Canal vehicle and stacker operating system with such a

Abstract

The invention relates to a channel vehicle (100) for a rack storage system, comprising a load handling device (102) for receiving at least one loading aid or load, a chassis (104) to which a plurality of wheels (106, 112) are assigned, with at least one drive wheel (106) which can be driven electrically by a drive unit (108), and an endlessly rotating drive element (110) which is assigned to the drive wheel (106) and to at least one deflection wheel (112) of the plurality of wheels (106, 112). The drive element (110) is guided partially circumferentially around the drive wheel (106) and partially circumferentially around the deflection wheel (112), wherein the side of the drive element (110) facing away from the drive wheel (106) and the deflection wheel (112) forms a running surface (114) for the movement of the channel vehicle (100). Furthermore, the invention relates to a rack operating system with such a channel vehicle (100).

Description

[0001] The invention relates to a channel vehicle for a high-bay warehouse, comprising a load-handling device for receiving at least one loading aid or a load. The channel vehicle has a chassis to which a plurality of wheels, including at least one drive wheel, are assigned. The drive wheel is driven by an electric motor by a drive device. The channel vehicle comprises a continuously rotating drive means assigned to the drive wheel and at least one deflection wheel of the plurality of wheels. The invention also relates to a storage and retrieval system comprising such a channel vehicle.

[0002] Channel vehicles are widely used in intralogistics and are used to drive into and out of storage compartments in racks; i.e., to store goods in or retrieve them from storage compartments. Channel vehicles comprise a load-handling device, which can also be assigned lifting elements in a conventional manner to raise or lower the load-handling device and thus the load on it. The load-handling device can be a platform, for example. It is also possible for only individual vertically adjustable pins to support the load, for example, when standardized pallets, wire mesh boxes, or containers need to be raised or lowered.

[0003] Typically, such channel vehicles are positioned by storage and retrieval machines on different levels of a high-bay warehouse, with the storage and retrieval machine comprising a lifting platform that is designed to accommodate such a channel vehicle.

[0004] Other names for such channel vehicles include satellite vehicles, as these types of conveyors move into and out of the rack compartments like a "satellite" from the stacker crane. While the stacker crane enters the aisles between two rows of shelves (in the x-direction) and serves different levels of the shelves vertically (in the z-direction), the channel vehicle is used to move into the rack compartments perpendicular to the x-direction and perpendicular to the z-direction (in the y-direction).

[0005] A sewer vehicle of the type mentioned above is known, for example, from EP 2 780 263 A1, wherein the continuously rotating drive means is used to simultaneously drive the axles of the plurality of wheels of the sewer vehicle so that the sewer vehicle moves forward. The continuously rotating drive means is in the form of a chain that is concealed by a chassis frame, i.e., arranged within a housing of the sewer vehicle. Due to the lateral staggered chain and wheels and the additional separation by the housing wall of the sewer vehicle, this sewer vehicle is laterally very strong. In addition, due to the use of many individual parts, this sewer vehicle has an increased weight and an increased number of components.

[0006] It is therefore the object of the present invention to provide a channel vehicle that takes the aforementioned disadvantages into account. Furthermore, the object of the invention is to provide a storage and retrieval system with such a channel vehicle.

[0007] This object is achieved by a channel vehicle having the features of claim 1 and by a storage and retrieval system having the features of claim 15. Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims.

[0008] The sewer vehicle according to the invention is characterized in that the drive means is guided partially circumferentially around the drive wheel and partially circumferentially around the deflection wheel, and that the side of the drive means facing away from the drive wheel and the deflection wheel forms a running surface for the movement of the sewer vehicle.

[0009] Thus, in contrast to the prior art of EP 2 780 263 A1, the drive means itself is used to move the sewer vehicle. Thus, the sewer vehicle "rolls" on the drive means itself. In other words, the drive means is applied to a wheel tread of the drive wheel and to a wheel tread of the deflection wheel. If a housing is assigned to the sewer vehicle, the drive means is not located inside the housing, but on the same side of the housing wall as the drive wheel and the deflection wheel. In this way, the sewer vehicle can be designed more narrowly and the number of components is reduced; this also reduces the weight of the sewer vehicle according to the invention.

[0010] For reliable transmission of the power provided by the drive device, it has proven advantageous if the drive means comprises a chain and if the drive wheel is designed as a toothed spur gear. In an alternative embodiment, the deflection wheel is also designed as a toothed spur gear.

[0011] Slippage between the chain and the surface on which the sewer vehicle travels can be reduced or even completely avoided if the chain is designed as a roller chain that is coated with an elastomer in addition to forming the tread.

[0012] In order to increase the stability of the drive means and to provide a larger base area for the coating with the elastomer, it has proven advantageous if the roller chain is formed at least as a duplex roller chain.

[0013] The material for the elastomer can be selected depending on the desired tribological combination between the surface on which the sewer vehicle travels and the drive mechanism itself. In this context, it has proven particularly advantageous if the elastomer comprises a material selected from the group comprising polyurethane (PU), polyamide (PA), polypropylene (PP), and ethylene propylene diene rubber (EPDM). The use of a high-hardness polyurethane has proven particularly advantageous in bearing applications, as it minimizes abrasion while simultaneously providing good friction, especially when traveling over gaps.

[0014] It has proven preferable for the elastomer to have a Shore A hardness between 70 and 95. An elastomer with a Shore A hardness of 92, preferably made of polyurethane, has proven to be very advantageous, as it provides the desired durability. For example, the elastomer can be Vulkollan® (a registered trademark of Covestro AG).

[0015] Instead of or in addition to a chain, the drive mechanism can also be a belt. This is characterized by its low weight and excellent cross-country performance.

[0016] In this context, it is advantageous if the belt is a toothed flat belt that is provided with teeth at least on the side facing the drive wheel and the idler wheel. Preferably, at least the drive wheel is toothed. The idler wheel is preferably toothless. However, it is also possible for both wheels to be designed as gears.

[0017] Instead of a flat toothed belt, a V-belt can also be used, particularly a V-ribbed belt. It is characterized by a particularly reliable lateral fit on the idler pulley and the drive pulley due to its longitudinally oriented wedge shape. A curved toothed belt or a herringbone toothed belt can also be used. A self-aligning toothed belt can also be used. A belt with dimpled teeth can also be used. A simple flat belt can also be used, especially when only light loads are to be transported.

[0018] Even with a belt drive, it is possible to create a suitable tribological pairing between the surface on which the sewer vehicle rolls and the belt. For this purpose, it is advantageous if the belt comprises a material selected from the group comprising polyurethane (PU), polyamide (PA), polypropylene (PP), polyester (PES), polyethylene (PE), chlorobutadiene rubber (CR), and ethylene propylene diene rubber (EPDM).

[0019] Here, too, particular strength is an advantage, so it has proven to be particularly durable if the material of the belt has a Shore A hardness of between 70 Shore and 95 Shore, preferably 92 Shore.

[0020] In order to increase the contact surface of the drive means against the ground of the sewer vehicle, it has proven advantageous if the drive means comprises an upper run and a lower run located below the upper run in the direction of fall, and if a slide rail is attached to the chassis, which extends between the upper run and the lower run in such a way that the lower run is guided by the slide rail during movement.

[0021] Instead of or in addition to a slide rail, at least one support roller can also be provided to guide the lower run relative to the ground during movement. This support roller is then attached to the chassis, whereby preferably a plurality of support rollers, for example two, three, four, or even more than four support rollers, can be attached to the chassis, located between the upper and lower runs.

[0022] A further function of the guide roller and / or the slide rail is a “concentrated power transmission” of weight forces and subsequently of frictional forces between the rotating drive means, e.g. the belt, and the ground.

[0023] To increase the operational reliability of the sewer vehicle, it has proven advantageous to have a tensioning device on the chassis to tension the drive mechanism. This tensioning device can be implemented, for example, by a chain tensioner on the deflection wheel or by an additional pressure plate that presses against the upper run of the drive mechanism. In this context, a "force-controlled" pretension can also be used, for example, using a hydraulic cylinder or utilizing the force of gravity. For design reasons, however, a "geometrically" controlled pretension (e.g., by tightening bolts) is preferred in most cases.

[0024] The advantages, advantageous configurations, and technical effects explained in connection with the channel vehicle according to the invention also apply equally to the storage and retrieval system according to the invention. This comprises a storage and retrieval device, in particular a storage and retrieval device, with a lifting platform, as well as a channel vehicle that can be positioned on the lifting platform, as discussed above.

[0025] The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. Thus, embodiments are also to be considered encompassed and disclosed by the invention that are not explicitly shown or explained in the figures, but which emerge and can be produced from the explained embodiments through separate feature combinations.

[0026] Further advantages, features, and details of the invention will become apparent from the claims, the following description of preferred embodiments, and the drawings. These show: Fig. 1 a schematic perspective view of a first channel vehicle (also generally a shelf conveyor vehicle) with a chain drive, and Fig. 2 a schematic perspective view of a first channel vehicle (also generally a shelf conveyor vehicle) with a belt drive.

[0027] In the Fig. 1 and Fig. 2, a channel vehicle 100 is shown in perspective. These channel vehicles 100 are used to drive into and out of shelf compartments of a rack. They comprise a load-handling device 102, to which lifting elements (not shown in detail here) are assigned in order to raise or lower the load-handling device 102, in this case in the form of a platform. A loading aid or a load, thus an entire transport unit, can be picked up by this load-handling device 102 and then transported by the channel vehicle 100.

[0028] The sewer vehicles 100 shown comprise several wheels 106, 112 on their chassis 104 for locomotion, whereby only half of the wheels 106, 112 are visible in the figures, since the other half is concealed by the housing of the sewer vehicle 100. Otherwise, the sewer vehicles 100 are (almost) symmetrically constructed, at least with regard to the arrangement of the wheels 106, 112. The sewer vehicles 100 have at least one drive wheel 106, which is driven by an electric motor by a drive device 108 that is only schematically illustrated. It is possible for a further drive device 108 to be present within the housing of the sewer vehicle 100 to also drive the drive wheel 106, which is shown concealed. The two drive devices 108 are then preferably driven synchronously when the sewer vehicle 100 is moved.

[0029] Both sewer vehicles 100 are equipped with suitable sensors 132 to detect distances, especially impending collisions. Lateral guidance of the sewer vehicle 100 is provided by lateral guide rollers 134, which in this case are arranged at each corner of the housing of the sewer vehicle 100.

[0030] The canal vehicles 100 shown in the figures also have a—during operation—endless rotating drive means 110, which is driven by the drive wheel 106. The drive means 110 comprises an upper run 122 and a lower run 124 located below the upper run 122 in the direction of fall. During operation, the output of the drive device 108 acts on the axle of the drive wheel 106, which is non-rotatably connected to the drive wheel 106, causing the drive wheel 106 to rotate. This rotation is transmitted to the drive means 110, which then rotates around a deflection wheel 112 and is returned to the drive wheel 106. If the deflection wheel 112 is rotatably mounted, the rotational movement of the driven drive wheel 106 is transmitted to the deflection wheel 112. However, it is possible for the deflection wheel 112 to be fixedly mounted so that the drive means 110 slides over the deflection wheel 112 and yet the canal vehicle 100 can still move.

[0031] In any case, the drive means 110 is guided partially circumferentially around the drive wheel 106 and partially circumferentially around the deflection wheel 112, with the side of the drive means 110 facing away from the drive wheel 106 and the deflection wheel 112 forming a running surface 114 for the movement of the sewer vehicle 100. In other words, the drive means 110 itself is used in the present invention to establish a connection between the ground on which the sewer vehicle 100 travels and the wheels 106, 112 of the sewer vehicle 100. The sewer vehicle 100 travels—to put it simply—on the drive means 110 itself.

[0032] For the sewer vehicle 100 according to Fig. 1, the drive means 110 is formed as a chain 116, with the drive wheel 106 being shaped as a toothed spur gear. The chain 116 is shaped as a roller chain, in this case even as a duplex roller chain, which is coated with an elastomer 118 to form the running surface 114. The elastomer is, in particular, a polyurethane, which preferably has a Shore A hardness of between 70 Shore and 95 Shore, in particular 92 Shore. It is possible for the elastomer 118 to comprise a material selected from the group comprising polyurethane (PU), polyamide (PA), polypropylene (PP), and ethylene propylene diene rubber (EPDM).

[0033] In this case, an additional slide rail 126 is attached to the chassis 104 of the sewer vehicle 100, extending between the upper run 122 and the lower run 124 such that the lower run 124 is guided by the slide rail 126 as the sewer vehicle 100 moves. The slide rail 126 serves to provide a controlled power transmission between the drive means 110 and the surface on which the sewer vehicle 100 travels. In other words, the slide rail 126 provides a stronger abutment for movement. In this case, the slide rail 126 is also provided with a coating that leads to a reduction in the coefficient of sliding friction. Preferably, the coefficient of sliding friction between the slide rail 126 and the drive means 110 is less than 0.2.

[0034] Between the upper run 122 and the lower run 124, there is also a tensioning device 136 that applies a force to the chain 116. This keeps the chain 116 taut. Additionally, there are two guide rollers 130 for the drive means 110, wherein the guide rollers 130 are arranged between the upper run 122 and the slide rail 126. Alternatively or additionally, the tensioning device 136 may also be associated with a bearing for the deflection roller 112, wherein the position of the deflection roller 112 can be shifted relative to the housing of the sewer vehicle 100 so that the drive means 110 is (re)tightened. For example, the position can be fixed and changed using one or more screws.Instead of shifting the position of the deflection roller 112, a further embodiment may provide for the position of the guide rollers 130 to be changed and fixed in order to (re)tension the drive means 110.

[0035] The sewer vehicle 100 according to Fig. 2 differs only slightly from the sewer vehicle 100 according to Fig. 1; identical components have been given the same reference numerals. In the design according to Fig.2, the drive means 110 is formed as a belt 120, which in this case is designed as a toothed flat belt. The teeth of the belt 120 can be milled on one or both sides. The teeth then serve as the drive, while the flat areas on the edge then serve as the running surface. In this case, the drive wheel 106 is provided with teeth, whereby the deflection wheel 112 itself is untoothed, i.e., without toothing. In any case, the tensioning device 136 in the form of a belt tensioner is assigned to the deflection wheel 112. In this case, several support rollers 128 are also located between the upper run 122 and the lower run 124, with four of the support rollers 128 being shown purely as an example. They are arranged between the upper run 122 and the lower run 124 in such a way that the lower run 124 is guided and supported by the support rollers 128 during the forward movement of the sewer vehicle 100.Instead of a toothed flat belt, a V-belt, in particular a V-ribbed belt, can also be used, which is characterized by its positional stability in the lateral direction.

[0036] The sewer vehicles 100 according to the invention are characterized by a less complex structure within their housing, with the drive means 110 itself being used to provide the running surface. Thus, instead of driving on the wheels 106, 112, the vehicle travels directly on the drive means 110. LIST OF REFERENCE SYMBOLS: 100 sewer vehicles 102 load handling equipment 104 chassis 106 Drive wheel 108 Drive device 110 Drive means (endless drive means) 112 Deflection wheel / pulley 114 Tread 116 Chain 118 Elastomer (coating) 120 belts 122 upper run 124 lower run 126 slide rail 128 support roller 130 Guide roller (drive means) 132 Sensor technology 134 Guide roller (lateral) 136 clamping device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2 780 263 A1 [0005, 0009]

Claims

[1] Channel vehicle (100) for a shelf warehouse, with a load-carrying means (102) for receiving at least one loading aid or a load, with a chassis (104) to which a plurality of wheels (106, 112) with at least one drive wheel (106) is assigned, which can be driven by an electric motor by a drive device (108), and with an endlessly rotating drive means (110) which is assigned to the drive wheel (106) and at least one deflection wheel (112) of the plurality of wheels (106, 112), characterized by that the drive means (110) is guided partially circumferentially around the drive wheel (106) and partially circumferentially around the deflection wheel (112), and that the side of the drive means (110) facing away from the drive wheel (106) and the deflection wheel (112) forms a running surface (114) for the movement of the canal vehicle (100). [2] Canal vehicle (100) according to claim 1, characterized bythat the drive means (110) comprises a chain (116), and that the drive wheel (106) is formed as a toothed spur gear. [3] Canal vehicle (100) according to claim 2, characterized by that the chain (116) is formed as a roller chain which is coated with an elastomer (118) to form the running surface (114). [4] Canal vehicle (100) according to claim 3, characterized by that the roller chain is formed at least as a duplex roller chain. [5] Canal vehicle (100) according to claim 3 or 4, characterized by that the elastomer (118) comprises a material selected from the group comprising polyurethane (PU), polyamide (PA), polypropylene (PP), ethylene-propylene-diene rubber (EPDM). [6] Canal vehicle (100) according to one of claims 3 to 5, characterized by that the elastomer (118) has a Shore A hardness of between 70 Shore and 95 Shore, preferably 92 Shore. [7] Canal vehicle (100) according to claim 1, characterized bythat the drive means (110) is formed as a belt (120). [8] Canal vehicle (100) according to claim 7, characterized by that the belt (120) is a toothed flat belt which is provided with teeth at least on its side facing the drive wheel (106) and the deflection wheel (112), and that at least the drive wheel (106) is toothed, the deflection wheel (112) preferably being untoothed. [9] Canal vehicle (100) according to claim 7, characterized by that the belt (120) is formed as a V-belt, in particular as a V-ribbed belt. [10] Canal vehicle (100) according to one of claims 7 to 9, characterized by that the belt (120) comprises a material selected from the group comprising polyurethane (PU), polyamide (PA), polypropylene (PP), polyester (PES), polyethylene (PE), chlorobutadiene rubber (CR), ethylene-propylene-diene rubber (EPDM). [11] Canal vehicle (100) according to one of claims 7 to 10, characterized bythat part of the material of the belt (120) has a Shore A hardness of between 70 Shore and 95 Shore, preferably 92 Shore. [12] Canal vehicle (100) according to one of claims 1 to 11, characterized by that the drive means (110) comprises an upper run (122) and a lower run (124) located below the upper run (122) in the direction of fall, and that a slide rail (126) is fastened to the chassis (104), which extends between the upper run (122) and the lower run (124) in such a way that the lower run (124) is guided by the slide rail (126) during movement. [13] Canal vehicle (100) according to one of claims 1 to 12, characterized bythat the drive means (110) comprises an upper run (122) and a lower run (124) located below the upper run (122) in the direction of fall, and that at least one support roller (128) is fastened to the chassis (104), which is arranged between the upper run (122) and the lower run (124) in such a way that the lower run (124) is guided by the support roller (128) during movement. [14] Canal vehicle (100) according to one of claims 1 to 13, characterized by that a tensioning device (136) for tensioning the drive means (110) is provided on the chassis (104). [15] A storage and retrieval system comprising a storage and retrieval device comprising a lifting platform, and a channel vehicle (100) according to one of claims 1 to 14, which can be positioned on the lifting platform.

Images