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EP4301678A1 - Système de stockage et de récupération - Google Patents

Système de stockage et de récupération

Info

Publication number
EP4301678A1
EP4301678A1 EP22710583.0A EP22710583A EP4301678A1 EP 4301678 A1 EP4301678 A1 EP 4301678A1 EP 22710583 A EP22710583 A EP 22710583A EP 4301678 A1 EP4301678 A1 EP 4301678A1
Authority
EP
European Patent Office
Prior art keywords
storage
channel
vehicle
loading unit
transport
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.)
Pending
Application number
EP22710583.0A
Other languages
German (de)
English (en)
Inventor
Rainer Ernst Sohm
Werner Rüscher
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.)
LTW Intralogistics GmbH
Original Assignee
LTW Intralogistics 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 LTW Intralogistics GmbH filed Critical LTW Intralogistics GmbH
Publication of EP4301678A1 publication Critical patent/EP4301678A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0442—Storage devices mechanical for elongated articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/0217—Elongated

Definitions

  • the invention relates to a storage and retrieval system for a high-bay warehouse, which comprises a self-propelled or carried transport platform and at least two channel vehicles that are not mechanically connected to one another.
  • Storage and retrieval systems that include a storage and retrieval device with an entrained transport platform and several channel vehicles are known, for example, from DE 10 2010005 591 A1.
  • the storage and retrieval system according to the invention for a high-bay warehouse includes at least At least two self-propelled channel vehicles that are mechanically unconnected to each other, which have a lifting device and are set up to move into and out of storage channels in the high-bay warehouse in order to deliver a loading unit to a storage location in the high-bay warehouse or to pick up a loading unit from a storage location.
  • the storage and retrieval system also includes a transport platform that is self-propelled in one direction of travel in a rack aisle of the high-bay warehouse or, in particular, carried along by a storage and retrieval device, which is designed to accommodate at least two of the channel vehicles arranged one behind the other in a row aligned perpendicular to the direction of travel.
  • a first channel vehicle is set up to lift, transport and set down a loading unit completely independently.
  • the first channel vehicle is also set up together with a second channel vehicle, with the channel vehicles spaced apart from one another, to lift only part of a common loading unit, transport it synchronously and set it down.
  • the lifting and lowering of the load by the tunnel vehicles preferably also take place synchronously.
  • the first channel vehicle can be used to transport, store and retrieve shorter loading units in isolation.
  • the use of the second channel vehicle is therefore not absolutely necessary for short loading units, but it is possible. If a loading unit is to be stored or retrieved that is significantly longer than the first canal vehicle, this common, long loading unit can be handled with both canal vehicles with the help of the second canal vehicle.
  • the storage and retrieval system according to the invention can be adapted more flexibly with regard to the loading units to be stored, with the mechanical unconnection between the two channel vehicles increasing this flexibility even more significantly.
  • the second channel vehicle is constructed identically to the first channel vehicle and is set up to lift, transport and set down a loading unit completely independently.
  • both the first channel vehicle and the second channel vehicle can transport, store and retrieve shorter loading units isolated from one another.
  • Longer loading units are again handled by both canal vehicles transported together, whereby an optimized load absorption takes place via the distance to be assumed between the channel vehicles.
  • the carrying capacity of the transport platform in particular the transport platform of a storage and retrieval device, is designed in such a way that the transport platform can transport the two loaded channel vehicles at the same time.
  • the second channel vehicle is shortened compared to the first channel vehicle and set up as an auxiliary channel vehicle, exclusively by one Raise part of a common loading unit together with the first channel vehicle formed as a main channel vehicle, transport it synchronously and set it down.
  • the lifting and setting down of the two channel vehicles preferably take place synchronously.
  • the two canal vehicles are preferably equipped with isolated path measuring devices.
  • the path measuring devices are formed with a rotary encoder and are therefore free of optical systems for determining the distance between the two channel vehicles. This means that there is no optical measurement of the distance between the first channel vehicle and the second channel vehicle, but only the distance measurement / position determination, for example via a barcode on the bearing channels or via the number of revolutions of a rotating encoder.
  • the use of a rotary encoder and the avoidance of optical sensors reduces the manufacturing costs for such a sewer vehicle.
  • the sewer vehicles are each equipped with at least one path measuring device, which are each formed with a rotary encoder and are free of optical sensors.
  • the lifting device of at least one of the channel vehicles comprises two lifting platforms that can be operated separately from one another and are arranged one behind the other in a row perpendicular to the direction of travel of the self-propelled or on-board transport platform. This makes it easier, for example, to store two loading units that are transported together by three channel vehicles at different locations in the high-bay warehouse.
  • first channel vehicle and the second channel vehicle are set up to lift and set down only part of a first common loading unit at a distance from one another if the second channel vehicle and the third channel vehicle are arranged to lift a second common loading unit, and when the first channel vehicle and the second channel vehicle and the third channel vehicle are arranged to synchronously transport at a distance from each other the first and the second common loading unit.
  • the first and the second common loading unit can also be raised or lowered synchronously.
  • a central channel vehicle which together with other channel vehicles can accommodate several loading units, can be equipped with a subdivided and separately controllable lifting device.
  • the transported transport platform is part of a shelving operation device, which can be positioned in the aisle by a (travel) drive of the storage and retrieval device and which can be adjusted in height by means of a lifting drive of the storage and retrieval device, in particular perpendicularly with respect to the direction of travel of the stacker crane and perpendicular to the row of channel vehicles or perpendicular to the direction of travel of the channel vehicles.
  • a (travel) drive of the storage and retrieval device which can be adjusted in height by means of a lifting drive of the storage and retrieval device, in particular perpendicularly with respect to the direction of travel of the stacker crane and perpendicular to the row of channel vehicles or perpendicular to the direction of travel of the channel vehicles.
  • the (self-propelled) transport platform is set up to drive through the rack aisle on several levels, and if a vertical conveyor is available and set up to move the transport platform between at least two of the levels of the high-bay warehouse . This means that the energy requirement for the self-propelled transport platform is lower.
  • Fig. 1 is a schematic plan view of a high-bay warehouse with a rack operating system
  • Fig. 2 shows two schematic side views of the channel vehicles, with a common loading unit being carried by both channel vehicles in the top view, and with the two in the bottom view Canal vehicles are shown, each carrying a loading unit completely independently,
  • FIG. 3 shows the high-bay warehouse from FIG. 1 with a different embodiment of a storage and retrieval system
  • FIG. 4 shows the channel vehicles of the storage and retrieval system according to FIG. 3, corresponding to FIG.
  • FIG. 5 shows a schematic side view of the channel vehicles of yet another storage and retrieval system, in which three of the channel vehicles carry two loading units or in which the three channel vehicles carry a common loading unit shown in dashed lines,
  • Fig. 6 is a schematic perspective view of a channel vehicle
  • Fig. 7 is a schematic perspective view of the storage and retrieval device
  • Storage and retrieval system which is positioned opposite the schematically indicated shelf in order to store a loading unit in a storage compartment
  • FIG. 8 shows a schematic side view of another channel vehicle with two lifting platforms, in particular separately controllable, and
  • FIG. 9 shows a schematic perspective view of yet another rack operating system, in which the storage compartments are formed with a plurality of storage channels and the channel vehicles enter the plurality of storage channels synchronously and parallel to one another.
  • FIG. 1 shows a high-bay warehouse 400 which comprises a plurality of rows of shelves 410 aligned parallel to one another.
  • Each row of shelves 410 is of a plurality formed by storage locations 402 arranged next to one another and one above the other, which are provided with storage channels 404 for receiving channel vehicles 100 .
  • Only two rows of shelves 410 are shown here, although a different number of rows of shelves 410 is also possible.
  • the storage and retrieval device 200 can be adjusted in the direction of travel 214 indicated by a double arrow, where the storage and retrieval device 200 shown is guided on two travel rails 216 .
  • a railless storage and retrieval device 200 can also be considered.
  • a further embodiment variant provides for a storage service system to be used in which the loading units 500 are transported by means of one or more transport platforms on the respective storage level - preferably directly on the rack itself 202 to the individual storage locations 404 are transported benefits.
  • the transport platforms 202 provided in this system are usually not equipped with their own lifting mechanism, with the help of which they could be raised or lowered to another storage level.
  • either loading unit lifts are available - preferably integrated directly into the rack rows - or lifts are used in another possible equipment variant, which the previously mentioned mentioned transport platforms together with the loading unit can be transported back and forth between the different storage levels; so-called vertical conveyors.
  • These last-mentioned combined transport platform/loading unit lifts are preferably arranged in the aisle 408.
  • a storage and retrieval system is also conceivable in which both of the lift variants described above are implemented and complement each other in one and the same storage and retrieval system.
  • the high-bay warehouse 400 which is preferably integrated into a building, has on the one hand very long or very deep storage locations 402.1, which in the present case are designed to accommodate long, common loading units 500.2.
  • the long storage locations 402.1 are designed to accommodate a 40-foot ISO container aligned in the longitudinal direction.
  • the long storage locations 402.1 can also accommodate two shorter loading units 500.1, for example two 20-foot ISO containers, in their longitudinal direction, so that the long storage location 402.1 can also be used for storing shorter loading units 500.1 at multiple depths.
  • the row of shelves 410 with only long storage locations 402.1 is arranged on a first face perpendicular to the direction of travel 214 of the shelf operator device 200.
  • the row of shelves 410 is equipped exclusively with short storage locations 402.2, which can only accommodate short loading units 500.1, ie in particular 20-foot ISO containers.
  • a transfer zone 406 is integrated into the row of shelves 410 shown below in the drawing, which enables loading units 500 to be stored and removed from storage in or from the high-bay warehouse 400 .
  • Each storage location 402 includes a storage channel 404, which is preferably formed by two C-shaped or Z-shaped channel rails running parallel to one another.
  • the leg of the C- or Z-shaped rails that is at the top with respect to a direction of fall forms a support surface for the containers 500 to be stored.
  • the channel vehicles 100 are equipped with a lifting device 108.
  • the loading units 500 In addition to the storage structure with storage channels 404 shown in FIG there are guide rails in the direction of travel of the channel vehicle. Depending on the design of the loading units 500, it is also possible that the loading units 500 not, as previously described, placed on the upper legs of the C or Z rails, but that these are set down directly on any level shelf that may be present. Alternatively, the loading units 500 can also be placed on individual supporting brackets or the like that are present at certain points. Other storage compartment designs, which form mixed forms of the above-described support surfaces, channel vehicle guide rail system and channel vehicle lanes, are also possible.
  • the storage and retrieval system 300 in the high-bay warehouse 400 also includes a schematically indicated higher-level control computer 302, which includes a communication module 304.
  • the higher-level control computer 302 is shown separately from the channel vehicles 100 and separately from the storage and retrieval device 200 in the present case. It is possible for a warehouse control computer to be in communication with the higher-level control computer 302 . In this embodiment, the superordinate control computer 302 can then form part of the storage and retrieval device 200 .
  • a schematic structure of a possible canal vehicle 100 can be seen on the basis of FIG.
  • the channel vehicle 100 is equipped with a control device 102 and a communication device 104 .
  • the channel vehicles 100 include a drive device 106, shown schematically, which is fed by an energy source or an energy store 122, for example by a powercap.
  • the drive device 106 thus comprises at least one electric motor in order to drive at least two wheels 116, it also being possible for more than two driven wheels 116 to be present.
  • the channel vehicles 100 can also be designed with three or more lanes, should this be necessary because of the maximum possible wheel load or because of the shelf load.
  • the schematically illustrated lifting device 108 is presently formed with two pairs of lifting elements 110,112, so that if necessary a single platform can be raised and lowered together to form a loading unit 500 transport.
  • a platform does not necessarily have to be present, but for example only protruding pins can be used, for example to transport containers.
  • a distance measuring device 114 is present here.
  • This distance measuring device 114 is preferably fixed redundantly on the frame of the sewer vehicle 100, with the distance measuring devices 114 preferably being arranged offset in the direction of travel 120 of the channel vehicle, in order to ensure that a sufficiently precise distance measurement is also carried out in the event of a crossing over a gap .
  • the path measuring device 114 shown here as an example is provided with a rotary encoder, not shown in detail, which detects the rotation of a wheel 118 running along.
  • the control device 102 of the channel vehicles 100 is set up to cause the driving devices 106 of the channel vehicles 100 to move into or out of the storage channels 404 of the high-bay warehouse 400 .
  • the Steuereinrich device 102 is also set up to cause the lifting device 108 to adjust the load handling devices 110, 112 between a raised and a lowered position.
  • the control device 102 is also in a communication link with the two distance measuring devices 114, so that the data from the distance measuring devices 114 can be transmitted via the communication device 104 either to other channel vehicles 100 or to the higher-level control computer 302, in particular via its communication module 304.
  • Each communication connection described in the context of the invention can follow via a radio connection (WLAN, Bluetooth, NFC, etc.), via data light barriers (optical radio link), by cable or by means of a conductor line.
  • a radio connection WLAN, Bluetooth, NFC, etc.
  • data light barriers optical radio link
  • the higher-level control computer 302 controls and monitors the status of the channel vehicles 100 and can, in particular, assign driving orders to the channel vehicles 100, monitor the distance between the channel vehicles 100, initiate an emergency shutdown if there is a risk of the channel vehicles 100 colliding, and the status of the individual channel vehicles 100 by means of output a visualization on a display device.
  • the higher-level control computer 302 can output the operating state and the status of the access security systems of the area of the Floch shelving system in which the channel vehicles 100 are located.
  • the channel vehicles 100 it is possible for exactly one of the channel vehicles 100 to be in the form of a master channel vehicle and equipped with a control device 102, which is in bidirectional communication with the higher-level control computer 302, and for at least one channel vehicle 100 in the form of a slave channel vehicle to be equipped with a control device 102 is equipped, which in turn is in bi-directional communication with the controller 102 of the master channel vehicle.
  • the at least one slave channel vehicle receives its driving and flight commands from the associated master channel vehicle.
  • control devices 102 of all channel vehicles 100 are preferably in a bidirectional communication link with the communication module 304 of the higher-level control computer 302. If the higher-level control computer 302 is not installed on the stacker crane 200, the communication module 304 is also in communication with a controller 210 of the stacker crane 200. This controller 210 also includes a communication device 208 for bidirectional communication with the higher-level control computer 302. The higher-level Control computer 302 then also assigns the drive and flow commands to storage and retrieval device 200 .
  • the higher-level control computer 302 is presently set up to cause the channel vehicles 100 to move at a distance from one another, depending on the data reported back to it by at least one of the control devices 102 from the distance measuring devices 114, so that they move mechanically unconnected one behind the other or side by side at the same speed can ren.
  • a common loading unit 500.2 being carried by two channel vehicles 100 in the upper representation of the figure.
  • the lower representation of the figure shows that both a first channel vehicle 100.1 and a second channel vehicle 100.2 have an identical structure and are therefore both designed to lift, transport and set down a short loading unit 500.1 completely independently.
  • both the first channel vehicle 100.1 and the second channel vehicle 100.2 are designed to lift only part of the common loading unit 500.2 shown above, to transport them synchronously and to set them down again at a distance from one another.
  • the common loading unit 500.2 is, for example, a 40-foot ISO container.
  • the short loading unit 500.1, for example, is a 20-foot ISO container.
  • the distance between the two channel vehicles 100.1 and 100.2, which are mechanically unconnected to each other, is specified by the higher-level control computer 302 based on the data from the path measuring devices 114 of the two channel vehicles 100, in particular depending on the length of the loading unit 500 to be picked up.
  • the channel vehicles 100 - it may be necessary for the channel vehicles 100 - to avoid overloading individual channel vehicle axles - to be at such a great distance from each other and to pick up the load so far outwards that the channel vehicles 100 protrude over the load.
  • the channel vehicles 100 do not protrude beyond the storage item and thus the storage channels 404 and the aisle width of the shelf aisle 408 are further optimized, in particular who are fully utilized can. Since a long loading unit 500.2 does not have to be handled in every storage process, it is also possible for one of the channel vehicles 100, in this case the second channel vehicle 100.2, to remain in the transfer zone 406 and only be called in when a long loading unit 500.2 is to be stored. As an alternative to parking in the transfer zone 406, a channel vehicle 100 that is not required can also be parked at any other desired location, for example in one of the storage compartments 402.
  • the channel vehicles 100 can be parked at any location and picked up again as needed, it is possible that the order of the channel vehicles 100 on the transport platform 202 of the storage and retrieval system changes from time to time.
  • the channel vehicles 100 are therefore not necessarily assigned to a single transport platform 202 but can be used freely. Possibly other transport tasks are also performed with these channel vehicles 100 in the overall system, i.e. also transports for which there is no need for intermediate transport of the channel vehicle 100 on a transport platform 202 of the shelf control system.
  • An example of this is a relocation process within a long storage channel 402.1, in which a channel vehicle 100 successively relocates a plurality of loading units 500, which for reasons of time were initially placed at the front of the storage channel 404, to the rear end of the storage channel 404.
  • Figures 3 and 4 refer to the possibility that in a storage and retrieval system transport tasks of differently designed channel vehicles 100 can be performed by the channel vehicles 100 together or by just one alone.
  • the second channel vehicle 100.2 is shortened compared to the first channel vehicle 100.1 and set up as an auxiliary channel vehicle, exclusively to lift part of a common loading unit 500.2 together with the first channel vehicle 100.1 formed as a main channel vehicle , to be transported synchronously and set down again.
  • the first canal vehicle is 100.1 to be regarded as a “full” canal vehicle 100 that is designed to transport, for example, 20-foot ISO containers on its own.
  • the second channel vehicle 100.2 is added in order to transport the long loading unit 500.2 together with the first channel vehicle 100.1.
  • channel vehicle 100.2 in Figure 4 is a special channel vehicle that is only used to transport special loading units (in this case the long loading units 500.2)
  • special channel vehicles in a storage system that normally parked somewhere in a storage channel 404 or at a loading station and only used when required, e.g. to supplement the “standard” channel vehicle 100.1 or even to replace it for the duration of the special transport.
  • Such a special channel vehicle could be formed, for example, with an elevated lifting platform that makes it possible to accommodate a loading unit 500 whose load-bearing points are significantly higher than those surfaces on which the loading unit 500 can be parked in the warehouse.
  • Figure 5 refers to the possibility that a third channel vehicle 100.3 can also be present, and that the first channel vehicle 100.1 and the second channel vehicle 100.2 and the third channel vehicle 100.3 are set up at a distance from one another in each case only part of a common, in particular to be lifted over a long loading unit 500.3, to be transported synchronously and also set down again.
  • first channel vehicle 100.1 and the second channel vehicle 100.2 are set up to lift and set down only part of a first common loading unit 500.2 at a distance from one another.
  • second channel vehicle 100.2 and the third channel vehicle 100.3 are set up to lift and set down a second common loading unit 500.2.
  • first channel vehicle 100.1 and the second channel vehicle are 100.2 and the third Channel vehicle 100.3 set up to synchronously transport the first and the second common loading unit 500.2 at a distance from one another.
  • a transport chain is therefore also possible.
  • the central channel vehicle 100.2 can be equipped with a subdivided lifting platform 112, with the lifting platform segments being able to be controlled separately and flexibly. This makes it possible, in the case of the previously described transport chain, to sell the loading units 500 at different points in the storage system.
  • a special loading unit 500 or a special loading unit chain it may also be necessary to use more than the three channel vehicles 100 shown in FIG. 5 and described above for the transport of a special loading unit 500 or a special loading unit chain.
  • a storage system with, for example, four or more than four channel vehicles 100
  • two channel vehicles 100 each pick up a short loading unit together and these two loading units with the e.g. four channel vehicles are then subsequently transported together on a transport platform 202 of the storage and retrieval system.
  • mixed forms e.g. one large canal vehicle 100 and several smaller canal vehicles 100, are also possible.
  • FIG. 7 shows a possible embodiment variant of a storage and retrieval system, which in the present case includes a “classic” storage and retrieval device 200 that includes a transport platform 202 for transporting channel vehicles 100 that is not self-propelled.
  • the storage and retrieval device 200 could be used in a high-bay warehouse 400 according to FIGS.
  • This storage and retrieval device 200 is formed from two vertical, rectangular frames arranged in parallel, which are connected to one another via cross-connections perpendicularly with respect to the direction of travel 214 of the storage and retrieval device 200 . At the front, ie perpendicularly with respect to the direction of travel 214, i.e.
  • the two rectangular frames aligned parallel to one another are open, so that a loading unit 500 “inside” the frame on a Transport platform 202 of the stacker crane 200 can be spent.
  • the two frame parts can be connected to one another via several cross braces and can be stiffened in particular in the sense of a truss to increase stability.
  • a drive device 204 In order to be able to adjust the storage and retrieval device 200 along the direction of travel 214 indicated by the double arrow, there is a drive device 204, with an electric motor 204 for driving the storage and retrieval device 200 along the rails 216 in the aisle on the two lower corners of the frame of the storage and retrieval device 200 408 is present.
  • the electric motors on the drive device 204 are driven synchronously.
  • an electric motor of a flow device 206 for raising and lowering the transport platform 202 is attached to the vertical masts of the respective frames. The lifting or lowering of the transport platform takes place, for example, via a rope, a chain or a belt drive.
  • two channel vehicles 100 can again be seen, which have entered a storage channel 404 with a common loading unit 500.2, with the direction of travel 120 of the channel vehicles 100.1 and 100.2 being aligned perpendicularly with respect to the direction of travel 214 of the stacker crane 200.
  • the transport platform 202 is set up to receive at least two of the channel vehicles 100 arranged one behind the other in a row that is aligned perpendicularly with respect to the direction of travel 214 of the storage and retrieval device 200 .
  • the transport platform 202 it is also possible for the transport platform 202 to provide more than two transport parking spaces 212 for channel vehicles 100 in order to be able to handle correspondingly overly long loading units 500.3.
  • Figure 8 refers to the possibility that, to increase the flexibility of the loads or loading units 500 to be transported, the channel vehicles 100 can also be formed with two lifting platforms 110, 112 that can be actuated separately from one another and that are aligned in particular in a direction perpendicular to the direction of travel 214 of the storage and retrieval device 200 are arranged in rows one behind the other. canal vehicles 100 of this type can be used very flexibly. For example, with this channel vehicle 100 according to FIG. 8, such a large load can be transported that it has to be lifted with both lifting platforms 110, 112. Or each of the lifting platforms 110, 112 is used to transport its own smaller load.
  • the possibility of controlling the lifting platforms 110, 112 separately also has the advantage that these two small loads can be parked at different locations in the high-bay warehouse.
  • FIG. 9 refers to the possibility that the concept of the synchronously operating channel vehicles 100 can also be used for the so-called transverse storage of stored goods.
  • FIG. 9 shows a detailed view of a further embodiment of the storage and retrieval system 300, in which case only sections of the storage and retrieval device 200 can be seen, which in the present case only includes a vertical frame and optionally also only one travel rail.
  • the controller 210 of the storage and retrieval device 200 also includes the superordinate control computer 302 for the control and position detection of the channel vehicles 100 .
  • Communication device 208 thus forms communication module 304 of higher-level control computer 302.
  • the transport platform 202 of the storage and retrieval device 200 has a plurality of transport parking spaces 212 for channel vehicles 100 .
  • Transport platform 202 is thus configured to accommodate at least two of channel vehicles 100 arranged next to one another in a row aligned in the direction of travel 214 of storage and retrieval device 200 and to position them so that they are aligned with a plurality of storage channels 404 of a single storage location 402 such that at least two of channel vehicles 100 move synchronously into their own storage channel 404 of the storage location 402 or exit from one.
  • a total of four channel vehicles 100 are shown here, with the first channel vehicle 100.1, the second channel vehicle 100.2, the third channel vehicle 100.3 and the fourth channel vehicle 100.4 synchronously driving into four independent storage channels 404, which form a single storage area 402, in the transport case shown in FIG or drive out of it.
  • this storage area 402 it is possible for smaller loading units 500.1 to be arranged next to one another.
  • a storage process for storing a common loading unit 500.2 in a storage location 402 of the high-bay warehouse 400 with the storage and retrieval system 300 is explained as an example with reference to FIG.
  • a common loading unit 500.2 is provided at a transfer zone 406, preferably at the first transfer zone 406.1 and, at the same time, subsequently or beforehand, the higher-level control computer 302 is informed of the transport pick-up points of the common loading unit 500.2.
  • the superordinate control computer 302 receives the information on the exact pick-up points of the loading units 500 either from other software or the exact pick-up points are determined by the higher-level control computer 302 using the measured values from sensors or camera systems.
  • sensors or camera systems can be installed in a fixed manner or they can also be designed to be movable. It is also possible that individual sensors or camera systems required for this are designed to travel with the channel vehicles 100 . Mixed systems from the aforementioned recording methods for determining the exact recording points are also possible.
  • the storage and retrieval device 200 is then moved and made available at the transfer zone 406, with the transport platform 202 already having two self-propelled, mechanically unconnected channel vehicles. witness 100 recorded. However, if only one of the two channel vehicles 100 is positioned on the transport platform 202, the storage and retrieval machine 200 can also first be moved to the second transfer zone 406.2 in order to load the second channel vehicle 100.2 from there onto the transport platform 202 of the storage and retrieval machine 200. The distance between the channel vehicles 100 is then specified by the higher-level control computer 302 on the basis of the position of the determined transport pick-up points of the common loading unit 500.2. This distance is then taken up by the channel vehicles 100, after which the common loading unit 500.2 at the transfer point is passed under on the instruction of the higher-level control computer 302.
  • the channel vehicles 100 are already correctly under the common are positioned to be taken loading unit 500.2. Then a first part of the common loading unit 500.2 is picked up by the first tunnel vehicle 100.1, and, at the same time or subsequently, a second part of the common loading unit 500.2 is picked up by the second tunnel vehicle 100.2. “Picking up men” is to be understood as meaning the lifting of the lifting device 108 of the two channel vehicles 100 .
  • the common loading unit 500.2 is then placed on the transport platform 202 of the storage and retrieval device 200 by synchronous movement of the two channel vehicles 100.
  • the distance between the channel vehicles 100 is maintained by each of the channel vehicles 100 using the distance measuring devices 114 on the channel vehicles and by the superior Control computer monitored.
  • the storage and retrieval device 200 is then moved to a storage compartment or storage location 402 for the common loading unit 500.2 and positions the transport platform 202, in particular also in its corresponding height, in such a way that it is aligned with a storage channel 404 leading to the storage location 402.
  • the common loading unit 500.2 is then brought to the storage area 402 by a synchronous movement of the channel vehicles 100, with the distance between the channel vehicles 100 again being maintained on the basis of the data from the distance measuring device 114.
  • the common loading unit 500.2 is then set down by the channel vehicles 100; so the lifting device 108 lowered again.
  • the channel vehicles 100 can then be brought back onto the transport platform 202 if this is necessary.
  • a common loading unit 500.2 is removed from storage in the reverse, analogous manner.
  • the other channel vehicle 100 can be left in any storage compartment during this time. This makes sense in particular when there are two different sized sewer vehicles 100 in the system and the loading unit 500 is so large that the larger sewer vehicle 100 would have to be used for storage. In this case, the smaller of the two channel vehicles 100 would “only get in the way” during the storage processes, in particular if the transfer zone 406 and the desired storage location are on the other side of the aisle 408 in each case.
  • a storage and retrieval system is characterized in that long loading units can be transported by two or more channel vehicles together, but smaller loading units can also be transported by one channel vehicle alone. This applies both to storage and retrieval systems, in which the loading units are placed lengthwise on the storage shelves, as shown in FIGS. 1 and 3, and to storage and retrieval systems, as shown in FIG. 9, in which the loading units are placed transversely on the shelves.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de stockage et de récupération (300) pour un entrepôt à haut rayonnage (400), comprenant au moins deux véhicules navette auto-propulsés (100) qui ne sont pas reliés mécaniquement l'un à l'autre et qui comportent un dispositif de levage (108) et sont conçus pour se déplacer dans et hors des canaux de stockage (404) de l'entrepôt à haut rayonnage (400) afin de délivrer une unité de chargement (500) vers un espace de stockage (402) de l'entrepôt à haut rayonnage (400) ou pour saisir une unité de chargement (500) à partir d'un espace de stockage (402) ; une plateforme de transport (202) qui est auto-propulsée ou est transportée dans une direction de déplacement (214) dans une allée de rayonnage (408) de l'entrepôt à haut rayonnage (400) et qui est conçue pour recevoir au moins deux des véhicules navette (100) disposés les uns derrière les autres dans une rangée orientée perpendiculairement à la direction de déplacement (214) ; un premier véhicule navette (100.1) étant conçu pour soulever, transporter et déposer de manière totalement automatique une unité de chargement (500.1), et le premier véhicule navette (100.1) et un second véhicule navette (100.2) étant conçus de manière à soulever, à une distance l'un de l'autre, dans chaque cas uniquement une partie d'une unité de chargement (500.2) commune, et à transporter et déposer de manière synchrone celle-ci.
EP22710583.0A 2021-03-05 2022-03-04 Système de stockage et de récupération Pending EP4301678A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021105391.9A DE102021105391A1 (de) 2021-03-05 2021-03-05 Regalbediensystem
PCT/EP2022/055632 WO2022184924A1 (fr) 2021-03-05 2022-03-04 Système de stockage et de récupération

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EP4301678A1 true EP4301678A1 (fr) 2024-01-10

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US (1) US20230406634A1 (fr)
EP (1) EP4301678A1 (fr)
CN (1) CN117222587A (fr)
DE (1) DE102021105391A1 (fr)
WO (1) WO2022184924A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN219513802U (zh) * 2023-01-16 2023-08-11 阳光电源股份有限公司 一种变电系统的集成架构
WO2025120676A1 (fr) * 2023-12-06 2025-06-12 Wolvbot Private Limited Système de stockage et de récupération

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DE2930569A1 (de) * 1979-07-27 1981-02-19 Friedhelm Krups Fa Beschickungsanlage fuer ein lager
DE9301506U1 (de) 1993-02-04 1993-07-29 Maier, Ludwig, Ing.(grad.), 40878 Ratingen Hochregallager für Container
EP1836366A4 (fr) * 2005-05-09 2011-03-09 Mp System Co Ltd Appareil pour transporter un vehicule a moteur dans un systeme de stationnement
NL1033799C2 (nl) 2007-05-03 2008-11-10 Scarabee Id B V Systeem en werkwijze voor het opslaan van goederen.
JP5425422B2 (ja) * 2008-07-07 2014-02-26 東日本旅客鉄道株式会社 距離測定器
US8616564B2 (en) * 2009-12-07 2013-12-31 Paceco Corp. Cargo container handling cart and system using same
DE102010005591A1 (de) 2010-01-22 2011-07-28 Koruna-Lc S.R.O. Hochregallager zur Lagerung von Paletten, Regalbediengerät, Tandemshuttle, Übergaberegal sowie Verfahren zur Lagerung von Paletten in dem Hochregallager
DE102010021705B4 (de) 2010-05-27 2017-10-19 Sew-Eurodrive Gmbh & Co Kg Verfahren zum Transportieren eines Objektes, Fahrzeug, Anlage
DE102013014102A1 (de) 2013-08-23 2015-02-26 Eisenmann Ag Verfahren und Anlagen zum Fördern von Ladungsträgern
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DE102014012254A1 (de) * 2014-08-19 2016-02-25 Lisa-Marie Amminger Lager- und/oder Kommissioniersysteme
CN105280416B (zh) * 2015-10-30 2018-02-13 河南平高电气股份有限公司 一种t型灭弧室组件对接工装
CN105619049B (zh) * 2016-04-08 2018-04-24 哈尔滨工业大学 气浮式柔性装配对接系统
DE102017104751B4 (de) 2017-03-07 2019-08-08 Strothmann Machines & Handling GmbH Transportvorrichtung
CN106826180B (zh) * 2017-04-01 2019-10-25 齐骥 一种气悬浮手动对接装配装置
CN210116886U (zh) * 2019-01-28 2020-02-28 湖南裕湘食品宁乡有限公司 一种立体仓库
CN209781857U (zh) * 2019-03-12 2019-12-13 北京城建道桥建设集团有限公司 一种管廊内管道安装车

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WO2022184924A1 (fr) 2022-09-09
WO2022184924A8 (fr) 2023-10-12
DE102021105391A1 (de) 2022-09-08
US20230406634A1 (en) 2023-12-21
CN117222587A (zh) 2023-12-12

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