly in power, thereby creating an energy-efficient system with low consumption of electrical energy.
- FIG. 4 The drawing shows a perspective view of the lower chassis 1.
- the chassis 1 has a traveling frame 109 which can be formed from profile longitudinal members 23 which are screwed together.
- the chassis 1 has four laterally mounted wheels 25, which roll on horizontally extending legs of the rails 7.
- the wheels 25 and guide rollers 26 can be made to reduce noise from a soft and low-wear polyurethane material.
- a clamping device 27 is provided for releasably securing the lower toothed belt 11.
- the reflector 41 is arranged, which reflects a laser beam emitted from the lower position measuring system 42, wherein the in the cabinet 19 provided control over the transit time difference of the laser beam, the horizontal position of the chassis 1 can determine.
- a geared motor 28 is arranged, the one based on Fig. 5 has apparent output shaft 29, at the two-sided end regions in each case a toothed belt wheel 30 is arranged.
- a first cable drum 34 is driven at the one closer by Fig. 2A apparent hoist rope 37 is arranged.
- a second cable drum 34 is driven, on which also a hoist rope 37 is arranged, which serves as well as the first hoist rope 37 for raising and lowering the lifting platform 4.
- the cable drums 34 are thereby driven via respective toothed belt wheels 35 engaged with the toothed belts 32, 33 and are rotatably mounted on the traveling frame 109 via a respective bearing 31, 36.
- a transmitter 21 is provided for the optical data transmission to the lifting platform and a distance measuring system 39 for determining the vertical position of the lifting platform. 4
- An in Fig. 5 apparent support roller 61 is provided for supporting the toothed belt 11 in order to avoid sagging of the toothed belt 11.
- further support rollers may be provided.
- support rollers not shown in detail, for example, can be provided on shelf uprights or chassis supports that avoid sagging of the upper toothed belt 12.
- FIG. 6 the drawing shows the upper chassis 2 with a traveling frame 109, which can be formed from similar to the profile longitudinal members 23 formed profile longitudinal beams 24 by means of screw. Also on the upper chassis 2 clamping devices 27 are provided for fixing the upper circumferential toothed belt 12 in this case.
- the traveling frame 109 has wheels 25 and guide rollers 26, which serve to arrange the traveling frame 109 on the upper rails 8. On the traveling frame 109 guide rollers 38 are provided for the hoisting ropes 37, so that the hoisting ropes 37 extend from the lower chassis 1 in the direction of the upper chassis 2, are deflected there and then towards the in Fig. 9 and 10 apparent lifting platform 4 extend.
- FIG. 7 The drawing shows in the upper view a partial view of the travel frame 109 of the upper chassis 2 with the timing belt 12 fixed to the clamping device 27 and a running on the horizontal leg 116 of the rail 8 impeller 25 and the shorter vertical leg 117 of the U-shaped upper Rail 8 running guide rollers 26.
- FIG. 7 a partial view of the lower chassis 1 with the rail 7, at the horizontally extending leg 116, the impeller 25 is running and at the shorter vertical leg 117, the two guide rollers 26 are arranged.
- Fig. 8 The drawing shows in a detailed view of the arrangement of the lower rails 7 on vertically extending shelf uprights 118 of the small parts shelf 100.
- the rails 7 are defined by support means in the form of support brackets 119 on the shelf uprights 118.
- the support bracket 119 are defined by vertical legs 120 by means of screw connections to the shelf uprights 118 and the exact alignment of the rails 7 can between a respective vertical leg 120 and the vertical leg 122 of the rail 7 and the horizontal leg 121 of the support bracket 119 shims 123rd be provided to provide a tolerance compensation in both a horizontal and a vertical direction.
- the upper rails 8 are fixable on shelf uprights 118 and aligned.
- FIG. 9 The drawing shows a perspective view of the lifting platform 4 with a support frame 124, which is a screw construction of profiled longitudinal members in lightweight construction and has a plurality of lateral guide rollers 47 which roll on corresponding guide surfaces of the guide masts 3.
- the lifting platform 4 has a guide frame 45, on whose front side further guide rollers 46 are provided, which roll on corresponding guide surfaces of the guide masts 3.
- control cabinets 48 are provided which have control components for the load-receiving means 5.
- One of the two hoisting ropes 37 can be fixed to a load measuring pin 50, which can act on a measuring device to determine a possible overload situation and under load situation of the lifting platform 4.
- the other hoist rope 37 can be fixed to an upper horizontal profile of the lifting platform 4.
- a current collector 18 is used for the contact with the vertical contact line 17 for supplying power to the control cabinets 48 and the load-receiving means 5.
- Fig. 10 The drawing shows a respective drive motor 49 of the load-receiving means 5 and in conjunction with Fig. 11 the drawing a reflector 40 which cooperates with the arranged on the lower chassis 1 position measuring system 39 for measuring the vertical position of the lifting platform 4 and a module 21, which is designed as a transmitter-receiver unit and with the corresponding unit 21 on the lower chassis 1 for data transmission cooperates.
- FIG. 12 The drawing shows the drive motor 9 for the horizontal displacement of the lower chassis 1, which is arranged on a frame 51 and an emergency braking system 22, the details of which are described in more detail with reference to FIG Fig. 13 the drawing can be seen.
- the electric drive motor 9 is coupled to a gear 56, which via a drive shaft 52 which is mounted in a bearing 53, the toothed belt pulley 54 drives, with the lower toothed belt 11 are driven can.
- a brake disc 55 On the drive shaft 52, a brake disc 55 is arranged, which is overlapped by brake pads 125 which are held open by an electric drive 126 during its energization.
- the brake pads 125 spring loaded automatically engage the brake disc 55 and thus ensure that a displacement movement of the lower chassis 1 is interrupted immediately. Since an identical emergency brake system 22 is also provided on the upper drive motor 10, the upper drive motor 10 immediately comes to a standstill in such a situation and thus also the upper chassis 2.
- Fig. 14 The drawing shows the deflecting stations 13, 14 with a respective frame 57 on which the deflection roller 58 is arranged via a bearing, over which the toothed belts 11, 12 are deflected.
- the toothed belts 11, 12 are biased by means not shown tensioning devices on the respective drive motors receiving drive stations to reduce the elastic shape changes of the timing belt and to increase the positioning accuracy of the chassis 1, 2 and to prevent the timing belt sag. In addition, by biasing the belts, it is also ensured that the belts on the drive-side toothed belt wheel 54 do not skip.
- the pretensioning of the toothed belts generates a reaction force that has to be supported.
- the biasing force against the hall floor 102 can be supported, while such a possibility in the region of the upper drive motor 10 is not present, since this together with the deflection roller is arranged on the shelf structure. Supports the biasing force on the shelf structure but would require an increase in the strength of the shelf structure, which is disadvantageous on the cost side.
- FIG. 15 The drawing shows that the rails 8 are composed of rail sections 127 which are coupled in the joint area via a connecting plate.
- the connecting plate 128 is coupled via screw connections 130 to the rail sections 127 both in the region of the horizontal and in the region of the vertical segments of the rail sections 127.
- This can be formed by the rail sections a pressure-loaded beams, in addition to the absorption of forces the process of the upper chassis 2 also absorbs the biasing force of the toothed belt.
- the small parts device according to the invention is characterized by a significantly improved payload ratio compared with known small divider devices, since the small part device has a significantly lower net mass for comparable payload to be handled.
- This also means that the drive motors for the process operations of Kleinmaschinestis to its movement require significantly less drive power, as is the case with the known small parts shelves.
- the provided with the small part of the device Kleinmaschineregal therefore requires less electrical energy for its operation than is the case with known small parts shelves and is therefore characterized by a high energy efficiency.
- the lifting platform of the small part device is arranged symmetrically on the guide device, thereby reducing the load on the guide device with a bending moment during storage and retrieval of goods relative to the rack storage bins, which means that the guide device must absorb significantly lower forces, as this is the case with known small parts.
- the guide device can be made slimmer and lighter, which in turn can be reduced by the drive motors to be provided drive power.
- the travel drives and essential control components for the operation of the small parts rack and the Kleinmaschinegerats are not designed as moving parts, whereby the driving weight of Kleinmaschinegerats can be reduced again.
- the drive and guide rails are provided arranged in the rack structure, so that separate trades for the arrangement of the rails in the hall floor of the provided with the Kleinmaschinecommunications Kleinmaschineregals receiving warehouse fall into the way.
- the design of the traction drives with rotating belt makes it possible to realize a bufferless braking system, which in turn means that the forces acting on the hall floor and the rack structure loads can be reduced.
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Description
Die vorliegende Erfindung betrifft ein Kleinteilegerät mit einer an einer Führungsvorrichtung vertikal verfahrbaren Hubbühne und einem an der Hubbühne angeordneten horizontal verfahrbaren Lastaufnahmemittel und jeweils einem an einem oberen und unteren Endbereich der Führungsvorrichtung angeordneten Fahrwerk zur horizontalen Verfahrbewegung des Kleinteilegeräts, wobei die Führungsvorrichtung zwei zumindest weitgehend parallel zueinander mit einem Zwischenraum angeordnete Führungsmasten aufweist und die Hubbühne im Zwischenraum angeordnet ist, nach dem Oberbegriff des Anspruchs 1.The present invention relates to a small scale divider with a vertically movable on a guide device lifting platform and arranged on the lifting platform horizontally movable load-carrying means and each one arranged at an upper and lower end of the guide device chassis for horizontal movement of Kleinteilegerats, wherein the guide device two at least substantially parallel to each other Having arranged with a gap guide poles and the lifting platform is arranged in the intermediate space, according to the preamble of claim 1.
Ein gattungsgemäßes Kleinteilegerät dient zur Einlagerung und Auslagerung von Gütern in einem Kleinteileregal, das zur temporären Aufnahme von Gütern aller Art vorgesehen ist, beispielsweise leichten Konsumgütern. Das Kleinteileregal wird in einer automatisierten Weise zusammen mit dem Kleinteilegerät betrieben, mit dem die Güter gehandhabt werden. Das Kleinteilegerät entspricht also funktional einem Regalbediengerät und besitzt eine Hubbühne, an der ein Lastaufnahmemittel angeordnet ist, mit dem die Güter zusammen mit einer Umverpackung oder beispielsweise auch Güter auf einer Aufnahmevorrichtung für die Güter in der Form eines Tablars oder dergleichen gehandhabt werden können.A generic small parts device is used for storage and outsourcing of goods in a small parts shelf, which is intended for the temporary inclusion of goods of all kinds, for example, light consumer goods. The small parts shelf is operated in an automated manner together with the small parts device with which the goods are handled. The small parts device thus corresponds functionally to a storage and retrieval unit and has a lifting platform, arranged on the load handling device is, with which the goods can be handled together with an outer packaging or, for example, goods on a receiving device for the goods in the form of a tray or the like.
Die Hubbühne ist üblicherweise an einer die Hubbühne tragenden Struktur vertikal verfahrbar und kann zusammen mit der Tragstruktur entlang des Kleinteileregals horizontal verfahren werden.The lifting platform is usually vertically movable on a structure carrying the lifting platform and can be moved horizontally along with the supporting structure along the small parts rack.
Anhand der
Diese biegesteife Auslegung zusammen mit der Tatsache, dass die schweren Fahrantriebe zusammen mit den Fahrwerken verfahren werden, sorgt dafür, dass für die Verfahrbewegung des Regalbediengeräts hohe Antriebsleistungen benötigt werden und das Nutzlastverhältnis aus der mit dem Regalbediengerät manipulierbaren Nutzlast und der Eigenmasse des Regalbediengeräts sehr gering ist.This rigid design together with the fact that the heavy traction drives are moved together with the chassis, ensures that high drive power is required for the movement of the storage and retrieval unit and the payload from the manipulated with the stacker crane payload and the net mass of the storage and retrieval unit is very low ,
Anhand der
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Die
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Schließlich ist anhand der
Die genannten Regalbediengeräte leiden an dem Nachteil, dass ihre Masten aufgrund des Auslegerprinzips des Hubwagens mit hohen Biegemomenten belastet werden und die Masten daher mit großen Flächenquerschnitten biegesteif ausgebildet sein müssen und deshalb hohe zu beschleunigende und abzubremsende Massen aufweisen. Diese Massen wiederum erfordern aufgrund der kurzen geforderten Transferzeiten für die jeweiligen Verfahroperationen leistungsstarke Antriebsmotoren, deren Energieverbrauch dementsprechend hoch ist. Bei den Regalbediengeräten, bei denen die Antriebsmotoren mitfahrend ausgebildet sind, steigt der Energieverbrauch zusätzlich an. Die großen bewegten Massen führen dazu, dass das Nutzlastverhältnis aus der die bewegten Güter berücksichtigenden Nutzmasse zur bewegten Masse des Regalbediengeräts sehr klein ist.The said stacker cranes suffer from the disadvantage that their masts are loaded due to the cantilever principle of the lift truck with high bending moments and the masts must therefore be designed rigid with large surface areas and therefore have high to be accelerated and braked masses. These masses in turn require due to the short required transfer times for the respective procedural operations powerful drive motors, the energy consumption is high accordingly. In the storage and retrieval units, in which the drive motors are designed to ride, the energy consumption increases in addition. The large moving masses cause the payload ratio from which the moving goods taking into account useful mass to the moving mass of the storage and retrieval device is very small.
Ausgehend hiervon liegt der vorliegenden Erfindung zur Beseitigung der geschilderten Nachteile die Aufgabe zu Grunde, ein Kleinteilegerät zu schaffen, welches ein deutlich höheres Nutzlastverhältnis besitzt und mit Antriebsmotoren für das Kleinteilegerät betrieben werden kann, die bei vergleichbaren Beschleunigungs- und Geschwindigkeitswerten des Kleinteilegeräts einen geringeren Energieverbrauch besitzen und sich die Führungsvorrichtung im Betrieb nicht verspannt.Based on this, the present invention for eliminating the disadvantages described the object of providing a small scale device, which has a significantly higher payload ratio and can be operated with drive motors for the small scale device, which have a lower energy consumption at comparable acceleration and speed values of Kleinteilegerats and the guide device is not distorted during operation.
Die Erfindung weist zur Lösung dieser Aufgabe die im Anspruch 1 angegebenen Merkmale auf. Vorteilhafte Ausgestaltungen hiervon sind in den weiteren Ansprüchen beschrieben.To solve this problem, the invention has the features specified in claim 1. Advantageous embodiments thereof are described in the further claims.
Die Erfindung schafft ein Kleinteilegerät mit einer an einer Führungsvorrichtung vertikal verfahrbaren Hubbühne und einem an der Hubbühne angeordneten horizontal verfahrbaren Lastaufnahmemittel und jeweils einem an einem oberen und unteren Endbereich der Führungsvorrichtung angeordneten Fahrwerk zur horizontalen Verfahrbewegung des Kleinteilegeräts, wobei die Führungsvorrichtung zwei zumindest weitgehend parallel zueinander mit einem Zwischenraum angeordnete Führungsmasten aufweist und die Hubbühne im Zwischenraum angeordnet ist, wobei die Führungsmasten am unteren Fahrwerk in einem jeweiligen Festlager drehbar und am oberen Fahrwerk in einem jeweiligen Loslager gelagert sind.The invention provides a small part of a device with a vertically movable on a guide lifting platform and arranged on the lifting platform horizontally movable load-carrying means and each one arranged at an upper and lower end of the guide device chassis for horizontal movement of the Kleinteilegeräts, the guide device two at least substantially parallel to each other an intermediate space arranged guide masts and the lifting platform is arranged in the intermediate space, wherein the guide masts are rotatably mounted on the lower chassis in a respective fixed bearing and the upper chassis in a respective floating bearing.
Die Gewichtskraft des Gesamtsystems aus Hubbühne, Lastaufnahmemittel und auf dem Lastaufnahmemittel angeordneter Güter oder Waren sowie etwaiger Behälter zur Aufnahme der Güter oder Waren wird in vorteilhafter Weise von zwei die Hubbühne haltenden Halteseilen aufgenommen, die sich von der Hubbühne in Richtung zum oberen Fahrwerk erstrecken, sich dort am oberen Fahrwerk abstützen, welches dann die Gewichtskraft aufnimmt und in Fahrschienen des oberen Fahrwerks einleitet. Die Fahrschienen sind in vorteilhafter Weise an der Regalstruktur eines Kleinteileregals festgelegt, welches mit dem Kleinteilegerät bedient wird. Damit kann die Gewichtskraft in die Regalstruktur eingeleitet werden und muss nicht von den Führungsmasten aufgenommen werden, die dementsprechend auch nicht zur Aufnahme der Gewichtskraft dimensioniert werden müssen.The weight of the entire system of lifting platform, load-carrying means and goods or goods arranged on the load-receiving means and any containers for receiving the goods or goods is advantageously the lifting platform of two holding holding ropes that extend from the lifting platform towards the upper chassis, there are supported on the upper chassis, which then absorbs the weight and initiates in rails of the upper chassis. The rails are set in an advantageous manner to the shelf structure of a small parts rack, which is operated with the small parts device. Thus, the weight force can be introduced into the rack structure and does not have to be taken up by the guide masts, which accordingly do not have to be dimensioned to accommodate the weight.
Durch die Ausbildung der Führungsvorrichtung mit zwei zumindest weitgehend parallel zueinander und im Abstand zueinander zur Ausbildung eines Zwischenraums angeordneter Führungsmasten wird die Möglichkeit geschaffen, dass die Gewichtskraft des Gesamtsystems aus Hubbühne, Lastaufnahmemittel und auf dem Lastaufnahmemittel angeordneter Güter oder Waren sowie etwaiger Behälter zur Aufnahme der Güter oder Waren während der gesamten horizontalen Verfahroperationen des Kleinteilegeräts entlang eines damit versehenen Kleinteileregals so relativ zu den Führungsmasten gehalten wird, dass keine quer zur Vertikalrichtung der Führungsmasten wirkenden Kraftkomponenten auftreten und demgemäß die Führungsmasten nicht auf Biegung in Richtung quer zur Verfahrrichtung des Kleinteilegeräts belastet werden.By forming the guide device with two at least largely parallel to each other and spaced apart to form a gap arranged guide masts the possibility is created that the weight of the entire system of lifting platform, load handling equipment and arranged on the load handling goods or goods and any container for receiving the goods or goods throughout the horizontal process operations of Kleinteilegeräts along a provided small parts rack is held so relative to the guide masts that no transversely to the vertical direction of the guide masts force components occur and accordingly the guide masts are not charged to bending in the direction transverse to the direction of the Kleinteilegeräts.
Wenn die sich auf dem Kleinteilegerät befindliche Ware in einen Regallagerplatz eingelagert werden soll, wird das Kleinteilegerät von einer Steuerung so angesteuert, dass die horizontale Verfahrbewegung an der entsprechenden Horizontalposition des zu beschickenden Regallagerplatzes endet. Danach oder schon während der Verfahrbewegung des Kleinteilegeräts in Richtung zur horizontalen Zielposition wird die Hubbühne mit dem daran befindlichen Lastaufnahmemittel und der einzulagernden Ware an den Führungsmasten vertikal bewegt, bis die Vertikalposition des Zielregallagerplatzes erreicht wurde.If the goods located on the small parts device is to be stored in a rack storage space, the small parts device is controlled by a controller so that the horizontal movement stops at the corresponding horizontal position of the shelf storage space to be loaded. Thereafter, or even during the movement of the Kleinteilegeräts towards the horizontal target position, the lifting platform is moved vertically with the attached load-carrying means and the goods to be stored on the guide poles until the vertical position of the Zielregallagerplatzes has been reached.
Während dieser Verfahrbewegungen verbleibt die Hubbühne mit dem Schwerpunkt des Gesamtsystems so im Zwischenraum der Führungsmasten angeordnet, dass die Gewichtskraft kein Biegemoment um eine horizontale Achse ausführt, die mittig zwischen zwei parallelen virtuellen Ebenen liegt, die die Führungsmasten einschließt. Die Führungsmasten werden daher durch die Gewichtskraft nicht auf Biegung quer zur Verfahrrichtung des Kleinteilegeräts belastet.During these traversing movements, the lifting platform with the center of gravity of the overall system remains arranged in the intermediate space of the guide masts such that the weight force does not execute a bending moment about a horizontal axis which lies centrally between two parallel virtual planes enclosing the guide masts. The guide masts are therefore not burdened by the weight force on bending transversely to the direction of travel of Kleinteilegeräts.
Erst bei einem Ein- und/oder Auslagerspiel von Waren relativ zu einem Regallagerplatz werden die Führungsmasten mit einem Biegemoment belastet, da das in Richtung zum Regallagerplatz ausfahrende Lastaufnahmemittel eine auskragende Stellung einnimmt und der Schwerpunkt in Richtung aus der in Verfahrrichtung des Kleinteilegeräts liegenden Mitte des Zwischenraums nach außen verlagert wird. Die auskragende Gewichtskraft führt zu einer Biegebelastung der Führungsmasten, die sich in guter Näherung auf die Führungsmasten gleichmäßig verteilt. Da aber auch im auskragenden Zustand die Führungsmasten nur auf Biegung belastet werden und sie nicht zusätzlich durch eine von der Gewichtkraft herrührenden Normalkraftkomponente belastet werden, muss ein solches Lastkollektiv bei der Dimensionierung der Führungsmasten auch nicht berücksichtigt werden, was wiederum dazu führt, dass die Führungsmasten keine großen Flächenträgheitsmomente aufweisen müssen und daher eine geringe Masse aufweisen.Only when a loading and / or Auslagerspiel of goods relative to a rack storage space, the guide masts are loaded with a bending moment, since the extending towards the rack storage space load receiving means assumes a projecting position and the center of gravity in the direction of travel of the Kleinteilegeräts center of the gap is shifted to the outside. The projecting weight force leads to a bending load of the guide masts, which distributes itself in a good approximation to the guide masts evenly. Since, however, in the projecting state, the guide masts are charged only to bending and they are not additionally burdened by a resulting from the weight force normal force component, such a load collective in the dimensioning of the guide masts also not be taken into account, which in turn means that the guide masts no must have large area moments of inertia and therefore have a low mass.
Eine Verringerung der Masse der Führungsmasten wiederum führt dazu, dass die zu beschleunigenden und abzubremsende Massen des Kleinteilegeräts verringert werden können und somit zu deren Verfahrbewegungen Antriebsmotoren von geringer Leistung und mit niedrigem Energieverbrauch ausreichend sind.A reduction in the mass of the guide masts, in turn, means that the masses of the small parts device to be accelerated and braked can be reduced, and thus low-power drive motors with low energy consumption are sufficient for their movements.
Es ist dabei nach einer Weiterbildung der Erfindung vorgesehen, dass die Hubbühne relativ zu den Führungsmasten so angeordnet ist, dass sich eine von der Normalkraft des horizontal verfahrenen Lastaufnahmemittels verursachte Biegebelastung weitgehend gleichmäßig auf die Führungsmasten verteilt.It is provided according to a development of the invention that the lifting platform is arranged relative to the guide masts so that one of the normal force of the horizontally moved load-carrying means caused bending load largely uniformly distributed on the guide masts.
Bei den beiden Führungsmasten kann es sich um eine jeweils ähnlich einer Leiter ausgebildete Struktur handeln, so dass jeder Führungsmast zwei weitgehend parallel zueinander angeordnete langgestreckte Stäbe aufweist, zwischen denen sich jeweils parallele und quer zur vertikalen Richtung der Stäbe verlaufende oder im Winkel zueinander angeordnete Streben befinden. Ein Führungsmast kann daher auch als Leitermast bezeichnet werden. Die beiden Leitermaste der Führungsvorrichtung können also so angeordnet sein, dass die vier vertikalen Stäbe jeweils weitgehend parallel zueinander verlaufen und zwischen zwei jeweiligen Stäbepaaren parallele oder auch im Winkel zueinander verlaufende Streben angeordnet sind, die dafür sorgen, dass die vertikal verlaufenden Stäbe eines Leitermasts jeweils für sich betrachtet beispielsweise als dünnwandiges Rohr oder dünnwandiges Hohlprofil ausgebildet sein können und damit wenig Eigenmasse besitzen und durch die Verbindung mit den ein jeweiliges Stäbepaar verbindenden Streben eine mastähnliche Struktur entsteht.The two guide masts may be a structure which is similar in each case to a conductor, so that each guide mast has two elongate rods arranged largely parallel to one another, between which respective parallel struts extending at right angles to the vertical direction of the rods or at an angle to one another are located , A guide mast can therefore also be referred to as ladder mast. The two conductor masts of the guide device can thus be arranged so that the four vertical bars each extend substantially parallel to each other and are arranged between two respective pairs of rods parallel or at an angle to each other extending struts, which ensure that the vertically extending bars of a conductor mast for each considered, for example, can be designed as a thin-walled tube or thin-walled hollow profile and thus have little net mass and a mast-like structure is formed by the connection with the struts connecting a respective pair of rods.
Da die Hubbühne zwischen den beiden Führungsmasten oder Leitermasten angeordnet ist, teilt sich die bei einem Ein- oder Auslagerspiel durch die horizontale Verlagerungsbewegung des Lastaufnahmemittels mit oder ohne darauf befindlicher Ware in Richtung zum Kleinteileregalfach und von diesem zurück auftretende Biegebelastung der Führungsvorrichtung auf die beiden Leitermaste zu weitgehend gleichen Teilen auf - also jeweils hälftig auf -, so dass jeder Leitermast eine etwa gleiche Biegebelastung aufnimmt, die aber nur während der aus der Mittellage des Lastaufnahmemittels relativ zur Hubbühne auskragenden Stellung auftritt und nicht beispielsweise während Verfahrbewegungen des Kleinteilegeräts entlang der Längsrichtung des Kleinteileregals, während deren die Hubbühne sich in der Mittelstellung im Zwischenraum zwischen den beiden Führungsmasten angeordnet befindet.Since the lifting platform is arranged between the two guide masts or ladder masts, divides in a storage or Auslagerspiel by the horizontal displacement movement of the lifting device with or without goods located thereon towards Kleinteileregalfach and occurring back from this bending load of the guide device to the two conductor masts largely equal parts on - so in each case in half - so that each ladder pole receives an approximately equal bending load, but only during the projecting from the center position of the lifting device relative to the lifting platform position and not, for example, during movements of Kleinteilegeräts along the longitudinal direction of the small parts rack, during which the lifting platform is located in the middle position in the space between the two guide poles.
Bei den bekannten Kleinteilegeräten mit einem auskragenden Hubtisch tritt eine entsprechende Biegebelastung der Maststruktur des Kleinteilegeräts auf, die während der Verlagerungsbewegung des Lastaufnahmemittels auf dem Hubtisch zu einem tief in das Regalfach auskragenden Ausleger noch weiter vergrößert wird und nur dadurch kompensiert werden kann, dass die bekannten Maststrukturen hohe, die Eigenmasse der Maststruktur vergrößernde Flächenquerschnitte besitzen.In the known Kleinteilegeräten with a cantilevered lifting table, a corresponding bending load of the mast structure of Kleinteilegeräts occurs, which is further increased during the displacement movement of the lifting device on the lift table to a deep projecting into the shelf boom and can only be compensated by the known mast structures have high, the net mass of the mast structure increasing area cross-sections.
Durch die ähnlich einem Fachwerk ausgebildete Struktur der Leitermaste des erfindungsgemäßen Kleinteilegeräts wird eine Führungsvorrichtung mit nur geringer Eigenmasse geschaffen, die etwa 50 Prozent geringer ist als die Eigenmasse der Regalmaste der vorstehend beschriebenen Regalbediengeräte bei deren Ausführung als Kleinteilegerät für ein automatisches Kleinteilelager.By trained similar to a truss structure of the ladder masts of Kleinteilegerats invention a guide device is created with only low net mass, which is about 50 percent lower than the net mass of the shelf masts of the storage and retrieval units described above in their execution as a small parts device for an automatic small parts warehouse.
Der Effekt dieser deutlichen Verringerung der bei Fahroperationen des Kleinteilegeräts bewegten Massen kann noch dadurch verbessert werden, dass die Antriebsmotoren stationär und zu den Fahrwerken beabstandet angeordnet und mittels eines jeweiligen Kraftübertragungsmittels mit den Fahrwerken zur Kraftübertragung gekoppelt sind. Bei dem Kraftübertragungsmittel kann es sich beispielsweise um ein Zugmittel handeln, mit dem die beiden Fahrwerke vom jeweiligen Antriebsmotor verlagert werden können. Obwohl das Kraftübertragungsmittel hier in der Form eines Zugmittels genannt worden ist, kann auch ein anderes Kraftübertragungsmittel zum Einsatz kommen, mit dem das jeweilige Fahrwerk in Richtung zum Antriebsmotor hin und vom Antriebsmotor weg verlagert werden kann.The effect of this significant reduction in moving masses during Fahroperationen the Kleinteilegeräts can be further improved by the fact that the drive motors are arranged stationary and spaced from the chassis and coupled by means of a respective power transmission means with the chassis for power transmission. The power transmission means may, for example, be a traction means with which the two running gears can be displaced by the respective drive motor. Although the power transmission means has been referred to herein in the form of a traction means, another power transmission means may be used to displace the respective chassis toward the drive motor and away from the drive motor.
Die Fahrwerke sind daher nicht mit mitfahrenden Antriebsmotoren versehen, so dass durch diese Ausgestaltung die bei Fahroperationen des beim erfindungsgemäßen Kleinteilegeräts bewegten Massen weiter verringert werden können und daher verglichen mit bekannten Kleinteileregalen und deren Kleinteilegeräten bei vergleichbaren Geschwindigkeit- und Beschleunigungswerten leistungsschwache Antriebsmotoren zum Einsatz kommen können, deren Energieverbrauch vergleichsweise gering ist.Therefore, the trolleys are not provided with moving drive motors, so that can be further reduced by this configuration during moving operations of moving in the Kleinteilegeräts invention masses and therefore compared with known small parts shelves and their Kleinteilegeräten at comparable Speed and acceleration values low-power drive motors can be used, the energy consumption is comparatively low.
Es ist nach einer Weiterbildung der Erfindung auch vorgesehen, dass die Führungsmasten am unteren Fahrwerk in einem jeweiligen Festlager drehbar und am oberen Fahrwerk in einem jeweiligen Loslager gelagert sind. Die beiden Fahrwerke werden von den beiden Antriebsmotoren hinsichtlich ihrer jeweiligen Position und Drehmoment synchronisiert bewegt, so dass die Leitermaste der Führungsvorrichtung grundsätzlich parallel zueinander verlaufen.It is also provided according to a development of the invention that the guide masts are rotatably mounted on the lower chassis in a respective fixed bearing and the upper chassis in a respective floating bearing. The two running gears are synchronized by the two drive motors with respect to their respective position and torque moves, so that the conductor masts of the guide device in principle run parallel to each other.
Durch die im unteren Bereich der Führungsvorrichtung vorgesehene Anbindung der Leitermaste oder Führungsmaste am unteren Fahrwerk in einem jeweiligen Festlager, welches den Freiheitsgrad der Drehung der Leitermaste zumindest um eine zur Verfahrrichtung der Führungsvorrichtung entlang des Kleinteileregals orthogonale Achse ermöglicht, wird erreicht, dass eine etwaige geringfügige Schrägstellung der Leitermaste während des Betriebs oder während beispielsweise einer Notstopp Situation nicht dazu führt, dass sich die Führungsvorrichtung verspannt. Dadurch, dass eine Drehbewegung der jeweiligen Leitermaste am unteren Fahrwerk möglich ist, während die Gewichtskraft der Leitermaste und der daran gekoppelten Bauteile an den Festlagern abgestützt wird und die Leitermaste oder Führungsmaste am oberen Fahrwerk in einem jeweiligen Loslager gelagert sind, welches eine Relativbewegung der Führungsmaste relativ zur Lagerung am oberen Fahrwerk ermöglicht, kann eine Verspannung der beiden Leitermaste relativ zueinander vermieden werden. Die beiden Fahrwerke sind daher in Verfahrrichtung des Kleinteilegeräts nicht steif miteinander verbunden.By provided in the lower region of the guide device connection of the ladder masts or guide masts on the lower chassis in a respective fixed bearing, which allows the degree of freedom of rotation of the ladder mast at least an orthogonal to the direction of the guide device along the Kleinteileregals axis is achieved that any slight inclination the ladder mast during operation or during, for example, an emergency stop situation does not cause the guide device is braced. Characterized in that a rotational movement of the respective ladder mast on the lower chassis is possible while the weight of the ladder mast and the components coupled thereto is supported on the fixed bearings and the ladder masts or guide masts are mounted on the upper chassis in a respective floating bearing, which relative movement of the guide masts relative allows for storage on the upper chassis, a tension of the two conductor masts can be avoided relative to each other. The two trolleys are therefore not rigidly connected to each other in the direction of travel of Kleinteilegeräts.
Es ist nach einer Weiterbildung der Erfindung vorgesehen, dass die Fahrwerke einen rechteckförmig ausgebildeten Fahrrahmen mit im Bereich der längsgerichteten Enden angeordneten Laufrädern aufweisen und an mindestens einer Längsseite im Bereich der längsgerichteten Enden ein jeweiliges Führungsrollenpaar vorgesehen ist. Mit den Laufrollen können die Fahrwerke in Schienen entlang eines Kleinteileregals bewegt werden. Im Falle der unteren Schienen können diese am Boden einer Lagerhalle vorgesehen sein, die das Kleinteileregal mit dem erfindungsgemäßen Kleinteilegerät aufnimmt. Die oberen Schienen können an der Dachstruktur der Lagerhalle festgelegt werden, die Schienen können in vorteilhafter Weise aber auch an der Regalstruktur angeordnet, also in das Regal eingebunden werden.It is provided according to a development of the invention that the trolleys have a rectangular shaped travel frame with arranged in the region of the longitudinal ends wheels and at least one longitudinal side in the area the longitudinal ends of a respective pair of guide rollers is provided. With the wheels, the trolleys can be moved in rails along a small parts rack. In the case of the lower rails, these may be provided at the bottom of a warehouse, which accommodates the Kleinteileregal with the small parts device according to the invention. The upper rails can be fixed to the roof structure of the warehouse, the rails can be arranged in an advantageous manner but also on the shelf structure, so be integrated into the shelf.
Die Fahrwerke können mit geräuschdämpfenden und verschleißarmen Laufrollen aus beispielsweise einem Polyurethan Kunststoff versehen sein und im jeweils horizontal angeordneten Schenkel der in vorteilhafter Weise U-förmig ausgebildeten Schienen horizontal verfahren werden. Zudem können die Fahrwerke über an einer Längsseite der Fahrwerke angeordnete Führungsrollen, die an einem vertikal angeordneten Schenkel der Schienen abrollen können, eine Längsführung in Verfahrrichtung erfahren. Die Fahrwerke können in vorteilhafter Weise einen rechteckförmig ausgebildeten Fahrrahmen aufweisen, der beispielsweise aus vorgefertigten Profilen oder Modulen aus einer Aluminiumlegierung gebildet wird, wobei die Profile oder Module mittels Schraubverbindungen und/oder Steckverbindungen aneinander festgelegt werden können.The trolleys can be provided with noise-damping and low-wear rollers of, for example, a polyurethane plastic and are moved horizontally in each horizontally disposed leg of advantageously U-shaped rails. In addition, the trolleys can be guided by a longitudinal guide in the direction of travel via guide rollers arranged on a longitudinal side of the trolleys, which can roll on a vertically arranged leg of the rails. The trolleys can advantageously have a rectangular shaped travel frame which is formed, for example, from prefabricated profiles or modules made of an aluminum alloy, wherein the profiles or modules can be fixed to one another by means of screw connections and / or plug connections.
Einer jeweiligen, am vertikal angeordneten Schenkel innen liegend angeordneten Führungsrolle kann eine am Fahrwerk angeordnete, am Schenkel außen liegend laufende Führungsrolle zugeordnet sein, wobei es auch möglich ist, mindestens eine Führungsrolle eines Führungsrollenpaars mit einer Druckfeder in Richtung zum vertikal verlaufenden Schenkel der Schiene vorzuspannen, so dass geringfügige Unebenheiten der Schienen nicht zu einer Verspannung des Fahrwerks um eine virtuelle Hochachse des Fahrwerks herum führen. Die Führungsrollen können auch mittels eines Exzenters einstellbar ausgebildet sein, so dass Dickentoleranzen der Schienen ebenfalls ausgeglichen werden können. Die Anordnung der Führungsrollen an nur einer Schiene bietet den Vorteil, dass in Längsrichtung der Schienen auftretende Winkeltoleranzen nicht zusätzlich ausgeglichen werden müssen und nicht zu einem Verspannen der beiden Fahrwerke relativ zueinander führen.A respective, disposed on the vertically disposed leg inside lying leadership may be assigned to the chassis, the leg lying outside lying leadership associated with it, it is also possible to bias at least one guide roller of a pair of guide rollers with a compression spring towards the vertical leg of the rail so that slight unevenness of the rails do not lead to a tension of the chassis around a virtual vertical axis of the chassis. The guide rollers can also be designed to be adjustable by means of an eccentric, so that thickness tolerances of the rails can also be compensated. The arrangement of the guide rollers on only a rail has the advantage that occurring in the longitudinal direction of the rails angle tolerances need not be compensated in addition and do not lead to a distortion of the two chassis relative to each other.
Die Erfindung sieht nach einer Weiterbildung auch vor, dass ein Fahrwerk mit einem elektrisch betätigbaren Getriebemotor versehen ist, der mit zwei mit der Hubbühne gekoppelten Hubseilen kraftschlüssig zur Betätigung der Hubbühne gekoppelt ist. Der Getriebemotor kann beispielsweise am unteren Fahrwerk vorgesehen sein und zwei Hubseile beaufschlagen, die ihrerseits an der Hubbühne festgelegt sind. Die Kraftübertragung vom Getriebemotor auf die Hubseile kann beispielsweise über vom Getriebemotor angetriebene Seiltrommeln erfolgen, wobei die Kraftübertragung vom Getriebemotor auf die Seiltrommeln formschlüssig oder reibschlüssig stattfinden kann.The invention also provides for a development that a chassis is provided with an electrically actuated geared motor, which is coupled with two positively coupled to the lifting platform hoisting ropes for actuating the lifting platform. The geared motor can be provided for example on the lower chassis and act on two hoisting ropes, which in turn are fixed to the lifting platform. The power transmission from the geared motor on the hoisting ropes can be done for example via driven by the gear motor rope drums, the power transmission from the geared motor can take place on the cable drums positively or frictionally.
Die Hubseile können vom unteren Fahrwerk in Richtung zum oberen Fahrwerk verlaufen und dort über eine Umlenkrolle umgelenkt werden und sich dann bis zur Hubbühne erstrecken, wo sie festgelegt werden können. Diese Ausbildung besitzt den Vorteil, dass die Gewichtskraft der Hubbühne und des daran angeordneten Lastaufnahmemittels sowie etwaiger weiterer an der Hubbühne vorgesehener Einrichtungen über das obere Fahrwerk und die oberen Schienen in das Kleinteileregal eingeleitet werden kann, wie dies vorstehend bereits erläutert worden ist und somit nicht über die Führungsvorrichtung am unteren Fahrwerk abgestützt werden muss. Da die Gewichtskraft daher nicht zu einer Druckbeaufschlagung der Führungsvorrichtung führt, muss die Gewichtskraft auch nicht über die vertikalen Stäbe der Leitermaste abgestützt werden, die daher nicht zur Aufnahme der Gewichtskraft dimensioniert ausgebildet werden müssen, was der erfindungsgemäßen Leichtbauweise des Kleinteilegeräts entgegenkommt.The hoisting ropes can run from the lower chassis in the direction of the upper chassis and be deflected there via a deflection roller and then extend to the lifting platform, where they can be fixed. This design has the advantage that the weight of the lifting platform and arranged thereon lifting device and any other provided on the lifting platform facilities on the upper chassis and the upper rails in the small parts rack can be initiated, as has already been explained above and thus not over the guide device must be supported on the lower chassis. Therefore, since the weight force does not lead to a pressurization of the guide device, the weight must not be supported on the vertical bars of the ladder masts, which must therefore not be dimensioned to accommodate the weight dimensioned, which accommodates the lightweight construction of the Kleinteilegeräts invention.
Es ist nach einer Weiterbildung der Erfindung vorgesehen, dass am unteren Fahrwerk ein optisches Wegmesssystem angeordnet ist, welches mit einem an der Hubbühne angeordneten Reflektor zur vertikalen Positionsbestimmung der Hubbühne kooperiert. Diese Ausbildung sorgt dafür, dass auf der Seite der Hubbühne zur Realisierung des Wegmesssystems nur ein kleiner optischer Reflektor notwendig ist, der eine sehr geringer Eigenmasse aufweist und daher die zu beschleunigende und abzubremsende Eigenmasse der Hubbühne nur ausgesprochen geringfügig erhöht.It is provided according to a development of the invention that an optical path measuring system is arranged on the lower chassis, which cooperates with a arranged on the lifting platform reflector for vertical positioning of the lifting platform. This design ensures that only a small optical reflector is necessary on the side of the lifting platform for the realization of the displacement measuring system, which has a very low intrinsic mass and therefore only slightly increased to be accelerated and braked own mass of the lifting platform.
In ähnlicher Weise ist es nach einer Weiterbildung der Erfindung vorgesehen, dass am oberen und unteren Fahrwerk jeweils ein Reflektor vorgesehen ist, der mit einem, dem jeweiligen Fahrwerk zugeordneten optischen Wegmesssystem zur horizontalen Positionserfassung der beiden Fahrwerke kooperiert. Das optische Wegmesssystem für das untere Fahrwerk kann am Regal oder am Hallenboden einer das erfindungsgemäße Kleinteilegerät aufnehmenden Lagerhalle vorgesehen sein und das optische Wegmesssystem für das obere Fahrwerk kann am Regal oder beispielsweise am Dach der Halle vorgesehen sein. Dies bedeutet, dass wesentliche Komponenten des jeweiligen optischen Wegmesssystems nicht mit dem Kleinteilegerät mitfahrend ausgebildet sind und daher die zu beschleunigende und abzubremsende Eigenmasse des Kleinteilegeräts nicht erhöhen.Similarly, it is provided according to a development of the invention that the upper and lower chassis each have a reflector is provided which cooperates with a, the respective suspension associated optical path measuring system for horizontal position detection of the two chassis. The optical path measuring system for the lower chassis may be provided on the shelf or hall floor of a small scale device according to the invention receiving warehouse and the optical path measuring system for the upper chassis can be provided on the shelf or for example on the roof of the hall. This means that essential components of the respective optical path measuring system are not designed to ride along with the small part device and therefore do not increase the intrinsic mass of the small part device to be accelerated and braked.
Es ist nach einer Weiterbildung der Erfindung auch vorgesehen, dass die Hubbühne einen rechteckförmig ausgebildeten Tragrahmen aufweist, der zur Aufnahme der mit der Hubbühne mitfahrenden Komponenten, wie beispielsweise dem Lastaufnahmemittel ausgebildet ist. Ähnlich dem Fahrrahmen des oberen und unteren Fahrwerks kann der Tragrahmen der Hubbühne als geschraubte Konstruktion ausgebildet sein, wobei die einzelnen Profile zur Bildung des Tragrahmen beispielsweise aus einem Aluminiumlegierungswerkstoff gebildet sein können, die daher nur eine geringe Eigenmasse aufweisen.It is also provided according to a development of the invention that the lifting platform has a rectangular shaped support frame, which is designed to accommodate the moving with the lifting platform components, such as the load receiving means. Similar to the traveling frame of the upper and lower chassis of the support frame of the lifting platform can be designed as a screwed construction, wherein the individual profiles may be formed, for example, of an aluminum alloy material to form the support frame, which therefore have only a small intrinsic mass.
Der Tragrahmen kann mit Rollen zum Kontakt mit Führungsflächen an den Führungsmasten oder Leitermasten der Führungsvorrichtung zur Führung der Hubbühne in einer ersten horizontalen Richtung versehen sein und die Hubbühne kann einen mit dem Tragrahmen gekoppelten Führungsrahmen aufweisen, der mit Rollen zum Kontakt mit Führungsflächen an den Führungsmasten zur Führung der Hubbühne in einer zur ersten horizontalen Richtung orthogonalen zweiten horizontalen Richtung versehen ist. Diese Ausbildung mit mehreren Führungsrollen sorgt dafür, dass das in Richtung zu einem Regalfach bei einem Ein- und Auslagerungsspiel auskragende Lastaufnahmemittel das ein- und auszulagernde Gut exakt im Regalfach positionieren oder aus dem Regalfach entnehmen kann.The support frame may be provided with rollers for contacting guide surfaces on the guide masts or ladder masts of the guide device for guiding the lifting platform in a first horizontal direction, and the lifting platform may comprise a guide frame coupled to the support frame provided with rollers for contact with guide surfaces on the guide masts Guide the Hubbühne is provided in a direction orthogonal to the first horizontal direction second horizontal direction. This design with multiple guide rollers ensures that the projecting towards a shelf in a storage and retrieval game load handling means to position the material to be stored and auszulagernde exactly in the shelf or refer to the shelf.
Es ist nach einer Weiterbildung der Erfindung vorgesehen, dass eine Steuerung die Position der beiden Fahrwerke in Verfahrrichtung relativ zueinander synchronisiert, so dass eine etwaige Schräglaufabweichung der Leitermaste relativ zu einer vertikalen Stellung der Leitermaste minimiert werden kann, auch wenn eine solche Schräglaufabweichung aufgrund der gelenkigen Anbindung der Führungsmaste an den Fahrwerken nicht zu einer Verspannung des Kleinteilegeräts führen kann. Diese Steuerung ist nicht an den Fahrwerken angeordnet vorgesehen, so dass die Fahrmasse der Fahrwerke dadurch nicht erhöht wird. Da auch die Antriebsmotoren für die Fahrwerke nicht an mit den Fahrwerken mitfahrend ausgebildet sind, wird die Fahrmasse auch durch die Antriebsmotoren nicht erhöht.It is provided according to a development of the invention that a controller synchronizes the position of the two carriages in the direction of travel relative to each other, so that any skew of the ladder masts can be minimized relative to a vertical position of the ladder booms, even if such a skew due to the articulated connection the guide masts on the chassis can not lead to a tension of Kleinteilegeräts. This control is not provided arranged on the chassis, so that the driving mass of the chassis is not increased thereby. Since the drive motors for the trolleys are not designed to ride along with the trolleys, the driving mass is not increased by the drive motors.
Die Erfindung sieht nach einer Weiterbildung vor, dass ein erster Antriebsmotor dem unteren Fahrwerk zugeordnet ist und mit dem unteren Fahrwerk über einen umlaufenden Zahnriemen zur Kraftübertragung gekoppelt ist und dem ersten Antriebsmotor eine beabstandet angeordnete erste Umlenkrolle zugeordnet ist und das untere Fahrwerk zwischen dem ersten Antriebsmotor und der ersten Umlenkrolle angeordnet ist und ein zweiter Antriebsmotor dem oberen Fahrwerk zugeordnet und mit dem oberen Fahrwerk über einen umlaufenden Zahnriemen zur Kraftübertragung gekoppelt ist, wobei auch dem zweiten Antriebsmotor eine beabstandet angeordnete zweite Umlenkrolle zugeordnet und das obere Fahrwerk zwischen dem zweiten Antriebsmotor und der zweiten Umlenkrolle angeordnet ist, wobei der zweite Antriebsmotor und die zweite Umlenkrolle an einem dem Kleinteilegerät zugeordneten Kleinteileregal angeordnet sind.The invention provides for a development that a first drive motor is associated with the lower chassis and is coupled to the lower chassis via a rotating toothed belt for power transmission and the first drive motor is assigned a spaced first deflecting roller and the lower chassis between the first drive motor and the first deflection roller is arranged and a second drive motor assigned to the upper chassis and coupled to the upper chassis via a rotating toothed belt for power transmission is, wherein the second drive motor associated with a second spaced deflection roller assigned and the upper chassis between the second drive motor and the second deflection roller is arranged, wherein the second drive motor and the second deflection roller are arranged on a Kleinteileger associated Kleinteileregal.
Damit sind der zweite Antriebsmotor und die zweite Umlenkrolle im Abstand zum zweiten Fahrwerk positioniert, genauso wie der erste Antriebsmotor und die erste Umlenkrolle, so dass die jeweilige Eigenmasse der Fahrwerke durch die genannten Bauteile nicht erhöht wird.Thus, the second drive motor and the second pulley are positioned at a distance from the second chassis, as well as the first drive motor and the first guide roller, so that the respective net mass of the chassis is not increased by said components.
Es ist nach einer Weiterbildung der Erfindung vorgesehen, dass an der Hubbühne eine Steuereinrichtung zur Steuerung der Betätigung des Lastaufnahmemittels angeordnet ist und die Hubbühne mittels einer vertikalen Schleifleitung mit elektrischer Energie versorgbar ist und eine optische Datenübertragungseinrichtung zwischen dem unteren Fahrwerk und der Hubbühne vorgesehen ist. Damit ist die Zahl der mit der Hubbühne mitfahrenden und zum Betrieb eines Kleinteileregals benötigten Bauteile minimiert, wodurch wiederum die Fahrmasse des Kleinteilegeräts verringert werden kann. Das untere Fahrwerk kann mittels einer von einer Schleppkette geführten Energieversorgungsleitung mit elektrischer Energie versorgt werden.It is provided according to a development of the invention that on the lifting platform, a control device for controlling the operation of the load-receiving means is arranged and the lifting platform by means of a vertical conductor rail with electrical energy can be supplied and an optical data transmission device is provided between the lower chassis and the lifting platform. Thus, the number of traveling with the lifting platform and required to operate a small parts rack components is minimized, which in turn can reduce the driving mass of Kleinteilegeräts. The lower chassis can be powered by means of a guided by a drag chain power supply line with electrical energy.
Sowohl die Steuerung für die Fahrwerke als auch eine Steuerung für die Betätigung der Hubbühne sind stationär, also nicht mit den Fahrwerken mitfahrend, sondern beabstandet zu den Fahrwerken und der Hubbühne angeordnet, wodurch die Fahrmasse der Fahrwerke und des Kleinteilegeräts verringert werden kann.Both the control for the trolleys and a control for the actuation of the lifting platform are stationary, so not with the trolleys ride, but spaced to the trolleys and the lifting platform arranged, whereby the driving mass of the trolleys and Kleinteilegerats can be reduced.
Es ist nach einer Weiterbildung der Erfindung vorgesehen, dass jeder Führungsmast zwei weitgehend parallel zueinander angeordnete lang gestreckte Stäbe aufweist, zwischen denen sich jeweils parallele und quer zur vertikalen Richtung der Stäbe verlaufende oder im Winkel zueinander angeordnete Streben befinden. Die Führungsmasten sind daher ähnlich einer Leiter ausgebildet mit zwei vertikalen Stäben und die beiden Stäbe verbindenden Querstreben.It is provided according to a development of the invention that each guide mast has two largely mutually parallel elongated rods, between which each parallel and transverse to the vertical direction of the rods or at an angle to each other located struts. The guide masts are therefore similar to a ladder formed with two vertical bars and connecting the two bars cross struts.
Diese Ausbildung sorgt einerseits für eine Verringerung der Masse der Führungsvorrichtung und damit des erfindungsgemäßen Kleinteilegeräts und andererseits auch dafür, dass es nicht notwendig ist, wie dies bei bekannten Kleinteilegeräten der Fall ist, an der Führungsvorrichtung für Service Personal eine Aufstiegsvorrichtung vorzusehen. Die Führungsmasten oder Leitermasten sind gleichzeitig als Aufstieghilfe ausgebildet, da die Querstreben, die mit den vertikalen Stäben vorzugsweise verschraubt werden, gleichzeitig als Leitersprossen dienen, an denen also das Service Personal am Kleinteilegerät hoch steigen kann, um beispielsweise eine Panne zu beseitigen. Zu diesem Zweck können die Querstreben mit einer rutschhemmenden Beschichtung versehen sein, oder beispielsweise auch mit Kunststoffleisten versehen sein, die ein Abrutschen von der Strebe verhindern. Die quer oder in einem Winkel zu den vertikalen Stäben verlaufenden Streben erhöhen zudem die Stabilität des Führungsmasts oder Leitermasts.This training provides on the one hand for a reduction in the mass of the guide device and thus the Kleinteilegeräts invention and on the other hand also that it is not necessary, as is the case with known Kleinteilegeräten to provide on the guide device for service personnel a rise device. The guide poles or ladder poles are also designed as an ascent, since the crossbars, which are preferably bolted to the vertical bars, simultaneously serve as ladder rungs, so where the service personnel at the small partition can rise high, for example, to eliminate a breakdown. For this purpose, the cross struts may be provided with an anti-slip coating, or be provided, for example, with plastic strips that prevent slipping off the strut. The struts running transversely or at an angle to the vertical bars also increase the stability of the guide mast or ladder mast.
Die Leitermaste können modular ausgebildet sein, so dass durch das Verbinden mehrerer Leitermastmodule ein Mast mit gewünschter vorbestimmbarer Länge entsteht. Ein Leitermastmodul kann aus zwei gleich langen und vorkonfektionierten Hauptprofilen bestehen mit in regelmäßigen Abständen dazwischen angeordneten Sprossen oder Streben, wie dies vorstehend bereits erwähnt wurde. Der Führungsmast oder Leitermast kann daher mindestens zwei modulare Führungsmastabschnitte aufweisen, die mittels mit den Führungsmastabschnitten in Eingriff bringbaren Verbinderabschnitten längsverbindbar sind. Die Verbindung der Führungsmastabschnitte über die Verbinderabschnitte kann dabei beispielsweise mittels einer Schraubenverbindung lösbar ausgebildet sein.The conductor masts can be modular, so that a mast with the desired predeterminable length is created by connecting a plurality of conductor mast modules. A Ladermastmodul can consist of two equal length and prefabricated main profiles with interspaced at regular intervals rungs or struts, as already mentioned above. The guide mast or ladder mast can therefore have at least two modular guide mast sections, which are longitudinally connectable by means of connector sections which can be brought into engagement with the guide mast sections. The connection of the guide mast sections via the connector sections can be detachable, for example by means of a screw connection.
Die Führungsmastabschnitte können zur Verringerung der Eigenmasse aus einer Aluminiumlegierung gefertigt sein, die Abschnitte können mit ihrem Endabschnitt aufeinander zur Anlage gebracht werden, um einen Führungsmast von vorbestimmter gewünschter Länge zu erzeugen. Die Führungsmastabschnitte werden dabei unter Vorspannung miteinander verschraubt, um eine ausreichend hohe Steifigkeit zu erzielen und um den Übergangsbereich zwischen zwei Führungsmastabschnitten ohne großes Stoßspiel auszubilden. Die Vermeidung eines großen Stoßspieles führt zu einem ruhigen Überfahren des Übergangsbereichs durch die Laufrollen beziehungsweise Führungsrollen der Hubbühne.The guide mast sections can be made of an aluminum alloy to reduce the mass, the sections can be brought to rest with their end portion to each other to produce a guide mast of predetermined desired length. The guide mast sections are bolted together under bias to achieve a sufficiently high rigidity and to form the transition region between two guide mast sections without great shock. The avoidance of a large shock clearance leads to a quiet driving over the transition region by the rollers or guide rollers of the lifting platform.
Beim Überfahren des Übergangsbereichs durch die Rollen der Hubbühne bei ihrer vertikalen Bewegung entlang der Führungsvorrichtung und einer gleichzeitigen Horizontalbewegung des Kleinteilegeräts kann es zu einer Querkraftbeaufschlagung des Übergangsbereichs kommen. Um die Querkraft gleichmäßig auf den gesamten Übergangsquerschnitt des Übergangsbereichs zu verteilen, ist es von Vorteil, am jeweiligen Endbereich des Führungsmastabschnitts eine dem Querschnitt des Führungsmastabschnitts entsprechende Stoßplatte, beispielsweise aus einem Stahlwerkstoff vorzusehen, wobei die Stoßplatten dann über eine Schraubenverbindung mit hoher Vorspannkraft miteinander verschraubt werden können, welche die Vorspannkraft übersteigt, mit der die Stoßplatten am jeweiligen Führungsmastabschnitt festgelegt werden können, womit auch der Festigkeit des Werkstoffs der Führungsmastabschnitte Rechnung getragen werden kann. Der Übergangsbereich kann so eben ausgeführt werden, ohne dass es zu einem unzulässigen Stoßspiel kommt. Die modulare Ausbildung der Führungsmaste führt auch in vorteilhafter Weise zu einem einfachen Handling bei deren Transport und Montage.When crossing the transition area by the roles of the lifting platform in their vertical movement along the guide device and a simultaneous horizontal movement of the small part of the device can lead to a transverse force of the transition region. In order to distribute the transverse force uniformly over the entire transitional cross section of the transition region, it is advantageous to provide at the respective end region of the guide pole section a cleat, for example of a steel material, corresponding to the cross section of the guide pole section, wherein the cleat plates are then screwed together via a high preload screw connection can, which exceeds the biasing force with which the cleat plates can be fixed to the respective guide mast section, which also the strength of the material of the guide mast sections can be accommodated. The transition area can be carried out evenly, without resulting in an impermissible shock play. The modular design of the guide poles also leads to an easy handling during their transport and installation.
Es ist nach einer Weiterbildung der Erfindung vorgesehen, dass die Führungsmasten am unteren Fahrwerk mittels jeweiliger in aus einem Kunststoffwerkstoff gebildeter Aufnahmen angeordneter Gelenkbolzen drehbar gelagert sind.It is provided according to a development of the invention that the guide masts are rotatably mounted on the lower chassis by means of respective arranged in formed from a plastic material receptacles pivot pin.
Auch sieht die Erfindung nach einer Weiterbildung vor, dass die Führungsmasten am oberen Fahrwerk mittels jeweiliger in einer mit einem Langloch versehenen Aufnahme angeordneter Gelenkbolzen verschieblich gelagert sind.The invention also provides, according to a development, for the guide masts to be mounted displaceably on the upper chassis by means of respective hinge pins arranged in a receptacle provided with a slot.
Das untere Lager ist also als Festlager ausgebildet und besitzt Gelenkbolzen, um deren Längsachse sich die Führungsmasten drehen können, die Gelenkbolzen sind in einem jeweiligen Kunststoffwerkstoff zur Geräuschdämpfung und Schwingungsisolierung angeordnet, wobei der Kunststoffwerkstoff selbstschmierend ausgebildet sein kann. Das Festlager nimmt die Eigengewichtskraft des Führungsmasts auf und sorgt aufgrund der Bereitstellung des Freiheitsgrads der Drehung um die Gelenkbolzen dafür, dass sich die beiden über die Hubbühne miteinander gekoppelten Leitermaste oder Führungsmaste bei einer etwaigen Schrägstellung der Führungsvorrichtung nicht gegeneinander verspannen.The lower bearing is thus designed as a fixed bearing and has hinge pins about whose longitudinal axis the guide masts can rotate, the hinge pins are arranged in a respective plastic material for noise damping and vibration isolation, wherein the plastic material may be formed self-lubricating. The fixed bearing absorbs the self-weight force of the guide mast and, due to the provision of the degree of freedom of rotation about the hinge pins, ensure that the two ladder masts or guide masts coupled to one another via the lifting platform do not brace against one another in the event of an inclined position of the guide device.
Durch die Anordnung der Führungsmaste im Bereich des oberen Fahrwerks mittels jeweiliger in einer mit einem Langloch versehenen Aufnahme angeordneter Gelenkbolzen kann der Endbereich der Führungsmaste relativ zur Aufnahme eine Längsverschiebung durchführen, was beispielsweise bei der vorstehend angesprochenen Schrägstellung der Führungsvorrichtung dazu führt, dass sich das Kleinteilegerät nicht verspannt.By arranging the guide masts in the region of the upper chassis by means of respective arranged in a slot with a receptacle hinge pin, the end portion of the guide masts relative to the recording perform a longitudinal displacement, which, for example, in the above-mentioned inclined position of the guide device leads to the fact that the small parts device not braced.
Die beiden Fahrwerke werden von den vorstehend erwähnten beiden Antriebsmotoren hinsichtlich ihrer jeweiligen Position und Drehmoment synchronisiert bewegt, so dass die Leitermaste der Führungsvorrichtung grundsätzlich parallel zueinander verlaufen. Es kann aber bei einer Notstopp Situation des Kleinteilegeräts auch die Situation einer geringfügigen Schrägstellung der beiden Leitermaste oder Führungsmaste auftreten.The two running gears are synchronized by the above-mentioned two drive motors with respect to their respective position and torque, so that the conductor masts of the guide device are basically parallel to each other. But it can also occur in an emergency stop situation of Kleinteilegeräts the situation of a slight inclination of the two ladder masts or guide masts.
Durch die im unteren Bereich der Führungsvorrichtung vorgesehene Anbindung der Leitermaste oder Führungsmaste am unteren Fahrwerk in einem jeweiligen Festlager, welches den Freiheitsgrad der Drehung der Leitermaste zumindest um eine zur Verfahrrichtung der Führungsvorrichtung entlang des Kleinteileregals vertikale Achse ermöglicht, wird erreicht, dass eine etwaige geringfügige Schrägstellung der Leitermaste während des Betriebs oder während beispielsweise einer Notstopp Situation nicht dazu führt, dass sich die Führungsvorrichtung verspannt. Dadurch, dass eine Drehbewegung der jeweiligen Leitermaste am unteren Fahrwerk möglich ist, während die Gewichtskraft der Leitermaste und der daran gekoppelten Bauteile an den Festlager abgestützt wird und die Leitermaste oder Führungsmaste am oberen Fahrwerk in einem jeweiligen Loslager gelagert sind, welches eine Relativbewegung der Führungsmaste relativ zur Lagerung am oberen Fahrwerk ermöglicht, kann eine Verspannung der beiden Leitermaste relativ zueinander vermieden werden. Die beiden Fahrwerke sind daher in Verfahrrichtung des Kleinteilegeräts nicht steif miteinander verbunden, was zu einem Verspannen des Systems führen könnte.By provided in the lower region of the guide device connection of the conductor masts or guide masts on the lower chassis in a respective fixed bearing, which allows the degree of freedom of rotation of the conductor mast at least a vertical axis to the direction of movement of the guide device along the Kleinteileregals, it is achieved that any slight inclination the ladder mast during operation or during, for example, an emergency stop situation does not cause the guide device is braced. Characterized in that a rotational movement of the respective ladder mast on the lower chassis is possible while the weight of the ladder mast and the components coupled thereto is supported on the fixed bearing and the ladder masts or guide masts are mounted on the upper chassis in a respective floating bearing, which relative movement of the guide masts relative allows for storage on the upper chassis, a tension of the two conductor masts can be avoided relative to each other. The two trolleys are therefore not rigidly connected in the direction of travel of Kleinteilegeräts, which could lead to a distortion of the system.
Die Führungsmaste befinden sich in Betrieb des Kleinteilegeräts in vertikaler Ausrichtung vor dem Kleinteileregal angeordnet. Bei Verfahroperationen des Kleinteilegeräts horizontal entlang des Kleinteileregals werden die Führungsmasten quer zur Hochachsrichtung mit positiven und negativen Beschleunigungskräften beaufschlagt. Diese Beschleunigungskräfte sorgen dafür, dass die vertikalen Stäbe der Führungsmaste mit einer Biegebelastung quer zu ihrer Längsrichtung beaufschlagt werden. Es hat sich als vorteilhaft erwiesen, quer zur Hochachsrichtung der Führungsmaste im Abstand zueinander angeordnete Horizontalstabilisatoren, die die mit Zwischenraum angeordneten Führungsmasten lösbar miteinander verbinden, vorzusehen, wobei die Horizontalstabilisatoren jeweils einen den Zwischenraum überspannenden Träger aufweisen, der mittels mindestens eines jeweiligen Abstandhalters am jeweiligen Führungsmast festgelegt ist.The guide masts are arranged in operation of the small parts device in a vertical orientation in front of the small parts shelf. During operation of the small part device horizontally along the small parts rack, the guide masts are loaded transversely to the Hochachsrichtung with positive and negative acceleration forces. These acceleration forces ensure that the vertical bars of the guide masts are subjected to a bending load transversely to their longitudinal direction. It has proven to be advantageous, transverse to the Hochachsrichtung the guide masts spaced horizontal stabilizers, which detachably interconnect the spaced guide poles, provide, the horizontal stabilizers each having a space spanning carrier, by means of at least one respective spacer on the respective guide mast is fixed.
Die Horizontalstabilisatoren verlaufen daher parallel zur horizontalen Verfahrrichtung des Kleinteilegeräts und verbinden jeweils einen vertikalen Stab eines Führungsmasts mit einem vertikalen Stab des anderen Führungsmasts. In Hochachsrichtung des Kleinteilegeräts können mehrerer solcher horizontaler Träger zwischen einem ersten Paar von vertikalen Stäben und einem zweiten Paare von vertikalen Stäben, wobei jeweils ein vertikaler Stab eines Paares einem jeweiligen Führungsmast angehört. Die Träger sind dabei jeweils im lichten Abstand zu den vertikalen Stäben angeordnet, um außerhalb des Verfahrbereichs von Hubbühne und außerhalb des Arbeitsbereichs des Lastaufnahmemittels zu verlaufen. Die Träger sind daher kragenartig zwischen dem Kleinteilegerät und einem damit ausgestatteten Kleinteileregal platziert.Therefore, the horizontal stabilizers are parallel to the horizontal traversing direction of the Kleinteilegeräts and connect one vertical bar of a guide mast with a vertical bar of the other guide mast. In the high-axis direction of the small-scale apparatus, a plurality of such horizontal beams may be disposed between a first pair of vertical bars and a second pair of vertical bars, one vertical bar of each pair being associated with a respective guide pole. The carriers are in each case arranged at a slight distance from the vertical bars in order to run outside the travel range of lifting platform and outside the working range of the lifting device. The carriers are therefore placed like a collar between the small parts device and an equipped small parts shelf.
Ein solches Kleinteileregal kann ein Einplatzregal sein, so dass die horizontalen Träger jeweils auf der Höhe eines Regallängsverbandes angeordnet werden, während sie bei Mehrplatzregalen in vorteilhafter Weise auf der Höhe eines Längsaufnahmeträgers platziert werden. Die Anbindung der Horizontalstabilisatoren an den Führungsmasten erfolgt dabei in vorteilhafter Weise über Gelenkbolzen, so dass sich die Horizontalstabilisatoren relativ zu den Führungsmasten oder Leitermasten bewegen können, was dazu beiträgt, dass sich das Kleinteilegerät bei einem Versatz des unteren und oberen Fahrwerks relativ zueinander nicht verspannt.Such a Kleinteileregal can be a Einplatzregal, so that the horizontal support are each arranged at the height of a shelf longitudinal dressing, while placed in multi-user shelves in an advantageous manner at the height of a longitudinal recording medium. The connection of the horizontal stabilizers on the guide poles takes place in an advantageous manner via hinge pins, so that the horizontal stabilizers can move relative to the guide poles or ladder masts, which helps ensure that the small parts device is not braced relative to each other with an offset of the lower and upper chassis.
Es ist nach einer Weiterbildung der Erfindung auch vorgesehen, dass die Führungsmaste in Hochachsrichtung im Abstand zu ihren vertikalen Stäben angeordnete Vertikalstabilisatoren aufweisen, die jeweils einen langgestreckten Träger aufweisen, der mittels jeweiliger Abstandshalter am vertikalen Stab festgelegt ist. Jeder Führungsmast besitzt zwei vertikale Stäbe, so dass an jedem Führungsmast zwei Vertikalstabilisatoren vorgesehen sind, die über Abstandshalter an mehreren Punkten in Hochachsrichtung der vertikalen Stäbe daran befestigt werden.It is also provided according to a development of the invention that the guide masts in Hochachsrichtung spaced from their vertical bars have vertical stabilizers, each having an elongate carrier, which is fixed by means of respective spacers on the vertical bar. Each guide post has two vertical bars, so that two vertical stabilizers are provided on each guide post, which are fastened thereto by spacers at several points in the vertical axis of the vertical bars.
Das Kleinteilegerät weist im Gegensatz zu bekannten Kleinteilegeräten eine Maststruktur auf, die nicht biegesteif mit den Fahrwerken verbunden ist und die Maststruktur weist zwei mit Zwischenraum zueinander angeordnete Führungsmasten oder Leitermasten auf, wobei die Hubbühne mit dem Lastaufnahmemittel im Zwischenraum angeordnet ist und zwar so, dass der Massenschwerpunkt von Hubbühne und nicht auskragendem Lastaufnahmemittel und etwaiger weiterer auf der Hubbühne angeordneter Komponenten des Kleinteilegeräts in Verfahrrichtung des Kleinteilegeräts mittig im Zwischenraum angeordnet ist und auch in einer Richtung orthogonal zur Verfahrrichtung mittig im Zwischenraum angeordnet ist. Das Kleinteilegerät wird daher in einer nicht auskragenden Ruhestellung des Lastaufnahmemittels nicht von einer Biegebelastung um die Horizontalverfahrrichtung des Kleinteilegeräts beaufschlagt.The small-part device has, in contrast to known Kleinteilegeräten on a mast structure that is not rigidly connected to the chassis and the mast structure has two mutually spaced guide pylons or conductor masts, the lifting platform is arranged with the load receiving means in the space in such a way that the Mass center of Hubbühne and not projecting load handling equipment and any other arranged on the lifting platform components of Kleinteilegeräts in the direction of Kleinteilegerats is centrally located in the space and is also arranged in a direction orthogonal to the direction of travel centered in the space. The small part of the device is therefore not acted upon in a non-cantilevered rest position of the load-carrying means of a bending load to the horizontal direction of the Kleinteilegeräts.
Die Erfindung wird im Folgenden anhand der Zeichnung näher erläutert. Diese zeigt in:
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Fig. 1 eine perspektivische Ansicht einer Kleinteileregals mit einem davor angeordneten Kleinteilegerät nach einer Ausführungsform gemäß der vorliegenden Erfindung; -
Fig. 2A eine Draufsichtansicht auf das Kleinteilegerät; -
Fig. 2B eine perspektivische Darstellung des Kleinteilegeräts; -
Fig. 3A eine perspektivische Darstellung der Führungsvorrichtung des Kleinteilegeräts; -
Fig. 3B eine untere Teilschnittansicht der Führungsvorrichtung; -
Fig. 3C eine obere Teilschnittansicht der Führungsvorrichtung; -
Fig. 4 eine perspektivische Darstellung des unteren Fahrwerks; -
Fig. 5 eine Ansicht auf das untere Fahrwerk von unten; -
Fig. 6 eine perspektivische Darstellung des oberen Fahrwerks; -
Fig. 7 zwei Darstellungen zur Erläuterung der Anordnung der Fahrwerke an Schienen; -
Fig. 8 eine Darstellung zur Erläuterung der Anordnung der Schienen an Regalstehern des Kleinteileregals; -
Fig. 9 eine perspektivische Ansicht der Hubbühne mit daran angeordnetem Lastaufnahmemittel; -
Fig. 10 eine weitere perspektivische Ansicht ähnlichFig. 9 ; -
Fig. 11 eine Darstellung der Hubbühne mit Lastaufnahmemittel in einer Ansicht von unten; -
Fig. 12 eine perspektivische Darstellung eines Antriebsmotors mit Bremsvorrichtung; -
Fig. 13 eine Ansicht von unten auf den Antriebsmotor und Bremsvorrichtung nachFig. 12 ; -
Fig. 14 eine perspektivische Darstellung einer Umlenkstation mit daran angeordneter Umlenkrolle für den Zahnriemen; -
Fig. 15 eine Detailansicht auf einen Ausschnitt der oberen Schienen im Bereich einer Verbindung zweier Schienenabschnitte; -
Fig. 16 eine vergrößerte Detailansicht nachFig. 3B ; und -
Fig. 17 eine vergrößerte Detailansicht nachFig. 3C .
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Fig. 1 a perspective view of a small parts rack with a front arranged small scale device according to an embodiment of the present invention; -
Fig. 2A a plan view of the small scale device; -
Fig. 2B a perspective view of the Kleinteilegeräts; -
Fig. 3A a perspective view of the guide device of the Kleinteilegeräts; -
Fig. 3B a bottom partial sectional view of the guide device; -
Fig. 3C an upper partial sectional view of the guide device; -
Fig. 4 a perspective view of the lower chassis; -
Fig. 5 a view of the lower chassis from below; -
Fig. 6 a perspective view of the upper chassis; -
Fig. 7 two illustrations for explaining the arrangement of the carriages on rails; -
Fig. 8 a representation for explaining the arrangement of the rails shelf stands of the small parts rack; -
Fig. 9 a perspective view of the lifting platform with arranged thereon lifting device; -
Fig. 10 another perspective view similarFig. 9 ; -
Fig. 11 a representation of the lifting platform with load-carrying means in a view from below; -
Fig. 12 a perspective view of a drive motor with braking device; -
Fig. 13 a bottom view of the drive motor and braking device afterFig. 12 ; -
Fig. 14 a perspective view of a deflection with arranged thereon pulley for the timing belt; -
Fig. 15 a detailed view of a section of the upper rails in the region of a compound of two rail sections; -
Fig. 16 an enlarged detail viewFig. 3B ; and -
Fig. 17 an enlarged detail viewFig. 3C ,
Das Kleinteilegerät 101 verfährt zwischen den beiden Regalstrukturen und kann einund auszulagernde Kleinteile in alle Regallagerplätze 6 einlagern und wieder entnehmen. Von einer das Kleinteileregal 100 aufnehmenden Lagerhalle ist nur ein schematisch dargestellter Hallenboden 102 ersichtlich. Das Kleinteileregal 100 besitzt eine Vielzahl von nebeneinander und übereinander angeordneter Regallagerplätze 6 die zur Aufnahme von Behältern, Tablaren oder Kartons ausgebildet sind.The
Das Kleinteilegerät 101 weist ein unteres Fahrwerk 1 und ein oberes Fahrwerk 2 auf, wie dies anhand von
Das Kleinteilegerät 101 weist eine Führungsvorrichtung 103 mit zwei zumindest weitgehend parallel zueinander mit einem Zwischenraum 104 angeordneten Führungsmasten 3 auf, wobei die Hubbühne 4 mit seinem daran angeordneten Lastaufnahmemittel 5 im Zwischenraum 104 zwischen den beiden Führungsmasten 3 angeordnet ist, wie dies anhand von
Wie es anhand von
Das obere Fahrwerk 2 kann über einen oberen umlaufenden Zahnriemen 12 horizontal verfahren werden, der von einem in die Regalstruktur integrierten zweiten oder oberen Antriebsmotor 10 angetrieben wird. Vom Antriebsmotor 10 erstreckt sich der obere Zahnriemen 12 in Richtung zu einer beabstandet zum Antriebsmotor 10 angeordneten oberen Umlenkstation 14, die ähnlich wie die untere Umlenkstation eine drehbar gelagerte Umlenkrolle 58 aufweist.The
Der untere Zahnriemen 11 und der obere Zahnriemen 12 sind dabei am unteren Fahrwerk 1 beziehungsweise oberen Fahrwerk 2 lösbar festgelegt, so dass die Antriebsmotoren 9, 10 die Fahrwerke 1 und 2 sowohl beschleunigen als auch abbremsen können.The lower
Die Antriebsmotoren 9, 10 werden über eine im Schaltschrank 19 angeordnete Steuerung oder Steuereinheit angesteuert. In dem Schaltschrank 19 befindet sich hierzu eine speicherprogrammierbare Steuerung, eine Bedienkonsole in der Form beispielsweise eines Touchpanels, ein Bremswiderstand und die Steuerung für Antriebsregler der Verfahroperationen der Antriebsmotoren 9, 10 und der Hubbewegung der Hubbühne 4. Vom Hauptschaltschrank 19 aus verläuft eine horizontale Kabelschleppkette 20 bis zum unteren Fahrwerk 1, die im Hallenboden 102 in einem Führungskanal 59 angeordnet ist. Von dort aus verläuft eine vertikale Schleifleitung 17 (
Zur Steuerung der Horizontalpositionen und Synchronisierung der Verfahrbewegungen der Fahrwerke 1 und 2 sind am Hallenboden 102 ein Wegmesssystem 42 und an der Regalstruktur im oberen Bereich des Kleinteileregals 100 ein weiteres Wegmesssystem 43 vorgesehen, die mit an den Fahrwerken 1 und 2 vorgesehenen Reflektoren 41 zur Bestimmung der Horizontalpositionen zusammenarbeiten. Die Auswertung der Daten und Ansteuerung der Antriebsmotoren 9, 10 zur Synchronbewegung der Fahrwerke 1, 2 erfolgt über die im Schaltschrank 19 integrierte speicherprogrammierbare Steuerung, so dass Schräglaufabweichungen der Führungsmasten 3 vermieden werden.To control the horizontal positions and synchronization of the movements of the
Die Führungsmasten 3, sind, wie dies näher anhand von
Die Anordnung der Führungsmaste 3 am unteren Fahrwerk 1 erfolgt über in
Die Montageplatten 107 können an dem in
Die Leitermaste oder Führungsmaste 3 werden über Horizontalstabilisatoren 112, die in Höhenrichtung der Führungsmasten 3 in regelmäßigen Abständen angeordnet sein können, miteinander verbunden, um die Steifigkeit der Führungsvorrichtung 103 quer zur Hochachsrichtung der Führungsvorrichtung 103 zu erhöhen. Die Horizontalstabilisatoren 112 werden dabei über Abstandshalter 154 und Diagonalstreben 155 abgestützt und zwar so, dass die Diagonalstreben 155 mit den Abstandshaltern 154 verschraubt werden, die ihrerseits über einen jeweiligen Montageblock 156 aus einem Kunststoffwerkstoff in der Form von beispielsweise Polyamid PA6 oder PA12G mit den vertikalen Stäben 105 verschraubt werden. Zu diesem Zweck weisen die vertikalen Stäbe eine Aufnahmenut 157 auf, in die Nutsteine eingelegt werden können welche mit Gelenkbolzen 158 verschraubt werden, so dass die Horizontalstabilisatoren 112 relativ zu den vertikalen Stäben 105 beweglich bleiben und eine Schrägstellung der Leitermaste 3 zueinander nicht zu einem Verspannen des Kleinteilegeräts 101 führt.The conductor masts or
In ähnlicher Weise sind Vertikalstabilisatoren 114 vorgesehen, die die Steifigkeit der Führungsvorrichtung 103 in Hochachsrichtung erhöhen. Die Vertikalstabilisatoren 114 werden parallel zur Hochachsrichtung der vertikalen Stäbe 105 über anhand von
Ein vertikaler Stab 105 kann, wie dies in
Wenn mit dem Kleinteilegerät 101 in einen Regallagerplatz 6 eine Ware eingelagert wird, dann wird die Ware über das in
Durch die nach der Erfindung vorgeschlagenen Maßnahmen wird bei Referenzierung auf identische Beschleunigungs- und Geschwindigkeitswerte von bekannten Kleinteilegeräten und dem erfindungsgemäßen Kleinteilegerät eine Gewichtsersparnis des Kleinteilegeräts von bis zu 60 Prozent erzielt. Damit weisen auch die Fahrantriebe und deren Regler des beim erfindungsgemäßen Kleinteilegeräts ein um bis zu 60 Prozent niedrigeres Gewicht auf. Aufgrund dessen besitzt das Kleinteileregal gegenüber bekannten Kleinteileregalen bei gleichen Betriebszeiten einen jährlichen Energieverbrauch, der um bis zu 45 Prozent niedriger ist als der jährliche Energieverbrauch der bekannten Kleinteileregale.By measures proposed according to the invention, a weight saving of the Kleinteilegeräts of up to 60 percent is achieved when referencing identical acceleration and speed values of known Kleinteilegeräten and the small parts device according to the invention. Thus, the traction drives and their controller of the invention in Kleinteilegeräts by up to 60 percent lower weight. Because of this, the Kleinteileregal has compared to known Kleinteileregalen the same operating hours an annual energy consumption, which is up to 45 percent lower than the annual energy consumption of the known small parts shelves.
An beiden Längsseiten des Fahrwerks 1 ist eine Klemmvorrichtung 27 zur lösbaren Festlegung des unteren Zahnriemens 11 vorgesehen. An einer Stirnseite des Fahrrahmens 109 befindet sich der Reflektor 41 angeordnet, der einen vom unteren Wegmesssystem 42 emittierten Laserstrahl reflektiert, wobei die im Schaltschrank 19 vorgesehene Steuerung über die Laufzeitdifferenz des Laserstrahls die Horizontalposition des Fahrwerks 1 bestimmen kann.On both longitudinal sides of the chassis 1, a
Am Fahrrahmen 109 befindet sich ein Getriebemotor 28 angeordnet, der eine anhand von
Eine in
In ähnlicher Weise zeigt die untere Darstellung der
Wenn die Stromzufuhr zum elektrischen Antrieb 126 unterbrochen wird, sei dies durch eine aktive Unterbrechung durch eine Steuerung nach dem Erkennen einer Notsituation oder durch eine allgemeine Unterbrechung der Stromzufuhr, dann kommen die Bremsbeläge 125 federbelastet selbsttätig mit der Bremsscheibe 55 in Eingriff und sorgen so dafür, dass eine Verlagerungsbewegung des unteren Fahrwerks 1 sofort unterbrochen wird. Da auch am oberen Antriebsmotor 10 ein identisches Notbremssystem 22 vorgesehen ist, kommt in einer solchen Situation auch der obere Antriebsmotor 10 sofort zum Stillstand und damit auch das obere Fahrwerk 2.When the power to the
Die Zahnriemen 11, 12 werden über nicht näher dargestellte Spannvorrichtungen an den jeweiligen die Antriebsmotoren aufnehmenden Antriebstationen unter Vorspannung gesetzt, um die elastischen Formänderungen der Zahnriemen zu verringern und die Positioniergenauigkeit der Fahrwerke 1, 2 zu erhöhen und um zu verhindern, dass die Zahnriemen durchhängen. Darüber hinaus wird durch das Vorspannen der Riemen auch sichergestellt, dass die Riemen am antriebsseitigen Zahnriemenrad 54 nicht überspringen.The
Das Vorspannen der Zahnriemen erzeugt eine Reaktionskraft, die abgestützt werden muss. Im Bereich des unteren Antriebsmotors 9 kann die Vorspannkraft gegen den Hallenboden 102 abgestützt werden, während eine solche Möglichkeit im Bereich des oberen Antriebsmotors 10 nicht vorhanden ist, da dieser zusammen mit der Umlenkrolle an der Regalstruktur angeordnet ist. Ein Abstützen der Vorspannkraft über die Regalstruktur aber würde eine Erhöhung der Festigkeit der Regalstruktur bedingen, was kostenseitig nachteilig ist.The pretensioning of the toothed belts generates a reaction force that has to be supported. In the region of the
Um dieses Problem zu beseitigen, ist es bei dem Kleinteileregal auch vorgesehen, die oberen Schienen 8 zum Abstützen der Vorspannkraft einzusetzen.
Das erfindungsgemäße Kleinteilegerät zeichnet sich durch ein verglichen mit bekannten Kleinteilergeräten deutlich verbessertes Nutzlastverhältnis aus, da das Kleinteilegerät bei vergleichbarer zu handhabende Nutzlast eine deutlich geringere Eigenmasse aufweist. Dies führt auch dazu, dass die Antriebsmotoren für die Verfahroperationen des Kleinteilegeräts zu dessen Bewegung deutlich weniger Antriebsleistung benötigen, als dies bei der bekannten Kleinteileregalen der Fall ist. Das mit dem erfindungsgemäßen Kleinteilegerät versehene Kleinteileregal benötigt daher zu seinem Betrieb weniger elektrische Energie als dies bei bekannten Kleinteileregalen der Fall ist und zeichnet sich daher durch eine hohe Energieeffizienz aus.The small parts device according to the invention is characterized by a significantly improved payload ratio compared with known small divider devices, since the small part device has a significantly lower net mass for comparable payload to be handled. This also means that the drive motors for the process operations of Kleinteilegeräts to its movement require significantly less drive power, as is the case with the known small parts shelves. The provided with the small part of the device Kleinteileregal therefore requires less electrical energy for its operation than is the case with known small parts shelves and is therefore characterized by a high energy efficiency.
Die Hubbühne des Kleinteilegeräts ist an der Führungsvorrichtung symmetrisch angeordnet, dadurch sinkt die Belastung der Führungsvorrichtung mit einem Biegemoment beim Ein- und Auslagern von Waren relativ zu den Regallagerplätzen, was dazu führt, dass die Führungsvorrichtung deutlich geringere Kräfte aufnehmen muss, als dies bei bekannten Kleinteiliggeräten der Fall ist. Dadurch kann die Führungsvorrichtung schlanker und leichter ausgebildet werden, wodurch wiederum die durch die Antriebsmotoren zu erbringende Antriebsleistung verringert werden kann.The lifting platform of the small part device is arranged symmetrically on the guide device, thereby reducing the load on the guide device with a bending moment during storage and retrieval of goods relative to the rack storage bins, which means that the guide device must absorb significantly lower forces, as this is the case with known small parts. Thereby, the guide device can be made slimmer and lighter, which in turn can be reduced by the drive motors to be provided drive power.
Die Fahrantriebe und wesentliche Steuerungskomponenten für den Betrieb des Kleinteileregals und des Kleinteilegeräts sind nicht als mitfahrende Bauteile ausgebildet, wodurch das Fahrgewicht des Kleinteilegeräts wiederum verringert werden kann. Die Fahr- und Führungsschienen sind in der Regalstruktur angeordnet vorgesehen, so dass eigenständige Gewerke für die Anordnung der Schienen im Hallenboden der das mit dem erfindungsgemäßen Kleinteilegeräts versehenen Kleinteileregals aufnehmenden Lagerhalle im Wegfall geraten.The travel drives and essential control components for the operation of the small parts rack and the Kleinteilegerats are not designed as moving parts, whereby the driving weight of Kleinteilegerats can be reduced again. The drive and guide rails are provided arranged in the rack structure, so that separate trades for the arrangement of the rails in the hall floor of the provided with the Kleinteilegeräts Kleinteileregals receiving warehouse fall into the way.
Die Ausbildung der Fahrantriebe mit umlaufenden Riemen macht es möglich, ein pufferloses Bremssystem zu realisieren, was wiederum dazu führt, dass die auf den Hallenboden und die Regalstruktur wirkenden Belastungen verringert werden können.The design of the traction drives with rotating belt makes it possible to realize a bufferless braking system, which in turn means that the forces acting on the hall floor and the rack structure loads can be reduced.
Hinsichtlich vorstehend im Einzelnen nicht näher erläuterter Merkmale der Erfindung wird im Übrigen ausdrücklich auf die Patentansprüche und die Zeichnung verwiesen.With regard to features of the invention which are not explained in greater detail above, reference is expressly made to the claims and the drawings, moreover.
- 11
- unteres Fahrwerklower chassis
- 22
- oberes Fahrwerkupper chassis
- 33
- Führungsmast, LeitermastGuide pole, ladder pole
- 44
- Hubbühnelifting platform
- 55
- LastaufnahmemittelLoad handling devices
- 66
- RegallagerplatzBay warehouse space
- 77
- Schienerail
- 88th
- Schienerail
- 99
- Antriebsmotordrive motor
- 1010
- Antriebsmotordrive motor
- 1111
- Zahnriementoothed belt
- 1212
- Zahnriementoothed belt
- 1313
- Umlenkstationreturn station
- 1414
- Umlenkstationreturn station
- 1515
- Festlagerfixed bearing
- 1616
- Loslagermovable bearing
- 1717
- Schleifleitungcontact line
- 1818
- Stromabnehmerpantograph
- 1919
- Schaltschrankswitch cabinet
- 2020
- KabelschleppketteCable drag chain
- 2121
- Sendertransmitter
- 2222
- Notbremssystememergency braking system
- 2323
- ProfillängsträgerProfile longitudinal members
- 2424
- ProfillängsträgerProfile longitudinal members
- 2525
- LaufradWheel
- 2626
- Führungsrolleleadership
- 2727
- Klemmvorrichtungclamping device
- 2828
- Getriebemotorgearmotor
- 2929
- Abtriebswelleoutput shaft
- 3030
- Zahnriemenradtoothed belt
- 3131
- Lagerungstorage
- 3232
- Zahnriementoothed belt
- 3333
- Zahnriementoothed belt
- 3434
- Seiltrommelcable drum
- 3535
- Zahnriemenradtoothed belt
- 3636
- Lagerungstorage
- 3737
- Hubseilhoist rope
- 3838
- Umlenkrolleidler pulley
- 3939
- Wegmesssystemdisplacement measuring system
- 4040
- Reflektorreflector
- 4141
- Reflektorreflector
- 4242
- Wegmesssystemdisplacement measuring system
- 4343
- Wegmesssystemdisplacement measuring system
- 4444
- Schaltschrankswitch cabinet
- 4545
- Führungsrahmenguide frame
- 4646
- Führungsrolleleadership
- 4747
- Führungsrolleleadership
- 4848
- Schaltschrankswitch cabinet
- 4949
- Antriebsmotordrive motor
- 5050
- LastmessbolzenLoad Pins
- 5151
- Rahmenframe
- 5252
- Antriebswelledrive shaft
- 5353
- Lagerungstorage
- 5454
- ZahnriemenscheibeTiming pulley
- 5555
- Bremsscheibebrake disc
- 5656
- Getriebetransmission
- 5757
- Rahmenframe
- 5858
- Umlenkrolleidler pulley
- 5959
- Führungskanalguide channel
- 6060
- Wartungsplattformmaintenance platform
- 6161
- Stützrollesupporting role
- 6262
- Aufnahmeadmission
- 6363
- Gelenkbolzenhinge pins
- 100100
- KleinteileregalSmall parts shelving
- 101101
- KleinteilegerätSmall parts unit
- 102102
- Hallenbodenshop floor
- 103103
- Führungsvorrichtungguiding device
- 104104
- Zwischenraumgap
- 105105
- vertikaler Stabvertical bar
- 106106
- Strebestrut
- 107107
- Montageplattemounting plate
- 108108
- Gelenkbolzenhinge pins
- 109109
- Fahrrahmentrial frame
- 110110
- Doppelpfeildouble arrow
- 110A110A
- Platteplate
- 111111
- LanglochLong hole
- 112112
- HorizontalstabilisatorHorizontal stabilizer
- 114114
- Vertikalstabilisatorvertical stabilizer
- 115115
- ProfillängsträgernProfile stringers
- 116116
- horizontaler Schenkelhorizontal thigh
- 117117
- vertikaler Schenkelvertical thigh
- 118118
- RegalsteherRegal stayer
- 119119
- SupportwinkelSupport angle
- 120120
- vertikaler Schenkelvertical thigh
- 121121
- horizontaler Schenkelhorizontal thigh
- 122122
- vertikaler Schenkelvertical thigh
- 123123
- UnterlegblechShim
- 124124
- Tragrahmensupporting frame
- 125125
- Bremsbelagbrake lining
- 126126
- elektrischer Antriebelectric drive
- 127127
- Schienenabschnittrail section
- 128128
- Verbindungsplatteconnecting plate
- 129129
- Behältercontainer
- 130130
- Schraubenverbindungscrew connection
- 150150
- Lascheflap
- 151151
- Aufnahmeadmission
- 152152
- KunststoffauflagePlastic finish
- 153153
- FallschutzseilFall Protection Rope
- 154154
- Abstandshalterspacer
- 155155
- Diagonalstrebediagonal strut
- 156156
- Montageblockmounting block
- 157157
- Aufnahmenutreceiving groove
- 158158
- Gelenkbolzenhinge pins
- 159159
- Abstandshalterspacer
- 160160
- FührungsmastabschnittGuide mast section
- 161161
- Verbinderabschnitt, VerbinderplatteConnector portion, connector plate
- 162162
- Stirnflächeface
- 163163
- Schraubbolzenbolts
- 164164
- Nutgroove
- 165165
- Stoßplattecleat
- 166166
- Nutgroove
- 167167
- Trägercarrier
- 168168
- Trägercarrier
Claims (18)
- A small components device (101) with a lifting platform (4) vertically displaceable on a guide system (3) and, arranged on the lifting platform (4), horizontally displaceable load bearing means (5), and arranged at each of an upper and lower end section of the guide system (3) a running gear (1, 2) for the horizontal displacement movement of the small components device (101), wherein the guide system (103) has at least two guide masts (3) arranged at least largely in parallel with each other with an intermediate space (104) and the lifting platform (4) being arranged in the intermediate space (104), characterised in that on the lower running gear (1) the guide masts (3) are borne rotatably in a fixed bearing (15) and on the upper running gear (2) are borne in a floating bearing (16).
- The small components device (101) according to claim 1, characterised in that relative to the guide masts (3) the lifting platform (4) is arranged in such a way that a bending stress caused by the normal force of the horizontally displaced load bearing means (5) is largely evenly distributed to the guide masts (3).
- The small components device (101) according to any one of the preceding claims, characterised in that the running gears (1, 2) have a rectangular travelling frame (109) with running wheels (25) arranged in the area of the longitudinally directed ends and on at least one longitudinal side in the area of the longitudinally directed ends a pair of guide rollers (26, 26) is provided.
- The small components device (101) according to any one of the preceding claims, characterised in that a running gear (1) is provided with an electricallyoperated gear motor (28) which is non-positively connected to two lifting cables (37) connected to the lifting platform (4) for operating the lifting of the lifting platform (4).
- The small components device (101) according to any one of the preceding claims, characterised in that on the lower running gear (1) an optical distance measuring system (39) is provided which cooperates with a reflector (40) arranged on the lifting platform (4) for vertical position determination of the lifting platform (4).
- The small components device (101) according to any one of the preceding claims, characterised by an optical distance measuring system (42, 43) assigned to each running gear (1, 2) for the horizontal position determination of the two running gears (1, 21), provided on each of which is a reflector (41) cooperating with the relevant distance measuring system (42, 43).
- The small components device (101) according to any one of the preceding claims, characterised in that the lifting platform (4) has a rectangular bearing frame (124) which is provided with rollers (47) for contacting guide surfaces on the guide masts (3) for guiding the lifting platform (4) in a first horizontal direction and the lifting platform (4) has a guide frame (45) connected to the bearing frame (124) which is provided with rollers (46) for contacting guide surfaces on the guide masts (3) for guiding the lifting platform (4) in a second horizontal direction which is orthogonal to the first horizontal direction.
- The small components device (101) according to any one of the preceding claims, characterised by a control (19) which synchronises the position of the two running gears (1, 2) relative to each other in the direction of displacement.
- The small components device (101) according to any one of the preceding claims, characterised in that a first drive motor (9) is assigned to the lower running gear (1) and connected to the lower running gear (1) by way of a circulating toothed belt (11) for force transmission, and assigned to the first drive motor (9) is a first deflection roller (58) arranged a distance and the lower running gear (1) is arranged between the first drive motor (9) and the first deflecting roller (58) and a second drive motor (10) is assigned to the upper running gear (2) and connected to the upper running gear (2) by means of a circulating toothed bel (12) for force transmission and assigned to the second drive motor (10) is a second defecting roller (58) arranged at a distance and the upper running gear (2) is arranged between the second drive motor (10) and the second deflecting roller (58) and both drive motors (9, 10) and both deflecting rollers (58) are provided at a distance and stationary relative to the displaceable running gears (1, 2).
- The small components device (101) according to any one of the preceding claims, characterised in that arranged on the lifting platform (4) is a control device (48) for controlling the operation of the load bearing means (5) and the lifting platform (4) can be supplied with electrical energy by way of a conductor line (17) arranged vertically on a guide mast (3) and an optical data transmission line (21) is provided between the lower running gear (1) and the lifting platform (4).
- The small components device (101) according to any one of the preceding claims, characterised in that the lower running gear (1) can be supplied with electrical energy by means of an energy supply line guided by an cable carrier (58).
- The small components device (101) according to any one of claims 8 to 11, characterised in that the control (19) for the running gears (1, 2) and a control (19) for operating the lifting platform (4) are stationary and arranged at a distance from the running gears (1, 2) and the lifting platform (4).
- The small components device (101) according to any one of the preceding claims, characterised in that each guide mast (3) has two elongated rods (105) arranged largely in parallel to each other, between which there are parallel struts (106) extending perpendicularly to the vertical direction of the rods (105) or arranged at an angle to each other.
- The small components device (101) according to any one of the preceding claims, characterised in that a guide mast (3) has at least three modular guide mast sections (160) which can be longitudinally connected by means of connector sections (161) that can brought into engagement with the guide mast sections (16).
- The small component device (101) according to any one of the preceding claims, characterised in that the guide masts (3) are rotatably supported on the lower running gear (1) by means of joint bolts (108) each arranged in receptacles (161) made of a plastic material.
- The small components device (101) according to any one of the preceding claims, characterised in that the guide masts (3) are displaceably supported on the upper running gear (2) by means of joint bolts (63) each arranged in a receptacle (62) provided with an elongated hole (111).
- The small components device (101) according to any one of the preceding claims, characterised by horizontal stabilisers (112) which are arranged at a distance from each other perpendicularly to the vertical axis direction of the guide masts (3) and which detachably connect the guide masts (3) arranged with a space between them and each have a carrier (167) spanning the intermediate space attached on the relevant guide mast (3) by means of at least one spacer (154).
- The small component device (101) according to any one of the above claims, characterised by vertical stabilisers (114) arranged in the vertical axis direction of the guide masts (3) at a distance to vertical rods of the guide masts (3), which each have an elongated carrier (168) which is attached by means of spacer on the vertical rod.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SI201430132A SI2883831T1 (en) | 2013-12-10 | 2014-12-03 | Small access device |
PL14196033T PL2883831T3 (en) | 2013-12-10 | 2014-12-03 | Small access device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013113798.9A DE102013113798A1 (en) | 2013-12-10 | 2013-12-10 | Small parts unit |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2883831A1 EP2883831A1 (en) | 2015-06-17 |
EP2883831B1 true EP2883831B1 (en) | 2016-10-19 |
Family
ID=52020988
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14196033.6A Active EP2883831B1 (en) | 2013-12-10 | 2014-12-03 | Small access device |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP2883831B1 (en) |
DE (1) | DE102013113798A1 (en) |
DK (1) | DK2883831T3 (en) |
ES (1) | ES2611188T3 (en) |
PL (1) | PL2883831T3 (en) |
PT (1) | PT2883831T (en) |
SI (1) | SI2883831T1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106219125B (en) * | 2016-08-25 | 2018-06-22 | 宁波朝平智能科技有限公司 | Full-automatic compact shelving repository |
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 |
AT519139B1 (en) * | 2016-10-10 | 2018-09-15 | Tgw Mechanics Gmbh | Storage and retrieval unit and shelf storage system with improved accessibility and weight distribution |
CN109607014B (en) * | 2018-12-27 | 2024-03-15 | 湖北科德智能装备有限公司 | Wheel adjusting device and four-way carrier thereof |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3485390A (en) * | 1967-09-25 | 1969-12-23 | Triax Co | Storage system with a transfer mechanism for an article handling vehicle |
DE2035455A1 (en) * | 1969-07-22 | 1971-02-04 | ||
DE4202668C2 (en) | 1992-01-28 | 1994-02-24 | Mannesmann Ag | Storage and retrieval machine |
DE69305712T2 (en) * | 1992-09-10 | 1997-03-20 | Daifuku Kk | Drive in a storage and retrieval machine |
DE19534291C2 (en) | 1995-09-15 | 2002-02-21 | Mannesmann Ag | Shelf system with a storage and retrieval unit guided on rails |
DE19614660A1 (en) | 1996-04-13 | 1997-10-16 | Mannesmann Ag | Shelf rack servicing apparatus |
AT500378B1 (en) * | 2001-06-13 | 2006-12-15 | Tgw Transportgeraete Gmbh | STACKER UNIT |
DE202004002337U1 (en) | 2004-02-16 | 2004-05-19 | Knapp Logistik Automation Ges.M.B.H. | Automated warehouse order-picking rail-mounted fork lift trolley has base pivot for rear shift in centre of gravity during motion and braking |
JP4577568B2 (en) * | 2005-09-09 | 2010-11-10 | 株式会社ダイフク | Article conveying device in article storage facility |
WO2012002431A1 (en) * | 2010-07-01 | 2012-01-05 | 北陽電機株式会社 | Optical data transmission device, optical communication device, and automatic conveyance device |
ES2364685B1 (en) * | 2011-04-15 | 2012-05-22 | Mecalux, S.A. | ELEVATION AND CROSSBODY CRADLE FOR CARGO TRANSPORTATION. |
-
2013
- 2013-12-10 DE DE102013113798.9A patent/DE102013113798A1/en not_active Withdrawn
-
2014
- 2014-12-03 PT PT141960336T patent/PT2883831T/en unknown
- 2014-12-03 ES ES14196033.6T patent/ES2611188T3/en active Active
- 2014-12-03 PL PL14196033T patent/PL2883831T3/en unknown
- 2014-12-03 EP EP14196033.6A patent/EP2883831B1/en active Active
- 2014-12-03 SI SI201430132A patent/SI2883831T1/en unknown
- 2014-12-03 DK DK14196033.6T patent/DK2883831T3/en active
Also Published As
Publication number | Publication date |
---|---|
EP2883831A1 (en) | 2015-06-17 |
SI2883831T1 (en) | 2017-03-31 |
ES2611188T3 (en) | 2017-05-05 |
DK2883831T3 (en) | 2017-01-16 |
DE102013113798A1 (en) | 2015-06-11 |
PT2883831T (en) | 2016-12-27 |
PL2883831T3 (en) | 2017-05-31 |
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