Storage and retrieval machine

Abstract

Storage and retrieval machine (10) for storing / retrieving goods into / from a storage facility, comprising a carriage (14) movable on at least one guide rail (18), a mast assembly (12) arranged on or at the carriage (14), and a lifting device (22) vertically movable on the mast assembly (12), wherein the mast assembly (12) is formed from vertical chords (26) spaced apart in the direction of travel (x) of the carriage (14), characterized in that the chords (26) are connected to each other by a number of shear elements (28) forming a truss structure, wherein a frame (54) is arranged between the chords (26), through which a space within the mast is created for receiving drive components, electrotechnical units and / or control units.

Description

[0001] The invention relates to a storage and retrieval machine for storing / removing goods in / from a storage facility, with a subframe movable on at least one travel rail, a mast arrangement arranged on or at the subframe and a lifting device vertically movable on the mast arrangement, wherein the mast arrangement is formed from vertical belts spaced apart in the direction of travel of the subframe.

[0002] Storage and retrieval machines of the type in question have been used for years in automated warehouse facilities to reliably ensure the rapid storage and retrieval of goods. A lightweight yet rigid mast design is particularly important for smooth operation. This minimizes vibrations in the mast assembly in the direction of travel and allows for short settling times after the moving storage and retrieval machine has stopped. Vibrations place strain on the supporting structure and attachments such as wheels, bearings, and drive belts. Furthermore, they delay and impede targeted operation of the load handling device (LAM) on the lifting equipment in the very tightly toleranced racks. This means that before operating the LAM, it is necessary to wait time-consumingly for the mast assembly to settle.These problems become increasingly important with increasing mast length (today mast arrangements with a mast height of over 20 m are already being realized).

[0003] EP 3 088 347 A1 already discloses a storage and retrieval machine in which the mast assembly consists of two vertical supports spaced apart in the direction of travel of the subframe, which are connected to a mast profile by a number of crossbeams. The connection of the crossbeams to the supports is designed to be rigid, with the rigid connection being formed by gusset plates. Because the cross braces engage the two supports at right angles, high forces arise in the area where the cross braces connect to the supports during practical operation of the storage and retrieval machine. Furthermore, the resulting thrust is not optimally transmitted by the cross braces.

[0004] DE 26 06 074 A1 discloses a mast assembly for a storage and retrieval machine consisting of two spaced-apart complete chords, each with a box-like profile. The inner box wall is open in a central section, with a solid-walled connecting web running the entire length of the mast and rigidly connected to the two side chords in the openings. A disadvantage of this design is that the connecting web requires complex shaping to achieve the necessary rigidity. Specifically, the connecting web is composed of a multitude of sections, for example, with a V-shaped, wave-shaped, or cylindrical profile. Individual sheets are thus spatially deformed to prevent stability failure.

[0005] A storage and retrieval machine of this type is also already known from DE 10 2012 000 197 A1 by the applicant, in which the mast device is designed as a frame or lattice profile bar. Specifically, the mast device is formed by prefabricated bar profiles made of fiber composite material, each of which is connected to one another by gusset plates. The joining technology between the sheets and the composite parts is preferably adhesive, which makes the mast device very complex to manufacture and therefore proves disadvantageous, especially for small batches in custom production.

[0006] From US 2017 / 0 001 800 A1, a storage and retrieval machine designed as a two-mast SRB for storing and retrieving goods in / from a storage facility is known, comprising a chassis that can be moved on at least one travel rail, a mast arrangement arranged on or on the chassis with two masts and a lifting device that can be moved vertically on the mast arrangement, wherein the lifting device is guided between the two masts.

[0007] DE 10 2006 016 984 A1 discloses a fixed, i.e., non-mobile, support for a lifting device. A lifting carriage with forks for picking up pallets can be moved vertically up and down on the support. The support has a hollow cross-section formed by a U-profile and a cover plate connected to the legs of the U-profile.

[0008] DE 10 2009 051 846 A1 discloses a mast for a storage and retrieval machine. The mast comprises a support strut with at least one guide rail for the storage and retrieval machine and a reinforcement structure connected to the support strut. The reinforcement structure is formed from tubular profiles and has a U-shaped cross-section.

[0009] DE 10 2004 026 507 A1 discloses a lifting device with a guide frame and a load-bearing device. The guide frame has two vertically parallel guide rails, each consisting of at least two profiles that can be connected to one another without any vertical gaps and have guide surfaces for the load-bearing device. The load-bearing device is arranged between the guide rails. The guide rails are connected to one another via cross members.

[0010] Finally, storage and retrieval machines are also known in which vibrations are suppressed by means of an additional drive at the mast tip (see, for example, EP 1 061 035 A2). However, this additional drive is very complex and also problematic during maintenance. Furthermore, this solution is disadvantageous in that the additional drive introduces dynamic horizontal forces into the rack, whereas a conventional rack is designed for vertical static forces.

[0011] The present invention is based on the object of designing and developing a storage and retrieval machine of the type mentioned at the outset in such a way that at least some of the disadvantages indicated above are avoided or mitigated and, overall, a mast arrangement with improved vibration behavior is realized.

[0012] According to the invention, the above object is achieved by the features of claim 1. The storage and retrieval machine in question is characterized in that the belts are connected to one another by a number of thrust elements forming a lattice structure, wherein a frame is arranged between the belts, by means of which a free space is created within the mast for accommodating drive components, electrical units and / or control units.

[0013] In accordance with the invention, it was initially recognized that, with regard to a structural simplification of the storage and retrieval machine (hereinafter also referred to as RGB for short), it is advantageous to fundamentally dispense with a drive at the mast tip in order to improve the vibration behavior of the mast arrangement and instead to design a mast arrangement that is so rigid or has a sufficiently high natural frequency that the mast is not stimulated to vibrate as much as possible. A high natural frequency is generally achieved through lightweight construction and high rigidity and promotes great dynamics without vibrations. With a high natural frequency, in conjunction with the control technology solutions currently available on the market for vibration reduction, the RGB can be moved more quickly than with a low natural frequency. This means that a rigid and lightweight SRM can achieve a higher throughput.

[0014] Through the inventive use of a number of shear elements that connect the chords to one another, a very stiff, resilient, and large-volume mast can be realized. The shear elements can comprise horizontal cross braces (i.e., designed at 90° to the chords) and diagonal braces (i.e., designed at ~45° to the chords) and, when arranged one above the other, form a truss structure between the chords. By connecting the chords using diagonal braces in addition to cross braces, the forces in the connection of the cross braces are reduced, and an optimal adaptation to the normal force flow is achieved, which reaches its maximum at 45° in the shear range. Consequently, the RGB according to the invention can also be used with high dynamics, even with great mast heights (e.g., up to 24 m), since the mast is designed according to the force flow.

[0015] Furthermore, the inventive use of a number of stability-optimized thrust elements that connect the belts to one another allows the mast to be designed with a larger volume than with solutions known from the prior art. Large volume here means in particular a large distance between the belts in the direction of travel (x). In conjunction with a control cabinet integrated in the mast, the approach dimension is reduced despite a larger and stiffer mast. In addition, this stiff mast has a very high first natural frequency in the direction of travel. This means that hardly any vibrations are excited and no time is lost through long decay times. In addition, a small vibration coefficient is achieved, which favors lightweight construction. It should be emphasized that this is achieved without the need for an additional complex drive at the top of the mast. The storage and retrieval machine according to the invention therefore makes it possible to overcome the known conflicting objectives (approach dimensions vs.Construction volume of mast vs. costs of drive at the mast tip vs. lightweight construction).

[0016] The inventive arrangement of a frame between the belts creates free spaces in the mast, i.e. between the belts, which can be used for the integration of drive components (motors, toothed belt pulleys, etc.), electrical and / or control units (if necessary in the control cabinet).

[0017] To ensure the most effective prefabrication of the individual components and quick and uncomplicated on-site assembly, it is advantageous for the belts and thrust elements to be provided with a coordinated hole pattern for connecting them to one another. In a specific design, the belts could, for example, have a leg projecting toward the opposite belt (as seen in the direction of travel), into which the hole pattern is inserted. The hole pattern used could be expanded in such a way that additional components can be easily added to the mast assembly, such as additional stabilizing components, platforms, ladders, or even an elevator guide rail, in order to be able to use a certified safety gear for personnel protection.

[0018] Regarding the joining technology for connecting the shear elements to the belts, lockbolts are preferred due to their high closing force and vibration resistance. Alternatively, screws can be used, which, like lockbolts, act frictionally via the preload force. Rivets, especially blind rivets, are also generally possible, although their use is critical due to the large size of the components to be joined due to the tolerances. Welding is also possible, although the possible distortion would have to be controlled. Alternatively, or in addition to one of the aforementioned techniques, the components can also be bonded together.

[0019] As already mentioned above, the key to vibration suppression on the mast is the use of a large number of shear elements across at least a large part of the mast's height. In the simplest case, each shear element consists of a single component, namely a shear plate.

[0020] Numerous FEM (finite element method) simulations (linear buckling, modal analysis) and the analysis of cost-effective production have shown that it is advantageous to reinforce the thrust elements by joining several components and thus use a pre-assembled thrust element assembly. A thrust element assembly can be designed with at least one cross strut and at least one diagonal strut. The thrust element assembly is repeated many times over the entire mast height. To increase rigidity, two thrust element assemblies are preferably arranged in each height segment of the mast arrangement, namely a left and a right thrust element assembly as seen in the direction of travel of the subframe.

[0021] A problem with large thrust element assemblies is the buckling of the thrust plates under heavy loads, particularly during buffer travel. To overcome this problem, one embodiment provides for the at least one diagonal strut to have a buckling stiffener, wherein the buckling stiffener is preferably designed in the form of a hat-shaped profile placed on a base plate forming the diagonal strut. The connection is again preferably made by means of lockbolts. In addition, a plate, preferably designed as a U-profile, can be placed on the at least one cross strut, or more precisely at the transition to the next thrust element assembly, which serves to connect the respective thrust element assembly to an adjacent thrust element assembly.

[0022] In a preferred embodiment, two front and two rear interconnected chords are provided, viewed in the direction of travel of the subframe. These chords are preferably designed as aluminum extrusions. Thus, the mast consists of a total of four chords. Since such a mast with four chords is susceptible to torsion around its longitudinal axis, it is advantageous to provide one or more shear plates distributed across the mast height. These plates rest on the cross struts of the shear element assemblies and each connect a front and a rear chord.

[0023] In a further preferred embodiment, the aluminum extrusion profile comprises the guide rail (= running surface for the guide rollers) for the lifting device. This avoids an additional joining process for the guide rail to the profile, which is complex and can negatively impact tolerances. However, as already mentioned, for the use of a safe safety gear from elevator construction, the additional attachment of an elevator guide rail to the loaded mast is possible.

[0024] To achieve the desired mast height, the chords can be extended by joining them together. For example, the chords can be designed with hollow spaces inside them that accommodate elements connecting two chord sections. Furthermore, the joined chords can be connected to each other using overlapping metal sheets, which are attached to both chords, for example, via the hole pattern, e.g., with locking ring bolts.

[0025] According to one embodiment, the thrust elements in the lowest mast section are replaced by a reinforced frame. The frame is preferably made of steel and can be embossed across the entire opening between the chords.

[0026] To facilitate maintenance and / or repairs, a movable maintenance platform can be provided on the mast assembly, which can be retracted or folded between the belts transversely to the direction of travel.

[0027] In order to ensure high operational safety, it can be provided that a guide rail for the lifting device is integrated into at least one of the belts and that a fall protection device is arranged on at least one of the belts opposite one another as seen in the direction of travel.

[0028] In a preferred embodiment, the storage and retrieval machine has a modular design, similar to an AS / RS system. The chassis can be equipped as a modular platform with various drives and masts. For this purpose, the chassis includes various interfaces that allow different attachments (masts, drives) to be connected. Depending on the specific application, a conventional steel mast, for example, can be used instead of a lightweight mast as described above. The advantages of such a steel mast are its low manufacturing costs and its better suitability for heavy load carriers with low dynamics.

[0029] There are now various possibilities for advantageously embodying and developing the teaching of the present invention. For this purpose, reference is made, on the one hand, to the claims subordinate to claim 1 and, on the other hand, to the following explanation of preferred embodiments of the invention with reference to the drawing. In conjunction with the explanation of the preferred embodiments of the invention with reference to the drawing, generally preferred embodiments and developments of the teaching are also explained. The drawing shows: Fig. 1 a schematic perspective view of a storage and retrieval machine according to an embodiment of the invention, Fig. 2 in a schematic side view a section of the mast arrangement of the storage and retrieval machine according to Fig. 1, Fig. 3 in a schematic perspective view a section of the mast arrangement of the storage and retrieval machine according to Fig. 1, Fig. 4 a schematic plan view of the mast arrangement of the storage and retrieval machine according to Fig. 1, Fig. 5 shows a schematic plan view of a thrust element assembly according to an embodiment of the invention, Fig. 6 in a schematic side view the thrust element assembly according to Fig. 5, Fig. 7 in a schematic perspective view the thrust element assembly according to Fig. 5, Fig. 8 shows a schematic perspective view of a section of a mast arrangement with four belts according to an embodiment of the invention, Fig. 9 shows a schematic side view of a mast arrangement with a reinforced steel frame according to an embodiment of the invention, Fig. 10 in an enlarged view the steel frame of the mast arrangement according to Fig. 9, Fig. 11 shows a schematic perspective view of the lower part of a mast arrangement with an extended maintenance platform according to an embodiment of the invention, and Fig. 12 in a schematic perspective view the mast arrangement according to Fig. 11 with retracted maintenance platform.

[0030] The figures describe a storage and retrieval machine, RGB, 10, which has a mast arrangement 12 comprising a number of thrust elements 28 forming a lattice structure.

[0031] As in Fig. As shown in Figure 1, the mast assembly 12 is connected to a chassis 14 having running wheels 16 driven by drive units 20 and mounted for rolling on a first travel or guide rail 18. On the top side, the mast assembly 12 is connected to a second travel or guide rail for longitudinal movement. A lifting device 22 with a load-handling device (LAM) for containers, cartons, trays, or the like is mounted on the mast assembly 12 for height adjustment. Fig. 1 also shows an optional platform 24 arranged at the top of the mast, which can be used, for example, by maintenance personnel to carry out repair and / or maintenance work.

[0032] The mast arrangement 12, which is in the Fig. 2-5 in greater detail and from different perspectives, comprises vertically aligned belts 26, which absorb the tensile and compressive forces (tension and compression belt). As shown in the example in Fig. 4, two belts 26 opposite each other in the direction of travel of the RGB 10 may be provided. However, it is also conceivable that the belts are divided (preferably in the Fig. 4 with A or A' respectively), so that the mast arrangement 12 comprises a total of four belts 26. In the marked area A or A' respectively, the belts 26 could then be connected to one another in pairs using a suitable joining technique. Dividing the belts 26 (i.e. four belts in total) has the advantage that the individual belts are smaller and can therefore be manufactured more easily. According to a preferred embodiment, a guide rail (not shown) for the lifting device 22 is integrated into the belts 26, so that this does not have to be mounted separately.

[0033] The belts 26 are preferably constructed of lightweight material, preferably aluminum, so that the large-volume mast assembly 12 allows for a small overall vibration coefficient. According to a preferred embodiment, the belts 26 are extruded from aluminum.

[0034] The thrust is transmitted between the chords 26 via modular thrust elements 28, which are arranged repeatedly between the chords 26 over the mast height and form a framework. An embodiment of a single thrust element 28 is shown in the Fig. 5-7 shown schematically in different perspectives.

[0035] The thrust element 28 is then designed as a thrust element assembly 30, which comprises three sheet metal components and is repeatedly used in the mast. The sheet metal components are a base plate 32, a buckling stiffener 34, and a connecting plate 36. The sheet metal components have the advantage that they can be easily manufactured, including all holes, for example, using a laser, waterjet, or punching or cutting. Waterjet cutting is advantageous because it does not generate heat, which destroys the material structure and thus impairs the highly stressed edges and their fatigue strength.

[0036] The base plate 32 is preferably designed as an aluminum sheet with two triangular cutouts, essentially forming an upper and a lower crossbeam 38, 40 and a diagonal beam 42 connecting the crossbeams 38, 40. The main force flow occurs in the shear area via the diagonal beams 42 (approximately 45°), with the shear generally known to be at its maximum at 45°.

[0037] The buckling stiffener 34 serves to reinforce the diagonal beams 42. As shown in the Fig. As can be seen in Figures 5-7, the buckling stiffener 34 can be designed as a hat-shaped profile mounted on the diagonal beam 42. The hat-shaped profile, which can be created, for example, by "edging," has high buckling stability. Accordingly, a large construction volume of the shear element assembly 30 can be realized without stability problems.

[0038] The connecting plate 36 serves to connect the individual shear elements 28 or shear element assemblies 30 to one another, allowing a direct flow of force and not requiring all forces to flow through the chords 26. According to the illustrated embodiment, the connecting plates 36 are designed as overlapping U-profiles. These have lower buckling stability than a hat-shaped profile, but this is sufficient, since in the construction according to the invention, the cross beams 38, 40 are hardly subjected to any stress and only the buckling lengths of the chords 26 are reduced, whereas the significant shear is transmitted via the diagonal beams 42.

[0039] As particularly in the Fig. 2 and Fig. As can be seen in Figure 3, both the belts 26 and the shear element assemblies 30 have a hole pattern with coordinated holes. This hole pattern serves to connect the shear modules 28 to the belts 26. The connection is preferably made via locking ring bolts.

[0040] As particularly in Fig. As can be seen in Figure 4, the belts 26 can have a leg 46 projecting toward the opposite belt 26 in the direction of travel, into which the hole pattern is inserted, in order to ensure particularly simple connection of the thrust modules 28. The leg 46 can project from a base body 44 of the belt and, for stability reasons, be arranged on the base body 44 with an additional diagonal strut 48.

[0041] In the simplest case, the holes of the hole pattern are drilled into the straps 26 directly in one operation during the extrusion on the legs 46. The hole pattern on the straps 26 can contain all the necessary holes to attach attachments (ladders, anchor points, drag chains or conductor lines, etc.). Furthermore, the hole pattern can contain additional holes so that further optional components can be provided, such as a pull-out guide rail for the use of a certified safety gear for personnel protection.

[0042] As particularly in the Fig. 3 and Fig. 4, the mast arrangement 12 can have two thrust element assemblies 30 per height segment, namely a left and a right thrust element assembly 30 as seen in the direction of travel of the subframe 14. This “doubling” results in particularly high rigidity and stability.

[0043] An important aspect for the statics is the design of the straps 26 at the front and rear of the RGB 10. As in Fig. As shown in Figure 4, the straps 26 can have a base body 44 with cavities formed inside them. These cavities can be designed to allow the insertion of a connecting element. This can, if necessary, also be screwed to an outer overlapping sheet. This joint allows a very tall mast arrangement 12 to be realized from short straps 26.

[0044] Fig. Figure 8 shows a schematic representation of a section of a mast assembly 12 of a storage and retrieval machine according to an exemplary embodiment of the invention, wherein the front and rear chords 26 are each divided, so that the mast assembly 12 is formed from four supports or chords 26. The inner sides of the chords 26 have inwardly projecting legs in which a hole pattern is formed. This serves for the assembly of connecting elements 50, preferably connecting plates, which connect both the two front chords 26 and the two rear chords 26 to one another. The distance between the connecting elements 50 or the number of connecting elements 50 over the entire mast height can be determined according to the dynamic requirements.

[0045] As already mentioned, a mast assembly 12 with four belts 26 can be produced more easily than a corresponding mast assembly 12 with only two belts 26 due to the smaller size of the belts 26. However, the Fig. 8 is at greater risk of twisting around the longitudinal axis. To overcome this problem, according to one embodiment of the invention, a horizontally extending thrust plate 52 is provided, which rests on a cross strut 38, 40 of a thrust element 28 and can be joined using pre-drilled holes. This thrust plate 52 can rest on the outside of the cross struts 38, 40, while the connecting plates 36 of the thrust elements 28 rest on the inside of the cross struts 38, 40.

[0046] Depending on the dynamic requirements, more or fewer shear plates 52 can be used. For example, every fifth cross brace 38, 40 can be provided with a shear plate 52. Located just under 2 m below the mast head, this shear plate 52 can also facilitate maintenance by a service technician who can climb onto it or place tools on it to work easily on the mast head.

[0047] Fig. Figure 9 shows a schematic side view of a mast assembly 12 according to an embodiment of the invention. According to the invention, the mast assembly 12 comprises front and rear chords 26, which are connected to one another by a number of thrust elements 28 forming a lattice structure. According to the embodiment shown, however, the thrust elements 28 are omitted in the lower region of the mast assembly 12 in order to create space there for the control cabinet 56. In order to absorb and "redirect" the large forces, a solid frame 54 (in Fig. 10 schematically shown in an enlarged side view) are attached to the straps to direct the forces in an O-shape around the outside of the control cabinet 56 to the mast base points. In practice, the frame could, for example, be made as a steel frame made of 12 mm steel (whereas the thrust elements 28 can be made of only 4 mm thick aluminum sheets).

[0048] As shown in the enlarged side view in Fig. 10, the profile of the frame 54 has curves on the inside, which serve to reduce the high stresses there and prevent fatigue cracking. In the upper right corner of the frame according to Fig. Figure 10 shows an example of an alternative rounding pattern. The specific radius of the rounding can be determined according to the dynamic requirements.

[0049] The frame 54 ensures that the belts 26 are not overloaded. Without the frame 54, there is a risk of fatigue cracks appearing in the belts 26 after a short period of operation. The combination of aluminum belts 26 with the steel frame 54 is advantageous in this case. Since steel has a three times higher modulus of elasticity, the frame 54, although located further inside and with a weaker lever arm, can absorb a significant portion of the force and significantly relieve the load on the aluminum belts 26, which are subject to high local stress due to the missing thrust element.

[0050] The Fig. 11 and Fig. 12 show an embodiment of the storage and retrieval machine 10 according to the invention, in which improved maintenance options are provided by integrating a movable maintenance platform 58 into the mast assembly 12. The figures show a variant in which the maintenance platform 58 can be extended and retracted by means of a retraction mechanism. The retraction mechanism engages in the spaces between the frame 54 inserted into the interior space between the belts 26 and the control cabinet 56 accommodated therein. In an alternative embodiment, the maintenance platform 58 can also be designed to be foldable or pivotable.

[0051] When extended or unfolded ( Fig. 11) The maintenance platform 58 allows a technician to comfortably and safely perform work at the height of the control cabinet 56 (approximately 1 m above the hall floor), and especially directly on the control cabinet 56. To increase safety, the maintenance platform 58 can be equipped with a railing as a fall protection device.

[0052] When retracted or folded, the maintenance platform 58 largely "disappears" between the belts 26. Accordingly, sufficient space remains in the usually narrow rack aisle for a technician to easily pass the RBG 10. In addition, the mobility of the maintenance platform 58 enables unhindered vertical movement of the lift truck 22. This can, as in Fig. 1, be equipped with a platform-forming walkway 60, which leads from the lifting carriage 22 to a ladder 62 arranged on the opposite belts 26. With the platform retracted or folded, all components of the lifting carriage 22 can easily pass through the maintenance platform 58. Furthermore, with the platform retracted or folded, the drives and pulleys, etc., as well as the lifting belt for the lifting carriage 22, are easily accessible under the platform or in the mast for any maintenance / repairs.

[0053] The condition of the platform of the maintenance platform 58 could be monitored by sensors and, in particular, the RGB 10 could be prevented from being put into operation when the platform is extended.

[0054] Within the scope of an advantageous embodiment, additional protection for the lifting carriage 22 against falling is provided (i.e. redundant to the lifting belt). This is achieved by a moving retaining clamp 64, wherein the retaining clamp 64 is clamped by screws to the straps 26 on the side of the ladder 62 (more precisely to the integrated guide rail). Any resulting scratches or scrapes therefore do not impair the wear or running behavior of the lifting carriage rollers. Clamping is possible at any height in the upper area. Accordingly, a technician can first secure the lifting carriage 22 from the ladder 62 and then access the secured lifting carriage 22 via the walkway 62 along the mast to rectify the fault. When the lifting carriage is in a high position, the walkway 62 can also be used to service the mast head and the guide rollers, toothed belt pulleys, etc.

[0055] If the lift truck 22 is positioned at the very bottom, the retaining clamp 64 can also be attached above the lift truck and secured to the lift truck 22 with a chain or rope. Alternatively, the lift truck 22 could be placed on a suitable support at the bottom.

[0056] According to a further advantageous embodiment, a modular design of the RGB 10 is provided. The subframe 14 could function as a platform that is identical for all variants and to which one or more of the following components could be attached in the sense of an RBG modular system: 1. Mast arrangement

[0057] The mast arrangement could be designed either as a steel mast (i.e. very resilient, simple construction) or as a lightweight mast, in particular as described above (i.e. very stiff, very light, highest dynamics, little wear, energy efficient). 2. Drive

[0058] The ground-mounted chassis of the RGB 10 could be designed as a drive scissor with guide wheels pressed laterally against the travel or guide rail 18. Alternatively, an "omega" drive could be provided, with a belt tensioned in the rack aisle and enclosing a motor pulley in an omega shape. The RBG 10 is pulled along the belt. Finally, a friction wheel drive could be provided, with a motor directly driving one or more wheels 16 rolling on the travel rail 18, as is basically the case in Fig. 1 shown. 3. Forklift 22 and LAM

[0059] A toothed belt drive is the preferred lifting drive, as it is particularly characterized by its low maintenance requirements. The lifting carriage 22 can, for example, be designed for loads of up to 120 kg (in the case of a lightweight boom as described here) or up to 300 kg (in the case of a steel boom). In principle, many different solutions can be used for the LAM, such as a telescope with a belt conveyor, a double telescope, a multi-form gripper, pulling or gripping technology, or similar. 4. Control cabinet / control

[0060] In addition to the conventional control components, the control system may include a vibration-free control and energy recovery. In the case of a steel mast, the control cabinet may be arranged in the conventional manner at the rear of the mast. In the case of a lightweight mast as described herein, the control cabinet 56 may be integrated into the mast, as described in detail above and as generally described in Fig. 1. This integration between the belts 26 allows for optimal approach dimensions, good accessibility for maintenance, and a large spacing between the belts 26.

[0061] With regard to further advantageous embodiments of the device according to the invention, reference is made to the general part of the description and to the appended claims in order to avoid repetition.

[0062] Finally, it should be expressly pointed out that the embodiments of the device according to the invention described above serve only to explain the claimed teaching, but do not limit it to the embodiments. List of reference symbols 10 storage and retrieval machines, RGB, RBG 12 Mast arrangement 14 subframe 16 wheels 18 first running or guide rail 20 drive unit 22 Lifting device 24 podium 26 straps 28 sliding elements 30 Thrust element assembly 32 base plate 34 Dent resistance 36 connecting plate 38 upper crossbeam 40 lower crossbeam 42 diagonal beams 44 basic bodies 46 legs 48 Diagonal brace 50 connecting element 52 thrust plate 54 frames 56 Control cabinet 58 Maintenance platform 60 bridge 62 ladders 64 retaining clip

Claims

[1] Storage and retrieval machine (10) for storing / removing goods into / from a storage facility, with a subframe (14) movable on at least one travel rail (18), a mast arrangement (12) arranged on or on the subframe (14) and a lifting device (22) vertically movable on the mast arrangement (12), wherein the mast arrangement (12) is formed from vertical belts (26) spaced apart in the direction of travel (x) of the subframe (14), characterized by in that the belts (26) are connected to one another by a number of thrust elements (28) forming a lattice structure, wherein a frame (54) is arranged between the belts (26), by means of which a free space is created within the mast for accommodating drive components, electrotechnical units and / or control units. [2] Storage and retrieval machine (10) according to claim 1, characterized bythat the belts (26) and the thrust elements (28) are provided with a coordinated hole pattern for connection to one another. [3] Storage and retrieval machine (10) according to claim 2, characterized by that the belts (26) have a leg (46) projecting in the direction of the opposite belt (26) as seen in the direction of travel (x), into which leg the hole pattern is introduced. [4] Storage and retrieval device (10) according to one of claims 1 to 3, characterized by that the thrust elements (28) are connected to the belts (26) by means of locking ring bolts, screws, bolts and / or rivets. [5] Storage and retrieval device (10) according to one of claims 1 to 4, characterized by that the thrust elements (28) are designed as thrust plates. [6] Storage and retrieval device (10) according to one of claims 1 to 5, characterized bythat the thrust elements (28) are designed as joined thrust element assemblies (30) each having at least one transverse strut (38, 40) and at least one diagonal strut (42). [7] Storage and retrieval machine (10) according to claim 6, characterized by that the at least one diagonal strut (42) has a buckling stiffener (34), wherein the buckling stiffener (34) is preferably designed in the form of a hat profile placed on a base plate (32) forming the diagonal strut (42). [8] Storage and retrieval machine (10) according to claim 6 or 7, characterized by that a sheet metal (36), preferably designed as a U-profile, is placed on the at least one cross strut (38, 40), which serves to connect the respective thrust element assembly (30) to an adjacent thrust element assembly (30). [9] Storage and retrieval device (10) according to one of claims 1 to 8, characterized bythat, viewed in the direction of travel (x), two front and two rear belts (26) are provided which are each connected to one another and are preferably designed as aluminum extrusion profiles. [10] Storage and retrieval machine (10) according to one of claims 6 to 9, characterized by that one or more thrust plates (52) are provided distributed over the mast height, which rest on the cross struts (38, 40) of the thrust element assemblies (30) and each connect a front and a rear belt (26) to one another. [11] Storage and retrieval machine (10) according to one of claims 1 to 10, characterized by that the straps (26) for extending the mast arrangement (12) have cavities inside to accommodate connecting elements. [12] Storage and retrieval machine (10) according to one of claims 1 to 11, characterized by that the frame (54) is made of steel. [13] Storage and retrieval machine (10) according to one of claims 1 to 12, characterized bythat a movable maintenance platform (58) is provided on the mast arrangement (12), which can be retracted or folded between the belts (26) transversely to the direction of travel (x). [14] Storage and retrieval machine (10) according to one of claims 1 to 13, characterized by that a guide rail for the lifting device (22) is integrated into at least one of the belts (12), and that, if necessary, a fall protection device is arranged on at least one of the belts (26) opposite one another as seen in the direction of travel (x). [15] Storage and retrieval machine (10) according to one of claims 1 to 14, characterized by a modular structure, wherein different drives and / or different masts (12) can be mounted on the chassis (14).

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