Harnischfeger Engineers Inc.

Hk Systems, Inc.

Kurt M Lloyd

LaMar A Jones

Stephen N Miskin

Christopher L Roth

Rodney O Kirby

Billy R Jackson

Dennis G Hueman

James P Hrica

David M White

Wesley A Crucius

A storage and retrieval machine has a telescopically extendible shuttle assembly which includes a plurality of linearly movable plates and a plurality of shuttle guide roller assemblies which accommodate non-linearities in the guide surface and other variations in clearance between the shuttle guide rollers and the corresponding guide surfaces of the shuttle assembly. Each shuttle guide roller assembly includes a spring, preferably a die spring, which biases the guide roller towards the guide surface but which permits limited deflection of the roller when it encounters bows, bumps, or other variations in linearity in the guide surface. The pre-tensioned guide rollers provide wear compensation, center the shuttle plates on their tracks, and assure adequate guidance of the shuttle plates during shuttle telescoping while preventing premature wear of the shuttle guide roller bearings and/or the guide surfaces.

Storage and retrieval machine with pre-tensioned shuttle guides

A storage and retrieval machine has a telescopically extendible shuttle assembly and having spring tensioned shuttle idler pulleys for the slave drive members, preferably chains, of the shuttle assembly. A spring, preferably a die spring, exerts a biasing force on each idler pulley which opposes forces imposed on the idler pulley by the corresponding slave chain. Pre-tensioning the idler pulley in this manner assures adequate tension on the slave chain to prevent or at least inhibit undulations in plate movement which otherwise could occur during telescopic extension and retraction of the shuttle assembly if the slave chain were inadequately tensioned. Use of the spring loaded idler pulley also obviates the need to over-tension the slave chain and prevents or inhibits premature wear and failure of the idler pulley, pulley bearing, and/or chain.

Storage and retrieval machine with spring tensioned shuttle pulley

A storage and retrieval machine including a multi-reach shuttle including six overlaid plate assemblies supported for extension and retraction relative to each other by intervening sets of rollers. The rollers are arranged to maximize the range of extension of each plate assembly relative to a preceding plate assembly so that fewer plate assemblies are required to achieve a desired reach. Also, the rollers are positioned to provide an increased number of rollers at primary load bearing positions and fewer rollers at secondary load bearing locations.

Long reach shuttle for storage and retrieval machine

A storage and retrieval machine comprising a base adapted to move horizontally along a supporting surface, a generally vertical mast supported by the base, a carriage supported for generally vertical movement along the mast, and an extendable and retractable shuttle mechanism supported by the carriage, the shuttle mechanism including an upper plate fixed against horizontal movement relative to the carriage, an intermediate plate which is located below the upper plate and which is supported by the upper plate for horizontal movement relative thereto, a lower plate which is located below the intermediate plate and which is supported by the intermediate plate for horizontal movement relative thereto, and hoops on the lower plate for selectively engaging a load, the shuttle mechanism being operable between a retracted condition wherein the intermediate plate is located directly below the upper plate and the lower plate is located directly below the intermediate plate, and an extended condition wherein the intermediate plate extends outwardly in one direction relative to the upper plate and the lower plate extends outwardly in the one direction relative to the intermediate plate.

Automatic storage and retrieval system

A storage and retrieval machine comprising a generally horizontal rail including a rail member, a base, a linear slide supporting the base for movement along the rail member, a generally vertical mast supported by the base, a carriage supported for generally vertical movement along the mast, and an extendable and retractable shuttle mechanism supported by the carriage.

An automatic storage and retrieval system comprising a main track having an end, a storage rack which is adapted to be fixed adjacent the track and which defines a plurality of storage locations, a storage and retrieval machine which moves along the track and which places objects in and removes objects from the storage locations, and a maintenance module fixed adjacent the end of the track so that the maintenance module serves as a maintenance area for the storage and retrieval machine, the module also providing a container for packaging the storage and retrieval machine for shipping.

Method of assembling an automatic storage and retrieval system

A storage and retrieval machine comprising a mast having a generally vertical outer surface, a carriage movable vertically along the mast, a bearing assembly including a wheel which is rotatably supported by the carriage, which rolls along the mast surface, and which is movable relative to the carriage in the direction perpendicular to the mast surface, a pad of low-friction material mounted on the carriage, and a spring biasing the wheel toward the mast surface such that the pad is normally spaced from the mast surface and such that the wheel moves relative to the carriage so that the pad engages the mast surface when the force exerted on the wheel by the mast surface exceeds a predetermined amount, and a shuttle supported by the carriage for horizontal movement relative thereto.

Automatic storage and retrieval machine with improved carriage side

A mast connecting structure is disclosed in which the mast includes a lower end having upper plate connected to the lower end of a mast, and lower plate spaced from the upper plate and connected to a base on which the mast is to be mounted. Tensioned connecting device connect the upper plate and lower plate means together to thereby mount the mast on the base. The connecting may comprise bolts having threaded ends and nuts threaded on the bolts. The bolts have an elongated length sufficient to span the thickness of the upper and lower plate means through which the volts pass plus the distance of the space between the upper and lower plate. The long bolt length increases the volume of the bolt body which results in an increased stress distribution and thereby an increased ability to withstand stress due to impact loading of the connecting structure. The mast end and mast base are preferably held apart at a spaced distance by support device such as spacer tubes positioned between the upper and lower plate and coaxially with the connecting bolts.

Mast connecting structure

A base for a storage and retrieval machine is disclosed in which the frame of the base comprises a pair of spaced apart frame members having a length generally parallel to the rail upon which the base travels and extending a portion of the length of the base. The frame members are positioned straddling the rail with the rail projecting upward into the space between the frame members. A mast is mounted on the base and supports a vertically movable carriage means for carrying objects to and from overhead locations. The pair of frame members may comprise a pair of L-shaped members each having a downwardly projecting upper wall spaced apart from the upper wall of the other L-shaped member and a lower wall projecting away from the lower wall of the other L-shaped member in a direction laterally of the length of the base. The base includes first and second trucks located at opposite ends of the pair of L-shaped members. A wheel is rotatably mounted on each truck and both wheels engage the rail for supporting the storage and retrieval machine as it travels along the rail. The trucks have a height sufficient to support the wheels, however, the L-shaped member pair are positioned at a lower height than the height of the first and second trucks to permit the low height profile of the base. An anti-tip bracket is affixed to a foundation adjacent the path of travel of the base, typically at the end of an aisle in which the rail is located. A lower wall of one of the L-shaped sections engages the anti-tip bracket to hold the storage and retrieval machine from tipping.

Low profile base for a storage and retrieval machine

A mast structure for a storage and retrieval machine is disclosed which includes first and second vertical members having lengths affixed to each other. The second vertical member includes a plate extending along the length of the second vertical member and spaced from the first vertical member in the direction of the path of travel of a base of the storage and retrieval machine. The first and second vertical members respectively have cross-section areas perpendicular to their lengths which are substantially equal to each other. The first and second vertical members together have a physical center and a centroidal axis both extending along the length of the members which may be adjacent to each other and preferably coincide with each other so that the two members together have a maximum section modulus in the direction of the path of movement of the base. The first vertical member has a tubular cross-section shape for guiding a carriage of the storage and retrieval machine along the length of the mast structure which is of a rectangular shape. The second vertical member is tapered so that the cross-section area of the second vertical member decreases in an upward direction to decrease the section modulus of the mast structure at its upper end where impact loading is less.

Growing community of inventors

Pewaukee, WI, United States of America

Kurt M Lloyd