Shelf storage system with improved cargo manipulation unit

专利摘要:
The invention relates to a shelf storage system (1) with two storage shelves (2a, 2b) and a shelf aisle (5) running between them. The rack storage system (1) also has a cargo manipulation unit (11) with a buffer device (12a) for the intermediate buffering of cargo (4) and a cargo lifting device (13a) for storing and / or retrieving cargo (4). The load lifting device (13a) comprises a vertical mast (15) with a lifting guide (16), a lifting drive (17) with a drive station (18) and a traction mechanism drive (19) and one mounted on the lifting guide (16) and by the lifting drive (17) vertically movable lifting frame (20). The lifting frame (20) is connected to the traction mechanism drive (19) of the lifting drive (17) and comprises a transport device (21). In addition, the rack storage system (1) has an automated storage and retrieval unit (23) which can be moved on guideways (22a, 22b) on the storage racks (2a, 2b) in the rack aisle (5), and one on the load manipulation unit (11 ) connected conveyor technology (25a). The lifting frame (20) is arranged on a side of the vertical mast (15) facing away from the shelf aisle (5). The drive station (18) with the drive motor (26a) is arranged on a side of the vertical mast (15) facing the rack aisle (5). The drive motor (26a) is located within the rack aisle (5).
公开号:AT521359A4
申请号:T51090/2018
申请日:2018-12-07
公开日:2020-01-15
发明作者:
申请人:Tgw Mechanics Gmbh；
IPC主号:

专利说明:

Summary
The invention relates to a shelf storage system (1) with two storage shelves (2a, 2b) and a shelf aisle (5) running between them. The rack storage system (1) also has a cargo manipulation unit (11) with a buffer device (12a) for the intermediate buffering of cargo (4) and a cargo lifting device (13a) for storing and / or retrieving cargo (4). The load lifting device (13a) comprises a vertical mast (15) with a lifting guide (16), a lifting drive (17) with a drive station (18) and a traction mechanism drive (19) and a lifting device (16) mounted on the lifting guide (16) and through the lifting drive (17 ) vertically movable lifting frame (20). The lifting frame (20) is connected to the traction mechanism drive (19) of the lifting drive (17) and comprises a transport device (21). In addition, the rack storage system (1) has an automated storage and retrieval unit (23) that can be moved on guideways (22a, 22b) on the storage racks (2a, 2b) in the rack aisle (5), and one that is connected to the load manipulation unit (11) Materials handling technology (25a). The lifting frame (20) is arranged on a side of the vertical mast (15) facing away from the shelf aisle (5). The drive station (18) with the drive motor (26a) is arranged on a side of the vertical mast (15) facing the rack aisle (5). The drive motor (26a) is located within the rack aisle (5).
Fig. 3
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The invention relates to a rack storage system comprising a first storage rack with storage spaces for goods that are arranged next to one another in superimposed storage levels, and a second storage rack with storage spaces for loading goods that are arranged next to one another in stacking levels. The first storage rack and the second storage rack are at a distance from each other in a horizontal z-direction, whereby a rack aisle is formed between the first storage rack and the second storage rack, which has a longitudinal axis running horizontally in an x-direction and perpendicular to the z-direction is aligned. The first storage rack has (first) front rack uprights, (first) rear rack uprights, which run in the x direction for each storage level and (first) front longitudinal beams connected to the (first) front rack uprights, run in the x direction per storage level and with the ( first) rear rack uprights connected (first) rear longitudinal beams, and a (first) shelf with the storage spaces arranged between the (first) front longitudinal beam and the (first) rear longitudinal beam for each storage level. The second storage rack has (second) front rack uprights, (second) rear rack uprights, which run in the x direction for each storage level and (second) front longitudinal beams connected to the (second) front uprights, run in the x direction and with each storage level the (second) rear rack uprights connected (second) rear longitudinal beams, and a (second) shelf with the storage spaces arranged between the (second) front longitudinal beam and the (second) rear longitudinal beam for each storage level. Furthermore, the rack storage system comprises a cargo manipulation unit which has a first buffer device offset laterally to the rack aisle in the z-direction and one in the edge region of the rack aisle
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N2018 / 22100-AT-00 arranged, first load lifting device for storing and / or retrieving loads. In at least some of the storage levels, the first buffer device has provision devices, which are each designed for the intermediate buffering of one or more loads and in the x direction adjacent to one of the sides of the first load lifting device or in the x direction adjacent to both sides of the first Load lifting device are arranged. The first load lifting device comprises a first vertical mast with a first lifting guide, which is arranged in a peripheral area of the shelf aisle, is set up in a fixed position and is attached to the first storage rack, and a first lifting drive with a first drive station and a traction mechanism drive. In addition, the first load lifting device comprises a first lifting frame mounted on the first lifting guide and vertically movable by the first lifting drive, which is connected to the traction mechanism drive of the first lifting drive, and a first transport device arranged on the first lifting frame, which at least for transporting the loaded goods between one of the provision devices and the first transport device is designed in the x direction. The rack storage system further comprises guideways which are arranged in pairs on top of each other (in particular at the same height) on the (first) front longitudinal beams of the first storage rack and on the (second) front longitudinal beams of the second storage rack, and which are arranged in x- Direction along the first storage rack, the second storage rack and the provision devices. In addition, the rack storage system comprises at least one automated storage and retrieval device (in particular a one-level storage and retrieval device) with at least one load handling device for transporting the goods between the storage spaces and the provision devices, which can be moved along the guideways on the driving level in front of the storage spaces and before the provisioning device is. Finally, the rack storage system comprises a first conveyor technology connected to the cargo manipulation unit for the transport of cargo to the first cargo lifting device and for the transportation of cargo from the first cargo lifting device, the first cargo lifting device connecting the first conveyor technology and the provision devices in terms of conveyor technology.
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Different designs of an automated shelf storage system are, for example, from EP 2327643 B1, EP 2436620 A2, EP 2158144 B1
EP 1716060 B1, EP 2132113 B1 and DE 102011012424 A1 are known.
However, the known rack storage systems have a number of disadvantages:
In a solution according to the prior art, in which the drive motors are arranged under the lifting frame, the lifting frame cannot be lowered very deeply, as a result of which the connection to a further conveyor technology must also be made at a relatively large distance from the floor. Solutions are also known in which the drive motors are arranged adjacent to the vertical mast in the x direction. This means that a lower approach height (i.e. the lowest height position of the lifting frame on the vertical mast) can be minimized, but drive motors are very difficult to access and difficult to maintain from the aisle.
If an endless traction device (such as a flat belt or toothed belt) is used for the vertical movement of the lifting frame, it is guided in a known manner around a drive wheel and a deflection wheel, possibly also via guide wheels. In order to prevent the traction device from jumping out of the drive wheel, deflection wheel or guide wheel and to prevent the traction device from slipping over the drive wheel or to prevent the traction device from jumping over a toothing of the drive wheel, this is placed under a pretension. The endless traction means has two sections under load, namely a load strand and an empty strand. In addition to the preload, there is a load voltage component influenced by the weight of the lifting frame. This load voltage component extends the load span compared to the unloaded state. This stretch is absorbed by the empty strand, which is now shortened compared to the unloaded state. Accordingly, the tension prevailing in the empty strand is reduced below the pretension in the unloaded state. In order to prevent the traction device from jumping out of a deflection wheel (or - if present - a guide wheel) in the area of the empty run, the pretension in the empty run should not drop to zero even in this load state, since it would otherwise become slack. In particular, such a condition must also ver
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N2018 / 22100-AT-00 can be prevented if the lifting frame is accelerated upwards and the load span is stretched even more due to the increased load voltage component.
The height of the lifting frame in its lowest position is particularly problematic because the empty span is then the shortest. The pre-tension in the traction mechanism should be chosen so high that the length compensation can also be accomplished in this state without the empty strand becoming slack. This is particularly difficult in the case of solutions according to the prior art, in which the drive wheel for the traction means is located in the mast foot area (directly below the upper deflection wheel in the mast head area) because the empty span is generally particularly short in the case of such a solution. The main disadvantage here is the reduction in the usable load voltage component due to the high pretension required in the traction mechanism. Accordingly, relatively large cross-sections are required for the traction device in order to be able to carry and move the required loads at all.
As a rule, relatively massive profile cross sections are also used for the vertical mast. This is difficult and expensive. In particular, assembly at mast heights of 30 to 40 m is complex and can only be accomplished with heavy cranes.
The rack storage systems known from the prior art also do not offer any generally effective solutions in the event that the traction mechanism drive should fail (because, for example, a traction device of the traction mechanism drive breaks). A safety brake can be assigned to the lifting frame, but it only brakes after a delay or application time. If the lifting frame is below the height when the traction drive fails, which corresponds to the delay or application time of the safety brake, the safety brake is completely ineffective. In the event that the lifting frame moves straight down when the traction device is torn, the problem becomes even more apparent. A tearing of the traction device usually causes serious damage.
Known systems are also susceptible to vibrations caused by the operation of the moving components (e.g. by the operation of the storage and retrieval machine or also by the operation) because of the height of the storage rack of a few meters
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N2018 / 22100-AT-00 of the lifting frame or the lifting frame of the load lifting device (s)) are introduced into the rack warehouse. In addition, such oscillations or vibrations are favored by the tendency towards ever higher movement speeds and accelerations, in particular of the vertically movable lifting frame. The problem here is that low-weight goods can be "shaken" away from their intended position in which they are placed on the storage rack. This can mean that automatic removal by a storage and retrieval machine is made more difficult or even prevented and that troubleshooting is necessary. Among other things, this means standstill, manual intervention and the associated costs.
It is therefore an object of the invention to provide an improved shelf storage system. In particular, the lifting frame should be able to be lowered to a great extent, to prevent the traction device from jumping or slipping out of its guide, to minimize damage when the traction mechanism drive fails, to simplify the assembly of the vertical mast and / or to keep vibrations in the rack storage system low.
The object of the invention is achieved with a rack storage system of the type mentioned in the introduction, in which the first lifting frame with the first transport device on a side of the vertical mast facing away from the rack aisle and the first drive station, which comprises a first drive motor, on a side of the vertical mast facing the rack aisle are arranged, and the first drive motor is arranged within the rack aisle.
The proposed measures make the drive motor easily accessible from the rack aisle, so that the same can be installed and serviced in a simple manner. In addition, the lifting frame can be moved particularly far from the ground, since the drive motor is arranged outside the range of movement of the lifting frame. A lower approach height (i.e. the lowest height position of the lifting frame on the vertical mast) is in particular less than 500 mm, in particular 375 mm.
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The vertical mast can be arranged in the shelf aisle. However, the vertical mast can also advantageously be arranged laterally offset in the z-direction from the shelf aisle, that is to say outside the shelf aisle.
The first traction mechanism drive of the first load lifting device comprises a traction mechanism, in particular an endless traction mechanism. In a favorable embodiment of the rack storage system, the traction means is guided around a drive wheel (which is coupled to the drive motor), an upper / lower deflection wheel and at least one guide wheel. The drive wheel, the upper and lower deflection wheel, the guide wheel and possibly a tensioning system for the traction mechanism are also part of the traction mechanism drive. The drive station comprises the drive wheel and the drive motor, which can be mounted on a common base plate. The drive wheel is both part of the drive station and part of the traction mechanism drive. The lower deflection wheel is mounted in the mast foot area, the upper deflection wheel in the mast head area. The traction means can in particular be designed as a toothed belt and the drive wheel as a toothed pulley.
The proposed measures enable the driving force or the driving power of the drive motor to be transmitted to the lifting frame with only small moving masses. The drive motor can also be installed close to the floor and does not contribute to the moving mass of the lifting frame. In particular if the vertical mast is designed with an open profile cross section or as a hollow profile, one of the strands of the traction means can also be guided inside the same.
The positioning of the drive wheel in the shelf aisle also significantly extends the empty span compared to a solution in which the drive wheel for the traction means is arranged in the mast foot area. The length of the empty run can be roughly doubled compared to these known solutions. The proposed measures make it easier for the empty strand to absorb the expansion that occurs in the load strand when the lifting frame is loaded and / or accelerated. The pre-tension in the traction device can therefore be selected lower without the traction device jumping out of the lower deflection wheel or a guide roller (if present in the area of the empty strand) or through 7/82
N2018 / 22100-AT-00 there is a risk of the traction device slipping over the drive wheel or skipping of the traction device over a toothing of the drive wheel. Accordingly, the usable load voltage component is comparatively high and only relatively small cross sections are required for the traction means in order to be able to carry and move the required loads. The provision of a guide roller also increases the wrap angle around the drive wheel, which additionally improves the linear drive.
To achieve the above-mentioned goal, it is advantageous if the traction mechanism drive comprises a drive wheel, a lower deflection wheel, an upper deflection wheel, a guide wheel and a traction device guided around the drive wheel, the lower deflection wheel, the upper deflection wheel and the guide wheel, the lower one Deflection wheel in the area of a vertical mast foot of the vertical mast (specifically in the area of the empty run of the traction means on the vertical mast foot) and the upper deflection wheel in the area of a vertical mast head of the vertical mast are arranged, the guide wheel is arranged in the area of the vertical mast foot between the upper deflection wheel and the drive wheel, the drive wheel with a distance from the vertical mast is arranged in the area of the vertical mast foot, and a center distance (in particular a horizontal center distance) between the drive wheel and the lower deflection wheel is at least 300 mm. The center distance mentioned is particularly preferably between 350 mm and 800 mm.
Advantageously, the first load lifting device can have a tensioning system for mounting the traction means and / or for setting a pretensioning force in the traction means, which is arranged on the side of the vertical mast facing the rack aisle.
Due to the proposed measures, the tensioning system is easily accessible from the rack aisle, so that tensioning of the traction means during the manufacture of the shelf storage system or retensioning of the traction means during maintenance of the shelf storage system is possible in a simple manner. As a clamping system
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N2018 / 22100-AT-00 are, for example, turnbuckles in which the tension of the
Traction means can be adjusted using a screw or a nut.
The object of the invention is also achieved with a shelf storage system of the type mentioned at the outset, in which the vertical mast has an open profile cross section, the profile cross section comprising a profile base (also known as a profile web), projecting (and in particular parallel) profile legs and at the free ends of the profile legs angled mounting legs on which the vertical mast is attached to the first storage rack.
The profile cross section can thus be in particular C-shaped (with assembly legs bent inwards) or U-shaped with outward-directed, in particular outwardly bent assembly legs. Due to the open design, the attachments to the vertical mast are easily accessible, which not only simplifies the manufacture of the cargo manipulation unit, but also its maintenance. The mounting legs are directed outwards or inwards about a vertical axis of the mast (in particular bent around a vertical axis) and offer a contact surface for mounting the vertical mast on the first storage rack. In particular, the vertical mast is connected to the storage rack via connecting means. Screws in particular can be provided as connection means, but a connection by rivets or by clamping is also conceivable. By attaching the vertical mast to the storage rack, in particular on several vertically superimposed assembly sections, the vertical mast is extremely stable despite the open construction, in particular against rotation and even at mast heights of 30 to 40 m. In addition, it is advantageous that the material used is low and the weight is reduced to a minimum. This enables easier assembly with less technical effort and also low transport costs. In principle, however, it is also conceivable that the vertical mast has a closed profile cross section and is in particular designed as a rectangular tube. The vertical mast then has a particularly high torsional rigidity.
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Finally, the object of the invention is also achieved with a shelf storage system of the type mentioned at the outset, in which the load manipulation unit comprises an energy-absorbing deformation device which is fixedly mounted on a side of the vertical mast facing away from the shelf aisle below the first lifting frame (for example on a fixed one standing component of the cargo manipulation unit or directly on a floor, the steel structure of the rack storage system or a false ceiling of the building in which the rack storage system is installed).
In this way, damage to the load manipulation unit is kept to a minimum if the traction mechanism drive should fail (because, for example, a traction mechanism of the traction mechanism drive breaks) and a safety brake is not assigned to the lifting frame or a safety brake for the lifting frame should not respond quickly enough. For example, a safety brake can have a delay or application time of 0.2 to 0.6 seconds, which according to the formula:
,> ² corresponds to a fall height of 0.20 to 1.80 m. If the lifting frame is below the height corresponding to the delay or application time of the safety brake when the traction mechanism drive fails, the safety brake is completely ineffective. In the event that the lifting frame just moves down at its maximum speed when the traction device is torn, the problem becomes even more apparent. The above-mentioned delay time corresponds to an additional height of 1.20 m or 3.60 m at a driving speed of 6 m / s. In this case, the safety brake is completely ineffective below a height of 1.40 m or below a height of 5.40 m. With the help of the deformation device, the impact of the lifting frame can still be dampened. A deformation device generally advantageously has a lower overall height than hydraulic dampers, for example. The lifting frame can therefore be moved further down in normal operation than would be the case, for example, when using hydraulic dampers.
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At this point it is noted that the arrangement of the first lifting frame with the first transport device on a side of the vertical mast facing away from the rack aisle and the arrangement of the first drive station, which comprises a first drive motor, on a side of the vertical mast facing the rack aisle, and the arrangement of the first drive motor within the rack aisle and / or the provision of an open profile cross section for the vertical mast, the profile cross section comprising a profile base, profile legs projecting from this (and in particular running parallel) and mounting legs angled at the free ends of the profile legs, on which the vertical mast is at the first Storage rack is attached and / or the provision of an energy-absorbing deformation device, which is fixedly mounted on a side of the vertical mast facing away from the shelf aisle below the first lifting frame in a rack storage system individually or in any combination can or can be turned.
In general, a shelf can in particular include cross members or depth supports running in the z direction or can be designed as a shelf or as a grid shelf.
The transport of the cargo between the storage bins and the provision devices is understood to mean, in particular, the taking over of cargo from a supply device, the storage of cargo onto the storage bins, the removal of cargo from the storage bins and the transfer of cargo to one of the supply bills.
A conveyor connection between the first conveyor technology and the provision devices by means of the first load lifting device makes it possible, in particular, to transfer loads from the first conveyor technology to the first load lifting device and to transfer them to a provision device and / or to take loads from a provision device onto the first load lifting device to hand over the first conveyor technology.
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According to a first embodiment, the provision devices can be designed as passive provision devices and each comprise a stationary support table (without conveying elements) for buffering one or more loads, and according to a second embodiment they can be designed as active provision devices and in each case one conveyor device (with at least one motor-driven one) Conveying element - for example with at least one conveyor roller).
Depending on the embodiment, the transport device can be designed or operated in such a way that the cargo is transported on it only in one direction or in such a way that the cargo can be transported on it in both directions (reversing operation). The transport device can be formed, for example, by a conveyor device or a load suspension device, as described, for example, in WO 2013/090970 A2.
A storage location is generally an area in the rack storage system where a load can be stored. The goods can be stored directly on the storage bins or with the aid of loading aids. The storage bins are arranged in different storage levels.
A loading aid is generally used for the storage and transport of goods in the rack storage system and can be designed in particular as a container, box, tray, pallet, bag (in particular as a polybag), bag, sack or hanging bag. At this point it is noted that not all loading aids in the rack storage system have to have the same properties, but that the loading aids can also be designed differently. The loading aids can also have a plurality of receiving areas / receiving compartments.
A storage and retrieval unit is an automated conveyor vehicle that runs on rails and can be designed as a single-level storage and retrieval unit (also called a shuttle). In this case, the storage and retrieval unit can only operate a single storage level via a load suspension device or a load suspension device. A storage and retrieval unit can also be designed as a multi-level storage and retrieval unit. In this case, the storage and retrieval machine can
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N2018 / 22100-AT-00 one load suspension device or one load suspension device several
Operate storage levels. In a rack storage system, in the same rack aisle, in particular a plurality of storage and retrieval machines (both single-level storage and retrieval machines and multi-level storage and retrieval machines) can be provided, which operate in particular in different drive levels.
Several maintenance levels can also be provided in the rack storage system, which can be formed in particular by walkways for assembly and maintenance personnel.
The shelf storage system can also have a control system that is generally used to control the moving components of the shelf storage system, for example to control the storage and retrieval machines and the load lifting device (s). The control system can also be connected to a superordinate central computer of a storage and order-picking system, which comprises the rack storage system.
Further advantageous refinements and developments of the invention result from the subclaims and from the description in conjunction with the figures.
A drive axis of the first drive motor is advantageously aligned in the x direction. In this way, the drive motor can be arranged in a particularly space-saving manner in the rack aisle, as a result of which the load lifting device can be passed in a simple manner, for example by maintenance personnel. This arrangement is particularly suitable when the shelf aisle is relatively narrow and / or when a plurality of goods lifting devices (in particular a mirror image about the x-axis) are arranged opposite one another in the shelf aisle. In addition, the overall height of the load lifting device (s) is comparatively low due to the drive motor arranged horizontally within the shelf aisle. Accordingly, the storage and retrieval machines can only pass through the load lifting device at a low height. If the load lifting device is sunk into the ground, only a shallow pit is required.
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However, it is also advantageous if a drive axis of the first drive motor is aligned vertically. With this arrangement, too, the load lifting devices) can be passed in a simple manner, and the arrangement is again particularly suitable for relatively narrow rack aisles and / or the case that several load lifting devices (in particular in mirror image around the x axis) are arranged opposite one another in the rack aisle ,
It is also particularly advantageous if the first storage rack comprises (first) assembly crossbeams, which are fastened to the (first) front rack uprights in addition to the (first) front longitudinal crossbeams (for example, are preferably detachably fastened via connecting means) and parallel to the (first) ) run front longitudinal cross members, and the (first) vertical mast comprises a mounting section facing the rack aisle, with which the first load lifting device is mounted on the (first) mounting cross members (for example, is preferably releasably attached via connecting means).
In the above context, it is also advantageous if the second storage rack comprises (second) assembly crossbeams, which in addition to the (second) front longitudinal crossbeams are fastened to the (second) front rack uprights (for example, are preferably detachably fastened via connecting means) and parallel to the (second) front longitudinal trusses.
As mentioned at the beginning, the guideways for the storage and retrieval machine are located on the front longitudinal beams of the first and second storage shelves. However, the vertical mast of the load lifting device is not connected to the front longitudinal beams as usual, but to the separately provided mounting beams. This is particularly advantageous when the lifting frame is adjusted on the vertical mast in a highly dynamic manner. The term highly dynamic in this context means speeds of> 6 m / s and accelerations of> 7 m / s ² . By decoupling the connection points for the vertical mast from the front longitudinal beams (and thus from the guide rails for the stacker crane), the vibrations caused by the dynamic adjustment movements of the lifting frame do not become immediate
N2018 / 22100-AT-00 bar on the front longitudinal beams (and thus on the guide rails for the
Storage and retrieval machine) transferred.
In a preferred embodiment, the shelves are also mounted on the front longitudinal beams. In this case, too, the proposed measures hardly transmit any vibrations, which are caused by the adjusting movements of the at least one lifting frame, to the shelves. An undesired moving or wandering of the stored goods on the storage bins, as can occur in the prior art and can cause problems with the loading of the loaded goods, is therefore avoided.
The proposed measures can reduce or even prevent the transmission of vibrations from the load lifting device. In particular, the vertical mast can be connected to a plurality of mounting crosspieces arranged vertically one above the other at a plurality of vertically superimposed mounting sections. Screws in particular can be provided as connection means, but a connection by rivets or by clamping is also conceivable.
In a favorable embodiment variant, the rack storage system comprises walkways which are arranged in the aisle in maintenance levels lying one above the other and are fastened to the mounting crossbars of the first storage rack and to the mounting crossbars of the second storage rack (for example, are preferably detachably fastened via connecting means). These measures provide assembly or maintenance levels in the rack storage system that can be entered by assembly or maintenance personnel in order to be able to carry out assembly work or maintenance work in the rack storage system. Screws, rivets or clamps can in turn be provided as connecting means.
It is advantageous if the connection between the (first) vertical mast and one of the (first) assembly traverses is made by an angled or cranked (ie double-angled) fastening element. The angled or cranked design of the fastener allows on the one hand
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N2018 / 22100-AT-00 a solid and very simple assembly of the vertical mast on the mounting crossbar, but on the other hand also a reduction in the transmission of vibrations between the load lifting device and the loads. Specifically, the fastening element can essentially act as a spiral spring in this embodiment. When choosing the material for the fastening element, care should be taken to ensure that the material has sufficient damping properties to prevent undesirable resonance phenomena.
In general, it should be noted that the effect as a spiral spring is not tied to a curved or cranked construction of the fastening element. Rather, a free bending length between the point of connection of the vertical mast to the fastening element and the point of connection of the mounting crossbar to the fastening element is decisive.
It is particularly advantageous if the angled or cranked fastening element and / or a lining plate arranged between the (first) vertical mast and one of the (first) mounting crossbars is made of a material with an elastic modulus of less than 40,000 MPa. The low elasticity module effectively prevents or at least reduces the transmission of vibrations between the goods lifting device and the storage and retrieval machines. This applies in particular to an angled or cranked fastening element, which enables particularly high vibration damping. In principle, however, it is also advantageous if lining plates, which are inserted in different thicknesses for the vertical alignment of the vertical mast or to compensate for the distance between the vertical mast and the mounting crossbars, are made from a corresponding material. Particularly suitable materials are plastics, such as Teflon or fiber-reinforced plastic. It is also conceivable to use rubber or wood (especially plywood), which also has excellent damping properties. Of course, the use of composite materials other than fiber-reinforced plastic is also conceivable, for example plastic-wood compound materials. Even if the lining plate is preferably made of a material with an elastic modulus of less than 40,000 MPa
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N2018 / 22100-AT-00 is manufactured, it is basically conceivable that the lining plate is made of a metal (especially steel). In this case, the lining plate can be called a lining plate. At this point, it is also noted that between the vertical mast and the mounting crossbars, a lining plate (a lining plate) can be inserted or several lining plates (several lining plates) can be inserted.
The vertical mast advantageously has a multiplicity of mast segments which are joined vertically one above the other essentially without a gap (preferably with the aid of a stop connection). In this context, it is particularly advantageous if the first lifting guide for guiding the first (and second) lifting frame is divided in the vertical direction by form-complementary butt joints (for example with the aid of a tongue and groove connection between the individual lifting guide segments). The proposed measures on the one hand facilitate the transport of the vertical mast and its introduction into the building at the installation site, and on the other hand, its division enables a modular construction of the load lifting device. Specifically, depending on the required lifting height, different numbers of mast segments can be built into a vertical mast. The mast segments are preferably screwed together.
It is also advantageous if a division between the mast segments is arranged offset in the vertical direction to the butt joints of the lifting guide. The butt joint of the lifting guide is therefore not arranged at the same height as a division between two mast segments. An (undesirable) displacement of mast segments relative to one another, as can occur, for example, due to tensioning of the mast segments relative to one another, has no or only a slight effect on the butt joints of the lifting guides. As a result, the occurrence of vibrations or oscillations when moving the lifting frame can be kept low. Furthermore, a bending load that is introduced by the lifting slide into the lifting guides on the mast is passed over the joint of the mast elements.
In a further advantageous embodiment of the rack storage system, the first lifting guide for guiding the first lifting frame comprises a first guide
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N2018 / 22100-AT-00 bar and a second guide bar, which run separately and parallel in the longitudinal direction of the vertical mast and are preferably detachably connected to the vertical mast by means of fasteners. In particular, the first guide bar and the second guide bar are formed from bright drawn or ground flat steel, which has threaded holes for fastening the same to the vertical mast. Despite the inexpensive and modular design, the lifting frame runs smoothly on the first lifting guide and only slight vibrations are introduced into the vertical mast.
It is also favorable if the vertical mast and the first lifting guide as well as the front rack uprights and rear rack uprights of the first storage rack are made of the same material, in particular steel. The proposed measures can in particular avoid temperature-related tensions and / or play between the components of the rack storage system. This variant is therefore particularly suitable for shelf storage systems that are to be used in a wide temperature range or are exposed to temperature fluctuations. For example, this applies to rack storage systems that are set up at room temperature, but which are then operated at very low temperatures, as is the case, for example, with deep-freeze stores. In general, the temperature range in which rack storage systems are used is around -40 ° C to + 40 ° C. By avoiding play between the components, in particular the development of noise during operation of the load lifting device and the storage and retrieval machines can be reduced.
In the above context, it is also advantageous if the front longitudinal members as well as the rear longitudinal members and / or the assembly members are made of the same material as the vertical mast, the first lifting guide and the front and rear shelf supports. As a result, temperature-related tensions and / or play between the components of the rack storage system can be avoided even better.
It is also advantageous if the energy-absorbing deformation device has a force distribution plate with an impact surface for the first lifting frame
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N2018 / 22100-AT-00 comprises, beneath the force distribution plate comprises a honeycomb body which is plastically deformable by the action of force, which at least partially absorbs the impact energy which arises when the first lifting frame collides with the force distribution plate and comprises a mounting plate for mounting the deformation device below the honeycomb body.
In vertical projection, the lifting frame has only a small area, or the contact area between the lifting frame and the deformation device is only small. Due to the force distribution plate, the forces occurring when the lifting frame is opened are nevertheless uniformly introduced into the honeycomb body and the honeycomb body is deformed uniformly. In principle, it would also be possible to arrange a force distribution plate on the lifting frame. In order to keep the moving mass of the lifting frame low, it is advantageous to fix the power distribution plate to the honeycomb body. The force distribution plate is preferably connected to the honeycomb body, in particular glued. The mounting plate is also preferably connected to the honeycomb body, in particular glued.
It is expedient if the cavities of the honeycomb body run in the vertical direction. The honeycomb structure results in a favorable stiffness to volume ratio or a favorable stiffness to weight ratio. This means that the deformation body is small or light despite the high energy absorption during the deformation. As a result, a deformation body with only a low overall height can be provided, which enables the lifting frame to be moved to just above the floor level. In general, approximately 75% of the overall height of the honeycomb body can be used to dampen the impact. In addition, the compression behavior of the deformation body can be influenced by the honeycomb structure. Finally, there are also low manufacturing and replacement costs.
The bending stiffness of the force distribution plate about a horizontal axis is advantageously at least twice as great as the pressure stiffness of the honeycomb body in the vertical direction. It is also beneficial if there is a difference in the vertical shape
N2018 / 22100-AT-00 dimension of the deformation body is a maximum of 10% of the overall height of the undeformed deformation body if the maximum deformation is 75% of the overall height of the undeformed deformation body. In other words, the slightest deformation is then 65% of the overall height of the undeformed deformation body.
These measures also help to ensure that the forces that occur when the lifting frame is opened onto the deformation device are introduced evenly into the honeycomb body. In other words, the honeycomb body should give way (collapse) and deform before the force distribution plate deforms. The factor two is to be understood as an advantageous guideline. Basically, other values are also conceivable, since the type of force introduction into the honeycomb body via the contact surface depends heavily on the construction of the lifting frame, the force distribution plate and the honeycomb body.
It is also particularly advantageous if the first load lifting device comprises a first additional lifting drive with a first additional drive station and a first additional traction mechanism drive coupled to it, a one mounted on the first vertical mast along the first lifting guide or along a first additional lifting guide comprises the first additional lifting frame, which can be moved vertically with the aid of the first additional lifting drive, and comprises a first additional transport device arranged on the first additional lifting frame, which is designed at least for the transport of the cargo between a provision device and the first additional transport device in the x-direction ,
As a result, the storage performance and / or retrieval performance of the cargo manipulation unit can be increased. Essentially, the output is doubled if a second lifting frame is provided, and tripled if a third lifting frame is provided, etc. By guiding the lifting frames on the same vertical mast and in particular on the same lifting guide, the storage and / or retrieval performance of the cargo manipulation unit is increased advantageously possible with the same footprint.
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It is also advantageous if the first lifting drive and the first vertical mast are arranged on a common base plate. In particular, the base plate can enable means for aligning the components arranged thereon to one another. These means can be formed, for example, by recesses (for example bores), depressions and / or elevations. As a result, the first lifting drive and the first vertical mast are “automatically” aligned with each other when the load lifting device is installed. Complex measures for aligning the two components with each other can therefore be avoided.
It is particularly advantageous if the base plate is aligned (leveled) and mounted on a footprint in a first step before the vertical mast is placed on the base plate from above and attached to it in a second step. For example, the floor or a false ceiling of the building in which the shelf storage system is installed can serve as a footprint. The vertical mast is therefore placed on a fixed and horizontally oriented mounting surface, which also provides a vertical alignment of the vertical mast. This simplifies the assembly of the load lifting device. The traction mechanism drive is preferably mounted after the vertical mast has been fastened to the base plate and / or after the vertical mast has been fastened to the storage rack (in particular on its mounting crossbars). As a result, the traction device can be guided around a drive wheel, an upper / lower deflection wheel and at least one guide wheel. The upper deflection wheel is mounted in the mast head area. The lower deflection wheel is mounted in the mast foot area. The ends of the traction device can be connected to one another via a tensioning system and a tensioning force (prestressing) can be set in the traction device.
In a further advantageous embodiment of the rack storage system, the first lifting drive and the energy-absorbing deformation device are arranged on a common base plate. In particular, the base plate can in turn enable means for aligning the components arranged thereon, which can be formed, for example, by recesses (for example bores), depressions and / or elevations. Elaborate measure
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N2018 / 22100-AT-00 men for aligning the components to each other can therefore be omitted.
It is also advantageous if the drive station of the first lifting drive and the additional drive station of the first additional lifting drive are arranged on a common base plate. The proposed measures allow a modular construction of the cargo manipulation unit. Depending on the required storage performance and / or retrieval performance of the cargo manipulation unit, a drive motor is arranged on the base plate, or several drive motors are arranged on the common base plate. The base plate can in turn enable means for aligning the components arranged thereon to one another. These means can be formed, for example, by recesses (for example bores), depressions and / or elevations. Time-consuming measures to align the two components with one another can therefore be avoided.
It is also advantageous if an acceleration sensor for detecting at least one acceleration in the vertical direction is arranged on the first (and second) lifting frame and / or the first load-lifting device comprises an optical distance measuring sensor for detecting the vertical position of the first (and second) lifting frame and / or means for optical data transmission to or from the first (and second) lifting frame.
With the aid of an acceleration sensor, excessive vertical acceleration, such as occurs when the lifting frame falls down, can be detected. As a result, countermeasures can be initiated, such as activating a drop brake. In particular if several lifting frames are guided on a vertical mast, that lifting frame which is arranged under the falling lifting frame can be used to brake the falling lifting frame. The speed of the lower lifting frame is adjusted as far as possible to the speed of the falling lifting frame, and in a further step the lower lifting frame after the con
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N2018 / 22100-AT-00 decelerates with the falling lifting frame to brake the falling lifting frame. It is also conceivable that the lower lifting frame is simply moved into its lower rest position, so that the traction device associated therewith is not damaged when the falling lifting frame strikes. It is also conceivable that the acceleration sensor is used to detect unwanted or unexpected vibrations and oscillations, such as can occur, for example, if the load lifting device is defective (for example a broken bearing on a guide roller of the lifting frame).
In principle, the detection of excessive vertical acceleration is not tied to the use of an acceleration sensor, but an optical distance measuring sensor can of course also be used for this purpose, namely by forming the temporal differential of its position signal.
The data transmission to or from the first lifting frame can take place in particular with the aid of optical data transmission. This technique is also known as "data light barrier". In particular, the combination or integration of an optical distance measuring sensor and the optical data transmission of a single device is also conceivable. The structure of the load lifting device is then particularly compact.
It is also advantageous if the load manipulation unit has a second buffer device, which is designed like the first buffer device, and has a second load lifting device, which is designed like the first load lifting device, with a second vertical mast of the second load lifting device on second storage shelf is attached, and the shelf storage system has a second conveyor technology connected to the cargo manipulation unit for the transport of cargo to the second cargo lifting device and for the transportation of cargo from the second cargo lifting device.
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The second load lifting device can accordingly in particular the following
Features (individually or in any combination):
a drive axis of a drive motor of the second drive station is aligned in the x direction, a drive axis of a drive motor of the second drive station is aligned vertically, the second vertical mast has an open profile cross section, the profile cross section comprising a profile base, projecting (and parallel) from this Profile legs and mounting legs angled at the free ends of the profile legs, on which the vertical mast is attached to the second storage rack, the connection between the second vertical mast and one of the second mounting crossbars is produced by an angled or cranked (i.e. double-angled) fastening element which is angled or cranked Fastening element and / or a lining plate arranged between the second vertical mast and one of the second mounting traverses is made of a material with an elastic modulus of less than 40,000 MPa, the second vertical mast has e A large number of mast segments, which are assembled vertically one above the other essentially without gaps (preferably with the help of a stop connection), the lifting guide for guiding a lifting frame is divided in the vertical direction by complementary butt joints (for example, using a tongue and groove connection between the individual ones Lifting guide segments), a division between the mast segments is offset in the vertical direction from the butt joints of the lifting guide, the lifting guide for guiding a lifting frame comprises a first guide rail and a second guide rail, which run separately and parallel in the longitudinal direction of the second vertical mast and are preferably detachable by means of fasteners are connected to the second vertical mast, the second vertical mast and the second lifting guide as well as the front rack uprights and rear rack uprights of the second storage rack are made from the same material, in particular from Steel. The front ones are also optional
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Longitudinal trusses as well as the rear longitudinal trusses and / or the assembly traverses of the second storage rack are made of the same material, the second load lifting device comprises a second additional lifting drive with a second additional drive station and a second additional traction mechanism drive coupled to it, one on the second vertical mast along the second lifting guide or an additional lifting frame slidably mounted along a second additional lifting guide, which can be moved vertically with the aid of the second additional lifting drive, and a second additional transport device arranged on the additional lifting frame, which at least for transporting the loads between a supply device and the second additional transport device An acceleration sensor for detecting at least one acceleration in the vertical direction is arranged on the lifting frame in the x direction and / or the second load lifting device comprises an optical distance measuring sensor for detection ion of the vertical position of the lifting frame and / or means for optical data transmission to or from the lifting frame, the second traction mechanism drive of the second load lifting device comprises a traction means (in particular an endless traction means) and the second loading material lifting device has a tensioning system for mounting the traction means and / or for adjustment a pretensioning force in the traction means, which is arranged on the side of the second vertical mast facing the shelf aisle.
The cargo manipulation unit can also comprise a (second) energy-absorbing deformation device, which is fixedly mounted on a side of the second vertical mast facing away from the shelf aisle below the second lifting frame (for example on a fixed component of the cargo manipulation unit or directly on a floor of the shelf storage system). The second energy-absorbing deformation device can comprise a (second) force distribution plate with an impact surface for the second lifting frame, below the (second) force distribution plate can comprise a (second) honeycomb body which is plastically deformable by the action of force, which honeycomb body is formed when the second lifting frame collides with the (second) force distribution plate Impact energy at least partially absorbed and below the (second) honeycomb body ei25 / 82
N2018 / 22100-AT-00 ne (second) mounting plate for mounting the deformation device.
The cavities of the (second) honeycomb body can be vertical, in particular
Direction.
It is also conceivable that the second lifting drive and the second vertical mast are arranged on a common base plate, possibly together with the first lifting drive and the first vertical mast.
It is also possible for the second lifting drive and the second energy-absorbing deformation device to be arranged on a common base plate, optionally together with the first lifting drive and the first energy-absorbing deformation device.
It is also conceivable that the drive station of the second hoist drive and the additional drive station of the second additional hoist drive are arranged on a common base plate, possibly together with the drive station of the first hoist drive and the additional drive station of the first additional hoist drive.
For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
Each show in a highly simplified, schematic representation:
1 shows a shelf storage system with a partial section of storage shelves and a load manipulation unit in an oblique view;
FIG. 2 shows a load lifting device and an (optional) deformation device of the load manipulation unit from FIG. 1 in an oblique view;
3 shows a plan view of the shelf storage system according to FIG. 1 with a detailed section of the storage shelves and removed walkways and schematically indicated conveying techniques;
4 shows a detailed view of a load lifting device of the load manipulation unit according to FIG. 1, obliquely from behind;
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Fig. 5 as Fig. 4, but obliquely from the front;
6 shows a horizontal section through the vertical mast of a load lifting device;
7 shows a detailed view of the shelf storage system in the area of the connection of the vertical mast to an assembly cross member in an oblique view;
FIG. 8 shows an enlarged detail from FIG. 7 in plan view;
9 shows a detailed view of a front rack stand, a front longitudinal cross member, an assembly cross member of a storage rack, a walkway and a storage and retrieval unit of the rack storage system according to FIG. 1;
10 shows a vertical mast of a load lifting device in an oblique view;
FIG. 11 shows a detailed view of the vertical mast from FIG. 10;
Fig. 12 is a detailed view of those used in the shelf storage system according to Fig. 1
Drive station in oblique view;
FIG. 13 shows a detailed view of the tensioning system for the traction means and used in the shelf storage system according to FIG. 1
Fig. 14 is a schematic side view of the load lifting device with a view of the guide of the traction device.
In the introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component names. The location information selected in the description, e.g. above, below, laterally, etc. related to the figure described and illustrated immediately and in the case of a change of position to be transferred accordingly to the new position.
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FIGS. 1 and 3 show an example of a rack storage system 1. According to the embodiment shown, the rack storage system 1 comprises a first storage rack 2 a with storage spaces 3 for goods 4 which are arranged next to one another in superimposed storage levels E 1, and a second storage rack 2 b with storage spaces 3 for goods 4 , which are arranged side by side in superimposed storage levels E1.
The first storage rack 2a and the second storage rack 2b face each other in a horizontal z-direction z at a distance b, whereby a rack aisle 5 is formed between the first storage rack 2a and the second storage rack 2b, which has a horizontal in an x-direction x has longitudinal axis which is oriented perpendicular to the z direction z.
The first storage rack 2a has front rack uprights 6a and rear rack uprights 7a, and for each storage level E1 (as entered in FIG. 3, for example) in the x direction x extending and longitudinal front cross members 8a connected to the front rack uprights 6a and each storage level E1 in the x direction x extending and connected to the rear shelf uprights 7a rear longitudinal beams 9a. For each storage level E1, shelves 10a with the storage locations 3 are arranged between the front longitudinal crossmember 8a and the rear longitudinal crossmember 9a.
The second storage rack 2b has front rack uprights 6b and rear rack uprights 7b, and for each storage level E1 (as entered in FIG. 3, for example) in the x-direction x and front longitudinal beams 8b connected to the front rack uprights 7b and for each storage level E1 in x-direction x extending and connected to the rear shelf uprights 7b rear longitudinal beams 9b. For each storage level E1, shelves 10b with the storage locations 3 are arranged between the front longitudinal crossmember 8b and the rear longitudinal crossmember 9b.
The shelves 10a, 10b can in particular comprise cross members or depth supports running in the z-direction z or be designed as a shelf or as a grid shelf.
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In addition, the rack storage system 1 comprises a cargo manipulation unit 11.
According to the embodiment shown, the cargo manipulation unit 11 comprises a first buffer device 12a (see FIGS. 1 and 3) which is offset in the (positive) z-direction z to the side of the rack aisle 5 (see FIGS. 1 and 3), a first cargo lifting device 13a arranged in the edge region of the rack aisle Storage and / or retrieval of loads 4 (see FIGS. 1 to 3), a second buffer device 12b (see FIGS. 1 and 3) offset in the (negative) z direction z to the side of rack aisle 5, one in the edge region of rack aisle 5 arranged, second load lifting device 13b for storing and / or retrieving loads 4 (see FIGS. 1 to 3). According to the embodiment shown, the first / second load lifting devices 13a, 13b are arranged opposite one another in mirror image around the x-axis.
Even if this is not imperative, it can prove to be advantageous if the first load lifting device 13a is used exclusively for storing loads 4 and the second load lifting device 13b is used exclusively for storing loads 4 or vice versa.
The first buffer device 12a itself comprises, in at least some of the storage levels E1, provision devices 14, which are each designed for the intermediate buffering of a load 4 or more loads 4 and in the x direction x adjacent to one of the sides of the first load lifting device 13a. Provisioning devices 14a can optionally be provided in all storage levels E1.
The first load lifting device 13a (see FIGS. 2 to 5) in turn comprises a first vertical mast 15 which is arranged in the edge region of the shelf aisle 5 and is stationarily installed and fastened to the first storage rack 2a, with a first lifting guide 16 and a first lifting drive 17 with a first drive station 18 and a traction mechanism drive 19. Furthermore, the first load lifting device 13a comprises a first lifting frame 20 which is mounted on the first lifting guide 16 and is vertically movable by the first lifting drive 17 and which is connected to the traction mechanism drive 19 of the first lifting drive 17. Furthermore
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N2018 / 22100-AT-00, the first load lifting device 13a comprises a first transport device 21 arranged on the first lifting frame 20, which at least for transporting the
Loads 4 is formed between one of the supply devices 14 and the first transport device 21 in the x-direction x. In the example shown, the transport device 21 comprises motorized conveyor rollers.
The first lifting frame 20 with the first transport device 21 is arranged on a side of the vertical mast 15 facing away from the rack aisle 5, and the first drive station 18, which comprises a first drive motor 26a, is arranged on a side of the vertical mast 15 facing the rack aisle 5. The first drive motor 26a itself is arranged within the rack aisle 5. This can be clearly seen from FIGS. 3 and 4.
In the example shown in FIGS. 2 to 5, the first load lifting device 13a comprises an optional first additional lifting drive 27 with a first additional drive station 28 and a first additional pulling mechanism drive 29 coupled to it, and one on the first vertical mast 15 along the first lifting guide 16 slidably mounted first additional lifting frame 30, which is vertically movable with the aid of the first additional lifting drive 27. In addition, the first load lifting device 13a comprises a first additional transport device 31 arranged on the first additional lifting frame 30, which is designed at least for transporting the goods 4 between a provision device 14 and the first additional transport device 31 in the x-direction x. The first lifting frame 20 and the first additional lifting frame 30 can be controlled independently of one another via the lifting drive 17 and additional lifting drive 27, but are not rigidly connected to one another.
At least one first conveyor system 25a (shown schematically in FIG. 3) for the transport of loads 4 to the first load lifting device 13a and for the removal of loads 4 from the first load lifting device 13a is connected to the load manipulation unit 11, the first Load lifting device 13a connects the first conveyor technology 25a and the provision devices 14 in terms of conveyor technology.
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3 and 9, guide tracks 22a, 22b are arranged in pairs on the front longitudinal beams 8a of the first storage rack 2a and on the front longitudinal beams 8b of the second storage rack 2b in horizontal driving planes E2, which are in the x direction x run along the first storage rack 2a, along the second storage rack 2b and along the provision devices 14.
The shelf storage system 1 has at least one automated storage and retrieval unit 23 (as indicated schematically in FIGS. 3 and 9) with at least one load handling device 24 for transporting the goods 4 between the storage locations 3 and the provision devices 14, which is located on a driving level E2 in front of the storage locations 3 and can be moved along the guideways 22a, 22b in the x direction x in front of the provision device 14.
As described above, the load manipulation unit 11 comprises an optional second buffer device 12b, which is designed like the first buffer device 12a, and an optional second load device 13b, which is designed like the first load device 13a. The second vertical mast 15 of the second load lifting device 13b is attached to the second storage rack 2b. In addition, at least one second conveyor technique 25b (shown only schematically in FIG. 3) connected to the cargo manipulation unit 11 is provided for the transport of cargo 4 to the second cargo lifting device 13b and for the transportation of cargo 4 from the second cargo lifting device 13b.
Different versions of this cargo manipulation unit 11 (with a first cargo lifting device 13a and a first buffer device 12a and a second cargo lifting device 13b and a second buffer device 12b) are described, for example, in WO 2013/090970 A2, Fig. 6, 16 and WO 2016 / 033628 A2, Fig. 1,6, 7.
The first load lifting device 13a and the second load lifting device 13b thus each have a lifting frame 20 and an additional lifting frame 30 in the example shown, which preferably essentially
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N2018 / 22100-AT-00 are constructed identically and are driven and controlled in essentially the same way. In this embodiment variant, the part of the cargo manipulation unit 11 assigned to the first storage rack 2a is constructed essentially the same as the part of the cargo manipulation unit 11 assigned to the second storage rack 2b. For this reason, the function of the cargo manipulation unit 11 is described in detail below explained only for the lifting frame 20 operating in the area of the first storage rack 2a and the components interacting with it. The technical teachings specified here can be applied in an analogous manner to the additional lifting frame 30 and the components interacting with it, and to the part of the cargo manipulation unit 11 assigned to the second storage rack 2b. Embodiments which have both a first load lifting device 13a and a second load lifting device 13b are optionally given below in brackets. In particular, this also applies to those cases in which both an assembly cross member 43a and an assembly cross member 43b are provided, as well as cases with two storage racks 2a, 2b.
The storage capacity and / or retrieval capacity of the cargo manipulation unit 11 or the first / second cargo lifting devices 13a, 13b can be increased by the additional lifting frame 30. Essentially, the power is doubled if - as shown in the example - an additional lifting frame 30 is provided, and tripled if a further additional lifting frame 30 is provided, etc. By guiding the lifting frame 20 and the additional lifting frame 30 on the First vertical mast 15 and in particular on first lifting guide 16, it is advantageously possible to increase the storage performance and / or retrieval performance of the cargo manipulation unit 11 with the same base area.
If the first load lifting device 13a only comprises a single lifting frame 20, then the additional lifting drive 27 is omitted. The same also applies, if present, to the second load lifting device 13b.
FIG. 3 shows the shelf storage system 1 in a top view with the indicated storage shelves 2a, 2b and the indicated shelf operating device 23. From FIG. 3 it can be seen particularly well that the provisioning devices 14 of the first Puf32 / 82
N2018 / 22100-AT-00 device 12a in the x-direction x adjacent to one of the sides of the first
Load lifting device 13a (namely on the upper side in the illustration) are arranged. However, it would also be conceivable that the provision devices 14 are arranged in the x direction x adjacent to both sides of the first load lifting device 13a.
In the example of FIG. 3, the first load lifting device 13a can only be used for storing loads 4 and the second load lifting device 13b can only be used for storing loads 4 (or vice versa). The provision devices 14 adjacent to the first load lifting device 13a then serve for the storage of loads 4 and the provision devices 14 adjacent to the second load lifting device 13b then serve for the removal of loads 4 (or vice versa).
The transport device 21 can be formed, for example, by a conveyor device or a load suspension device, as is described, for example, in WO 2013/090970 A2.
In the example shown, the provision devices 14 are designed as active provision devices and each comprise a conveying device. Specifically, the conveyor device here is formed by a plurality of motor-driven conveyor elements, for example by a plurality of motor-driven conveyor rollers. The supply devices 14 can, however, also be designed as passive supply devices and each comprise a stationary support table (without conveyor elements) for the intermediate buffering of one or more goods 4.
Due to the special arrangement of the drive motor 26a of the drive station 18 (provided only the lifting frame 20 and the transport device 21 are provided) or the drive motors 26a, 26b of the drive station 18 and the additional drive station 28 (provided that the additional lifting frame 30 and the additional transport device 31 are also provided are provided), the drive motor 26a or the drive motors 26a, 26b are easily accessible from the shelf aisle 5, whereby the assembly and maintenance of the same is possible in a simple manner
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N2018 / 22100-AT-00. In addition, the lifting frame 20 can be moved particularly far from the ground, since the drive motors 26a, 26b are arranged outside the range of movement of the lifting frame 20 (and not below as in the prior art). A lower approach height (that is, a lowest height position of the lifting frame 20 on the vertical mast 15) is in particular less than 500 mm, in particular 375 mm.
In the example shown, the drive axes A (see FIG. 3) of the drive motors 26a, 26b of the first load lifting device 13a (or of the drive motors 26a, 26b of the first and second load lifting devices 13a, 13b) are aligned in the x direction x , In this way, the drive motors 26a, 26b can be arranged in a particularly space-saving manner in the rack aisle 5, as a result of which the goods lifting device (s) 13a, 13b can be passed in a simple manner, for example by maintenance personnel. This arrangement is particularly suitable if the rack aisle 5 is relatively narrow and / or if, as is the case in the example shown, several load lifting devices 13a, 13b in the rack aisle 5 opposite one another (here mirror-inverted about the x-axis ) are arranged. In addition, the overall height of the cargo manipulation unit 11 is comparatively low due to the drive motors 26a, 26b arranged horizontally within the shelf aisle 5. Accordingly, the storage and retrieval devices 23 can only pass through the load lifting devices 13a, 13b at a low height. Walkways 32 can also be arranged in a comparatively low maintenance level E3. If the load lifting devices 13a, 13b are sunk in the ground, only a shallow pit is necessary for this.
Alternatively, it would also be conceivable that the drive axes A of the drive motors 26a, 26b are aligned vertically (not shown). With this arrangement, it is also possible to pass through the cargo manipulation unit 11 in a simple manner, and the arrangement is in turn suitable in particular for relatively narrow shelf aisles 5 and / or in the event that a plurality of cargo lifting devices 13a, 13b (in particular in mirror image about the x-axis) are arranged opposite each other in the shelf aisle 5.
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4 and 5 additionally show a detailed view of the load lifting device 13a used in the rack storage system 1 according to FIG. 1, FIG. 4 from obliquely behind, and FIG. 5 from obliquely front. The load lifting device 13b additionally used in the rack storage system 1 according to FIG. 1 corresponds to the construction and function of the load lifting device 13a.
4, 5, 12 and 14 clearly show the traction means 33, which in this specific example is designed as a toothed belt, and the tensioning system 34, which connects the two ends of the traction means 33. The traction means 33, with which the lifting frame 20 is connected (motion-coupled), is guided via a drive wheel 35 coupled to the drive motor 26a, a lower deflection wheel 36, an upper deflection wheel 37 and a guide wheel 38. Furthermore, in particular connecting struts 39 for the vertical mast 15 are visible in FIG. 5. The traction means 33, with which the (optional) additional lifting frame 30 is connected (motion-coupled), is guided via a drive wheel 35 coupled to the drive motor 26b, a lower deflection wheel 36, an upper deflection wheel 37 and a guide wheel 38.
6 now shows a horizontal section through the vertical mast 15. In this example, the vertical mast 15 has an open profile cross section. The profile cross section comprises a profile base 40, profile legs 41 protruding (and running parallel to it) and mounting legs 42 angled at the free ends of the profile legs 41, to which the vertical mast 15 is fastened to the first storage rack 2a. In this case, the profile cross section is thus U-shaped with mounting legs 42 bent outwards. However, it would also be conceivable that the profile cross section is C-shaped (with mounting legs 42 bent inwards).
Due to the open design, the attachments to the vertical mast 15 are easily accessible, which not only simplifies the manufacture of the cargo manipulation unit 11 but also its maintenance. The mounting legs 42 are directed outwards about a vertical axis of the vertical mast 15 and are specifically bent around a vertical axis and offer a bearing surface for the mounting of the vertical mast 15 on the first storage rack 2a.
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A particularly advantageous connection of the vertical mast 15 to the first storage rack 2a is shown in FIGS. 7 and 8. 7 shows a detailed view of the
Shelf storage system 1 in the area of the connection of the vertical mast 15 to the first
Storage rack 2a in an oblique view, Fig. 8 is a plan view.
Specifically, the first storage rack 2a comprises assembly cross members 43a, which are fastened to the front rack uprights 6a in addition to the front longitudinal cross members 8a and run parallel to the front longitudinal cross members 8a. The second storage rack 2b comprises mounting crossbeams 43b which are fastened to the front rack uprights 6b in addition to the front longitudinal crossbeams 8b and run parallel to the front longitudinal crossbeams 8b. 9 shows a detailed view of a shelf upright 6a, a longitudinal cross member 8a and an assembly cross member 43a of the rack storage system 1.
The vertical mast 15 of the load lifting device 13a has a mounting section 45 facing the rack aisle 5, with which the first load lifting device 13a is mounted on the mounting crossbars 43a. The vertical mast 15 of the load lifting device 13b, if it is provided, has a mounting section 45 facing the rack aisle 5, by means of which the second load lifting device 13b is mounted on the mounting crossbeams 43b. Specifically, the connection between the vertical mast 15 and the mounting traverses 43a (43a, 43b) is made by cranked (that is, double-angled) fastening elements 44. Alternatively, simply angled fastening elements 44 could also be used.
In particular, the vertical mast 15 is connected to the storage rack 2a, in particular to the mounting crossbars 43a (43a, 43b), by means of connecting means 46a. In the example shown, screws are provided as connecting means 46a. A connection by rivets or by clamping is also conceivable. By attaching the vertical mast 15 to the storage rack 2a (2a, 2b), in particular on a plurality of vertically superimposed mounting sections 45, the vertical mast 15 is extremely stable despite the open construction, in particular against rotation, even at mast heights of 30 to 40 m. It is also an advantage that the use of materials is low and that the weight is reduced to a minimum
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N2018 / 22100-AT-00 is decorated. This enables easier assembly with less technical effort and also low transport costs. The stability of the vertical mast 15 is further increased by the connecting struts 39.
Even if the open construction of the vertical mast 15 is advantageous, it would also be conceivable in principle that the vertical mast 15 has a closed profile cross section and is in particular designed as a rectangular tube. The vertical mast 15 then has a particularly high torsional rigidity.
In this example, the vertical mast 15 of the load lifting device 13a (or the vertical masts 15 of the first / second load lifting device 13a, 13b) is not connected as usual to the front longitudinal cross members 8a, but rather to the separately provided mounting cross members 43a (43a, 43b ). As a result, the lifting frame 20 can be adjusted in a highly dynamic manner on the vertical mast 15 without there being any significant transmission of vibrations to the front longitudinal beams 8a and thus to the guide rails for the storage and retrieval unit 23 and the storage places 3 (the term highly dynamic in the given context means in particular speeds of> 6 m / s and accelerations of> 7 m / s ² ). In particular, this can prevent or at least reduce undesired movement or migration of the goods 4 stored in the storage locations 3, as can occur in the prior art and can cause problems when the goods 4 are being removed.
The angled or cranked design of the fastening elements 44 also allows on the one hand a solid and very simple assembly of the vertical mast 15 on a mounting cross member 43a, but on the other hand also a further reduction in the transmission of vibrations between the load lifting device 13a (or the first / second load lifting device 13a, 13b) and the goods to be loaded 4. Specifically, the fastening element 44 can essentially act as a spiral spring. When selecting the material for the fastening element 44, care should be taken to ensure that the material has sufficient damping properties in order to prevent undesirable resonance phenomena. It is particularly advantageous if the fastening element 44 is made from a material with an elastic modulus of less than 40,000 MPa. By
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N2018 / 22100-AT-00 low modulus of elasticity, the risk of vibration transmission between the load lifting device 13a (or the first / second load lifting device 13a, 13b) and the loads 4 is particularly well reduced.
In general, it should be noted that the effect as a spiral spring is not tied to a bent or cranked construction of the fastening element 44. Rather, a free bending length between the connection point of the vertical mast 15 to the fastening element 44 and the connection point of the mounting cross member 43a (43a, 43b) to the fastening element 44 is decisive.
In FIG. 8 it can be seen that for the vertical alignment of the vertical mast 15 or for the distance compensation between the vertical mast 15 and the mounting crossbars 43a (43a, 43b), lining plates 47 in different numbers and / or thicknesses are inserted between the vertical mast 15 and the mounting crossbars 43a can. It is advantageous if the lining plates 47 are also made of a material with an elastic modulus of less than 40,000 MPa.
Plastics, such as Teflon or fiber-reinforced plastics, are therefore particularly suitable as materials for the fastening elements 44 and / or the lining plates 47. The use of rubber or is also conceivable
Wood (especially plywood), which also has excellent damping properties. Of course, the use of composite materials other than fiber-reinforced plastic is also conceivable, for example plastic-wood compound materials.
Even if the lining plate 47 is preferably made of a material with an elastic modulus of less than 40,000 MPa, it is basically conceivable that the lining plate 47 is made of a metal (in particular steel). In this case, the lining plate 47 can be referred to as a lining plate.
In this example, the vertical mast 15 is laterally offset in the z-direction z from the rack aisle 5, that is to say outside the rack aisle 5 on the rear side of the assembly traverses 43a (43a, 43b). It would also be conceivable that the Ver38 / 82
N2018 / 22100-AT-00 tical mast 15 is arranged on the front side of the mounting crossbars 43a (43a, 43b) and thus within the shelf aisle 5 in the edge area thereof.
The assembly traverses 43a (43a, 43b) are suitable not only for connecting the vertical mast 15 to the storage rack 2a (2a, 2b), but also for storing the walkways 32, which are arranged in the shelf aisle 5 in superimposed maintenance levels E3 and on the assembly traverses 43a of the first storage rack 2a and to the mounting crossbeams 43b of the second storage rack 2b. These measures provide assembly or maintenance levels E3 in the rack storage system 1, which can be entered by assembly or maintenance personnel in order to be able to carry out assembly work or maintenance work in the rack storage system 1. Screws, rivets or clamps can again be provided as connecting means 46b (see FIG. 7) between the walkways 32 and the mounting crossbars 43a.
6 also clearly shows that the first lifting guide 16 for guiding the first lifting frame 20 (and, if present, the additional lifting frame 30) in this example comprises a first guide bar 48a and a second guide bar 48b, which are separated from one another and in parallel run in the longitudinal direction of the vertical mast 15 and are preferably detachably connected to the vertical mast 15 via connecting means 46c. In particular, the first guide bar 48a and the second guide bar 48b are formed from bright-drawn or ground flat steel, which has threaded holes for fastening the same to the vertical mast 15 with the aid of screws. Despite the inexpensive and modular design, the lifting frame 20 runs smoothly on the first lifting guide 16, and only slight vibrations are introduced into the vertical mast 15.
It is also advantageous if the vertical mast 15 and the first lifting guide 16 as well as the front rack uprights 6a and rear rack uprights 7a of the first storage rack 2a are made of the same material, in particular steel. The proposed measures can in particular avoid temperature-related tensions and / or play between the components of the rack storage system 1. This variant is therefore particularly suitable for
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Shelf storage systems 1, which are to be used in a wide temperature range or are exposed to temperature fluctuations. For example, this relates to rack storage systems 1 which are set up at room temperature but which are then operated at very low temperatures, as is the case, for example, with deep-freeze stores. In general, the temperature range in which rack storage systems 1 are used is around -40 ° C to + 40 ° C. By avoiding play between the components, in particular the noise development during the operation of the goods lifting device 13a (or the first / second goods lifting device 13a, 13b) and the storage and retrieval machines 23 can be reduced.
In the above context, it is also advantageous if, in addition, the front longitudinal beams 8a and the rear longitudinal beams 9a and / or the mounting beams 43a are made of the same material as the vertical mast 15, the first lifting guide 16 and the front and rear rack uprights 6a, 7a , As a result, temperature-related tensions and / or play between the components of the rack storage system 1 can be avoided even better.
In the example shown, the vertical mast 15 advantageously has a multiplicity of mast segments 49 which are joined vertically one above the other essentially without gaps, as shown in FIG. 10. In addition, the first lifting guide 16 for guiding the first lifting frame 20 is advantageously divided in the vertical direction by shape-complementary butt joints 50. In particular, a division between the mast segments 49 can be arranged offset in the vertical direction to the butt joints 50 of the lifting guide 16, as is the case in the present example. 11 shows the vertical mast 15 used in the rack storage system 1 in an oblique view, and FIG. 12 shows a detailed view of the vertical mast 15.
The proposed measures on the one hand facilitate the transport of the vertical mast 15 and its introduction into the building at the installation site, and on the other hand, its division enables a modular structure of the load lifting device 13a. Specifically, depending on the required lifting height, different numbers of mast segments 49 can be built into a vertical mast 15. The Mastseg40 / 82
N2018 / 22100-AT-00 elements 49 are preferably screwed together, for example with connecting plates 51a, 51b.
Because the butt joint of the lifting guide 16 is not arranged at the same height as a division between two mast segments 49, an (undesirable) displacement of mast segments 49 with respect to one another, as can occur, for example, due to tensioning of the mast segments 49, does not work or only to a small extent on the butt joints 50 (see FIG. 11) of the lifting guides 16. As a result, the occurrence of vibrations or oscillations when moving the lifting frame 20 can be kept low. Furthermore, a bending load, which is introduced by the lifting frame 20 into the lifting guides 16 on the vertical mast 15, is passed over the joint of the mast segments 49.
The cargo manipulation unit 11 advantageously comprises an energy-absorbing deformation device 52, which is fixedly mounted on a side of the vertical mast 15 facing away from the shelf aisle 5 below the first lifting frame 20 (for example on a fixed component of the cargo manipulation unit 11 or directly on a floor of the shelf storage system 1 ), as can be seen in FIGS. 1, 2 and 14.
2 and 14 show a detailed view of the deformation device 52 used on the cargo manipulation unit 11 and arranged under the lifting frame 20.
With the aid of the deformation device 52, damage to the cargo manipulation unit 11 can be kept low if the traction mechanism drive 19 should fail (because, for example, a traction mechanism 33 of the traction mechanism drive 19 breaks) and the lifting frame 20 is not assigned a safety brake 53 or a safety brake 53 for the lifting frame 20 shouldn't respond quickly enough. If the lifting frame 20 is below the height when the traction mechanism drive 19 fails, which corresponds to the delay or application time of the safety brake 53, the safety brake 53 is completely ineffective. In the event that the lifting frame 20 is just at its maximum Ge41 / 82 when the traction means 33 breaks
N2018 / 22100-AT-00 speed moves down, the problem becomes even more apparent. With the aid of the deformation device 52, the impact of the lifting frame 20 can nevertheless be dampened. A deformation device 52 advantageously advantageously has a lower overall height than hydraulic dampers, for example. The lifting frame 20 can therefore be moved further down in normal operation than would be the case, for example, when using hydraulic dampers.
In the example shown, the energy-absorbing deformation device 52 comprises a force distribution plate 54 (see FIG. 14) with an impact surface for the first lifting frame 20, underneath the force distribution plate 54 a honeycomb body 55 which is plastically deformable by the action of force and which, when the first lifting frame 20 collides with the force distribution plate 54 resulting impact energy is at least partially absorbed, and below the honeycomb body 55 a mounting plate 56 for mounting the deformation device 52.
The cavities of the honeycomb body 55 advantageously run in the vertical direction. The honeycomb structure results in a favorable stiffness to volume ratio or a favorable stiffness to weight ratio. That is, the deformation device 52 is small or light despite the high energy absorption during the deformation. As a result, a deformation device 52 with only a small overall height can be provided, which enables the lifting frame 20 to be moved to just above the floor level. In addition, the compression behavior of the deformation device 52 can be influenced well by the honeycomb structure. Finally, there are also cheap manufacturing or replacement costs.
By the force distribution plate 54, the forces occurring when the lifting frame 20 is opened are uniformly introduced into the honeycomb body 55 arranged underneath, and the honeycomb body 55 is deformed uniformly. This also applies if the lifting frame 20 has only a small area in vertical projection, or the contact area between the lifting frame 20 and the deformation device 52 is only small. The force distribution plate 54 is preferably connected to the honeycomb body 55, in particular glued. The mounting plate 56 is preferably also connected to the honeycomb body 55, in particular glued.
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The bending stiffness of the force distribution plate 54 about a horizontal axis is advantageously at least twice as high as the pressure stiffness of the honeycomb body 55 in the vertical direction. It is also favorable if a difference in the vertical deformation of the honeycomb body 55 is at most 10% of the overall height of the undeformed honeycomb body 55 if the maximum deformation is 75% of the overall height of the undeformed honeycomb body 55. In other words, the slightest deformation is then 65% of the overall height of the undeformed honeycomb body 55. In other words, the honeycomb body should yield 55 and deform before the force distribution plate 54 significantly deforms.
At this point it is noted that it would also be possible in principle to arrange the force distribution plate 54 on the lifting frame 20. In order to keep the moving mass of the lifting frame 20 low, it is advantageous, however, to mount the force distribution plate 54 on the honeycomb body 55 in a fixed manner. As a result, the lifting frame 20 can be manufactured in a lightweight construction.
An acceleration sensor 57 for detecting at least one acceleration in the vertical direction can also be arranged on the first lifting frame 20 (see FIG. 5). 4 and 5 also show an optical distance measuring sensor 58 for detecting the vertical position of the first lifting frame 20 and a data light barrier 59 (also note the counterpart arranged on the floor) for optical data transmission to or from the first lifting frame 20. In this example, the load lifting device 13a (or the first / second load lifting device 13a, 13b) comprises the optical distance measuring sensor 58 and / or the data light barrier 59.
With the aid of the acceleration sensor 57, in particular excessive vertical acceleration, such as occurs when the lifting frame 20 falls undesirably, can be detected. As a result, countermeasures can be initiated, such as activating the safety brake 53. It is also conceivable that the acceleration sensor 57 is used to detect unwanted or unexpected vibrations and oscillations, such as those that occur, for example, in the event of a defect in the load lifting device 13a (approximately one broken bearings occur on a guide roller 60 of the lifting frame 20)
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N2018 / 22100-AT-00 can. In principle, the detection of an excessive vertical acceleration is not tied to the use of an acceleration sensor 57, but of course the optical distance measuring sensor 58 can also be used for this purpose, namely in that the time differential of its
Position signal is formed.
In particular, it is also conceivable to combine or integrate an optical distance measuring sensor 58 and optical data transmission in a single device. The structure of the load lifting device 13a is then particularly compact.
12 now shows a detailed view of the drive station 18 used in the rack storage system 1 and the optional additional drive station 28 in an oblique view;
It can be clearly seen that the drive station 18 of the first lifting drive 17 and the additional drive station 28 of the first additional lifting drive 27 are arranged on a common base plate 61. A modular construction of the cargo manipulation unit 11 is thereby possible. Depending on the required storage performance and / or retrieval performance of the cargo manipulation unit 11, a drive motor 26a is arranged on the base plate 61, or a plurality of drive motors 26a, 26b are arranged on the common base plate 61. The base plate 61 can comprise means (not shown) for aligning / positioning the vertical mast 15 to be set up thereon and / or the bearing points for the drive wheel 35, the lower deflection wheel 36, the guide wheel 38, etc. These means can be formed, for example, by recesses (for example bores), depressions and / or elevations. Complex alignment measures can therefore be avoided.
In the example shown, the first vertical mast 15 is arranged on the base plate 61. If the base plate 61, as is the case in the example shown, has means for aligning the components arranged thereon (for example the vertical mast 15 and the first lifting drive 17, etc.) with respect to one another, the first lifting drive 17 and the first vertical mast 15 can be aligned "automatically" to each other when installing the load lifting device 13a. elaborate
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Measures to align the components with each other can therefore be omitted. It is particularly advantageous if the base plate 61 is aligned (leveled) and mounted in a first step on a footprint before the vertical mast 15 is placed on the base plate 61 from above and attached to it in a second step. This results in a vertical alignment of the vertical mast 15 (in particular the lowest mast segment 49). This simplifies the assembly of the load lifting device 13a (or the first / second load lifting device 13a, 13b).
Finally, the energy-absorbing deformation device 52 can also be arranged on the common base plate 61, which further simplifies the assembly of the cargo manipulation unit 11, in particular if the base plate 61 in turn has means for aligning the deformation device 52 arranged thereon.
FIG. 13 now shows a detailed view of the tensioning system 34 used for the traction means 33 in the rack storage system 1, and FIG. 14 finally shows a schematic side view of the cargo manipulation unit 11 with a view of the energy-absorbing deformation device 52 and the cargo lifting device 13a with the same guided traction means 33.
The traction mechanism drive is preferably mounted after the vertical mast 15 has been fastened to the base plate 61 and / or after the vertical mast 15 has been fastened to the storage rack 2a (2a, 2b). In the example shown, the traction means 33 is guided around the drive wheel 35, the upper deflection wheel 37 mounted in the mast head area, the lower deflection wheel 36 mounted in the mast foot area and around the guide wheel 38. The ends of the traction means 33 can be connected to one another via the tensioning system 34, thereby creating an endless traction means 33. In addition, a tensioning force (preload) can be set in the traction means 33 with the tensioning system 34. In the example shown, this is done specifically by means of a tensioning screw 62. The traction means 33 can be designed in particular as a toothed belt and the drive wheel 35 as a toothed disk.
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The proposed measures enable the driving force or the driving power of the drive motor 26a to be transmitted to the lifting frame 20 with only small moving masses. The drive motor 26a can also be installed permanently near the ground and does not contribute to the moving mass of the lifting frame 20. In particular if the vertical mast 15 has an open profile cross section or is designed as a hollow profile, a first strand can be guided on the inside of the mast 15 and a second strand on the outside of the mast 15.
Due to the special arrangement, the tensioning system 34 is easily accessible from the shelf aisle 5 (as indicated schematically in FIG. 13 by the double arrow), as a result of which the tensioning means 33 is tensioned during the manufacture of the rack storage system 1 or a tensioning of the tension means 33 during the maintenance of the Shelf storage system 1 is possible in a simple manner.
14 that the lifting frame 20 is coupled to the traction means 33 via a clamp 63. The clamp 63 also divides the traction means 33 into a load strand LA, which denotes the section of the traction means 33 which lies between the clamp 63 and the drive wheel 35 and is guided over the upper deflection wheel 37, and into an empty strand LE, which defines the rest between the clamp 63 and the drive wheel 35 lying section of the traction means 33.
In the load section LA and in the empty section LE there is the pretension in the unloaded state (ie without the lifting frame 20), which is applied to the traction means 33 with the aid of the tensioning system 34. If the lifting frame 20 is coupled to the traction means 33 via the clamp 63 and raised, then in the load section LA there is, in addition to the aforementioned pretension which is applied to the traction means 33 by means of the tensioning system 34, a by the weight of the lifting frame 20 and load on it (load / loads) influenced load voltage component. This load voltage component expands the load strand LA compared to the unloaded state. This stretch is absorbed by the empty strand LE, which is now shortened compared to the unloaded state. Accordingly, the tension prevailing in the empty strand LE is reduced below the pretension in the unloaded state. To cause the pulling means 33 to pop out
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N2018 / 22100-AT-00 to prevent the lower deflection wheel 36 and / or slipping of the traction means 33 via the drive wheel 35 in the area of the empty strand LE, the pretension in the empty strand LE should not drop to zero even in this load state, since it would otherwise be slack becomes. Such a condition must in particular also be prevented if the lifting frame 20 is accelerated upwards and the load strand LA is stretched even more due to the increased load voltage component.
By positioning the drive wheel 35 in the shelf aisle 5, the empty run LE is significantly extended compared to a solution in which the drive wheel 35 for the traction means 33 is arranged in the mast foot region (and then takes the place of the lower deflection wheel 36). The length of the empty strand LE can be roughly doubled compared to these known solutions, as a result of which the empty strand LE can more easily absorb the expansion occurring in the load strand LA when the lifting frame 20 is loaded and / or accelerated. The pretension in the traction means 33 can therefore be selected to be relatively low without fear of the traction means 33 jumping out of the lower deflection wheel 36 or of the traction means 33 slipping through the drive wheel 35. Accordingly, the usable load voltage component is comparatively high, and only relatively small cross sections are required for the traction means 33 in order to be able to carry and move the required loads. The provision of the guide wheel 38 also increases the wrap angle around the drive wheel 35, which additionally improves the linear drive 17.
A center distance I (in particular a horizontal center distance) between the drive wheel 35 and the lower deflection wheel 36 is preferably at least 300 mm in order to achieve the above-mentioned goals. The center distance I is even more preferably between 350 mm and 800 mm.
Finally, possible different designs of the cargo manipulation unit 11 will be discussed.
According to an embodiment that is not shown, the cargo manipulation unit 11 comprises only one in the z-direction z to the side of the shelf 47/82
N2018 / 22100-AT-00 aisle 5 offset first buffer device 12a and only a first load lifting device 13a arranged in the edge area of shelf aisle 5 for
Storage and / or retrieval of loads 4. The (only) load lifting device 13a therefore serves to store and remove loads 4.
According to a first embodiment, the (only) buffer device 12a comprises in at least some of the storage levels E1 provision devices 14, which are each designed for the intermediate buffering of a load 4 or more loads 4 and in the x-direction x adjacent to one of the sides of the first load lifting device 13a are arranged. Provisioning devices 14 can optionally be provided in all storage levels E1. Some of the provisioning devices 14 are used for storing and some of the provisioning devices 14 are used for the retrieval of loads 4, or the provisioning devices 14 can - in a reversing operation - serve in each case and as required for the storage or retrieval of loads 4. As described above, the provisioning devices are designed either as passive provisioning devices or as active provisioning devices.
According to a second embodiment, the (only) buffer device 12a comprises in at least some of the storage levels E1 provision devices 14, which are each designed for the intermediate buffering of a load 4 or more loads 4 and are arranged in the x-direction x adjacent to both sides of the first load lifting device 13a , Provisioning devices 14 can optionally be provided in all storage levels E1. The provision devices 14, which are arranged adjacent in the x-direction x on the first side of the first load lifting device 13a, then serve exclusively for the storage of loads 4, and the provision devices 14, which are adjacent in the x-direction x on the second side of the first load lifting devices 13a are then used exclusively for the removal of loads 4. As described above, the provision devices are designed either as passive provision devices or active provision devices.
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Different versions of this cargo manipulation unit 11 are described, for example, in WO 2013/090970 A2, Fig. 1 and WO 2016/033628 A1, Fig. 8.
It should also be pointed out that the storage locations 3 arranged one above the other in storage levels E1 and in the x-direction are either arranged only on one of the sides of the first / second load lifting device 13a, 13b, as can be seen in FIGS. 1 and 3 , or the storage locations 3 arranged in superimposed storage levels (E1) and in the x-direction next to one another are arranged both on a first side of the first / second load lifting device 13a, 13b and on a second side of the first / second load lifting device 13a, 13b (as shown for example in WO 2016/033628 A1, Fig. 1).
It should also be pointed out that the cargo lifting device 13a and, if applicable, the cargo lifting device 13b (if the cargo manipulation unit 11 comprises a first cargo lifting device 13a and a second cargo lifting device 13b) can also merely comprise the lifting frame 20 and the transport device 21. In this case, the additional drive station 28, the additional traction mechanism drive 29, the additional lifting frame 30 and the additional transport device 31 are omitted.
It is also stated that the scope of protection is determined by the claims. However, the description and drawings are to be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The object on which the independent inventive solutions are based can be found in the description.
In particular, it is also stated that the devices shown can in reality also comprise more or fewer components than shown. Some of the devices shown or their
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Components can also be shown to scale and / or enlarged and / or reduced.
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LIST OF REFERENCE NUMBERS
Shelf storage system
storage rack
campsite
load
Shelf aisle, front shelf stand, rear shelf stand, front longitudinal beam, rear longitudinal beam
shelf
Load manipulation unit buffer device
Load lifting device providing device
vertical mast
lift guide
Linear actuator
drive station
traction drive
lifting frame
Transport device
guideway
Storage and retrieval machine load handling device
materials handling
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drive motor
Additional linear actuator
Additional drive station
Additional traction drive
Additional lifting frame
Additional transport device
Gehsteg
traction means
clamping system
Drive wheel lower deflection wheel upper deflection wheel
guide wheel
connecting strut
profile base
profile leg
Mounting leg
installation plate
fastener
mounting portion
connecting means
food plate
guide rail
mast segment
butt joints
Connection plate energy absorbing deformation device
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safety brake
Kraftverteilplatte
honeycombs
mounting plate
Acceleration sensor (in the housing of a controller)
measuring sensor
Optical data
leadership
baseplate
clamping screw
clamp
drive axle
Shelf spacing / aisle width
storage level
travel plane
maintenance level
Center distance drive wheel / lower deflection wheel
Load strand of the traction device
Empty strand of the traction device x-direction y-direction z-direction
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权利要求:
Claims (27)
[1]
claims
1. rack storage system (1) comprising a first storage rack (2a) with storage spaces (3) for goods (4), which are arranged next to one another in superimposed storage levels (E1), a second storage rack (2b) with storage spaces (3) for goods (4), which are arranged next to each other in superimposed storage levels (E1), the first storage rack (2a) and the second storage rack (2b) facing each other in a horizontal z-direction (z) at a distance (b) and a rack aisle (5) is formed between the first storage rack (2a) and the second storage rack (2b), which has a longitudinal axis running horizontally in an x-direction (x) and oriented at right angles to the z-direction (z), the first Storage rack (2a) front rack uprights (6a), rear rack uprights (7a), for each storage level (E1) extending in the x direction (x) and connected to the front rack uprights (6a) front longitudinal beams (8a), each storage level (E1) extending in the x-direction (x) and with the rear rack uprights (7a) connected rear longitudinal beams (9a), and a shelf (10a) arranged between the front longitudinal beam (8a) and the rear longitudinal beam (9a) with the storage spaces (3) for each storage level (E1), the second storage rack (2b) front rack uprights (6b), rear rack uprights (7b), front longitudinal beams (8b) running in the x direction (x) for each storage level (E1) and connected to the front rack uprights (7a), each storage level (E1 ) extending in the x direction (x) and connected to the rear rack uprights (7b) rear longitudinal beams (9b), and a shelf (10b) arranged between the front longitudinal beam (8b) and the rear longitudinal beam (9b) for each storage level (E1) ) with the storage spaces (3), a cargo manipulation unit (11), which comprises a first buffer device (12a) offset laterally to the shelf aisle (5) in the z-direction and a first cargo lifting device arranged in the edge area of the shelf aisle (5) device (13a) for storing and / or removing goods (4),
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N2018 / 22100-AT-00 wherein the first buffer device (12a) in at least some of the storage levels (E1) has provision devices (14), which are each designed for the intermediate buffering of a load (4) or several loads (4) and in which x -Direction adjacent to one of the sides of the first load lifting device (13a) or in the x-direction adjacent to both sides of the first load lifting device (13a), and wherein the first load lifting device (13a) comprises one in one Edge area of the rack aisle (5), arranged in a fixed position and fastened to the first storage rack (2a), has a first vertical mast (15) with a first lifting guide (16), a first lifting drive (17) with a first drive station (18) and a traction mechanism drive (19 ), a first lifting frame (20) mounted on the first lifting guide (16) and vertically movable by the first lifting drive (17), which is connected to the traction mechanism drive (19) of the first lifting drive (17), and ei ne on the first lifting frame (20) arranged first transport device (21), which is designed at least for the transport of the cargo (4) between one of the provision devices (14) and the first transport device (21) in the x-direction (x), guideways ( 22a, 22b), which are arranged in superimposed, horizontal travel levels (E2) in pairs on the front longitudinal beams (8a) of the first storage rack (2a) and on the front longitudinal beams (8b) of the second storage rack (2b), and in x Direction along the first storage rack (2a), the second storage rack (2b) and the provision devices (14), at least one automated storage and retrieval unit (23) with at least one load handling device (24) for transporting the goods (4) between the storage spaces (3 ) and the provision devices (14) which on a driving level (E2) in front of the storage bins (3) and in front of the provision device (14) along the guideways (22a, 22b) in the x-direction ve is movable, and a first connected to the cargo manipulation unit (11)
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Conveyor technology (25a) for the transport of loads (4) to the first load lifting device (13a) and for the transport of loads (4) from the first
Load lifting device (13a), the first load lifting device (13a) connecting the first conveyor technology (25a) and the provisioning devices (14) in terms of conveyor technology, characterized in that the first lifting frame (20) with the first transport device (21) on one the side of the vertical mast (15) facing away from the rack aisle (5) and the first drive station (18), which comprises a first drive motor (26a), are arranged on a side of the vertical mast (15) facing the rack aisle (5), and the first drive motor (26a) is arranged within the rack aisle (5).
[2]
2. Shelf storage system (1), comprising a first storage rack (2a) with storage spaces (3) for goods (4) which are arranged next to one another in superimposed storage levels (E1), a second storage rack (2b) with storage spaces (3) for goods (4), which are arranged next to each other in superimposed storage levels (E1), the first storage rack (2a) and the second storage rack (2b) facing each other in a horizontal z-direction (z) at a distance (b) and a rack aisle (5) is formed between the first storage rack (2a) and the second storage rack (2b), which has a longitudinal axis running horizontally in an x-direction (x) and oriented at right angles to the z-direction (z), the first Storage rack (2a) front rack uprights (6a), rear rack uprights (7a), for each storage level (E1) extending in the x direction (x) and connected to the front rack uprights (6a) front longitudinal beams (8a), each storage level (E1) extending in the x-direction (x) and with the rear rack uprights (7a) connected rear longitudinal beams (9a), and a shelf (10a) arranged between the front longitudinal beam (8a) and the rear longitudinal beam (9a) with the storage spaces (3) for each storage level (E1), the second storage rack (2b) front rack uprights (6b), rear rack uprights (7b), each storage level (E1) in the x direction (x) and with the
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N2018 / 22100-AT-00 front longitudinal members (7a) connected front longitudinal members (8b), rear longitudinal members (9b) running in the x direction (x) for each storage level (E1) and one connected to the rear shelf members (7b), and one For each storage level (E1) between the front longitudinal crossmember (8b) and the rear longitudinal crossmember (9b) arranged shelf (10b) with the storage spaces (3), a cargo manipulation unit (11), which one in the z-direction to the side of the rack aisle (5) comprises offset first buffer device (12a) and comprises a first load lifting device (13a) arranged in the edge region of the rack aisle (5) for storing and / or retrieving loads (4), the first buffer device (12a) in at least some of the Storage levels (E1) have provision devices (14), which are each designed for the intermediate buffering of a load (4) or a plurality of loads (4) and in the x direction adjacent to one of the sides of the first load lifting device g (13a) or in the x-direction adjacent to both sides of the first load lifting device (13a), and wherein the first load lifting device (13a) comprises a stationarily arranged and arranged in an edge region of the shelf aisle (5) fixed to the first storage rack (2a), first vertical mast (15) with a first lifting guide (16), a first lifting drive (17) with a first drive station (18) and a traction mechanism drive (19), one mounted on the first lifting guide (16) and by the first lifting drive (17) vertically movable first lifting frame (20), which is connected to the traction mechanism (19) of the first lifting drive (17), and a first transport device (21) arranged on the first lifting frame (20), which at least for Transport of the cargo (4) between one of the provision devices (14) and the first transport device (21) in the x-direction (x),
Guideways (22a, 22b), which are arranged in pairs on the front longitudinal beams (8a) in horizontal travel planes (E2)
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N2018 / 22100-AT-00 of the first storage rack (2a) and on the front longitudinal beams (8b) of the second
Storage rack (2b) are arranged, and in the x-direction along the first storage rack (2a), the second storage rack (2b) and the provision devices (14), at least one automated storage and retrieval device (23) with at least one load-carrying device (24) for transport the goods (4) between the storage bins (3) and the provisioning devices (14), which on a driving level (E2) in front of the storage bins (3) and before the provisioning device (14) along the guideways (22a, 22b) in the x- Direction is movable, and a first conveyor technology (25a) connected to the cargo manipulation unit (11) for the transport of cargo (4) to the first cargo lifting device (13a) and for the removal of cargo (4) from the first cargo lifting device (13a) , wherein the first load lifting device (13a) connects the first conveyor system (25a) and the provisioning devices (14) in terms of conveyor technology, characterized in that the vertical mast (15) has an open profile cross section, the profile cross section comprising a profile base (40), projecting profile legs (41) and angled mounting legs (42) on the free ends of the profile legs (41), to which the vertical mast (15) is attached to the first storage rack (2a) is.
[3]
3. rack storage system (1), comprising a first storage rack (2a) with storage spaces (3) for goods (4) which are arranged next to one another in superimposed storage levels (E1), a second storage rack (2b) with storage spaces (3) for goods (4), which are arranged next to each other in superimposed storage levels (E1), the first storage rack (2a) and the second storage rack (2b) facing each other in a horizontal z-direction (z) at a distance (b) and a rack aisle (5) is formed between the first storage rack (2a) and the second storage rack (2b), which has a longitudinal axis running horizontally in an x-direction (x) and oriented at right angles to the z-direction (z)
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N2018 / 22100-AT-00, the first storage rack (2a) front shelf uprights (6a), rear shelf uprights (7a), each storage level (E1) extending in the x direction (x) and connected to the front shelf uprights (6a) front longitudinal beams (8a), rear longitudinal beams (9a) running in the x direction (x) for each storage level (E1) and connected to the rear rack uprights (7a), and one for each storage level (E1) between the front longitudinal beam (8a) and the rear longitudinal cross member (9a) arranged shelf (10a) with the storage spaces (3), the second storage rack (2b) front shelf uprights (6b), rear shelf uprights (7b), each storage level (E1) in the x direction (x) and front longitudinal members (8b) connected to the front shelf supports (7a), rear longitudinal members (9b) running in the x direction (x) for each storage level (E1) and connected to the rear shelf supports (7b), and one for each storage level (E1) between the front longitudinal beam (8b) and the rear longitudinal beam (9b ) arranged shelf (10b) with the storage spaces (3), a cargo manipulation unit (11), which comprises a first buffer device (12a) offset laterally to the shelf aisle (5) in the z-direction and one in the edge area of the shelf aisle (5 ) arranged, first load lifting device (13a) for storing and / or retrieving loads (4), the first buffer device (12a) in at least some of the storage levels (E1) having provision devices (14), each for buffering a load ( 4) or more loads (4) are formed and are arranged in the x-direction adjacent to one of the sides of the first load-lifting device (13a) or in the x-direction adjacent to both sides of the first load-lifting device (13a), and The first load lifting device (13a) comprises a first vertical mast (15) mi which is arranged in an edge region of the rack aisle (5), is set up in a fixed position and is fastened to the first storage rack (2a) t a first stroke guide (16), a first stroke drive (17) with a first drive station (18) and a traction mechanism drive (19),
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N2018 / 22100-AT-00 a first lifting frame (20) mounted on the first lifting guide (16) and vertically movable by the first lifting drive (17), which is connected to the traction mechanism drive (19) of the first lifting drive (17), and one first transport device (21) arranged on the first lifting frame (20), which is designed at least for transporting the cargo (4) between one of the provision devices (14) and the first transport device (21) in the x direction (x), guide tracks (22a, 22b), which are arranged in superimposed, horizontal travel levels (E2) in pairs on the front longitudinal beams (8a) of the first storage rack (2a) and on the front longitudinal beams (8b) of the second storage rack (2b), and in the x direction Along the first storage rack (2a), the second storage rack (2b) and the provision devices (14) there are at least one automated storage and retrieval unit (23) with at least one load handling device (24) for transporting the load more (4) between the storage spaces (3) and the provision devices (14), which can be moved in the x direction on a driving level (E2) in front of the storage spaces (3) and in front of the provision device (14) along the guideways (22a, 22b) , and a first conveyor technology (25a) connected to the cargo manipulation unit (11) for the transport of cargo (4) to the first cargo lifting device (13a) and for the transportation of cargo (4) from the first cargo lifting device (13a), wherein the first cargo lifting device (13a) connects the first conveyor technology (25a) and the provision devices (14) in terms of conveyor technology, characterized in that the cargo manipulation unit (11) comprises an energy-absorbing deformation device (52) which is located on one of the shelf aisle (5) opposite side of the vertical mast (15) below the first lifting frame (20) is fixedly mounted.
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N2018 / 22100 AT-00
[4]
4. Shelf storage system (1) according to one of claims 1 to 3, characterized in that a drive axis (A) of the first drive motor (26a) is aligned in the x direction (x).
[5]
5. shelf storage system (1) according to any one of claims 1 to 3, characterized in that a drive axis (A) of the first drive motor (26a) is aligned vertically.
[6]
6. shelf storage system (1) according to any one of claims 1 to 5, characterized in that the vertical mast (15) has an open profile cross-section, wherein the profile cross-section comprises a profile base (40), projecting profile legs (41) and at the free ends the profile leg (41) angled mounting leg (42) on which the vertical mast (15) is attached to the first storage rack (2a).
[7]
7. Shelf storage system (1) according to one of claims 1 to 6, characterized in that the first storage rack (2a) comprises mounting crossbeams (43a) which, in addition to the front longitudinal crossbeams (8a), are fastened to the front rack uprights (6a) and parallel run to the front longitudinal beams (8a), and the vertical mast (15) comprises a mounting section (45) facing the rack aisle (5), by means of which the first load lifting device (13a) is mounted on the mounting beams (43a).
[8]
8. Shelf storage system (1) according to one of claims 1 to 7, characterized in that the second storage rack (2b) comprises mounting crossbeams (43b) which, in addition to the front longitudinal crossbeams (8b), are fastened to the front rack uprights (6b) and in parallel run to the front longitudinal beams (8b).
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N2018 / 22100 AT-00
[9]
9. shelf storage system (1) according to claims 7 and 8, characterized by walkways (32), which are arranged in the shelf aisle (5) in superimposed maintenance levels (E3) and on the mounting traverses (43a) of the first storage shelf (2a) and the mounting traverses (43b) of the second storage rack (2b) are attached.
[10]
10. shelf storage system (1) according to any one of claims 7 to 9, characterized in that the connection between the vertical mast (15) and one of the mounting traverses (43a) is made by an angled or cranked fastening element (44).
[11]
11. shelf storage system (1) according to any one of claims 7 to 10, characterized in that the angled or cranked fastening element (44) and / or a between the vertical mast (15) and one of the mounting crossbars (43a) arranged lining plate (47) from one Material with a modulus of elasticity of less than 40,000 MPa is made.
[12]
12. shelf storage system (1) according to one of claims 1 to 11, characterized in that the vertical mast (15) has a plurality of mast segments (49) which are assembled vertically one above the other essentially without gaps.
[13]
13. Shelf storage system (1) according to one of claims 1 to 12, characterized in that the first lifting guide (16) for guiding the first lifting frame (20) is divided in the vertical direction by form-complementary butt joints (50).
[14]
14. shelf storage system (1) according to claims 12 and 13, characterized in that a division between the mast segments (49) offset in the vertical direction to the butt joints (50) of the lifting guide (16) is arranged.
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N2018 / 22100 AT-00
[15]
15. shelf storage system (1) according to one of claims 1 to 14, characterized in that the first lifting guide (16) for guiding the first lifting frame (20) comprises a first guide bar (48a) and a second guide bar (48b), which are separated from each other and run parallel in the longitudinal direction of the vertical mast (15) and are preferably detachably connected to the vertical mast (15) via connecting means (46c).
[16]
16. Shelf storage system (1) according to one of claims 1 to 15, characterized in that the vertical mast (15) and the first lifting guide (16) and the front shelf uprights (6a) and rear shelf uprights (7a) of the first storage shelf (2a) are made of the same material, in particular steel.
[17]
17. shelf storage system (1) according to any one of claims 1 to 16, characterized in that the cargo manipulation unit (11) comprises an energy-absorbing deformation device (52) which on a side of the vertical mast (15) facing away from the shelf aisle (5) below the first lifting frame (20) is permanently mounted.
[18]
18. Shelf storage system (1) according to claim 17, characterized in that the energy-absorbing deformation device (52) comprises a force distribution plate (54) with an impact surface for the first lifting frame (20), below the force distribution plate (54) a honeycomb body plastically deformable by the action of force ( 55), which at least partially absorbs an impact energy generated when the first lifting frame (20) collides with the force distribution plate (54) and comprises a mounting plate (56) for mounting the deformation device (52) below the honeycomb body (55).
[19]
19. shelf storage system (1) according to claim 17 or 18, characterized in that cavities of the honeycomb body (55) extend in the vertical direction.
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N2018 / 22100 AT-00
[20]
20. Shelf storage system (1) according to one of claims 1 to 19, characterized in that the first load lifting device (13a) has a first additional lifting drive (27) with a first additional drive station (28) and a first additional pulling means drive (29) coupled to it. comprises a first additional lifting frame (30) slidably mounted on the first vertical mast (15) along the first lifting guide (16) or along a first additional lifting guide, which can be moved vertically with the aid of the first additional lifting drive (27), and one on comprises the first additional lifting frame (30) arranged first additional transport device (31), which is designed at least for the transport of the goods (4) between a provision device (14) and the first additional transport device (31) in the x-direction (x).
[21]
21. Shelf storage system (1) according to one of claims 1 to 20, characterized in that the first lifting drive (17) and the first vertical mast (15) are arranged on a common base plate (61).
[22]
22. Shelf storage system (1) according to one of claims 17 to 21, characterized in that the first lifting drive (17) and the energy-absorbing deformation device (52) are arranged on a common base plate (61).
[23]
23. Shelf storage system (1) according to one of claims 20 to 22, characterized in that the drive station (18) of the first lifting drive (17) and the additional drive station (28) of the first additional lifting drive (27) on a common base plate ( 61) are arranged.
[24]
24. Shelf storage system (1) according to one of claims 1 to 23, characterized in that an acceleration sensor (57) for detecting at least one acceleration in the vertical direction is arranged on the first lifting frame (20)
64/82
N2018 / 22100-AT-00 and / or the first load lifting device (13a) comprises an optical distance measuring sensor (58) for detecting the vertical position of the first lifting frame (20) and / or means (59) for optical data transmission to or from the first lifting frame (20).
[25]
25. Shelf storage system (1) according to one of claims 1 to 24, characterized in that the first traction mechanism (19) of the first load lifting device (13a) comprises a traction means (33) and the first load lifting device (13a) a tensioning system (34 ) for mounting the traction means (33) and / or for setting a pretensioning force in the traction means (33) which is arranged on the side of the vertical mast (15) facing the rack aisle (5).
[26]
26. Shelf storage system (1) according to one of claims 1 to 25, characterized in that the load manipulation unit (11) has a second buffer device (12b) which is designed like the first buffer device (12a) and a second load lifting device (13b), which is designed like the first load lifting device (13a), a second vertical mast (15) of the second load lifting device (13b) being fastened to the second storage rack (2b), and the rack storage system (1) being attached to the load handling unit (11) connected second conveyor technology (25a) for the transport of loads (4) to the second load lifting device (13b) and for the removal of loads (4) from the second load lifting device (13b).
[27]
27. Shelf storage system (1) according to one of claims 1 to 26, characterized in that the traction mechanism drive (19) is a drive wheel (35), a lower deflection wheel (36),
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N2018 / 22100-AT-00 an upper deflection wheel (37), a guide wheel (38) and a traction means guided around the drive wheel (35), the lower deflection wheel (36), the upper deflection wheel (37) and the guide wheel (38) 33), the lower deflection wheel (36) being arranged in the region of a vertical mast foot of the vertical mast (15) and the upper deflection wheel (37) being arranged in the region of a vertical mast head of the vertical mast (15), the guide wheel (38) in the region of the vertical mast foot between the Upper deflection wheel (36) and the drive wheel (37) is arranged, the drive wheel (35) is arranged at a distance from the vertical mast (15) in the region of the vertical mast foot, and a center distance (I) between the drive wheel (35) and the lower deflection wheel (36) is at least 300 mm.
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13a

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同族专利:

---

公开号 | 公开日

---

EP3891086A1|2021-10-13|

---

WO2020113249A1|2020-06-11|

---

AT521359B1|2020-01-15|

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US20210395015A1|2021-12-23|

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WO2020113254A1|2020-06-11|

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EP3891085A1|2021-10-13|

---

US20220041374A1|2022-02-10|

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CA3118042A1|2020-06-11|

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CN113165806A|2021-07-23|

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CA3122308A1|2020-06-11|

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CN113365930A|2021-09-07|

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法律状态:

优先权:

---

申请号 | 申请日 | 专利标题

---

ATA51090/2018A|AT521359B1|2018-12-07|2018-12-07|Shelf storage system with improved cargo manipulation unit|ATA51090/2018A| AT521359B1|2018-12-07|2018-12-07|Shelf storage system with improved cargo manipulation unit|

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EP19828183.4A| EP3891085A1|2018-12-07|2019-11-19|Storage arrangement and picking system having improved loading and retrieval of loaded items and method for operating same|

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CA3118042A| CA3118042A1|2018-12-07|2019-11-19|Storage arrangement and order-picking system with improved storage and retrieval of loads and method for operating the same|

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US17/292,751| US20210395015A1|2018-12-07|2019-11-19|Storage arrangement and picking system having improved loading and retrieval of loaded items and method for operating same|

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PCT/AT2019/060392| WO2020113249A1|2018-12-07|2019-11-19|Storage arrangement and picking system having improved loading and retrieval of loaded items and method for operating same|

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PCT/AT2019/060416| WO2020113254A1|2018-12-07|2019-12-06|Rack storage system comprising an improved load manipulation unit|

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CA3122308A| CA3122308A1|2018-12-07|2019-12-06|Rack storage system with improved load manipulation unit|

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US17/299,658| US20220041374A1|2018-12-07|2019-12-06|Rack storage system comprising an improved load manipulation unit|

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EP19835583.6A| EP3891086A1|2018-12-07|2019-12-06|Rack storage system comprising an improved load manipulation unit|