EP3088347A1 - Appareil de commande de rayonnage - Google Patents

Appareil de commande de rayonnage Download PDF

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Publication number
EP3088347A1
EP3088347A1 EP16165272.2A EP16165272A EP3088347A1 EP 3088347 A1 EP3088347 A1 EP 3088347A1 EP 16165272 A EP16165272 A EP 16165272A EP 3088347 A1 EP3088347 A1 EP 3088347A1
Authority
EP
European Patent Office
Prior art keywords
mast
supports
storage
chassis
retrieval unit
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.)
Granted
Application number
EP16165272.2A
Other languages
German (de)
English (en)
Other versions
EP3088347B1 (fr
Inventor
Herbert Aschauer
Ronald Fessl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Swisslog Evomatic GmbH
Original Assignee
Swisslog Evomatic GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from AT13932008A external-priority patent/AT507335B1/de
Priority claimed from AT0055308U external-priority patent/AT11688U1/de
Application filed by Swisslog Evomatic GmbH filed Critical Swisslog Evomatic GmbH
Publication of EP3088347A1 publication Critical patent/EP3088347A1/fr
Application granted granted Critical
Publication of EP3088347B1 publication Critical patent/EP3088347B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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"
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains

Definitions

  • the invention relates to a storage and retrieval unit with a mast, at least one chassis for holding the mast, at least one rail on which the at least one chassis is movable back and forth, and at least one on the mast vertically displaceable pallet truck.
  • Stacker cranes are for example in the publications DE 196 31 511 A1 and EP 1 061 035 A2 described.
  • a mast of a stacker crane is described in lightweight construction, which is tapered upwards.
  • the described mast is further designed so that the mast interior can be used for internals.
  • EP 1 061 035 A2 describes a mast of a stacker crane, which consists of a solid profile and an upstream truss bearer.
  • the lifting drive element which runs e.g. is formed in the form of a toothed belt, on one side of the mast, which is exposed by the resulting bias of a permanent bending load, which leads to a disadvantage in terms of device static and positioning accuracy.
  • the object of the invention is therefore to provide a stacker crane with the lightest possible and yet stable mast, so as to keep the main dynamic loads that are caused by the acceleration and deceleration of the stacker crane on the elements of the stacker crane as low as possible. It is to be ensured that the occurring vertical and horizontal forces in the mast are derived in an efficient manner in the chassis.
  • Another object of the invention is to provide a storage and retrieval unit, which minimizes the Mastverbiegonne under load by lifting movements.
  • the height of the mast should not be limited by predetermined component dimensions, but a modular design make it possible to achieve different mast heights as needed, with heights of over twenty meters without adverse consequences for the mobility of the stacker crane should be achievable.
  • the mast is formed from at least two supports, which are spaced apart in the direction of movement of the at least one chassis and interconnected by at least one crossbar to a mast profile, wherein the connection of the at least one crossbar to the supports is designed rigid ,
  • the formation of the mast by two or more supports creates a for the operation of the Storage and retrieval unit advantageous weight reduction.
  • the supports are assembled via one or more crossbars to a mast profile, which receives dynamic loads both longitudinally and transversely through the preferably two supports, which only happens through the rigid connection of the crossbeam in the direction of travel, which also acting on a support Transverse forces are partially taken over by the second support. Due to the much lower loads transverse to the direction of travel, the width of the mast can therefore be reduced. This makes it possible to choose a profile shape of the supports in the mast so that they correspond substantially to the width of the mast.
  • Another advantage is the easily realizable modular composability of the columns to very tall masts.
  • a preferred embodiment of the stacker crane can thus be that the at least one crossbar is connected via rigidly arranged nodes at its ends to the supports of the mast, so that a static and / or dynamic force which acts on one of the at least two supports, at least one Share is taken by another of the supports.
  • the passing of occurring loads of a profile or a support of the mast to another support causes an approximately uniform distribution of the loads between the supports and thus creates a relief of the support, along which the pallet truck is guided.
  • the supports can thus be designed as significantly less loaded elements, that is a lighter material with lower strength such as aluminum and / or with a smaller cross-section.
  • the connection of the crossbar is made by a specially trained gusset plate, which in reference to the desired Force transmission, but also in terms of static and dynamic properties of the mast is designed.
  • the mast is preferably made of individual modules which are connected by screw connections.
  • the butt joint of the individual profiles is designed as a screw connection and is preferably provided in the respective region of the gusset plate for the transverse bar.
  • the mast is preferably attached to the carriage of the chassis by a screw connection, which is designed by a specially trained mast base on the respective columns of the mast.
  • connection forms which are known to the person skilled in the art are not excluded for connection of the mast to the carriage or for connecting the individual modules of the mast.
  • a possible embodiment of the stacker crane may be that along at least one of the columns of the mast forming profiles of the truck is performed.
  • a possible embodiment of the storage and retrieval unit may consist in that the at least one chassis comprises a traction drive system which is arranged within the mast profile between the two outer supports. In this way, a relative to the rail in the longitudinal direction of the central guide of the traction drive belt and thus a rail-near and centric train is possible. At the same time there is a favorable weight load in the middle between the mast supports.
  • the at least one chassis comprises a lifting drive system which is arranged within the mast profile between the two outer supports and optionally that the traction drive system and / or the Hubantriebssystem is arranged centrally in the direction of movement of the chassis.
  • This arrangement has an advantageous effect on the thereby achievable central course of the Hubantriebselements.
  • the drive motor of the Hubfahrwerkes which is guided vertically along the mast, is advantageously arranged on the lower, horizontal chassis of the mast within the columns of the mast, since thereby the horizontal chassis of the mast can be made shorter. By the latter, the work area of the stacker crane is increased.
  • Another embodiment of the storage and retrieval device according to the invention may consist in that the lifting carriage, which is movable by means of a lifting drive element, is guided along one of the two supports and that the lifting drive element is guided around a support.
  • the profile forming the support can thus be dimensioned smaller, that is, made of a lighter but a material with lower strength and / or with a smaller cross-section.
  • the invention may be provided at the base and at the head of a support deflections for the Hubantriebselement, wherein the Hubantriebselement is passed at the base by a through hole of the support and wherein the Hubantriebselement is guided on both sides of a support of the mast.
  • the one support of the mast enclosing Hubantriebselement is biased, whereby the mast is symmetrically biased by a compressive stress.
  • a bias of a mast support of the stacker crane according to the invention can be carried out in that at least one of the columns of the mast forming profiles is biased by the leadership of the drive belt.
  • This bias thus causes that support along which the lift truck is guided, undergoes no bending stress, since the tensile stresses of the bias of the support is superimposed.
  • the support can be loaded higher due to this bias or be dimensioned weaker in the form of a cross-sectional reduction or by the choice of a light, but material with lower strength.
  • the Hubantriebselement can be formed for example by a drive belt or a drive belt.
  • a permanent connection of the mast supports with the chassis can be that the supports are screwed at their feet on the chassis.
  • the supports of the mast are each composed of a plurality of support elements, which are grooved together at their ends, the supports are preferably formed by profiles, in particular light metal profiles.
  • a preferred embodiment of the stacker crane may be that the rail of the guided on the mast Hubfahrtechnikes is attached to at least one of the columns of the mast forming profiles.
  • the rails of the landing gear guided on the mast are attached to the supports so that an off-center loading of the support is largely avoided.
  • the arrangement of the support is related to the optimization of the cross-sectional shape of the profile forming the support.
  • the means of attachment of the vertical rail should be chosen so that an adjustability of the rail is easily possible at any time.
  • the profile forming the support of the mast also serves as a rail.
  • FIG. 1 and FIG. 3 show a stacker crane with a mast 10 and two with guide elements 2, 2 'equipped chassis 1.1' to support the mast 10.
  • the chassis 1.1 ' are together with the mast 10 on horizontal rails 4, 4' back and forth ,
  • a lift truck 1 "including lifting guide elements 2" is provided, which is vertically displaceable on a lifting rail 4 "by a Hubantriebselement 3.
  • the mast 10 is formed from two supports 11, 11 ', which are spaced apart in the direction of movement of the chassis 1, 1' and interconnected by a plurality of transverse bars 12 to form a mast profile, the connection of the transverse bars 12 to the supports 11, 11 '. rigid.
  • the supports 11, 11 ' are formed for example of profiles and bolted to their feet on the chassis 1. It can also have more than two supports in this way be provided to form the mast profile.
  • the crossbars 12 are rigidly connected to the supports 11, 11 'of the mast 10 via specially designed nodes 13, so that at least a portion of a horizontal force, which results in the main from an acceleration - or deceleration of the stacker crane, or a vertical force, usually a dead load of the stacker crane or the goods to be transported, is derived from a support 11 to the second support 11 '.
  • the mast 10 is connected to the two chassis 1.1 ', wherein a chassis 1 at the head of the mast 10 and a chassis 1' at the foot of the mast 10 is arranged. Due to the lightweight and compact design of the control operating device according to the invention preferably only the lower chassis 1 is driven horizontally by an unspecified drive element.
  • the truck 1 is guided along the support 11 of the mast 10, wherein a dedicated rail 4" is attached to the support 11.
  • the lift truck 1 By guided on both sides of the support 11 Hubantriebselement 3, e.g. a cog belt, the lift truck 1 "is moved and the support 11 is biased, and the risk of buckling of the support 11 due to a bending load caused by the eccentric arrangement of the lift truck is minimized.
  • Hubantriebselement 3 e.g. a cog belt
  • the Hubantriebselement 3 encloses the support 11 and is spaced on both sides of the inertial center axis of the support 11 so that the moments which are caused by the forces acting in the main in the Hubantriebselement 3 tensile forces, almost cancel.
  • a traction drive system which comprises a drive motor 5 and which is arranged within the mast profile between the two outer supports 11, 11 '.
  • chassis 1 comprises a lifting drive system, which is also arranged within the mast profile between the two outer supports 11, 11 '.
  • the drive motor 5 for driving the horizontal drive element is arranged on the carriage of the chassis 1 in the interior of the mast 10.
  • FIG. 2A the structure of the mast 10 is shown.
  • the supports 11, 11 'of the mast 10 designed as profiles are arranged at a distance from one another by the transverse beams 12, two of which are arranged in parallel at the same height.
  • the nodes 13 for rigid connection between the crossbar 12 and the respective support 11, 11 ' are formed by gusset plates.
  • the profiles of the supports 11, 11 ' are preferably formed as extruded aluminum hollow sections, but can also as in Fig.2 shown executed from corresponding full profiles.
  • FIG 4 shows a compound in a broken mast 10, in which the mast supports 11, 11 'composed of several elements and over parallel lying transverse bars or cross struts 12 are connected.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP16165272.2A 2008-09-08 2009-09-08 Appareil de commande de rayonnage Active EP3088347B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
AT13932008A AT507335B1 (de) 2008-09-08 2008-09-08 Regalbediengerät
AT0055308U AT11688U1 (de) 2008-10-02 2008-10-02 Regalbediengerät
EP09450162A EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP09450162A Division EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât

Publications (2)

Publication Number Publication Date
EP3088347A1 true EP3088347A1 (fr) 2016-11-02
EP3088347B1 EP3088347B1 (fr) 2021-08-04

Family

ID=41426166

Family Applications (2)

Application Number Title Priority Date Filing Date
EP09450162A Ceased EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât
EP16165272.2A Active EP3088347B1 (fr) 2008-09-08 2009-09-08 Appareil de commande de rayonnage

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP09450162A Ceased EP2161237A3 (fr) 2008-09-08 2009-09-08 Transstockeur doté d'un mât

Country Status (2)

Country Link
US (1) US8397645B2 (fr)
EP (2) EP2161237A3 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020202438A1 (de) 2020-02-26 2021-08-26 Mias Maschinenbau, Industrieanlagen & Service Gmbh Mastanordnung für ein regalbediengerät
DE102021206764A1 (de) 2021-06-29 2022-12-29 Gebhardt Fördertechnik GmbH Regalbediengerät
WO2023133603A1 (fr) 2022-01-15 2023-07-20 Perstling Manuel Mât pour une grue empileuse

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8397645B2 (en) * 2008-09-08 2013-03-19 Swisslog Evomatic Gmbh Storage and retrieval machine
US8397644B2 (en) * 2008-09-08 2013-03-19 Swisslog Evomatic Gmbh Storage and retrieval machine
DE102008059711A1 (de) * 2008-11-29 2010-06-10 Eisenmann Anlagenbau Gmbh & Co. Kg Vorrichtung zum Umsetzen von Gegenständen sowie Förderanlagen mit einer solchen Vorrichtung
WO2010065772A1 (fr) * 2008-12-03 2010-06-10 Translogic Corporation Système de stockage et de récupération automatique de température double
DE102012000197A1 (de) * 2012-01-09 2013-07-11 Gebhardt Fördertechnik GmbH Regalbediengerät zum Ein- und/oder Auslagern von Gütern
CN102963840B (zh) * 2012-11-20 2015-03-11 无锡海古德新技术有限公司 自动叉送机
US9409709B2 (en) 2013-03-13 2016-08-09 Symbotic, LLC Automated storage and retrieval system structure
JP6256420B2 (ja) * 2015-06-30 2018-01-10 村田機械株式会社 スタッカクレーン

Citations (7)

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Publication number Priority date Publication date Assignee Title
GB1187260A (en) * 1967-12-27 1970-04-08 Wallace James Parker An Improved Apparatus for Elevating Barrels and also for use in Lowering the Elevated Barrels to Ground Level or on to Lorries
DE2154709A1 (de) * 1971-11-04 1973-05-10 Mehne Fa Erwin Regalfoerderzeug
DE2606074A1 (de) 1976-02-16 1977-08-18 Zschokke Ag Conrad Metallmast fuer regalfahrzeuge
DE3930596A1 (de) * 1989-09-13 1991-03-14 Konrad Bartscher Regalfoerderzeug fuer langgut od. dgl.
DE19631511A1 (de) 1995-09-04 1997-04-03 Wuestenberg Dieter Prof Dr Ing Hubmast in Leichtbauweise für ein Regalbediengerät
EP1061035A2 (fr) 1999-06-10 2000-12-20 Murata Kikai Kabushiki Kaisha Grue gerbeuse
JP2002265012A (ja) * 2001-03-12 2002-09-18 Murata Mach Ltd スタッカークレーン

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US3424322A (en) * 1965-12-15 1969-01-28 Triax Co Automatic warehousing system and method
US3661280A (en) * 1969-08-27 1972-05-09 Triax Co Automatic storage and semi-automated order picking system
CA2096703A1 (fr) * 1993-04-02 1994-10-03 Kurt M. Lloyd Transtockeur automatique
US5423652A (en) * 1994-06-28 1995-06-13 Thiede; Roger C. Grave marker lifting and setting device
DE19534291C2 (de) * 1995-09-15 2002-02-21 Mannesmann Ag Regalanlage mit an Schienen geführtem Regalbediengerät
AT500378B1 (de) * 2001-06-13 2006-12-15 Tgw Transportgeraete Gmbh Regalbediengerät
AU2003284237A1 (en) * 2002-10-16 2004-05-04 Transport Systems, Inc. Monorail sortation system
JP4556113B2 (ja) * 2004-09-09 2010-10-06 株式会社ダイフク スタッカークレーン
JP4666213B2 (ja) * 2005-07-05 2011-04-06 株式会社ダイフク 物品収納設備
ITBO20070154A1 (it) * 2007-03-08 2008-09-09 Smv S R L Sistema per la movimentazione e la stabilizzazione di una base mobile
US8397644B2 (en) * 2008-09-08 2013-03-19 Swisslog Evomatic Gmbh Storage and retrieval machine
US8397645B2 (en) * 2008-09-08 2013-03-19 Swisslog Evomatic Gmbh Storage and retrieval machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1187260A (en) * 1967-12-27 1970-04-08 Wallace James Parker An Improved Apparatus for Elevating Barrels and also for use in Lowering the Elevated Barrels to Ground Level or on to Lorries
DE2154709A1 (de) * 1971-11-04 1973-05-10 Mehne Fa Erwin Regalfoerderzeug
DE2606074A1 (de) 1976-02-16 1977-08-18 Zschokke Ag Conrad Metallmast fuer regalfahrzeuge
DE3930596A1 (de) * 1989-09-13 1991-03-14 Konrad Bartscher Regalfoerderzeug fuer langgut od. dgl.
DE19631511A1 (de) 1995-09-04 1997-04-03 Wuestenberg Dieter Prof Dr Ing Hubmast in Leichtbauweise für ein Regalbediengerät
EP1061035A2 (fr) 1999-06-10 2000-12-20 Murata Kikai Kabushiki Kaisha Grue gerbeuse
JP2002265012A (ja) * 2001-03-12 2002-09-18 Murata Mach Ltd スタッカークレーン

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"HRL (Hochregallager) für 9.120 Paletten", Retrieved from the Internet <URL:http://www.marktplatz-intralogistik.de/marktplatz/marktplatz_anzeige,118,HRL-hochregallager-fuer-9-120-paletten.htm>
ROSEMARIE HELMERICH: "Alte Stahle und Stahlkonstruktionen - Materialuntersuchen, Ermudungsversuche an originalen Bruckentragern und messungen von 1990 bis 2003", FORSCHUNGSBERICHT 271, 2005, pages 1 - 86, XP055809229

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020202438A1 (de) 2020-02-26 2021-08-26 Mias Maschinenbau, Industrieanlagen & Service Gmbh Mastanordnung für ein regalbediengerät
DE102021206764A1 (de) 2021-06-29 2022-12-29 Gebhardt Fördertechnik GmbH Regalbediengerät
WO2023133603A1 (fr) 2022-01-15 2023-07-20 Perstling Manuel Mât pour une grue empileuse

Also Published As

Publication number Publication date
US20100068022A1 (en) 2010-03-18
EP2161237A3 (fr) 2012-06-27
US8397645B2 (en) 2013-03-19
EP2161237A2 (fr) 2010-03-10
EP3088347B1 (fr) 2021-08-04

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