Storage and retrieval unit

Abstract

The invention relates to a storage and retrieval unit (100) having a frame-like mast (102) which comprises two parallel mast elements (104) which are connected to each other at one end via a foot cross-member (106) and at the other end via a head cross-member (108), wherein a chassis (110) with a travel drive (112) is associated with the mast (102) in order to move the mast (102) along a rack, wherein a lifting carriage (114), which is guided between the two mast elements (104) and has a lifting drive (116), is associated with the mast (102) in order to move a load to different rack levels, and wherein a brace (118) is associated with at least one of the mast elements (104), said brace extending on a side of the respective mast element (104) facing away from the lifting carriage (114), wherein the brace (118) extends from a mast head region (120) of the mast element (104) to the foot cross-member (106), or from a mast foot region (122) of the mast element (104) to the head cross-member (108), characterised in that the brace (118) is provided with a first rotary joint (124) at one end, and with a second rotary joint (126) at the other end.

Description

[0001] LTW Intralogistics GmbH P18503DE

[0002] V2

[0003] Storage and retrieval machine

[0004] DESCRIPTION:

[0005] The invention relates to a storage and retrieval machine for storing and retrieving goods into and from a storage location or into and from a shelf compartment of a high-bay warehouse. The storage and retrieval machine is formed by a frame-shaped mast comprising two parallel mast elements. The mast elements are connected at one end by a base crossbeam and at the other end by a top crossbeam, thereby forming the frame. A carriage with a drive unit is assigned to the mast for moving the mast along a rack. A lifting carriage with a lifting drive is also assigned to the mast, guided between the two mast elements, to move the load to different rack levels.At least one of the mast elements is assigned a stiffening that extends on a side of the mast element facing away from the lifting carriage, with the stiffening extending from a mast head area of ​​the mast element to the foot traverse or from a mast foot area of ​​the mast element to the head traverse.

[0006] A storage and retrieval machine of the type mentioned above can be found, for example, in EP 0 509 314 A1. Publications EP 2 502 873 A1 and AT 518 568 B1 show storage and retrieval machines in which the mast is not frame-shaped, but nevertheless has a stiffening element on the mast.

[0007] The object of the present invention is to provide a storage and retrieval machine that reduces material usage and thus weight without impairing driving dynamics. This object is achieved with a storage and retrieval machine having the features of claim 1. Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims.

[0008] The storage and retrieval device according to the invention is characterized in particular by the fact that a first pivot joint is assigned to the stiffening at one end, and that a second pivot joint is assigned to the stiffening at the other end.

[0009] This offers the advantage of significantly reducing the stresses occurring at the connections between the mast element and the base crossbeam or the crossbeam assigned to the chassis, as well as the stresses between the mast elements and the top crossbeam. For this reason, the design according to the invention enables the realization of a lightweight storage and retrieval machine. By reducing the stresses occurring in the most heavily loaded elements of the mast, the overall mass of the mast can be reduced. Due to the lower overall mass, the mast can withstand higher accelerations than would be the case with a rigid construction. This allows for more energy-efficient operation of the storage and retrieval machine. The simplified design also results in shorter assembly times for installing the storage and retrieval machine in a high-bay warehouse.

[0010] To further reduce the stresses that occur, it has proven advantageous if the mast elements are connected to the head traverse and the foot traverse at their ends via a pivot joint, in particular via an axis that extends perpendicularly with respect to a lifting direction of the lifting carriage and perpendicularly with respect to a travel direction of the chassis.

[0011] To provide the necessary rigidity to the storage and retrieval machine, it is advantageous if the stiffening is provided by at least one stiffening rod or at least one stiffening tube. The first pivot joint can be designed to allow rotation about a first axis that is perpendicular to both the lifting direction of the carriage and the travel direction of the chassis. This creates a self-locking mechanism for the entire system, both during vertical adjustment of the carriage and during horizontal movement of the mast.

[0012] For the same reason, it is also advantageous if the second pivot joint allows rotation about a second axis that is perpendicular to a lifting direction of the lifting carriage and perpendicular to a travel direction of the chassis.

[0013] In order to further reduce the stresses occurring in the heavily loaded elements of the frame, i.e., the storage and retrieval machine, the advantageous possibility exists that the first pivot joint and / or the second pivot joint allows a polyaxial rotation of the two connected elements.

[0014] However, in order to provide a defined pivoting or rotating motion, it has proven advantageous if the first pivot joint and / or the second pivot joint is formed on the one hand by two tongues forming a receiving gap between them, and on the other hand by a pin that can be positioned in the receiving gap and by a bolt penetrating the two tongues and the pin.

[0015] In order to provide the necessary stability when lifting a load or when moving the storage and retrieval machine horizontally, it has proven preferable for the respective bolt to be aligned perpendicular to a lifting direction of the lifting carriage and perpendicular to a travel direction of the chassis.

[0016] To ensure adequate stability, it has proven advantageous for the stiffening to have an additional connecting piece, which is linked to the mast element via a third pivot joint in a region of the mast element between the mast head and the mast base. This additional connecting piece thus gives the stiffening a total of three connection points to the respective mast element, to which it is articulated.

[0017] In this context, the preferred option is that the connecting piece, at its end furthest from the third pivot joint, is connected via a fourth pivot joint to a first stiffening element of the stiffening structure, and that the connecting piece, at its end furthest from the third pivot joint, is connected via a fifth pivot joint to a second stiffening element of the stiffening structure. The end of the connecting piece furthest from the third pivot joint thus branches into two parts, at the ends of which the fourth and fifth pivot joints, respectively, are arranged. In this way, the stresses in the stiffening structure are also reduced during acceleration processes, i.e., during starting or braking.

[0018] It is advantageous if the third pivot joint and / or the fourth pivot joint and / or the fifth pivot joint allows a polyaxial rotation of the respective connected constituent joint.

[0019] To achieve a certain degree of self-locking, it is alternatively advantageous if the third pivot joint and / or the fourth pivot joint and / or the fifth pivot joint is formed on the one hand by two tongues forming a receiving gap between them, and on the other hand by a pin positioned in the receiving gap and by a bolt penetrating the two tongues and the pin.

[0020] To increase stability, the relevant bolt is aligned perpendicular to the lifting direction of the lifting carriage and perpendicular to the travel direction of the chassis. To significantly reduce the stresses without compromising the necessary stability, it is advantageous for the mast head region of the at least one mast element to extend from the head crossbeam to a distance from the head crossbeam that is at most 10 percent of the length of the mast element. Alternatively or additionally, it is preferably provided that the mast base region of the at least one mast element extends from the base crossbeam or the chassis to a predefined distance from the base crossbeam, this distance being at most 10 percent of the length of the mast element.

[0021] To enable the automated storage and retrieval of particularly large goods, such as containers, in a high-bay warehouse, it is advantageous to have two frame-shaped masts. In this configuration, the two frame-shaped masts are aligned parallel to each other and connected at the top and bottom.

[0022] In other words, there are two pairs of parallel mast elements, connected at one end by a common top crossbeam or a top section comprising one or two of the top crossbeams, and at the other end by the bottom crossbeam or a bottom section comprising one or two of the bottom crossbeams. A stiffener can be assigned to a single mast element, or two stiffeners can be assigned to two of the mast elements. Furthermore, it is advantageous to have at least three stiffeners on three of the mast elements. To further increase the stability of the storage and retrieval machine formed with two frame-shaped masts, it is beneficial if each of the four mast elements has its own stiffener, to which it is connected by a pivot joint. This stiffening can also be designed as in the preceding embodiments.In a storage and retrieval machine with two frame-shaped masts, a kind of "tower" is formed, resulting in a mast tower consisting of four mast elements. It should be noted that the drive mechanism can be located at the bottom of the mast, and thus associated with the base beam. However, it is also possible for the drive mechanism to be assigned to the top beam, meaning the drive mechanism is located at the top of the mast. Finally, both the base beam and the top beam can be equipped with a drive mechanism, resulting in one drive mechanism at the top of the mast and one at the bottom; these two drives are then synchronized.

[0023] The features and combinations of features mentioned above in the description, as well as those subsequently mentioned in the figure description and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention. Thus, embodiments that are not explicitly shown or explained in the figures, but which can be derived and generated from the explained embodiments by separate combinations of features, are also to be considered as encompassed and disclosed by the invention.

[0024] 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:

[0025] Figure 1 shows a perspective and schematic view of a storage and retrieval machine.

[0026] Figure 2 shows a perspective and schematic detail view of the mast head area of ​​one of the mast elements of the storage and retrieval machine from Figure 1.

[0027] Figure 3 is a perspective and schematic detail view of the mast base area or the chassis of one of the mast elements of the storage and retrieval machine from Figure 1, and Figure 4 is a perspective and schematic detail view of the area between the mast head area and the mast base area of ​​one of the mast elements of the storage and retrieval machine from Figure 1.

[0028] Figure 1 shows a storage and retrieval machine 100 with a frame-shaped mast 102. The mast 102 is formed from two parallel mast elements 104, which are oriented essentially perpendicularly, i.e., vertically, during the intended use of the storage and retrieval machine 100.

[0029] To form the frame, a head truss 108 is assigned to the two mast elements 104 at their upper end, i.e., at the head end. This head truss 108 connects the two mast elements 104. At their lower end, i.e., at the foot end, the two mast elements 104 are connected to each other by a foot truss 106, which can also be referred to as a travel truss.

[0030] The connection of the mast elements 104 to the head crossbeam 108 and the connection of the mast elements 104 to the base crossbeam 106 is not rigid. Rather, there is a hinged connection between the mast elements 104 and the head crossbeam 108 and the base crossbeam 106, respectively. In other words, the mast elements 104 are each pivotally connected at their ends to the head crossbeam 108 and the base crossbeam 106 via an axis 128, which extends perpendicularly with respect to a lifting direction 130 (and also a lowering direction) of a lifting carriage 114 guided between the two mast elements 104. The axis 128 also extends perpendicularly with respect to a travel direction 132 of a carriage 110 of the storage and retrieval machine 100.

[0031] The chassis 110 is shown here as an example assigned to the foot traverse 106, but could just as easily be located at the head end of the crossbeam 108. A dual drive at both the head and foot ends is also possible. A drive unit 112 is provided to adjust the frame-shaped mast 102 along the direction of travel 132. In the illustrated embodiment, two drive units 112 are assigned to the chassis 110, each driving a corresponding wheel. The storage and retrieval machine 100 is a rail-mounted machine that can be moved along a rail by means of the drive unit 112. However, the invention is not limited to a rail-mounted variant.

[0032] To adjust the lifting carriage 114 to different racking levels, the storage and retrieval machine 100 has a lifting drive 116, which can be, for example, a chain, a belt, or a cable. The lifting drive 116 is attached to one of the mast elements 104. A conveyor vehicle is preferably located on a platform or on the lifting carriage 114 itself to store or retrieve goods from the racking compartments of a high-bay warehouse. The lifting carriage 114 can also be equipped with an additional conveyor drive, such as a chain conveyor. Alternatively or additionally, the lifting carriage 114 can also include a load fork to store or retrieve goods from the racking.

[0033] Since the base traverse 106 and the head traverse 108 are pivotally connected to the mast elements 104, the present storage and retrieval machine 100 is equipped with an additional stiffening element 118. This stiffening element 118 is implemented in this case by a multi-part stiffening rod 134. Each of the mast elements 102 is assigned such a stiffening element 118.

[0034] To prevent the reduced mechanical stresses caused by the articulated connection between the mast elements 104 and the two crossbeams 106, 108 from being increased again by the stiffening element 118, the stiffening element 118 is also provided at one end with a first pivot joint 124 and at the other end with a second pivot joint 126. In other words, the stiffening element 118 is also pivotally connected to the respective mast element 104. In this case, the first pivot joint 124 and the second pivot joint 126 allow rotation about an axis that is oriented perpendicular to the lifting direction 130 of the lifting carriage 114 and perpendicular to the travel direction 132 of the chassis 110. The first pivot joint 124 has a first axis 148 for this purpose, wherein the second pivot joint 126 has a second axis 150 which is arranged parallel to the first axis 148 of the first pivot joint 124.

[0035] Figure 2 shows the mast head area 120 in more detail, with the first pivot joint 124 located in the mast head area 120. Here, the stiffening element 118 has two tongues 152 forming a receiving gap between them, between which a pin 154 of the mast element 104 is positioned in the receiving gap. Both the two tongues 152 and the pin 154 are penetrated by a bolt 156, which is oriented perpendicular to the lifting direction 130 of the lifting carriage 114 and perpendicular to the travel direction 132 of the running gear 110. This bolt 156 forms the first axis 148. Of course, it is also possible for the first pivot joint 124 to be configured such that the stiffening element 118 provides the pin 154, in which case the two parallel tongues 152 are associated with the mast element 104.

[0036] Figure 3 shows a detailed view of the mast base area 122, where the stiffening 118 is again formed by the two tongues 152. Here too, the two tongues 152 form a receiving slot between them for a pin 154 located on the base crossbeam 106. The two tongues 152 of the stiffening 118 and the pin 154 of the base crossbeam 106 in the mast base area 122 are also penetrated by a bolt 156. The bolt 156 in the mast base area 122 forms the second axis 150 of the second pivot joint 126 on the chassis 110 or the base crossbeam 106. Here, too, it is possible that the two tongues 152 are assigned to the base crossbeam 106 or the chassis 110, with the pin 154 then located on the stiffener 118 and positioned between the two parallel tongues 152. Figure 4 shows the area between the head area 120 and the foot area 122 of the storage and retrieval machine 100.The mast head section 120 is located on the mast strut 104 relatively close to the head crossbeam 108. The mast head section 120 extends from the head crossbeam along the mast element 104 by at most 10% of the total length of the mast element 104. The mast base section 122 is also located very close to the landing gear 110 or the base crossbeam 106, preferably extending from the base crossbeam 106 along the mast element 104 by at most 10% of the length of the mast element 104.

[0037] In the area between the head section 120 and the foot section 122, the lifting drive 116 is also attached to one of the mast elements 104. The lifting drive 116 can preferably be redundant, so that each of the mast elements 104 is assigned its own lifting drive 116; the drives are then synchronized.

[0038] The area shown in Figure 4 between the mast head region 120 and the mast base region 122 illustrates the possibility that the stiffening element 118 includes an additional connecting piece 136, which is pivotally connected to the respective mast element 104. For this purpose, a third pivot 138 is provided, which in turn is formed by two tongues 152 on the connecting piece 136 that run parallel to each other. A pin 154, which in this case is assigned to the mast element 104, projects into the receiving space between the two tongues 152. The two tongues 152 and the pin 154 are penetrated by a bolt 156. This bolt 156 is also oriented perpendicular to the lifting direction 130 of the lifting carriage 114 and perpendicular to the travel direction 132 of the undercarriage 110.

[0039] At the end of the connecting piece 136 facing away from the mast element 104, there are further joints, namely a fourth pivot joint 140 and a fifth pivot joint 144. For this purpose, the connecting piece 136 has a T-shaped end piece, the free arms of which form parts of the joints 140 and 144. In this way, the connecting piece 136 is connected at its end facing away from the third pivot joint 138 via the fourth pivot joint 114 to a first stiffening element 142 of the stiffening assembly 118 extending towards the head crossbeam 108, and the connecting piece 136 is further connected at its end facing away from the third pivot joint 138 via the fifth pivot joint 144 to a second stiffening element 146 of the stiffening assembly 118 extending towards the landing gear 110.Here too, the pivot joints 140, 144 are realized by two tongues 152 running parallel to each other, a pin 154 positioned between the two tongues 152, which is formed by the free arms of the T-shaped part of the connecting rod 136, and by the bolt 156 penetrating the two tongues 152 and the pin 154. Both bolts 156 are oriented perpendicular to the lifting direction 130 of the lifting carriage 114 and perpendicular to the travel direction 132 of the chassis 110.

[0040] To achieve the necessary stability while simultaneously reducing the stresses occurring in the most heavily loaded components, the stiffening 118 is assigned to both one and the other of the mast elements 104. In this case, the stiffening 118 is formed with an identical structure both in and against the direction of travel 132, although this is not strictly necessary, particularly if higher loads typically occur in one direction than when traveling in the opposite direction.

[0041] REFERENCE MARK LIST:

[0042] 100 storage and retrieval machines

[0043] 102 masts

[0044] 104 Mast element (vertical mast part)

[0045] 106 Foot traverse

[0046] 108 Head traverse

[0047] 110 chassis

[0048] 112 Drive system

[0049] 114 lifting carriages

[0050] 116 Lifting drive

[0051] 118 Stiffening

[0052] 120 Mast head area (on mast element)

[0053] 122 Mast base area (on mast element)

[0054] 124 first pivot joint (stiffening + mast head area)

[0055] 126 second pivot joint (stiffening + chassis)

[0056] 128 axle

[0057] 130 Lifting direction

[0058] 132 Direction of travel

[0059] 134 Stiffening rod

[0060] 136 Connecting piece

[0061] 138 third pivot joint (connecting piece + mast element)

[0062] 140 fourth pivot joint (connecting piece + first stiffening piece)

[0063] 142 first stiffening piece (stiffening)

[0064] 144 fifth pivot joint (connecting piece + second stiffening piece)

[0065] 146 second stiffening piece (stiffening)

[0066] 148 first axle (first pivot joint)

[0067] 150 second axis (second pivot joint)

[0068] 152 Tongue

[0069] 154 cones

[0070] 156 bolts

Claims

REQUIREMENTS:

1. Storage and retrieval machine (100) with a frame-shaped mast (102) comprising two parallel mast elements (104) which are connected at one end via a base crossbeam (106) and at the other end via a head crossbeam (108), wherein a carriage (110) with a drive unit (112) is assigned to the mast (102) for moving the mast (102) along a rack, wherein a lifting carriage (114) with a lifting drive (116) is assigned to the mast (102) guided between the two mast elements (104) for moving a load to different rack levels, and wherein at least one of the mast elements (104) is assigned a stiffener (118) which extends on a side of the mast element (104) facing away from the lifting carriage (114),wherein the stiffening (118) extends from a mast head region (120) of the mast element (104) to the base traverse (106) or from a mast foot region (122) of the mast element (104) to the head traverse (108), characterized in that a first pivot joint (124) is assigned to the stiffening (118) at one end, and that a second pivot joint (126) is assigned to the stiffening (118) at the other end.

2. Storage and retrieval machine (100) according to claim 1, characterized in that the mast elements (104) are each connected at their ends to the head traverse (108) and the foot traverse (106) via an axis (128) which extends perpendicularly with respect to a lifting direction (130) of the lifting carriage (114) and perpendicularly with respect to a travel direction (132) of the carriage (110).

3. Storage and retrieval machine (100) according to claim 1 or 2, characterized in that the stiffening (118) is formed by at least one stiffening rod (134) or by at least one stiffening tube.

4. Storage and retrieval machine (100) according to one of claims 1 to 3, characterized in that the first pivot joint (124) enables a rotation about a first axis (148) which is oriented perpendicular to a lifting direction (130) of the lifting carriage (114) and perpendicular to a travel direction (132) of the chassis (110).

5. Storage and retrieval machine (100) according to one of claims 1 to 4, characterized in that the second pivot joint (126) enables rotation about a second axis (150) which is oriented perpendicular to a lifting direction (130) of the lifting carriage (114) and perpendicular to a travel direction (132) of the chassis (110).

6. Storage and retrieval machine (100) according to one of claims 1 to 5, characterized in that the first pivot joint (124) and / or the second pivot joint (126) enables polyaxial rotation.

7. Storage and retrieval machine (100) according to one of claims 1 to 5, characterized in that the first pivot joint (124) and / or the second pivot joint (126) is formed on the one hand by two tongues (152) forming a receiving gap between them, on the other hand by a pin (154) that can be positioned in the receiving gap and by a bolt (156) that penetrates the two tongues (152) and the pin (154).

8. Storage and retrieval machine (100) according to claim 7, characterized in that the respective bolt (156) is aligned perpendicular to a lifting direction (130) of the lifting carriage (114) and perpendicular to a travel direction (132) of the chassis (110).

9. Storage and retrieval machine (100) according to one of claims 1 to 8, characterized in that the stiffening (118) has an additional connecting piece (136) which is connected via a third pivot joint (138) to the mast element (104) in a region of the mast element (104) between 15 is connected to the mast head area (120) and the mast foot area (122).

10. Storage and retrieval machine (100) according to claim 9, characterized in that the connecting piece (136) is connected at its end facing away from the third pivot joint (138) via a fourth pivot joint (140) to a first stiffening piece (142) of the stiffening (118), and that the connecting piece (136) is connected at its end facing away from the third pivot joint (138) via a fifth pivot joint (144) to a second stiffening piece (146) of the stiffening (118).

11. Storage and retrieval machine (100) according to claim 9 or 10, characterized in that the third pivot joint (138) and / or the fourth pivot joint (140) and / or the fifth pivot joint (144) enables polyaxial rotation.

12. Storage and retrieval machine (100) according to claim 9 or 10, characterized in that the third pivot joint (138) and / or the fourth pivot joint (140) and / or the fifth pivot joint (144) is formed on the one hand by two tongues (152) forming a receiving gap between them, on the other hand by a pin (154) that can be positioned in the receiving gap and by a bolt (156) that penetrates the two tongues (152) and the pin (154).

13. Storage and retrieval machine (100) according to claim 12, characterized in that the relevant bolt (156) is aligned perpendicular to a lifting direction (130) of the lifting carriage (114) and perpendicular to a travel direction (132) of the carriage (110).

14. Storage and retrieval machine (100) according to one of claims 1 to 13, characterized in that the mast head region (120) of the at least one mast element (104) extends from the head crossbeam (108) to a distance from the head crossbeam (108) of at most 10 percent of a length of the mast element (104), and / or that the The mast base area (122) of the at least one mast element (104) extends from the base traverse (106) to a distance from the base traverse (106) of at most 10 percent of the length of the mast element (104).

15. Storage and retrieval machine (100) according to one of claims 1 to 14, characterized in that the frame-shaped mast (102) is provided in duplicate, wherein the two frame-shaped masts (102) are aligned parallel to each other and are connected to each other at the head and foot.

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