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EP3914552A1 - Warehouse vehicle having a tracked drive - Google Patents

Warehouse vehicle having a tracked drive

Info

Publication number
EP3914552A1
EP3914552A1 EP21701950.4A EP21701950A EP3914552A1 EP 3914552 A1 EP3914552 A1 EP 3914552A1 EP 21701950 A EP21701950 A EP 21701950A EP 3914552 A1 EP3914552 A1 EP 3914552A1
Authority
EP
European Patent Office
Prior art keywords
drive
storage vehicle
guide rail
engagement elements
belt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP21701950.4A
Other languages
German (de)
French (fr)
Other versions
EP3914552B1 (en
Inventor
Patrick Zeis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Witron Logistik and Informatik GmbH
Original Assignee
Witron Logistik and Informatik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Witron Logistik and Informatik GmbH filed Critical Witron Logistik and Informatik GmbH
Publication of EP3914552A1 publication Critical patent/EP3914552A1/en
Application granted granted Critical
Publication of EP3914552B1 publication Critical patent/EP3914552B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B66F9/072—Travelling gear therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61C—LOCOMOTIVES; MOTOR RAILCARS
    • B61C11/00—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel
    • B61C11/04—Locomotives or motor railcars characterised by the type of means applying the tractive effort; Arrangement or disposition of running gear other than normal driving wheel tractive effort applied to racks

Definitions

  • the invention relates to a drive for vehicles that are used in warehouses, such as storage and retrieval units for storing and retrieving articles in / from shelf warehouses.
  • Such storage and retrieval units take over the loading and unloading of goods from a high-bay warehouse, for example.
  • the storage and retrieval unit drives to the respective storage locations in the rack warehouse and removes or loads the respective goods.
  • the performance i.e. the throughput of goods of such a rack warehouse, depends critically on the speed and in particular the possible maximum acceleration of the storage and retrieval machines or other storage vehicles. In particular for vehicles with a high dead weight or high payloads, this places high demands on the drive technology of the storage vehicles.
  • the weight of the vehicle With the friction wheel drive, the weight of the vehicle generates the contact pressure between the drive wheel and the road. As a result of the friction between the drive wheel and the roadway, this contact force can be used to generate a feed force from the drive wheel to the roadway in order to accelerate the vehicle.
  • the magnitude of the amount of acceleration or deceleration depends accordingly on the coefficient of friction between the drive wheel and the road surface. Due to the frictional connection between the friction wheel and the roadway (similar to a motor vehicle on the road), only relatively small torques can be transmitted and thus only comparatively low accelerations or decelerations can be achieved.
  • the rack and pinion drive With the rack and pinion drive, a rack is installed over the entire length of the vehicle's travel path. With the aid of a drive gear (pinion) that engages in the rack and is connected to the chassis of the storage vehicle, the rotational movement of the driven gear is converted into a translational movement. With the rack and pinion drive, high torques can be transmitted and therefore high accelerations and decelerations can be achieved. However, the high maintenance costs (lubrication) and the great noise generation as well as the comparatively high installation costs are disadvantageous.
  • the present invention is therefore based on the object of proposing a drive concept for a warehouse vehicle that enables high acceleration and deceleration values with low maintenance and assembly costs for the drive elements.
  • the object is achieved by the storage vehicle according to the invention, described in claim 1, which can be moved along a guide rail provided with engagement elements and has a chassis and a drive unit connected to the chassis.
  • the drive unit has a drive wheel coupled to a drive motor with circumferential engagement elements, an endless drive belt provided with engagement elements, and a steering roller arrangement for guiding the endless drive belt, which is designed in such a way that the endless drive belt for driving the storage vehicle with both the drive wheel and can be brought into engagement with the engagement elements of the guide rail.
  • the engaging elements or teeth of the endless drive belt mesh over a greater distance with the engaging elements of the guide rail, as are the engaging elements of the drive wheel with those of the endless drive belt.
  • the driving force is therefore distributed to a plurality of pairs of engaging elements, respectively.
  • the drive according to the invention thus enables high acceleration and deceleration values in both directions of movement, even with large loads, and thus high performance of the storage vehicle with, at the same time, low maintenance costs and low noise generation.
  • the endless drive belt is preferably guided around the drive wheel and the steering roller arrangement in an omega geometry in such a way that the engagement elements on the same side of the endless drive belt engage both with the drive wheel and with the guide rail provided with engagement elements.
  • the omega geometry enables a "compact" design of the drive.
  • the steering roller arrangement preferably comprises two guide-rail-side deflection rollers and two deflection rollers facing away from the guide rail, wherein one or more of the deflection rollers can be designed as a tensioning roller for tensioning the endless drive belt.
  • the drive unit can have pressure elements, preferably pressure rollers, for pressing the endless drive belt onto the guide rail provided with engagement elements.
  • the endless drive belt can be made of elastic material such as plastic or rubber material, preferably made of polyurethane. The use of an NFC fabric can further reduce noise development.
  • the storage vehicle preferably has guide rollers to maintain a defined distance between the drive unit and the guide rail.
  • the drive unit can have one or more drive motors that are coupled to the axle of the drive wheel via a belt drive.
  • the belt drive can have a step-up or step-down ratio by choosing a suitable diameter of the belt wheels and thus serve as a gear. As a result, a gear flanged to the drive motor can be dispensed with, as a result of which considerable weight can be saved.
  • the drive motor can be arranged separately from the drive unit.
  • the chassis of the storage vehicle preferably has a chassis and one or more running wheels.
  • the invention further relates to a storage vehicle system having a guide rail provided with engagement elements and a storage vehicle according to the invention that can be moved along the guide rail.
  • the engagement elements of the guide rail can be formed by toothed belts attached to them.
  • the toothed belts can be made from elastic material, preferably from polyurethane.
  • NFC fabric can be used to reduce noise development.
  • the toothed belts are preferably fixed to the guide rail at certain intervals.
  • the invention also relates to bearings which have one or more storage vehicle systems according to the invention, the guide rails being arranged in the longitudinal and / or transverse direction or also in the vertical direction according to a direction of movement of the respective storage vehicle.
  • FIG. 1 shows a schematic perspective illustration of a first exemplary embodiment of the chassis of a storage vehicle according to the invention without a drive element;
  • FIG. 2 shows a schematic horizontal sectional view of the drive element of the first exemplary embodiment of the storage vehicle according to the invention
  • FIG. 3 shows a schematic perspective illustration of the drive element according to FIG. 2;
  • FIG. 4 shows a schematic detailed illustration of the drive element according to FIG. 2;
  • FIG. 5 shows a schematic horizontal sectional view of the drive element of a second exemplary embodiment of the storage vehicle according to the invention
  • FIG. 6 shows a schematic perspective illustration of the drive element according to FIG. 5;
  • FIG. 7 shows a schematic perspective illustration of the drive element of a third exemplary embodiment of the storage vehicle according to the invention.
  • FIG. 1A shows a schematic perspective illustration of the chassis 50 of the exemplary embodiment of a storage vehicle according to the invention.
  • the storage vehicle can perform any functions within a warehouse and have corresponding structures and handling elements that are not shown here and are independent of the invention.
  • the storage vehicle can be used as a rack vehicle for loading and unloading goods from a high-bay warehouse or as a cross conveyor for connecting different conveyor technology elements such as roller or belt conveyors.
  • the invention relates to the drive of the storage vehicle, which storage vehicle can fulfill a wide variety of functions.
  • Wheel carriers which contain running wheels 30, are mounted on both sides of the chassis 50 of the exemplary embodiment shown in FIG. 1. These are used to guide the warehouse vehicle through the rack aisle. However, other wheel arrangements are also possible.
  • the guide rail 40 is also shown, which is arranged in a stationary manner in the storage building and defines the travel path of the storage vehicle.
  • a toothed belt 42 is provided on the guide rail 40 Engaging elements (teeth) 43 (see. Fig. 4) attached.
  • the toothed belt 42 is preferably made of an elastic material such as a plastic or rubber material, in particular of polyurethane, and is fixed to the guide rail 40 at certain intervals and forms a fixed unit with it. This unit is preferably mounted over the entire length of the aisle / track of the warehouse and can be attached to the floor by means of a rail foot or the like.
  • the toothed belt 42 fixed on a guide rail 40 has the further advantage of significantly lower assembly costs, since several toothed rack elements mounted one behind the other have to be aligned very precisely with one another, which means a high production effort. This effort is not necessary when using a toothed belt.
  • FIG. 2 shows a schematic horizontal sectional view
  • FIG. 3 shows a perspective view of the drive unit 20, which accelerates and drives the storage vehicle on the route.
  • part of the chassis support 51 and one of the running wheels 30 can be seen.
  • the engaging elements (teeth) of an endless drive belt 25 engage in the toothed belt 42, which in the exemplary embodiment shown has an omega geometry around an arrangement of deflection rollers 22, 24, 24a and a drive wheel or drive pulley also provided with engaging elements (teeth) 21 is performed.
  • the toothed side of the endless drive belt 25 is inserted into the toothed belt 42.
  • One or more deflection pulleys are movably designed as tension pulley (s) 24a for setting a suitable tension of the endless drive belt 25.
  • the drive wheel 21 is coupled to an electric motor or another suitable drive unit. Due to the omega geometry, the engagement elements of the drive wheel 21 are in engagement with the engagement elements of the endless drive belt 25 over a considerable part of the circumference of the drive wheel 21, so that good power transmission from the drive wheel 21 to the endless drive belt 25 is guaranteed with little maintenance effort .
  • the drive unit 20 is preferably firmly connected to the chassis support 51 of the storage vehicle and can be detached from it by dismantling various components.
  • a guide roller 27 which is particularly visible in FIGS. 3 and 4
  • the drive unit 20 is held at a constant distance from the chassis beam 51, so that a good engagement of the engagement elements of the endless drive belt 25 in the corresponding engagement elements of the toothed belt 42 is possible is.
  • pressure rollers 28 are provided, which are used for the Force transmission required contact pressure of the endless drive belt 25 on the toothed belt 42 ensures.
  • the power transmission from the endless drive belt 25 to the toothed belt 42 is distributed to a plurality of pairs of engagement elements, so that the force and thus the wear on the individual engagement element is reduced.
  • noise-reducing materials such as polyurethane and NFC fabric can also be used for both the drive wheel 21, the endless drive belt 25 and the toothed belt 42.
  • the toothed belt 42 introduces the force via the guide rail 40 and the floor connection into the ground.
  • Figures 5 and 6 show a second embodiment of the drive unit 20 of the storage vehicle according to the invention.
  • the mode of operation of the second exemplary embodiment essentially corresponds to that of the first exemplary embodiment, but is characterized by a particularly compact design.
  • FIG. 7 in turn shows a third exemplary embodiment of the drive unit 20 of the storage vehicle according to the invention, which is based on the second exemplary embodiment, but differs therefrom in that two drive motors 60 are attached directly to the drive unit.
  • the drive force is transmitted from the motors 60 via belt drives 29 to the drive shaft of the drive wheel 21.
  • a suitable transmission or reduction can be selected between the drive motors 60 and the drive wheel 21.
  • the belt drive can also serve as a transmission, which means that a heavy and voluminous motor transmission can be omitted.
  • the storage vehicle according to the invention thus enables high accelerations and decelerations in both directions of movement, even with large loads, and thus an increase in the performance of the associated bearing.
  • the storage vehicle can be moved along the shelf aisle of a shelf storage facility or as a cross conveyor transverse to the shelf aisle direction or to connect different conveyor technology elements such as roller or belt conveyors.
  • the drive according to the invention can also be used to drive vertical conveyors.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Transmission Devices (AREA)

Abstract

The invention relates to a warehouse vehicle, which can be moved along a guide rail (40) provided with engagement elements (43), the vehicle comprising running gear (30) and a drive unit (20) connected to the running gear (30). The drive unit (20) comprises: a drive wheel (21) which is coupled to a drive motor and has circumferential engagement elements; and a continuous drive belt (25) which is provided with engagement elements; and a guide roller assembly (22, 24, 24a) for guiding the continuous drive belt (25), which guide roller assembly is designed such that the continuous drive belt (25) can be brought into engagement with the drive wheel (21) and with the engagement elements (43) of the guide rail (40) in order to drive the warehouse vehicle. The warehouse-vehicle drive according to the invention allows high acceleration values and thus a high level of performance of the warehouse vehicle.

Description

LAGERFAHRZEUG MIT RAUPENANTRIEB STORAGE VEHICLE WITH TRACKED DRIVE

Gebiet der Erfindung Field of invention

Die Erfindung betrifft einen Antrieb für Fahrzeuge, die in Lagern zum Einsatz kommen, wie beispielsweise Regalbediengeräte zum Ein- und Auslagern von Artikeln in/aus Regallagern. The invention relates to a drive for vehicles that are used in warehouses, such as storage and retrieval units for storing and retrieving articles in / from shelf warehouses.

Hintergrund der Erfindung Background of the invention

Derartige Regalbediengeräte übernehmen zum Beispiel das Bestücken und Entnehmen von Ware aus einem Hochregellager. Hierzu fährt das Regalbediengerät im Regallager zu den jeweiligen Stellplätzen und entnimmt oder bestückt die jeweilige Ware. Die Leistung, d.h. der Warendurchsatz eines solchen Regallagers hängt kritisch von der Geschwindigkeit und insbesondere der möglichen maximalen Beschleunigung der Regalbediengeräte oder anderer Lagerfahrzeuge ab. Dies stellt insbesondere für Fahrzeuge mit hohem Eigengewicht bzw. hohen Nutzlasten hohe Anforderungen an die Antriebstechnik der Lagerfahrzeuge. Such storage and retrieval units take over the loading and unloading of goods from a high-bay warehouse, for example. For this purpose, the storage and retrieval unit drives to the respective storage locations in the rack warehouse and removes or loads the respective goods. The performance, i.e. the throughput of goods of such a rack warehouse, depends critically on the speed and in particular the possible maximum acceleration of the storage and retrieval machines or other storage vehicles. In particular for vehicles with a high dead weight or high payloads, this places high demands on the drive technology of the storage vehicles.

Überwiegend werden in der Fahrantriebstechnik für Lagerfahrzeuge zwei unterschiedliche Antriebsvarianten verfolgt: Mainly two different drive variants are used in traction drive technology for warehouse vehicles:

Beim Reibradantrieb erzeugt die Eigenmasse des Fahrzeugs die Anpresskraft zwischen Antriebsrad und Fahrbahn. Durch die Reibung zwischen Antriebsrad und Fahrbahn kann mittels dieser Anpresskraft eine Vorschubkraft vom Antriebsrad an die Fahrbahn generiert werden, um das Fahrzeug zu beschleunigen. Die Größe des Betrages der Beschleunigung oder Verzögerung hängt dementsprechend vom Reibungskoeffizienten Antriebsrad/Fahrbahn ab. Durch die kraftschlüssige Verbindung zwischen Reibrad und Fahrbahn (ähnlich einem Kraftfahrzeug auf der Straße) können nur relativ kleine Momente übertragen und somit nur vergleichsweise geringe Beschleunigungen bzw. Verzögerungen erzielt werden. With the friction wheel drive, the weight of the vehicle generates the contact pressure between the drive wheel and the road. As a result of the friction between the drive wheel and the roadway, this contact force can be used to generate a feed force from the drive wheel to the roadway in order to accelerate the vehicle. The magnitude of the amount of acceleration or deceleration depends accordingly on the coefficient of friction between the drive wheel and the road surface. Due to the frictional connection between the friction wheel and the roadway (similar to a motor vehicle on the road), only relatively small torques can be transmitted and thus only comparatively low accelerations or decelerations can be achieved.

Beim Zahnstangenantrieb wird eine Zahnstange auf der kompletten Länge des Verfahrweges des Fahrzeugs verbaut. Mithilfe eines in die Zahnstange eingreifenden Antriebszahnrades (Ritzels), welches mit dem Fahrwerk des Lagerfahrzeugs verbunden ist, wird die Rotationsbewegung des angetriebenen Zahnrades in eine translatorische Bewegung umgewandelt. Mit dem Zahnstangenantrieb können hohe Momente übertragen und daher hohe Beschleunigungen und Verzögerungen erzielt werden. Nachteilig ist jedoch der hohe Wartungsaufwand (Schmierung) und die große Lärmentwicklung sowie die vergleichsweise hohen Installationskosten. Der vorliegenden Erfindung liegt daher die Aufgabe zu Grunde, ein Antriebskonzept für ein Lagerfahrzeug vorzuschlagen, das hohe Beschleunigungs- und Verzögerungswerte bei gleichzeitig niedrigem Wartungsaufwand und Montageaufwand der Antriebselemente ermöglicht. With the rack and pinion drive, a rack is installed over the entire length of the vehicle's travel path. With the aid of a drive gear (pinion) that engages in the rack and is connected to the chassis of the storage vehicle, the rotational movement of the driven gear is converted into a translational movement. With the rack and pinion drive, high torques can be transmitted and therefore high accelerations and decelerations can be achieved. However, the high maintenance costs (lubrication) and the great noise generation as well as the comparatively high installation costs are disadvantageous. The present invention is therefore based on the object of proposing a drive concept for a warehouse vehicle that enables high acceleration and deceleration values with low maintenance and assembly costs for the drive elements.

Zusammenfassung der Erfindung Summary of the invention

Gelöst wird die Aufgabe durch das in Anspruch 1 beschriebene erfindungsgemäße entlang einer mit Eingriffselementen versehenen Führungsschiene verfahrbares Lagerfahrzeug mit einem Fahrwerk und einer mit dem Fahrwerk verbundenen Antriebseinheit. Die Antriebseinheit weist ein mit einem Antriebsmotor gekoppeltes Antriebsrad mit umfangsseitigen Eingriffselementen, ein mit Eingriffselementen versehenen Endlos-Antriebsriemen, und eine Lenkrollenanordnung zur Führung des Endlos-Antriebsriemens auf, die derart ausgebildet ist, dass der Endlos- Antriebsriemen zum Antrieb des Lagerfahrzeugs sowohl mit dem Antriebsrad als auch mit den Eingriffselementen der Führungsschiene in Eingriff bringbar ist. Die Eingriffselemente oder Zähne des Endlos-Antriebsriemens sind über eine größere Distanz mit den Eingriffselementen der Führungsschiene im Eingriff, ebenso wie die Eingriffselemente des Antriebsrades mit denjenigen des Endlos-Antriebsriemens. Die Antriebskraft wird daher jeweils auf eine Vielzahl von Eingriffselementepaaren verteilt. The object is achieved by the storage vehicle according to the invention, described in claim 1, which can be moved along a guide rail provided with engagement elements and has a chassis and a drive unit connected to the chassis. The drive unit has a drive wheel coupled to a drive motor with circumferential engagement elements, an endless drive belt provided with engagement elements, and a steering roller arrangement for guiding the endless drive belt, which is designed in such a way that the endless drive belt for driving the storage vehicle with both the drive wheel and can be brought into engagement with the engagement elements of the guide rail. The engaging elements or teeth of the endless drive belt mesh over a greater distance with the engaging elements of the guide rail, as are the engaging elements of the drive wheel with those of the endless drive belt. The driving force is therefore distributed to a plurality of pairs of engaging elements, respectively.

Der erfindungsgemäße Antrieb ermöglicht so hohe Beschleunigungs- und Verzögerungswerte in beide Bewegungsrichtungen auch bei großen Lasten und damit eine hohe Leistungsfähigkeit des Lagerfahrzeugs bei gleichzeitig geringem Wartungsaufwand und geringer Lärmentwicklung.The drive according to the invention thus enables high acceleration and deceleration values in both directions of movement, even with large loads, and thus high performance of the storage vehicle with, at the same time, low maintenance costs and low noise generation.

Vorzugsweise ist der Endlos-Antriebsriemen in einer Omega-Geometrie derart um das Antriebsrad und die Lenkrollenanordnung geführt, dass die Eingriffselemente auf der gleichen Seite des Endlos-Antriebsriemens sowohl mit dem Antriebsrad als auch mit der mit Eingriffselementen versehenen Führungsschiene in Eingriff kommen. Die Omega-Geometrie ermöglicht eine „kompakte“ Bauweise des Antriebes. The endless drive belt is preferably guided around the drive wheel and the steering roller arrangement in an omega geometry in such a way that the engagement elements on the same side of the endless drive belt engage both with the drive wheel and with the guide rail provided with engagement elements. The omega geometry enables a "compact" design of the drive.

Die Lenkrollenanordnung umfasst vorzugsweise zwei führungsschienenseitige Umlenkrollen und zwei von der Führungsschiene abgewandte Umlenkrollen, wobei eine oder mehrere der Umlenkrollen als Spannrolle zum Spannen des Endlos-Antriebsriemens ausgebildet sein kann.The steering roller arrangement preferably comprises two guide-rail-side deflection rollers and two deflection rollers facing away from the guide rail, wherein one or more of the deflection rollers can be designed as a tensioning roller for tensioning the endless drive belt.

Ferner kann die Antriebseinheit Anpresselemente, vorzugsweise Anpressrollen, zum Anpressen des Endlos-Antriebsriemens an die mit Eingriffselementen versehene Führungsschiene aufweisen. Der Endlos-Antriebsriemen kann aus elastischem Material wie Kunststoff- oder Gummimaterial, vorzugsweise aus Polyurethan ausgebildet sein. Der Einsatz eines NFC-Gewebes kann die Geräuschentwicklung weiter reduzieren. Furthermore, the drive unit can have pressure elements, preferably pressure rollers, for pressing the endless drive belt onto the guide rail provided with engagement elements. The endless drive belt can be made of elastic material such as plastic or rubber material, preferably made of polyurethane. The use of an NFC fabric can further reduce noise development.

Das Lagerfahrzeug weist vorzugsweise Führungsrollen zur Aufrechterhaltung eines definierten Abstandes zwischen Antriebseinheit und Führungsschiene auf. The storage vehicle preferably has guide rollers to maintain a defined distance between the drive unit and the guide rail.

Die Antriebseinheit kann einen oder mehrere Antriebsmotoren aufweisen, der/die über einen Riemenantrieb mit der Achse des Antriebsrads gekoppelt ist/sind. Der Riemenantrieb kann dabei durch die Wahl geeigneter Durchmesser der Riemenräder eine Über- oder Untersetzung aufweisen und so als Getriebe dienen. Dadurch kann sich ein an dem Antriebsmotor angeflanschtes Getriebe erübrigen, wodurch erheblich Gewicht eingespart werden kann. The drive unit can have one or more drive motors that are coupled to the axle of the drive wheel via a belt drive. The belt drive can have a step-up or step-down ratio by choosing a suitable diameter of the belt wheels and thus serve as a gear. As a result, a gear flanged to the drive motor can be dispensed with, as a result of which considerable weight can be saved.

Alternativ kann der Antriebsmotor separat von der Antriebseinheit angeordnet sein. Alternatively, the drive motor can be arranged separately from the drive unit.

Das Fahrwerk des Lagerfahrzeugs weist vorzugsweise einen Fahrwerkskörper sowie eine oder mehrere Laufräder auf. The chassis of the storage vehicle preferably has a chassis and one or more running wheels.

Die Erfindung betrifft ferner ein Lagerfahrzeugsystem aufweisend eine mit Eingriffselementen versehenen Führungsschiene sowie ein entlang der Führungsschiene verfahrbares erfindungsgemäßes Lagerfahrzeug. The invention further relates to a storage vehicle system having a guide rail provided with engagement elements and a storage vehicle according to the invention that can be moved along the guide rail.

Die Eingriffselemente der Führungsschiene können durch an dieser angebrachte Zahnriemen gebildet sein. Die Zahnriemen können dabei aus elastischem Material, vorzugsweise aus Polyurethan ausgebildet sein. Auch hier kann NFC-Gewebe zur Verringerung der Geräuschentwicklung zum Einsatz kommen. Die Zahnriemen sind vorzugsweise in gewissen Abständen an der Führungsschiene fixiert. The engagement elements of the guide rail can be formed by toothed belts attached to them. The toothed belts can be made from elastic material, preferably from polyurethane. Here, too, NFC fabric can be used to reduce noise development. The toothed belts are preferably fixed to the guide rail at certain intervals.

Die Erfindung betrifft ferner Lager welche ein oder mehrere erfindungsgemäße Lagerfahrzeugsysteme aufweisen, wobei die Führungsschienen in Längs- und/oder Querrichtung oder auch in vertikaler Richtung entsprechend einer Bewegungsrichtung des jeweiligen Lagerfahrzeugs angeordnet sind. The invention also relates to bearings which have one or more storage vehicle systems according to the invention, the guide rails being arranged in the longitudinal and / or transverse direction or also in the vertical direction according to a direction of movement of the respective storage vehicle.

Figurenbeschreibung Figure description

Die Erfindung wird nachstehend anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen im Einzelnen beschrieben. Dabei zeigt: Fig. 1 eine schematische perspektivische Darstellung eines ersten Ausführungsbeispiels des Fahrwerks eines erfindungsgemäßen Lagerfahrzeugs ohne Antriebselement; The invention is described in detail below on the basis of exemplary embodiments with reference to the drawings. It shows: 1 shows a schematic perspective illustration of a first exemplary embodiment of the chassis of a storage vehicle according to the invention without a drive element;

Fig. 2 eine schematische Horizontalschnittansicht des Antriebselements des ersten Ausführungsbeispiels des erfindungsgemäßen Lagerfahrzeugs; 2 shows a schematic horizontal sectional view of the drive element of the first exemplary embodiment of the storage vehicle according to the invention;

Fig. 3 eine schematische perspektivische Darstellung des Antriebselements gemäß Fig. 2;3 shows a schematic perspective illustration of the drive element according to FIG. 2;

Fig. 4 eine schematische Detaildarstellung des Antriebselements gemäß Fig. 2; FIG. 4 shows a schematic detailed illustration of the drive element according to FIG. 2; FIG.

Fig. 5 eine schematische Horizontalschnittansicht des Antriebselements eines zweiten Ausführungsbeispiels des erfindungsgemäßen Lagerfahrzeugs; 5 shows a schematic horizontal sectional view of the drive element of a second exemplary embodiment of the storage vehicle according to the invention;

Fig. 6 eine schematische perspektivische Darstellung des Antriebselements gemäß Fig. 5; und6 shows a schematic perspective illustration of the drive element according to FIG. 5; and

Fig. 7 eine schematische perspektivische Darstellung des Antriebselements eines dritten Ausführungsbeispiels des erfindungsgemäßen Lagerfahrzeugs. 7 shows a schematic perspective illustration of the drive element of a third exemplary embodiment of the storage vehicle according to the invention.

Detaillierte Beschreibung der Erfindung Detailed description of the invention

Die Figuren 1-4 zeigen ein erstes Ausführungsbeispiel des erfindungsgemäßen Lagerfahrzeugs. Figur 1A zeigt dabei eine schematische perspektivische Darstellung des Fahrwerks 50 des Ausführungsbeispiels eines erfindungsgemäßen Lagerfahrzeugs. Das Lagerfahrzeug kann beliebige Funktionen innerhalb eines Lagers ausführen und entsprechende Aufbauten und Handhabungselemente aufweisen, die hier nicht dargestellt und von der Erfindung unabhängig sind. Beispielsweise kann das Lagerfahrzeug als Regalfahrzeug zum Bestücken und Entnehmen von Ware aus einem Hochregellager oder auch als Querförderer zum Verbinden von verschiedenen Fördertechnikelementen wie Rollen- oder Bandförderern verwenden werden. Die Erfindung betrifft den Antrieb des Lagerfahrzeugs, welches Lagerfahrzeug verschiedenste Funktionen erfüllen kann. Figures 1-4 show a first embodiment of the storage vehicle according to the invention. FIG. 1A shows a schematic perspective illustration of the chassis 50 of the exemplary embodiment of a storage vehicle according to the invention. The storage vehicle can perform any functions within a warehouse and have corresponding structures and handling elements that are not shown here and are independent of the invention. For example, the storage vehicle can be used as a rack vehicle for loading and unloading goods from a high-bay warehouse or as a cross conveyor for connecting different conveyor technology elements such as roller or belt conveyors. The invention relates to the drive of the storage vehicle, which storage vehicle can fulfill a wide variety of functions.

Am Fahrwerk 50 des in Fig. 1 gezeigten Ausführungsbeispiels sind beidseitig Radträger montiert, welche Laufräder 30 beinhalten. Diese dienen der Führung des Lagerfahrzeugs durch die Regalgasse. Andere Radanordnungen sind jedoch ebenfalls möglich. Wheel carriers, which contain running wheels 30, are mounted on both sides of the chassis 50 of the exemplary embodiment shown in FIG. 1. These are used to guide the warehouse vehicle through the rack aisle. However, other wheel arrangements are also possible.

In Fig. 1 ist weiterhin die Führungsschiene 40 gezeigt, die im Lagergebäude ortsfest angeordnet ist und den Fahrweg des Lagerfahrzeugs definiert. Wie insbesondere in den Detaildarstellungen der Fig. 1 B und 1 C erkennbar ist, ist an der Führungsschiene 40 ein Zahnriemen 42 mit Eingriffselementen (Zähnen) 43 (vgl. Fig. 4) angebracht. Der Zahnriemen 42 ist vorzugsweise aus elastischem Material wie einem Kunststoff- oder Gummimaterial, insbesondere aus Polyurethan, ausgebildet und in gewissen Abständen an der Führungsschiene 40 fixiert und bildet mit dieser eine feste Einheit. Diese Einheit ist vorzugsweise über die komplette Länge der Gasse/Fahrbahn des Lagers montiert und kann mittels eines Schienenfußes oder dergleichen am Boden befestigt sein. Gegenüber einer Zahnstange hat der an einer Führungsschiene 40 fixierte Zahnriemen 42 den weiteren Vorteil eines deutlich geringeren Montageaufwandes, da mehrere hintereinander montierte Zahnstangenelemente sehr exakt zueinander ausgerichtet sein müssen, was einen hohen Fertigungsaufwand bedeutet. Dieser Aufwand entfällt bei der Verwendung eines Zahnriemens. In Fig. 1, the guide rail 40 is also shown, which is arranged in a stationary manner in the storage building and defines the travel path of the storage vehicle. As can be seen in particular in the detailed representations of FIGS. 1 B and 1 C, a toothed belt 42 is provided on the guide rail 40 Engaging elements (teeth) 43 (see. Fig. 4) attached. The toothed belt 42 is preferably made of an elastic material such as a plastic or rubber material, in particular of polyurethane, and is fixed to the guide rail 40 at certain intervals and forms a fixed unit with it. This unit is preferably mounted over the entire length of the aisle / track of the warehouse and can be attached to the floor by means of a rail foot or the like. Compared to a toothed rack, the toothed belt 42 fixed on a guide rail 40 has the further advantage of significantly lower assembly costs, since several toothed rack elements mounted one behind the other have to be aligned very precisely with one another, which means a high production effort. This effort is not necessary when using a toothed belt.

Fig. 2 zeigt eine schematische Florizontalschnittansicht und Fig. 3 eine perspektivische Ansicht der Antriebseinheit 20, die das Lagerfahrzeug auf dem Fahrweg beschleunigt und antreibt. Im oberen Bildteil der Fig. 2 ist ein Teil des Fahrwerksträgers 51 sowie eines der Laufräder 30 sichtbar. FIG. 2 shows a schematic horizontal sectional view and FIG. 3 shows a perspective view of the drive unit 20, which accelerates and drives the storage vehicle on the route. In the upper part of FIG. 2, part of the chassis support 51 and one of the running wheels 30 can be seen.

In den Zahnriemen 42 greifen die Eingriffselemente (Zähne) eines Endlos-Antriebsriemens 25 ein, der in dem gezeigten Ausführungsbeispiel in einer Omega-Geometrie um eine Anordnung von Umlenkrollen 22, 24, 24a sowie ein ebenfalls mit Eingriffselementen (Zähnen) versehenes Antriebsrad bzw. Antriebsscheibe 21 geführt ist. Dabei wird die Zahnseite des Endlos- Antriebsriemens 25 in den Zahnriemen 42 eingeführt. Eine oder mehrere Umlenkrollen sind beweglich als Spannrolle(n) 24a zum Einstellen einer geeigneten Spannung des Endlos- Antriebsriemens 25 ausgebildet. The engaging elements (teeth) of an endless drive belt 25 engage in the toothed belt 42, which in the exemplary embodiment shown has an omega geometry around an arrangement of deflection rollers 22, 24, 24a and a drive wheel or drive pulley also provided with engaging elements (teeth) 21 is performed. The toothed side of the endless drive belt 25 is inserted into the toothed belt 42. One or more deflection pulleys are movably designed as tension pulley (s) 24a for setting a suitable tension of the endless drive belt 25.

Das Antriebsrad 21 ist mit einem Elektromotor oder einer anderen geeigneten Antriebseinheit gekoppelt. Aufgrund der Omega-Geometrie sind die Eingriffselemente des Antriebsrades 21 über einen erheblichen Teil des Umfangs des Antriebsrades 21 im Eingriff mit den Eingriffselementen des Endlos-Antriebsriemens 25, so dass eine gute Kraftübertragung vom Antriebsrad 21 auf den Endlos-Antriebsriemen 25 bei geringem Wartungsaufwand gewährleistet ist. The drive wheel 21 is coupled to an electric motor or another suitable drive unit. Due to the omega geometry, the engagement elements of the drive wheel 21 are in engagement with the engagement elements of the endless drive belt 25 over a considerable part of the circumference of the drive wheel 21, so that good power transmission from the drive wheel 21 to the endless drive belt 25 is guaranteed with little maintenance effort .

Die Antriebseinheit 20 ist vorzugsweise fest mit dem Fahrwerksträger 51 des Lagerfahrzeugs verbunden und kann durch Demontage diverser Bauteile von diesem gelöst werden. Mittels einer Führungsrolle 27, die insbesondere in den Fig. 3 und 4 sichtbar ist, wird die Antriebseinheit 20 in einer konstanten Entfernung zum Fahrwerksträger 51 gehalten, so dass ein guter Eingriff der Eingriffselemente des Endlos-Antriebsriemens 25 in die entsprechenden Eingriffselemente des Zahnriemens 42 möglich ist. Weiterhin sind Anpressrollen 28 vorgesehen, die für den für die Kraftübertragung erforderlichen Anpressdruck des Endlos-Antriebsriemens 25 auf den Zahnriemen 42 sorgt. Da Kraftübertragung vom Endlos-Antriebsriemen 25 auf den Zahnriemen 42 wird auf eine Vielzahl von Eingriffselementepaaren verteilt, so dass die Kraft und damit der Verschleiß am einzelnen Eingriffselement reduziert ist. Dadurch können auch sowohl für das Antriebsrad 21, den Endlos-Antriebsriemen 25 als auch den Zahnriemen 42 lärmreduzierende Materialien wie etwa Polyurethan und auch NFC-Gewebe zum Einsatz kommen. Der Zahnriemen 42 leitet die Kraft über die Führungsschiene 40 und die Bodenanbindung in den Untergrund ein.The drive unit 20 is preferably firmly connected to the chassis support 51 of the storage vehicle and can be detached from it by dismantling various components. By means of a guide roller 27, which is particularly visible in FIGS. 3 and 4, the drive unit 20 is held at a constant distance from the chassis beam 51, so that a good engagement of the engagement elements of the endless drive belt 25 in the corresponding engagement elements of the toothed belt 42 is possible is. Furthermore, pressure rollers 28 are provided, which are used for the Force transmission required contact pressure of the endless drive belt 25 on the toothed belt 42 ensures. The power transmission from the endless drive belt 25 to the toothed belt 42 is distributed to a plurality of pairs of engagement elements, so that the force and thus the wear on the individual engagement element is reduced. As a result, noise-reducing materials such as polyurethane and NFC fabric can also be used for both the drive wheel 21, the endless drive belt 25 and the toothed belt 42. The toothed belt 42 introduces the force via the guide rail 40 and the floor connection into the ground.

Die Figuren 5 und 6 zeigen ein zweites Ausführungsbeispiel der Antriebseinheit 20 des erfindungsgemäßen Lagerfahrzeugs. Die Funktionsweise des zweiten Ausführungsbeispiels entspricht im Wesentlichen derjenigen des ersten Ausführungsbeispiels, zeichnet sich jedoch durch eine besonders kompakte Bauweise aus. Figures 5 and 6 show a second embodiment of the drive unit 20 of the storage vehicle according to the invention. The mode of operation of the second exemplary embodiment essentially corresponds to that of the first exemplary embodiment, but is characterized by a particularly compact design.

Figur 7 wiederum zeigt ein drittes Ausführungsbeispiel der Antriebseinheit 20 des erfindungsgemäßen Lagerfahrzeugs, welches auf dem zweiten Ausführungsbeispiel basiert, sich von diesem jedoch dadurch unterscheidet, dass an der Antriebseinheit zwei Antriebsmotoren 60 direkt angebracht sind. Die Antriebskraft wird dabei von den Motoren 60 über Riemenantriebe 29 auf die Antriebswelle des Antriebsrades 21 übertragen. Durch geeignete Auswahl der Durchmesser der Riemenräder kann zwischen Antriebsmotoren 60 und dem Antriebsrad 21 eine geeignete Übersetzung oder Untersetzung gewählt werden. So kann der Riemenantrieb gleichzeitig als Getriebe dienen, wodurch ein schweres und voluminöses Motorgetriebe entfallen kann. FIG. 7 in turn shows a third exemplary embodiment of the drive unit 20 of the storage vehicle according to the invention, which is based on the second exemplary embodiment, but differs therefrom in that two drive motors 60 are attached directly to the drive unit. The drive force is transmitted from the motors 60 via belt drives 29 to the drive shaft of the drive wheel 21. By suitable selection of the diameters of the belt wheels, a suitable transmission or reduction can be selected between the drive motors 60 and the drive wheel 21. In this way, the belt drive can also serve as a transmission, which means that a heavy and voluminous motor transmission can be omitted.

Das erfindungsgemäße Lagerfahrzeug ermöglicht so hohe Beschleunigungen und Verzögerungen in beide Bewegungsrichtungen auch bei großen Lasten und damit eine Leistungssteigerung des zugehörigen Lagers. Das Lagerfahrzeug kann entlang der Regalgasse eines Regallagers verfahrbar oder auch als Querförderer quer zur Regalgassenrichtung oder zum Verbinden von verschiedenen Fördertechnikelementen wie Rollen- oder Bandförderern eingesetzt werden. Der erfindungsgemäße Antrieb ist außerdem zum Antrieb von Vertikalförderern einsetzbar. The storage vehicle according to the invention thus enables high accelerations and decelerations in both directions of movement, even with large loads, and thus an increase in the performance of the associated bearing. The storage vehicle can be moved along the shelf aisle of a shelf storage facility or as a cross conveyor transverse to the shelf aisle direction or to connect different conveyor technology elements such as roller or belt conveyors. The drive according to the invention can also be used to drive vertical conveyors.

Claims

Patentansprüche: Patent claims: 1. Entlang einer mit Eingriffselementen (43) versehenen Führungsschiene (40) verfahrbares Lagerfahrzeug mit einem Fahrwerk (50) und einer mit dem Fahrwerk (50) verbundenen Antriebseinheit (20), welche Antriebseinheit (20) aufweist: ein mit einem Antriebsmotor (60) gekoppeltes Antriebsrad (21), welches umfangsseitige Eingriffselemente aufweist, ein mit Eingriffselementen versehener Endlos-Antriebsriemen (25), eine Lenkrollenanordnung (22, 24, 24a) zur Führung des Endlos-Antriebsriemens (25), die derart ausgebildet ist, dass der Endlos-Antriebsriemen (25) zum Antrieb des Lagerfahrzeugs sowohl mit dem Antriebsrad (21) als auch mit den Eingriffselementen (43) der Führungsschiene (40) in Eingriff bringbar ist. 1. Storage vehicle which can be moved along a guide rail (40) provided with engagement elements (43) and has a chassis (50) and a drive unit (20) connected to the chassis (50), which drive unit (20) has: a drive motor (60) coupled drive wheel (21), which has circumferential engagement elements, an endless drive belt (25) provided with engagement elements, a steering roller arrangement (22, 24, 24a) for guiding the endless drive belt (25), which is designed such that the endless drive Drive belt (25) for driving the storage vehicle can be brought into engagement both with the drive wheel (21) and with the engagement elements (43) of the guide rail (40). 2. Lagerfahrzeug nach Anspruch 1 , wobei der Endlos-Antriebsriemen (25) in einer Omega- Geometrie derart um das Antriebsrad (21) und die Lenkrollenanordnung (22, 24, 24a) geführt ist, dass die Eingriffselemente auf dergleichen Seite des Endlos-Antriebsriemens (25) sowohl mit dem Antriebsrad (21) als auch mit der mit Eingriffselementen (43) versehenen Führungsschiene (40) in Eingriff kommen. 2. Storage vehicle according to claim 1, wherein the endless drive belt (25) is guided in an Omega geometry around the drive wheel (21) and the castor assembly (22, 24, 24a) that the engagement elements are on the same side of the endless drive belt (25) come into engagement both with the drive wheel (21) and with the guide rail (40) provided with engagement elements (43). 3. Lagerfahrzeug nach Anspruch 2, wobei die Lenkrollenanordnung (22, 24, 24a) zwei führungschienenseitige Umlenkrollen (22) und zwei von der Führungsschiene (40) abgewandte Umlenkrollen (24, 24a) umfasst. 3. Storage vehicle according to claim 2, wherein the steering roller arrangement (22, 24, 24a) comprises two guide-rail-side deflection rollers (22) and two deflection rollers (24, 24a) facing away from the guide rail (40). 4. Lagerfahrzeug nach Anspruch 3, wobei wenigstens eine der Umlenkrollen (24a) als verschiebbare Spannrolle zum Spannen des Endlos-Antriebsriemens (25) ausgebildet ist. 4. Storage vehicle according to claim 3, wherein at least one of the deflection rollers (24a) is designed as a displaceable tensioning roller for tensioning the endless drive belt (25). 5. Lagerfahrzeug nach einem der Anspruch 4, aufweisend Anpresselemente (28) zum Anpressen des Endlos-Antriebsriemens (25) an die mit Eingriffselementen (43) versehene Führungsschiene (40). 5. Storage vehicle according to one of claim 4, comprising pressing elements (28) for pressing the endless drive belt (25) against the guide rail (40) provided with engagement elements (43). 6. Lagerfahrzeug nach Anspruch 5, wobei die Anpresselemente (28) als Anpressrollen ausgebildet sind. 6. Storage vehicle according to claim 5, wherein the pressure elements (28) are designed as pressure rollers. 7. Lagerfahrzeug nach einem der Ansprüche 1-6, aufweisend eine oder mehrere Führungsrollen (27) zur Aufrechterhaltung eines definierten Abstandes zwischen Antriebseinheit (20) und Führungsschiene (40). 7. Storage vehicle according to one of claims 1-6, having one or more guide rollers (27) for maintaining a defined distance between the drive unit (20) and guide rail (40). 8. Lagerfahrzeug nach einem der Ansprüche 1-7, wobei der Endlos-Antriebsriemen (25) aus elastischem Material, vorzugsweise aus Polyurethan ausgebildet ist. 8. Storage vehicle according to one of claims 1-7, wherein the endless drive belt (25) is formed from elastic material, preferably from polyurethane. 9. Lagerfahrzeug nach einem der Ansprüche 1-8, wobei die Antriebseinheit (20) wenigstens einen Antriebsmotor (60) aufweist, der über einen Riemenantrieb (29) mit der Achse des Antriebsrads (21) gekoppelt ist. 9. Storage vehicle according to one of claims 1-8, wherein the drive unit (20) has at least one drive motor (60) which is coupled to the axis of the drive wheel (21) via a belt drive (29). 10. Lagerfahrzeug nach Anspruch 9, wobei der Riemenantrieb (29) eine Über- oder Untersetzung der Antriebskraft realisiert. 10. Storage vehicle according to claim 9, wherein the belt drive (29) realizes a step-up or step-down of the drive force. 11. Lagerfahrzeug nach einem der Ansprüche 1-10, wobei das Fahrwerk (50) einen Fahrwerkskörper (51) sowie eine oder mehrere Laufräder (30) aufweist. 11. Storage vehicle according to one of claims 1-10, wherein the chassis (50) has a chassis (51) and one or more running wheels (30). 12. Lagerfahrzeugsystem aufweisend eine mit Eingriffselementen (43) versehenen12. A storage vehicle system comprising one provided with engagement elements (43) Führungsschiene (40) sowie ein entlang der Führungsschiene (40) verfahrbares Lagerfahrzeug gemäß einem der Ansprüche 1-11. Guide rail (40) and a storage vehicle that can be moved along the guide rail (40) according to one of Claims 1-11. 13. Lagerfahrzeugsystem nach Anspruch 12, wobei die Eingriffselemente (43) durch an der Führungsschiene aufgebrachte Zahnriemen (42) gebildet sind. 13. Storage vehicle system according to claim 12, wherein the engagement elements (43) are formed by toothed belts (42) attached to the guide rail. 14. Lagerfahrzeugsystem nach Anspruch 13, wobei die Zahnriemen (42) aus elastischem Material, vorzugsweise aus Polyurethan ausgebildet sind und in Abständen an der Führungsschiene (40) fixiert sind. 14. Storage vehicle system according to claim 13, wherein the toothed belts (42) are formed from elastic material, preferably from polyurethane, and are fixed at intervals on the guide rail (40). 15. Lager aufweisend ein oder mehrere Lagerfahrzeugsysteme nach einem der Ansprüche 12- 14, wobei die Führungsschienen (40) in Längs- und/oder Querrichtung oder auch in vertikaler Richtung entsprechend einer Bewegungsrichtung des jeweiligen Lagerfahrzeugs angeordnet sind. 15. bearing having one or more storage vehicle systems according to one of claims 12-14, wherein the guide rails (40) are arranged in the longitudinal and / or transverse direction or also in the vertical direction according to a direction of movement of the respective storage vehicle.
EP21701950.4A 2020-02-04 2021-01-21 Warehouse vehicle having a tracked drive Active EP3914552B1 (en)

Applications Claiming Priority (2)

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DE102020102828.8A DE102020102828B4 (en) 2020-02-04 2020-02-04 TRACKED DRIVE FOR STOCK VEHICLE
PCT/EP2021/051258 WO2021156062A1 (en) 2020-02-04 2021-01-21 Warehouse vehicle having a tracked drive

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CA (1) CA3163368C (en)
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EP3914552B1 (en) 2022-11-02
WO2021156062A1 (en) 2021-08-12
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DE102020102828A1 (en) 2021-08-05
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US20230059295A1 (en) 2023-02-23
AU2021215788A1 (en) 2022-07-21

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