Automatic racking system with independently movable conveyor vehicles, and method for this

专利摘要:
The invention relates to a shelf storage system with a rack storage (1) with storage racks (12a, 12b), which in superimposed shelf levels (16) storage bins (17) for goods and an in between extending shelf aisle (15). Along the rack aisle (15) extend a plurality of guideways with first and second guide rail (27, 28). First and second conveyor vehicles (3a, 3b) are movable on the guideways, each of the conveyor vehicles (3a, 3b) each having a drive (65a, 65b) and control electronics (66a, 66b) and being independently controllable. The first guide rail (27) is provided with a first conductor line arrangement (67) and the second guide rail (28) with a second conductor line arrangement (68), wherein each of the conductor line arrangements (67, 68) comprises separate conductor lines (69, 70). For the energy and / or data supply with current collectors (71a), the first conveyor vehicle (3a) contacts the conductor rails (69) of the first conductor conductor arrangement (67) and the second conveyor vehicle (3b) with current collectors (71b) contacts the conductor rails (70) of the second conductor conductor arrangement (68). The first conveyor vehicle (3a) and the second conveyor vehicle (3b) can be moved on the same conveyor track simultaneously and independently of one another.
公开号:AT514710A1
申请号:T50526/2013
申请日:2013-08-27
公开日:2015-03-15
发明作者:
申请人:Tgw Logistics Group Gmbh；
IPC主号:

专利说明:

The invention relates to an automatic rack storage system, as described in claim 1.
EP 2 287 093 A1 describes a shelf storage system and a method for operating this shelf storage system. The shelf storage system comprises a shelf storage, which has a plurality of rows of shelves arranged adjacent to one another with shelf aisles extending between adjacent rows of shelves. Furthermore, the rows of shelves each form a plurality of shelf levels in the vertical direction. In each of the shelf levels of each rack aisle one or more conveyor vehicles may be provided. The conveyor vehicles are used for receiving and transporting to be stored in the rows of shelves or auszulagernden from the shelf storage transport aids, such as pallets, containers or the like., Which may be filled with products. Furthermore, guideways for guiding the conveyor vehicles are provided in the rack aisles at least in some of the rack levels.
WO 2011/108636 A1 and EP 2 543 611 A1 describe a rack storage system which has a rack storage with storage shelves arranged next to one another and guideways running along a rack aisle for conveyor vehicles for receiving and transporting loads, a load-lifting device , a first buffer device and a second buffer device. The first buffer device and the second buffer device are arranged on both sides of the rack aisle. Each of these buffer devices comprises, in at least some of the rack levels, supply devices which are designed as supply conveyor devices. The conveying directions of the supply-conveying devices per buffer device may entwe the same direction or in opposite directions, so that according to a first embodiment, the first buffer device exclusively Auslager-Bereitstellvorrich-tions and the second buffer device exclusively Einlager-supply devices or according to a second embodiment, the first buffer device alternately Outfeed staging devices and storage staging devices, and the second buffering device alternately forms stager delivery devices and staging delivery devices. The load-lifting device comprises a in the extension of the rack aisle frontally in front of the rack warehouse o-the stationary within the rack aisle mast and mounted on this, raised and lowered transport device for storing and / or retrieval of the goods. The loaded goods can be conveyed between the first / second transporting device and the respective supply conveying device of the first / second buffering device. The load-lifting device is connected to a conveyor for transporting and removal of cargo to or from the load-lifting device such that cargo between the first / second transport device and the conveyor technology can be promoted.
If the load-lifting device with its mast in the rack aisle and on both sides of each of which the first buffer device, second buffer device and the rack storage are set up, the guideways extend to the buffer devices in the rack levels. For each rack level, two conveyor vehicles can be moved in such a way that the first conveyor vehicle can serve exclusively the (left) provision devices of the first / second buffer device and the second conveyor vehicle only the (right) supply devices of the first / second buffer device. The mast in the aisle limits the maximum travel distances of the conveyor vehicles.
For example, if there is a malfunction on the (left-hand) first conveyor vehicle, the (left) provisioning devices of the first / second buffer device can no longer be operated in this racking plane after the (right) second conveyor vehicle fails to supply the (left) provisioning devices of the first / second buffer device can serve. This is associated with a power dip, which is very disadvantageous in particular during removal operation.
From DE 10 2010 030 998 A1 a shelf storage system with guideways for conveyor vehicles and a method for its operation has become known. The conveyor vehicles are supplied with electrical current via a conductor rail arrangement. Furthermore, the conveyor rail vehicles are also supplied with data from a central control system via the same conductor rail arrangement. Furthermore, the conductor arrangement for the data supply can be subdivided into several sections, wherein one or more conveyor vehicles are located in each section at the same time and each section is supplied with only the data for the respective conveyor vehicles.
EP 0 733 563 A1 describes a design of a shelf storage system with a rack storage with storage shelves, which have storage spaces for goods in superimposed shelf levels. Between the storage racks extends a rack aisle, wherein at the front shelf storage pages each have a cargo manipulation unit for storing and retrieval of loads are arranged. On the other hand, the load-handling unit may also be integrated within the shelf storage and comprise load-lifting devices arranged on both sides of the rack aisle. In each shelf level of the rack aisle, only a single, autonomous conveyor vehicle is arranged in each case.
From DE 42 17 084 A1 an automated rack storage system has become known in which a plurality of electrically driven conveyor vehicles are provided in a rack aisle and in several shelf levels between two rows of shelves. At the level of each shelf level, a pair of rails with a right and left guide rail is arranged to guide the conveyor vehicles can. For each shelf level, a single conveyor vehicle is provided. In this case, the system comprises on the right guide rail power supply wires for powering the conveyor vehicle and on the left guide rail control signal transmission wires for data supply of the conveyor vehicle. The conveyor vehicle is provided on both longitudinal sides with collector units, of which the right collector unit slide on the power supply wires and the left collector unit on the control signal transmission wires.
Other shelf storage systems are also known from DE 2 113 201 A1, DE 2 113 202 A1 and JP 2004 - 123240 A.
The present invention has for its object to ensure not only a perfect power supply but also an unambiguous assignment of the control signals for the ferry operation of each of the conveyor vehicles with a simultaneous operation of both conveyor vehicles even with the use of two conveyor vehicles in one of the shelf levels.
The object of the invention is achieved by the features and the measures of claims 1 and 18. The advantages are that a separate power and / or data supply is made possible for each of the conveyor vehicles by the provision of the mutually separate arranged sliding line assemblies on each side of the rack aisle on the storage racks extending guide rails. Thus, the first conveyor vehicle can contact the conductor rails of the first conductor line arrangement over its current collector. The second conveyor vehicle in turn can contact the conductor rails of the second conductor line arrangement via its current collector. As a result, a spatially separated guidance of the sliding line arrangements is made possible on the two guideways forming the guideway. The conductor rail arrangements are constructed identically or identically and each fulfill the same functionality. Either both sliding line arrangements serve the conveyor vehicles, which are located on a shelf level, excluding the power supply or the data supply. On the other hand, both sliding line arrangements can serve the conveyor vehicles, which are located on a shelf level, each of the energy and data supply. In a preferred variant, a maximum of two conveyor vehicles are arranged on a shelf level, so that each of the conveyor vehicles is associated with exactly one sliding line arrangement. Thus, via the two sliding line arrangements of each of the conveyor vehicles, if they are located on the same shelf level, regardless of the other transport vehicle a sufficient amount of energy for its ferry operation are provided. On the other hand, via the two sliding line arrangements of each of the conveyor vehicles, if they are located on the same shelf level, only those data or control signals are supplied which are intended for the respective conveyor vehicle. This can be avoided disturbances in a data transmission via the sliding line arrangements between the individual conveyor vehicles and a central control system. In this way, a secured simultaneous operation of two conveyor vehicles in the same shelf level is possible independently.
Also advantageous is an embodiment according to claim 2, since as per conductor rail arrangement two mutually separate sliding lines are provided with which independently of each other, the respective conveyor vehicle contacted with energy and / or data can be supplied. It proves to be particularly advantageous if a maximum of three conductor lines per conductor line arrangement, preferably only two conductor lines are provided per conductor line arrangement, which allows a reliable ferry operation for each of the conveyor vehicles with low overall height. In addition, the required installation space can be minimized. The guide rails can be built very compact, so that the realization of a high number of shelf levels is possible.
The sliding line arrangements can be arranged within the profile cross section of the very compact guide rails. Advantageous is also an embodiment according to claim 3, since each of the conveyor vehicles within the same shelf level an independent energy supply system, the corresponding motor or control currents for the drive or the control electronics are supplied can.
The embodiment according to claim 4 makes it possible to create a separate data transmission between the sliding line arrangement between a central control system and the individual conveyor vehicles, for example by means of WLAN.
According to another embodiment variant according to claim 5 can be supplied via the respective same conductor rail arrangement, the respective conveyor vehicle not only with energy but also simultaneously with the corresponding control data for the Verfahrbewequnqen to be performed. In this case, the energy and data supply for the first conveyor vehicle and via the second conductor line arrangement the energy and data supply for the second conveyor vehicle take place via the first conductor line arrangement. After a separation of the power and data supply per conveyor vehicle, the bidirectional data transmission between the respective conveyor vehicle and the central control system can be very reliable even with "aufmodulation" of the data signals on the respective conductor rail arrangement.
Also advantageous is a development according to claim 6, since the guide rails can be produced on the one hand with a very high bending stiffness and on the other hand with small profile dimensions. As a result, the conveyor vehicles can be moved very accurately along the guide rails and a simple integration of the sliding rail assemblies within the respective profile cross section of the guide rails is possible. In this case, the first sliding line arrangement can be fastened either to the lower profile flange or to the profile web of the first guide rail. The second sliding line arrangement can be fastened either to the lower profile flange or to the profile web of the second guide rail. According to both embodiments, the sliding line arrangements are each within the profile cross section of the first / second guide rail.
In the embodiment according to claim 7 or 8, it is advantageous that an unambiguous assignment to the respective sliding rail arrangements arranged on the rails is possible for each of the conveyor vehicles. This can be avoided even with little mechanical effort a faulty control of the conveyor vehicles in the same shelf level.
After the embodiment according to claim 9, the first load-Flebevorrichtung and first buffer device are arranged as a unit outside the rack aisle. The first buffer device comprises only in the direction of the rack aisle on one of the sides of the first load-Flebevorrichtung and in at least some of the shelf levels provision devices for the Zwischenpuffern one or more stored and / or outsourced cargoes. As a result, a very compact design of the load-handling unit is created at a sufficiently high input and Auslaqerleistunq.
According to claim 10, it is provided that the first buffer device comprises in the direction of the rack aisle on both sides of the first load-lifting device and in at least some of the shelf levels provision devices for the intermediate buffering one or more loaded and / or outsourced goods. As a result, a separation between providing devices for a storage operation and provision devices for a retrieval operation is possible. This is associated with a higher storage and retrieval performance.
Due to the construction according to claim 11, an optimal utilization of the individual conveyor vehicles in the same shelf level and thus a maximum storage and retrieval performance can be achieved. But this also makes it possible, via the corresponding load-lifting device to load the goods to be loaded or unloaded, regardless of the position of the conveyor vehicles in the individual shelf levels either in the designated shelf level or pick it up from a correspondingly preselected shelf level for a retrieval process there to be able to.
In this case, according to a first embodiment, the second load-lifting device and the second buffer device are arranged as a unit outside the rack aisle, as described in claim 12. The second buffer device comprises exclusively in the direction of the rack aisle on one of the sides of the second load-lifting device and in at least some of the rack levels providing devices for the intermediate buffering of one or more loadings to be stored and / or outsourced.
According to a second embodiment, the second buffer device comprises in the direction of the rack aisle on both sides to the second load lifting device and in at least some of the shelf levels provision devices for the Zwischenpuffern one or more goods to be stored and / or outsourced, as described in claim 13.
After the first and / or second load-lifting device of the load-manipulation unit is / are arranged laterally with respect to the rack aisle, the individual conveyor vehicles can be attached to the first and / or second load conveyor.
According to claim 14, a continuous rack aisle is created so as to allow passing and / or driving through the entire length of the rack aisle.
In the embodiment according to claim 15, a central arrangement of the manipulation unit is created within the storage shelves. As a result, travel distances between the two ends of the storage racks for the loading and / or unloading of the goods can be shortened. It is also possible an embodiment according to claim 16, because this is no storage space within the shelf storage or storage shelves for arranging the conveyor for transporting and removal of cargo to or from the load-lifting device is lost. As a result, with the same footprint, a higher number of goods in the storage shelves can be parked.
Another advantage is the embodiment described in claim 17, since, depending on requirements, the conveyor vehicles between the rack levels can be implemented. The hoisting vehicle lifting device can receive either only a single conveying vehicle or two conveying vehicles on the lifting and lowering receiving device. According to the latter embodiment, both conveyor vehicles can be delivered by the conveyor vehicle lifting device to a single shelf level or to different shelving levels.
If the first conveyor vehicle and the second conveyor vehicle are moved on at least one of the guideways as described in claim 19, the first conveyor vehicle can serve in a first phase of operation, the Aus-stock supply device for the Zwischenpuffern one or more outsourced goods and the second Carrier operate the Einlager-providing device for the Zwischenpuffern one or more goods to be stored. In a second phase of operation, the first conveyor vehicle can serve the interim storage device for the intermediate buffering of one or more goods to be stored and / or the second conveyor vehicle the outfeed provision device for the intermediate buffering of one or more outsourced goods. The switching between the operating phases for the conveyor vehicles by means of the control system.
Thus, according to the measure according to claim 20, it is also possible that in the second operating phase the first and second conveyor vehicles operate either the retrieval device for the intermediate buffering of one or more outsourced goods or the storage device for the intermediate buffering of one or more goods to be stored.
The main advantage lies in the fact that by providing the separate arranged conductor rail arrangements the conveyor vehicles can be controlled in each case the same shelf level even more flexible without significantly increasing the control effort, so that the storage and retrieval operation can be performed optimized.
For example, if a high Auslagerleistung is required, so load can be outsourced not only by a carrier vehicle, but both trucks in this shelf levels. It can be removed from the storage shelves after a first execution only on the left side to the load-Flebevorrichtung or only on the right side to the load-Flebevorrichtung. According to a second embodiment but can be removed from the storage shelves also from the left and right side to the load-lifting device loading goods.
In other words, at the same time and independently of one another, the respective conveyor vehicles can pick up and / or deliver the cargoes at separate locations, whereby the economy of the entire rack storage system can be further increased.
If the first conveying vehicle and also the second conveying vehicle are moved on at least one of the guideways in the manner described in claim 21, the first conveying vehicle can, in a first operating phase, deliver the outfeed staging device for the intermediate buffering of one or more goods to be unloaded or the stored material. Serve supply device for the Zwischenpuf fern one or more goods to be stored and either transport the stored goods from the Einlager-Provisioning device to one of the serving as a buffer space bins or outsourced cargo from buffer space to Auslager-provisioning device and the second conveyor vehicle regardless of the first transport vehicle auszulagernde or Transport goods to be stored between the buffer space and a predefined storage bin. In a second phase of operation, the second conveyor vehicle can also serve the retrieval device for buffering one or more items to be retrieved or the interposer for buffering one or more items to be stored, and either the item to be loaded from the inserter to one of the buffer locations storage bins or a predefined storage bin, or transport the load to be outsourced from the buffer space or predefined storage bin to the outfeed provision device. Switching between the operating phases for the conveyor vehicles by means of the control system.
It is advantageous that the first conveyor vehicle in the first operating phase of the acquisition / transfer of goods between the Einlager-Provisioning device / Auslager-providing device and the conveyor vehicle and the second conveyor vehicle storage / retrieval of loads in / out of the storage shelves used. In the second phase of operation, both conveyor vehicles can be used in a preferred embodiment for a retrieval operation, but also for a storage operation, which achieves a performance advantage or power peaks can be covered, which is often required especially during retrieval operation.
Finally, the measure according to claim 22 is advantageous since the provisioning devices are used both for a removal operation and for a storage operation. For this purpose, a reversal of the conveying direction for the goods is simply required. Accordingly, one and the same supply device corresponds in the retrieval operation of an outfeed provisioning device and in the storage operation of a single-bed supply device.
If, for example, a load is to be stored in rack storage, which is provided at the storage-supply device or by the load-lifting device in one of the shelf levels, this is taken over by the first conveyor vehicle on the supply device or the load-lifting device and at a free storage space (or. Buffer space) in the same rack level. Subsequently, this load is taken from the second conveyor vehicle on the now occupied storage space (or buffer space) and promoted with the second conveyor vehicle to the storage space provided in this shelf level. Once there, the load is parked on the storage yard. On the other hand, this load can also be stored in another rack level, for which purpose the second conveyor vehicle with this load to the conveyor vehicle lifting device, taken on the truck-lifting device and then raised / lowered to the other shelf level. In this shelf level, the second conveyor vehicle is now discharged with the load on the guideway and moved in this other shelf level to the intended storage space. This measure can be used above all for slow-moving devices, so-called B-articles or C-articles. The swapping can be done in the opposite direction.
Thus, the loading and / or Auslagervorgänge the goods can be better matched to each other. It is also possible to temporarily store unneeded cargo at the buffer site, so as to create space for other goods at the load-lifting device or the provisioning device and perform the appropriate repositioning only if no other urgent order by the Appropriate transport vehicle is to be processed.
An advantageous measure is also described in claim 23, since even after the switchover from the first operating phase to the second operating phase, where the travel ranges of the conveyor vehicles, which are operated simultaneously on a guideway overlap, a collision of the conveyor vehicles is avoided. This collision monitoring can take place on the basis of an additional "internal" sensor system on the conveyor vehicles or "external" sensors per guide track. On the other hand, independent of any sensor technology, monitoring of the travel movements can take place exclusively via an electronic infrastructure planning module. But it is also a combination of the possibilities of driving motion monitoring feasible.
For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
In each case, in a highly simplified, schematic representation:
1 shows a detail of a first shelf storage side of a shelf storage system in a first embodiment and second embodiment with a rack storage and a cargo manipulation unit in plan view of a shelf level;
FIG. 2 shows a section of a second shelf bearing side of the shelf storage system according to FIG. 1 in a plan view of a shelf plane; FIG.
FIG. 3 shows a side view of the load-handling unit according to FIG. 1 according to the lines III-III in FIG. 1;
4 shows a side view of the load-handling unit according to FIG. 1 according to the lines IV-IV in FIG. 1;
5 is an end view of the shelf storage and sections of the two conveyor vehicles arranged one behind the other;
Fig. 6 is an enlarged view of portions of Fig. 5;
7 shows a shelf storage system in a third embodiment with a rack storage and a load handling unit in plan view;
8 shows a shelf storage system in a fourth embodiment with a rack storage and a load handling unit in plan view;
9 shows a shelf storage system in a fifth embodiment with a rack storage and a load handling unit in plan view.
By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals and the same component names, the disclosures contained throughout the description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.
1 to 4 a first embodiment of a shelf storage system is shown, which comprises a shelf storage 1 for goods 2, a plurality of self-propelled, autonomous conveyor vehicles 3a, 3b, a preferably fully automated load handling unit 4 and optionally a conveyor vehicle lifting device 5.
The one or more conveyor vehicles 3a, 3b are preferably single-level operating devices (shuttles) and comprise at least, as indicated in the following FIGS. 5 and 6, a base frame 6, wheels 7, a traction motor 8 for driving at least one impeller 7, a guide device 9 with guide wheels 10 and a load bearing device 11, for example, for storage and retrieval of loads 2 in and out of a storage rack 12a, 12b of the shelf storage 1. The load receiving device 11 comprises according to the embodiment shown on both sides relative to the transport vehicle 3 extendable telescopic arms 13 and each this arranged driver 14 - see Fig. 2 - for detecting one or more goods 2, as is well known. The additional designations "a" and "b" in the individual components of the conveyor vehicles 3a, 3b can be added analogously to the delivery vehicle designation so as to be able to create a corresponding assignment even if the general designation is not closer.
Such a load-bearing device 11 is known, for example, from US 2005/0095095 A1 or EP 0 647 575 A1, and may be due to the compact design of the telescopic arms 13 and the reliable operation with
Advantage be used. The goods 2 are, for example, containers, cartons, trays and the like or a goods article itself.
The shelf storage 1 has at a distance parallel to each other arranged storage racks 12a, 12b, between which at least one rack aisle 15 extends and which form each stacking shelves 17 provided in superimposed shelf levels 16 for the goods 2. The shelf storage 1 forms the front side opposite each other a first shelf support side 18 and a second shelf support side 19. It may include the shelf storage 1 but also a variety of storage racks 12a, 12b and between some adjacent storage racks 12a, 12b some rack aisles 15.
The storage racks 12a, 12b each include the rack aisle 15 adjacent, vertical front shelf uprights and 15 remote from the rack aisle, vertical rear rack members, wherein between the front shelf uprights in the respective shelf level 16 at least one horizontal front longitudinal beam 20 and between the rear shelf uprights in the respective shelf level 16 at least one horizontal rear longitudinal beam 21 extends. The longitudinal beams 20, 21 are connected via fastening means, such as screws, connectors with the shelf uprights.
The front longitudinal beams 20 extend in the longitudinal direction of the rack aisle 15 (X-direction), wherein in the respective shelf level 16 in pairs opposite longitudinal beams 20 form a guideway along which the conveyor vehicle 3 can be moved.
The longitudinal beams 20, 21 of the respective shelf level 16 are connected to each other via the storage bins 17 and bearing surface forming cross member 22. The cross members 22 extend between the longitudinal beams 20, 21 in the depth direction of a shelf (Z direction).
According to the embodiment shown, the storage racks 12a, 12b in the racking levels 16 each form storage bins 17 for the loadings 2 provided side by side and one behind the other, so that two load containers 2 can be placed in the depth direction of the storage racks 12a, 12b, hence a so-called "double-deep" Storage is possible. On the other hand, it is also possible that the storage racks 12a, 12b in the racking levels 16 each form exclusively in a row next to each other provided storage bins 17 for the cargoes 2, so that in the depth direction of the storage racks 12a, 12b only a load 2 can be turned off, so a so called "single deep" storage is possible. But it can also be a multi-depth storage of the cargoes 2 done, and this can be freely selected depending on the size or dimensions of the cargo 2.
The front longitudinal beam 20, see Fig. 6, comprises a profile web 23, an angled from this horizontal upper profile flange 24, an angled from the profile web 23 lower profile flange 25 and an angled from the upper profile flange 24 guide web 26. The upper profile flange 24 forms a horizontal tread for the wheels 7 of the conveyor vehicle 3a, 3b and the guide bar 26 opposite guide surfaces for the guide wheels 10 of the guide device 9 from. The lower profile flange 25 forms a horizontal profile limb and, if appropriate, a vertical profile limb bent away from it.
The pairwise opposite, front longitudinal beams 20 in the respective shelf level 16 together form a guideway and are referred to in the present embodiment with first and second guide rails 27 and 28. The detailed description of the supply of or supply of energy and / or data for the individual conveyor vehicles 3a, 3b will be given later in detail.
Despite the multiple arrangement of conveyor vehicles 3a, 3b in at least some of the shelf levels 16, it may nevertheless be necessary to move to a shelf level 16 in which e.g. only a single conveyor vehicle 3a is provided to spend another conveyor vehicle 3b from another shelf level 16. For this purpose, the known conveying vehicle-Flebevorrichtung 5, as shown in Fig. 2, are used.
Since it is necessary at the present time to further increase the storage and retrieval capacity for the load 2 and to dimension the size of the rack storage system as small as possible, at least in some of the shelf levels 16 preferably two conveyor vehicles 3a and 3b used simultaneously. In principle, however, more than two conveyor vehicles 3a, 3b, e.g. three or more conveyor vehicles 3a, 3b are used per shelf level 16.
The conveyor vehicles 3 are a not inconsiderable cost factor in the rack storage systems, but are increasingly required in an increased number in order to be able to carry out the transfer of goods (storage and / or outsourcing) of the loads 2 even more quickly and efficiently. For this purpose, it is provided that in at least each of the rack levels 16 at least two conveyor vehicles 3a and 3b are present at the same time in order to transport the goods 2 within the respective shelf level 16 and / or to be able to relocate. The detailed description will be made in the following figures.
The conveying vehicle lifting device 5 (transfer device) is in this example shown on the second shelf support side 19 frontally arranged front shelf storage 1 and includes a guide frame 30 and a hub drive 31 on the guide frame 30 can be raised and lowered receiving device 32 for the or the conveyor vehicles 3a, 3b , The receiving device 32 comprises parallel to the rack aisle 15 (X-direction) at a mutual distance horizontally extending longitudinal bars 33, which are the same as the guide rails 27, 28 each provided with a Schleifleitungsanordnung (not shown) to the (right or left) conveyor vehicle 3a ; 3b to be supplied with energy and / or data when it is to be implemented between the shelf levels 16. These sliding conductor arrangements are constructed identically to those sliding conductor arrangements 67, 68, as used in the guide rails 27, 28. If the receiving device 32 is dimensioned correspondingly, two conveyor vehicles 3a, 3b can also be received on the longitudinal bars 33 one behind the other and supplied with energy and / or data separately from one another at the same time. By the lifting movement, the receiving device 32 is relative to the shelf levels 16 in the vertical direction (Y-direction) moves to a specified by a computer system y-position.
The load-handling unit 4 comprises frontally of the storage racks 12a, 12b disposed a first load-lifting device 34a and a first buffer device 35a for temporarily storing goods 2. This is the first possible embodiment of the load-handling unit 4 of the rack storage. 1
However, as shown in a second embodiment, a second load-lifting device 34b and a second buffer device 35b are preferably provided for temporarily storing goods 2, as indicated in dashed lines as in FIG. Such an embodiment is suitable for the highest performance requirements and may represent a second, independent embodiment of the load handling unit 4. It should be mentioned that the following description is directed to the load-lifting devices 34a, 34b arranged on both sides of the rack aisle 15 and the buffer devices 35a, 35b, but it is also possible that only one of the sides of the rack aisle 15 Lifting devices 34a or 34b and one of the buffer devices 35a or 35b may be provided.
The load-lifting devices 34a, 34b are positioned opposite each other to the rack aisle 15, as shown, in mirror image. On the other hand, it is also possible that the load-lifting devices 34a, 34b are placed opposite each other, but axially offset from one another in the direction of the rack aisle 15.
The stationary raised load-lifting devices 34a, 34b each include a liftable and lowerable transport device 36a, 36b for goods 2, wherein the first transport device 36a on a first stroke drive 37a vertically adjustable lifting frame and the second transport device 36b on a via a second lifting drive 37b vertically adjustable lifting frame are constructed. According to the embodiment shown, the first transport device 36a is mounted on a first mast 38a via the lifting frame and the second transport device 36b is mounted on a second mast 38b via the lifting frame. The raisable and lowerable transport devices 36a, 36b and / or their conveying devices can be controlled independently of one another.
The transport devices 36a, 36b may each comprise a reversible drivable by a drive motor 39a, 39b (Fig. 3; 4) conveying device with a parallel to the rack aisle 15 extending reversible conveying direction 40a, 40b (Fig. 1) and may be a load 2 or in the conveying direction 40a, 40b successively record at least two cargo 2. If the transport device 36a, 36b is positioned between opposing supply devices 43, 44, as shown in FIG. 1, the conveying direction 40a, 40b corresponds to the conveying directions of the respective supply devices 43, 44, provided they are equipped with their own conveying device. In this case, the term supply conveyor can also be selected.
On the other hand, if the transport device 36a, 36b is positioned between opposed conveyors 54a, 55a, 54b, 55b, as in Fig. 3; 4, the conveying direction 40a, 40b corresponds to the conveying directions of the conveying devices 54a, 55a, 54b, 55b. The conveyor device is, for example, a roller conveyor or a conveyor belt and the like.
The provisioning devices 43, 44 may alternatively be designed as stationary support tables without any conveying device instead of the provisioning conveyors. The different variants of the provisioning devices are disclosed in WO 2013/090970 A2 and are the subject of this disclosure.
The fixedly positioned buffer devices 35a, 35b according to this second embodiment each comprise a first buffer section 41a, 41b and a second buffer section 42a, 42b, wherein in each of these buffer sections 41a, 41b, 42a, 42b at least in some of the rack levels 16 one above the other provisioning devices 43, 44th are arranged.
As can be seen in FIGS. 3 and 4, on the one hand in the lower two rack levels 16 of the first buffer section 41a and second buffer section 42b and on the other in the one lower shelf plane 16 of the first buffer section 41b and second buffer section 42a no provision devices 43, 44 are provided in order to enable the arrangement of a conveyor system for transporting loads 2 to the load fleece 34a, 34b and for transporting loads 2 from the load fleece 34a, 34b.
The provision devices 43 in the first buffer section 41a, 41b can each be formed by dust lines, which comprise a transfer section 45, a transfer section 46 and between these at least one buffer section 47. The transfer section 46 comprises according to this embodiment two transfer stations on which two goods 2 can be provided. By contrast, the transfer section 45, according to this embodiment, comprises a takeover station on which a load 2 can be received. The buffer section 51 comprises at least one buffer space for a load 2. By means of the dust conveyors, the loads 2 can be transferred from the transfer section 45 remote from the load-lifting device 34a, 34b to the transfer section 46 adjacent to the load-lifting device 34a, 34b in a single conveying direction 48a, 48b be encouraged.
The provision devices 44 in the second buffer section section 42a, 42b can each also be formed by dust lines, which comprise a transfer section 49, a transfer section 50 and between these at least one buffer section 51. The transfer section 49 comprises according to this embodiment, two acceptance slots on which two cargo 2 can be added. The transfer section 50, however, according to this embodiment comprises a takeover point on which a load 2 can be provided. The buffer section 51 comprises at least one buffer space for a load 2. By means of the dust tracks, the loads 2 can be moved from the transfer section 49 adjacent to the load-lifting device 34a, 34b to the load section.
Lifting device 34a, 34b remote transfer section 50 in a single conveying direction 52a, 52b are promoted.
Accordingly, the provision devices 43 in the first buffer sections 41a, 41b serve as an offloading operation of load 2 or as outfeed provision devices and the provision devices 44 in the second buffer sections 42a, 42b as a storage operation of loads 2 or as storage provision devices.
The staging devices 43, 44 or dust grids can be formed by accumulation roller conveyors, accumulation belt conveyors and the like, wherein a stowage space each one of the takeover positions for the transfer sections 49, a stowage place the takeover for the takeover sections 45, a stowage each one of the transfer points for the transfer sections 46th , a stowage space the transfer point for the transfer sections 50, a stowage space at least one buffer space or buffer section 47, 51 forms. Thus, at least four cargoes 2, preferably five cargoes 2 can be buffered on a supply device 43, 44.
As can be seen from FIGS. 1 and 3, the provisioning devices 43, 44, when provided with their own conveying device, have a single (non-reversible) conveying direction 48a, 48b, 52a, 52b in the respective racking levels 16. In other words, the provision devices 43, 44 of each buffer device 35a, 35b or the dust lines are operated in a single (non-reversible) conveying direction 48a, 48b, 52a, 52b in all shelf levels 16 in which they are arranged. Preferably, the provision devices 43, 44 of each buffer device 35a, 35b or the dust lines in each common shelf plane 16 in which they are arranged are operated with a single (non-reversible) conveying direction 48a, 48b, 52a, 52b, therefore on the buffer device 35a as seen in FIGS. 1 and 3, from right to left and on the buffer device 35b, as seen in FIGS. 1 and 4, from left to right. Only the conveying direction 40a, 40b of the transport device 36a, 36b is reversible, as described above. However, the (non-reversible) conveying direction 48a, 52a is opposite to the (non-reversible) conveying direction 48b, 52b.
As can be seen in FIGS. 1 and 3, according to this embodiment as well, along the load handling unit 4 in the longitudinal direction of the rack aisle 15 (X-direction) and in at least some of the racking levels 16 are the horizontal longitudinal bars 20, as described above. The conveyor vehicles 3 a, 3 b can transport goods 2 to be outsourced from the storage spaces 17 to the transfer section 45 of the first buffer section sections 41 a, 41 b or transport goods 2 to be stored away from the transfer section 50 of the second buffer section sections 42 a, 42 b to the storage bins 17.
The longitudinal beams 20 and guideways extend in the longitudinal direction of the rack aisle 15 (X-direction) along the storage racks 12a, 12b and along the load-lifting devices 34a, 34b and the buffer devices 35a, 35b. In this case, a transfer region 53 is defined along the load-lifting devices 34a, 34b and the buffer devices 35a, 35b.
To the cargo manipulation unit 4, a Vorzonen- conveyor to transport loads 2 to the load lifting device 34a and optionally to the load lifting device 34b and for transporting cargoes 2 of the load lifting device 34a and optionally of the load lifting device 34b be connected , This comprises a first conveyor device 54a for transporting the load items 2 to the load-lifting device 34a and a second conveyor device 55a for transporting the load items 2 away from the load-lifting device 34a.
If the load-lifting device 34b and the buffer device 35b according to FIGS. 1 and 3 are also provided, the conveyor system again comprises a first conveyor 54b transporting the loads 2 to the load-lifting device 34b and the load 2 from the load-lifting device 34b transporting away second conveyor 55b.
The first conveyor 54a; 54b and second conveyor 55a; 55b are arranged according to the embodiment in superimposed conveying technology levels 56, 57 in the lower height range (bottom area) of the rack storage 1 and have opposite conveying directions, as indicated by the arrows.
On the other hand, the first conveyor 54a; 54b and second conveyor 55a; 55b may also be arranged in the upper flea region of the shelf storage 1 in conveyor conveying planes 56, 57 lying one above the other. The first conveyor 54a; 54b and second conveyor 55a; 55b extend parallel to the rack aisle 15 in the extension of the respective storage rack 12a; 12b.
Preferably, the conveying technology level 56 and the lowest shelf level 16 within a first horizontal plane and the conveyor plane 57 and the overlying shelf level 16 within a second horizontal plane. As a result, a very space-saving arrangement of the conveyor technology is achieved.
As can be seen in FIGS. 1, 3 and 4, the first conveyor 54a; 54b in conveyor conveying level 56, 57 lying one above the other and (stationary) conveying sections 58, 59 running parallel to the rack aisle 15, which conveyances are conveyed via a transfer lifter 60a; 60b are interconnected.
If the load-lifting device 34b and the buffer device 35b are also provided, as FIGS. 1, 3 and 4 show, then the first conveying device 54b also comprises a transfer lifter 60b for the goods 2.
The stationary erecting lifter 60a; 60b includes a liftable and lowerable transport device 61a, 61b for goods 2, wherein the first transport device 61a on a (not shown) the first lifting drive vertically adjustable lifting frame and a second transport device 61b on a (not shown) second lifting drive vertically adjustable Lifting frame are constructed. According to the embodiment shown, the first transport device 61a is mounted on a first mast 62a via the lifting frame and the second transport device 61b is mounted on a second mast 62b via the lifting frame.
The transport devices 61a, 61b each comprise a conveying device which can be driven via a drive motor 63a, 63b with a conveying direction running parallel to the rack aisle 15 and can receive a single load 2 or two loaded goods 2 in succession. The conveyor device is, for example, a roller conveyor or a conveyor belt and the like.
The transport device 61a, 61b can now be adjusted via the lifting drive between the conveying sections 58, 59 in order to take over load 2 from the lower conveying section 58 and to deliver it to the upper conveying section 59.
The transport devices 36a; 36b are independently (decoupled) adjustable from one another between the shelving levels 16 to the buoyancy level of each shelf level 16 and to the bucket level of the conveyor level 57, such that loads 2 are moved between the conveyor 36a; 36b and the supply device 43, 44 and on the other hand between the transport device 36a; 36b and the delivery device 43, 44 and the conveying devices 54a, 55a, 54b, 55b can be promoted.
In a third embodiment variant shown schematically in FIG. 7, only the provisioning devices 43, 44 arranged directly adjacent to the first shelf support side 18 and the two load-filling devices 34a, 34b can also be provided. The conveyor technology or Vorzonenfördertechnik can then be provided in accordance with the same as previously described or else only on one side of the storage racks 12a or 12b. Accordingly, the provision devices 43 arranged in at least some of the shelf levels 16 in the first buffer line sections 41b serve for an offloading of load 2 or as outfeed provision devices and the provision devices 44 arranged in at least some of the shelf levels 16 in the second buffer line sections 42a for a loading operation of loads 2 and 4, respectively as insert storage devices.
In a fourth embodiment, shown schematically in FIG. 8, a single buffer device 35a and a single load-fleece device 34a are provided on the first rack-side 18 directly adjacent to one of the storage racks 12a or 12b. The buffer device 35a comprises, in the direction of the rack aisle 15 on a single side of the loader beaver 34a, a buffer path section 42a with provisioning devices 72 arranged in at least some of the racking levels 16 for the buffering of one or more loaded goods 2 and / or outsourced. that in the
Contrary to the embodiments described above, in the case of the provisioning devices 72 used here, a reversing operation can also be provided in each rack level 16. If the provision devices 72 also include conveying devices, they can reverse the conveying directions, as indicated by the double arrow. Thus, both storage operations and retrieval operations of the load 2 in the respective shelf levels 16 can be performed. This is because the supply devices 72 are provided only on one side of the load-ware device 34a or 34b. If the provision devices 72 are designed so that they can perform a longitudinal transport of goods 2 in the direction of the rack aisle 15, they can also be referred to as Be-reitstell conveying devices with Reversierbetrieb.
The detailed description of the third and fourth embodiments based on the above-described first and second embodiments according to FIGS. 1 to 3 is omitted in order to avoid unnecessary repetition, since only identically designed plant parts are used.
The first and second guide rails 27, 28 of the respective guide track extend up to the load handling unit 4, or the first and second guide rails 27, 28 run past the load handling unit 4.
FIG. 9 shows a further and, if appropriate, independent fifth embodiment of the shelf storage system 1, again using the same reference numerals or component designations for the same parts as in the preceding FIGS. 1 to 8. To avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 to 8 or reference.
In this fifth exemplary embodiment shown here, the first and second load-lifting devices 34a, 34b of the load-handling unit 4 are again provided on both sides of the rack aisle 15. These can be placed at a distance from one another by at least one lane width and lie opposite each other in mirror image. Furthermore, in contrast to the previously described embodiments, the load-handling unit 4 is integrated in the storage racks 12a, 12b. This means that the load-handling unit 4 is not arranged on the front side of one of the shelf storage sides 18, 19, but between the first and second shelf storage sides 18, 19 within at least one of the storage shelves 12a, 12b. This embodiment can also be referred to as a shaft-internal bearing variant. The two load-lifting devices 34a, 34b with their masts 38a, 38b and their transport devices 36a, 36b may be formed analogously, as has already been described in detail previously in FIGS. 1 to 4. Thus, here again, a continuous rack aisle 15 is also achieved in the area of the load-lifting devices 34a, 34b.
The buffer devices 35a, 35b here also comprise the provision devices 43, 44 on both sides of the load-lifting devices 34a, 34b in the direction of the rack aisle 15.
Considering now those parts of the plant which are provided in the region of the first storage rack 12a for forming the cargo manipulation unit 4, the supply devices 43 arranged on the right side of the first load lifting device 34a serve with their buffer path sections 41a in each case the outsourcing operations in the individual rack levels 16 of one or more Cargoes 2, therefore, the supply devices form so-called Auslager-providing devices.
The left side of the first load-lifting device 34a arranged further providing devices 44 with their other buffer sections 42a each serve the storage operations in the individual shelf levels 16 of one or more goods 2, therefore, the supply devices form so-called single-stock provision devices.
On the opposite side of the rack aisle 15 from the first load-lifting device 34a, the second load-lifting device 34b is arranged with its transport device 36b on its mast 38b in the vertical direction between the rack planes 16 movable transport device 36b.
The buffer device 35b, in turn, on both sides of the second load-lifting device 34b in the direction of the rack aisle 15, the supply devices 43, 44, which are arranged in at least some of the shelf levels 16.
The supply devices 43 arranged on the left side with respect to the second load lifting device 34b with their buffer path sections 41b serve for the removal operations of one or more goods 2.
The right-sided with respect to the second load-lifting device 34b arranged supply devices 44 serve the storage operations of one or more goods. 2
The first load-lifting device 34a is in turn connected to a conveyor for the transport and removal of cargoes 2 to and from the first load-lifting device 34a, as indicated schematically. The conveyor system comprises a conveyor device 54a, on which the load items 2 are transported for a storage operation, and a conveyor device 55a, on which the load items 2 are transported away for an unloading operation. The conveying devices 54a, 55a preferably run in a plane parallel to the rack aisle and are arranged below the lowest shelf level 16 of the storage rack 12a. At this time, the conveyors 54a, 55a connect to the load-lifting device 34a such that loads 2 can be conveyed between the conveyors 54a, 55a and the transporter 36a lowered to the level.
The second load-lifting device 34b is in turn connected to a conveyor for the transport and removal of cargoes 2 to and from the second load-lifting device 34b, as indicated schematically. The conveyor system comprises a conveyor device 54b, on which the load items 2 are transported for a storage operation, and a conveyor 55b, on which the load items 2 are transported away for an unloading operation. The conveying devices 54b, 55b preferably extend in a plane parallel to the rack aisle and are arranged below the lowest shelf level 16 of the storage rack 12b. Here, the conveyors 54b, 55b connect to the load-lifting device 34b such that loads 2 can be conveyed between the conveyors 54b, 55b and the transport device 36b lowered to the plane.
In this exemplary embodiment, too, provision is again made for a plurality, preferably two conveyor vehicles 3a, 3b within the rack aisle 15 per rack level 16 to be movable in at least some of the rack levels 16. An additional transfer of individual of the conveyor vehicles 3a, 3b from a shelf level 16 to a further shelf level 16 spaced therefrom in the vertical direction thereof can be carried out in a known manner via the vehicle lifting device 5 arranged in the region of the second shelf support side 19.
Notwithstanding the load manipulation unit 4 described in FIG. 9, it would be possible according to another embodiment that only one side of the rack aisle 15 one of the load lifting devices 34a or 34b, one of the buffer devices 35a or 35b and conveyors 54a, 55a or 54b, 55b are provided.
Independently of this, however, in another embodiment, the buffer device 35a, 35b could comprise the provision devices 43 or 44 on only one side.
As will be apparent from the above, the load handling device 4 comprises the first load lifting device 34a and the first buffer device 35a and / or the second load lifting device 34b and the second buffer device 35b.
On the one hand, the buffer device 35a; 35b in the direction of the rack aisle 15 on only one of the sides of the load-lifting device 34a; 34b and in at least some of the shelf levels 16 or all rack levels 16, the staging devices 43; 44 for the Zwischenpuffern one or more to be stored and / or outsourced cargo 2. On the other hand, the buffer device 35a; 35b in the direction of the rack aisle 15 on one side of the cargo
Lifting device 34a; 34b and in at least some of the shelving levels 16 or all shelf levels 16 first staging devices 43 for the intermediate buffering of one or more stored and / or outsourced goods 2 and towards the rack aisle 15 on the other side of the first load lifting device 34a; 34b and in at least some of the shelf levels 16 or all shelving levels 16 second staging devices 44 for the Zwischenpuffern one or more to be stored and / or outsourced cargoes 2 include.
Otherwise, the load handling device 4 may include the first load lifting device 34a and the first buffering device 35a and the second load lifting device 34b and the second buffering device 35b, in which case the buffering devices 35a, 35b are directed only towards the rack aisle 15 on only one of the sides the load-lifting device 34a, 34b and in at least some of the shelf levels 16 or all shelf levels 16 have the provision devices 72 for the Zwischenpuffern one or more to be stored and / or outsourced cargoes 2.
According to these statements, a so-called "indirect transfer" of the load 2 between the load-lifting device 34 a; 34b; 72 and a conveyor vehicle 3a, 3b, where the goods 2 temporarily in a storage operation and / or removal operation of the buffer device 35a; 35b be recorded.
In principle, however, it is also conceivable that the load-handling device 4 exclusively comprises at least one load-lifting device and the buffer device is eliminated.
According to this embodiment, a so-called "direct transfer" of the cargo 2 between the load-lifting device 34a; 34b and a conveyor vehicle 3a, 3b, therefore, the storage operation and / or removal operation takes place without temporary storage of the cargo 2 in a buffer device.
It is essential that in all these embodiments both in the "indirect transfer" of the cargoes 2 and "direct transfer" of the cargoes 2, the cargo
Lifting device 34a; 34b and optionally the buffer device 35a; 35b; 72 outside the aisle 15 or alley lights are arranged. The load-lifting device 34a; 34b and the buffer device 35a; 35b; 72 form a structural unit. By this arrangement, the conveyor vehicles 3a, 3b on the rails 27, 28 on the load-lifting device 34a; 34b; 72 and buffer device 35a; 35b; Pass by.
As can now better be seen from a synopsis of FIGS. 5 and 6, each of the conveyor vehicles 3a, 3b has its own travel drive 65a, 65b and its own control electronics 66a, 66b. Thus, the conveyor vehicles 3a, 3b via a (not shown) electronic control system can be controlled independently of each other to simultaneously store goods 2 in a rack level 16 and / or outsource. The collision-free movement of several conveyor vehicles is ensured by the control system.
FIG. 6 shows one of the guideways with the first guide rail 27 and the second guide rail 28 in one of the shelf levels 16, wherein on the right side of this illustration the first guide rail 27 with the first conveyor vehicle 3a movable thereon and on the left side of FIG Regalgasse 15, the second guide rail 28 with the second or further conveyor vehicle 3b is. The two conveyor vehicles 3a, 3b are usually arranged one behind the other and are each supplied with energy and / or data via a supply system provided in the first and second guide rails 27, 28.
For this purpose, the first guide rail 27 is equipped with a first conductor conductor arrangement 67 and the second guide rail 28 is equipped with a second conductor conductor arrangement 68. Furthermore, each sliding conductor arrangement 67, 68 comprises separate contact rails 69, 70. The contact conductor arrangements 67, 68 each extend over the entire length of the guide rails 27, 28.
The first conveyor vehicle 3a in turn comprises current collector 71a and thus contacts the conductor rails 69 of the first conductor conductor arrangement 67 for energy and / or data supply.
The second conveyor vehicle 3b in turn also includes its own current collector 71b and thus contacts the conductor rails 70 of the second conductor conductor arrangement 68 for energy and / or data supply.
This makes it possible, along at least one of the guideways on the first and second guide rails 27, 28, the first conveyor vehicle 3a and the second conveyor vehicle 3b simultaneously and independently to supply not only energy but also with data and thus proceed independently can. Due to the spatially separated arrangement of the sliding conductor arrangements 67, 68 on the first and second guide rails 27, 28, the supply of energy and / or data to the exactly predetermined conveyor vehicle 3a, 3b can take place independently of each other via each of the conductor rails 69, 70.
Furthermore, it is advantageous if each of the sliding conductor arrangements 67, 68 in each case comprises a maximum of two mutually separate sliding leads 69, 70. This can be done in a small footprint installation of the sliding conductor 67, 68 in the first and second guide rails 27, 28.
Furthermore, it is possible for the energy supply of the first and second conveying vehicles 3a, 3b and load receiving device 11 to take place exclusively via the sliding line arrangements 67, 68 contacted by the conveying vehicles 3a, 3b. The data supply for controlling the ferry operation of the individual conveyor vehicles 3a, 3b and the actuator for the load receiving device 11, however, can be done via a wireless Nahkommunikationsverbindung. This can be done for example via a radio link, for example WLAN, Bluetooth or ZigBee.
In this case, the control electronics 66a of the first conveyor vehicle 3a and the control electronics 66b of the second conveyor vehicle 3b are connected to the central control system for bidirectional data transmission via a wireless, in particular common, communication network, in particular a radio network.
Thus, the first conductor conductor arrangement 67 with its conductor rails 69 exclusively forms a first energy supply bus and the second conductor conductor arrangement 68 with its conductor conductors 70 exclusively a second energy supply bus. About the first power bus are motor or. Control currents for the travel drive 65a and the control electronics 66a of the first conveyor vehicle 3a and the second power supply bus motor or control currents for the drive 65b and the control electronics 66b of the second conveyor vehicle 3b transferable. Likewise, motor or control currents for the actuator of the load receiving device 11a of the first conveyor vehicle 3a and the second power supply bus motor or control currents for the actuator of the load receiving device 11b of the second conveyor vehicle 3b can be transmitted via the first power supply bus.
For this purpose, the travel drive 65a or actuator of the load receiving device 11a to the control electronics 66a of the first conveyor vehicle 3a and the drive 65b or actuator of the load receiving device 11b connected to the control electronics 66b of the second conveyor vehicle 3b.
Preferably, however, both the power supply and the data supply of the first and second conveyor vehicles 3a, 3b (therefore the traction drive 65a, 65b or actuator of the load receiving device 11a, 11b) respectively exclusively via the independently of the conveyor vehicles 3a, 3b contacted conductor rail assemblies 67, 68th
In this case, data for the first conveyor vehicle 3a or the same conductor rails 70 of the conductor conductor arrangement 68 are "modulated" on the same conductor rails 69 of the conductor conductor arrangement 67 for the second conveyor vehicle 3b. For this purpose, the control system with a device (not shown) for the targeted modulation of the data on the power for the supply of the first conveyor vehicle 3a and second conveyor vehicle 3b on the corresponding guideway and the control electronics 66a, 66b on each conveyor vehicle 3a, 3b with a device (not shown) to demodulate the data from the stream provide.
Thus, e.g. due to different frequencies used for the energy and the data, these are each removed separately via a filter on the respective conveyor vehicle 3a or 3b. Since each of the conveyor vehicles 3a, 3b is supplied with energy and data only via its own conductor line arrangement 67 or 68, a secure control of the individual conveyor vehicles 3a, 3b in all designated and equipped rack levels 16 can take place independently of each other. This not only an improved power supply can be realized but also an error-free data transmission starting from the central control system to each of the individual conveyor vehicles 3a, 3b in the respective shelf levels 16 done.
The possible embodiments of the data transmission between the control system and one of the conveyor vehicles 3a, 3b are indicated in DE 10 2010 030 998 A1 and can be used as the subject matter of this disclosure.
Furthermore, the sliding conductor arrangements 67, 68 can be arranged on the first and the second guide rails 27, 28 such that they are respectively disposed running within an outer profile cross-section bounded by the first or the second guide rail 27, 28 or lie within the profile cross-section thereof. Furthermore, the sliding line arrangements 67, 68 extend at least over the respective longitudinal extension of the individual guide rails 27, 28. If several of the first and the second guide rails 27, 28 are arranged one behind the other in the longitudinal extent, the conductor rail arrangements 67, 68 extend over their entire longitudinal extent and thus at least over the entire possible travel available to the conveyor vehicles 3a, 3b.
It is preferably provided that the first conductor conductor arrangement 67 forms with its contact rails 69 both a first power supply bus and a first data bus and the second conductor conductor arrangement 68 with its contact rails 70 both a second power supply bus and a second data bus. Thus, both motor or control currents and data transmission signals for the traction drive 65a or the control electronics 66a of the first conveyor vehicle (3a) can be transmitted via the contact rails 69 of the first conductor line arrangement 67. Furthermore, regardless of this, both motor and control currents and data transmission signals for the travel drive 65b or the control electronics 66b of the second transport vehicle 3b can be transmitted via the contact rails 70 of the second contact conductor arrangement 68.
However, it would also be possible that only the data supply for the first conveyor vehicle 3a and via the slider line arrangement 68 exclusively the data supply for the second conveyor vehicle 3b takes place via the slider line arrangement 67. In this case, the respective conveyor vehicle 3 a, 3 b is equipped such that it needed for its ferry operation by means of traction motor 8 a, 8 b and actuator for the load receiving device 11 a, 11 b for transfer / transfer of cargoes 2 between storage bin 17 and conveyor vehicle 3 a, 3 b electrical energy completely from a conveyor own electrical storage device, such as an accumulator, eg a capacitor, such as a so-called "PowerCap", removes, so that the conveyor vehicle 3a, 3b can be supplied with energy track. The recharging of the memory device takes place e.g. at irregular time intervals, e.g. controlled as a function of the state of charge and optionally in addition to the current work request to the conveyor vehicle 3a, 3b. The charging stations are e.g. in the hoisting-machine lifting device 5 so that recharging of the storing device takes place when the hoisting vehicle 3a, 3b of the hoisting-machine lifting device 5 is also located. However, it is possible to attach the charging stations at other positions in the rack storage 1, e.g. at specially provided individual positions in the shelf levels 16 of the rack aisle 15.
As already briefly described above, the first guide rails 27 are attached to the first storage rack 12a and the second guide rails 28 are secured to the second storage rack 12b. The two guide rails 27, 28 are arranged in each shelf plane 16 in mirror image with respect to the longitudinal extent of the rack aisle 15 and each have the previously described profile webs 23a, 23b, 24a, 24b, 25a, 25b and guide webs 26a, 26b on profile flanges. The lower profile flanges 25a, 25b are used for fastening or holding the sliding line arrangements 67, 68. Furthermore, the first conveying vehicle 3a has a first guiding device 9a and the second conveying vehicle 3b has a second guiding device 9b, which in each case is located on that side of the conveying vehicles 3a, 3b are arranged, which is the respective guide rail 27, 28 facing.
Each of the conductor rail assemblies 67, 68 here each comprise an electrical insulator, e.g. made of plastic, and a maximum of two by the insulator electrically separate from each other sliding lines 69; 70, as shown in Fig. 6.
In order to achieve an unambiguous assignment of the individual conveying vehicles 3a, 3b to the respective first and second guide rails 27, 28 and their sliding conductor arrangements 67, 68 arranged thereon, the current collectors 71a, 71b are respectively only at the points provided for this purpose respective conveyor vehicle 3a, 3b to install. Thus, so-called left or right conveyor vehicles 3a and 3b can be created. For example, the current collector 71a of the first conveyor vehicle 3a can be arranged on the side of the conveyor vehicle 3a which faces the first guide rail 27 with its first slider line arrangement 67. The further current collector 71b of the second guide conveyor vehicle 3b, on the other hand, is arranged on that side of the conveyor vehicle 3b, which is facing the second guide rail 28 with its second conductor line arrangement 68. The same applies to the previously described guide devices 9a, 9b.
It can be seen that thus the rack storage system uses two types of different conveyor vehicles 3a, 3b, even if this difference relates only to the arrangement of the current collectors 71a, 71b on the opposite sides of the conveyor vehicles 3a, 3b. The first type of conveying vehicle 3a (left conveying vehicle) is provided with the current collector 71a with respect to the rack aisle 15 and the second type of conveying vehicle 3b (right conveying vehicle) is provided with the current collector 71b with respect to the rack aisle 15 on its right side.
This distinction is made by the control system.
For this purpose, the conveyor vehicles 3a, 3b can each be provided with at least one machine-readable identification carrier (eg barcode or RFID) whose data can be read out by a reading device (eg barcode scanner or RFID reader). If a conveyor vehicle 3a, 3b is to be conveyed via the conveyor vehicle-fleaing device 5 are converted from a shelf level 16 to a vertically spaced other shelf level 16, an incorrect allocation of a conveyor vehicle 3a, 3b can be avoided if the control system is aware of what type of conveyor vehicle 3a, 3b it is. The shelf storage system comprises at least one initial reader. Additionally or alternatively, the shelf storage system may comprise at least one test reader. The initial reader and, if necessary, test reader is connected to the control system.
In principle, it is possible for the conveyor vehicles 3a, 3b to be uniquely identified by the identification carrier / initial reader before the shelf storage system is in operation and the control system to assign the conveyor vehicles 3a, 3b to be used in the rack storage system either to the type first conveyor vehicle 3a or to the second conveyor vehicle 3b. During operation, it may prove advantageous if the conveyor vehicles 3a, 3b are again identified by a test reader before a conversion process from a shelf level 16 to a vertically distanced other shelf level 16. This ensures that the correct conveying vehicle 3a, 3b (right / left conveying vehicle) is always delivered via the conveying vehicle lifting device 5 to the corresponding guideway. The test reader can be arranged, for example, on the conveyor vehicle lifting device 5 or along the rack aisle 15.
Otherwise, during operation, the control system can monitor the travel movements and transfer of the left / right conveyor vehicles 3a, 3b between the rack levels 16 solely by "data tracking". An additional test reader can be omitted. For this purpose, a material flow computer is preferably used as the control system. "Data tracking" is understood to mean that the control system (material flow computer), after the unmistakable identification of a left / right conveyor vehicle 3a, 3b by the identification carrier / unit reader arrangement, carries out an ongoing "route tracking" of the conveyor vehicles 3a, 3b as they move in the rack storage system , Thus, at any one time, the control system knows which of the plurality of left hand trucks 3a and plural right hand trucks 3b are on which shelving level 16 and on the truck hoist 5, respectively.
By choosing the respective 2-pole conductor rail arrangements 67, 68, only a relatively small installation space is required. Thus, also the guide rails 27, 28 can be further realized in an advantageous manner with a very low height. For example, the overall height of the guide rails 27, 28 in the vertical direction only 55mm. One possible embodiment of such sliding conductor arrangements 67, 68 is e.g. described in WO 2012/083333 A2.
As a result of the separate supply of energy to the individual conveying vehicles 3a, 3b via the mutually separate sliding conductor arrangements 67, 68, voltage fluctuations or undersupply of the conveyor vehicles 3a, 3b with energy can thus be avoided.
A possible mode of operation, explained with reference to the first embodiment (FIG. 1), can be carried out such that in a first operating phase the first conveyor vehicle 3a operates the out-of-warehouse device 43 for the intermediate buffering of one or more items 2 to be loaded. On the other hand, the second conveying vehicle 3b operates the storage provision device 44 for the intermediate buffering of one or more goods 2 to be stored.
In a second phase of operation, the first and the second conveyor vehicles 3a, 3b serve either the retrieval device 43 for the intermediate buffering of one or more outsourced goods 2 or the Einlager-providing device 44 for the Zwischenpuffern one or more goods to be stored 2. The first and second conveyor vehicles 3a, 3b each supplied via separate conductor rail assemblies 67, 68, each with its own conductor rails 69, 70 each independently with energy and / or data.
Switching between the operating phases is done by the control system and may be e.g. depending on a power request. Should e.g. the storage capacity is increased, both conveyor vehicles 3a, 3b can serve the Ausla-ger supply device.
In another selected embodiment with optionally only one supply device 43 or 44 on one side of the load-lifting device 34a, 34b or only one of the load-lifting devices 34a or 34b, it is possible that during a storage operation of at least one load 2 this in the storage Provision device 43, 44 or the first load-lifting device 34a is provided in one of the shelf levels 16, there taken over by the first conveyor vehicle 3a and stored in a free storage space 17 in the same shelf level 16. Subsequently, this intermediate stored there load 2 is taken over by the second conveyor vehicle 3b. This free storage space 17 then serves as a "buffer space".
In a first possible embodiment, the intermediate stored on the buffer space 17 load 2 can be taken over by the second conveyor vehicle 3b, then spent on the provided in this same shelf level 16 storage space 17 and parked there. During this movement process of the second conveying vehicle 3b, the first conveying vehicle 3a is already available again for a further, at the same time feasible, loading and / or unloading operation.
Irrespective of this, however, the load 2 could first be taken over by the second transport vehicle 3b and subsequently be brought to the transport vehicle lifting device 5. Subsequently, the second conveyor vehicle 3b with the load 2 received thereon is transferred by the conveyor vehicle lifting device 5 to a different shelf level 16 and the load 2 is moved to the storage space 17 provided in this other shelf level 16 and parked there. During this movement process, the first conveyor vehicle 3a is again available for a further, simultaneously feasible, entry and / or removal process.
This transfer of cargoes 2 may e.g. be carried out in so-called B and C articles, where it does not depend on such rapid insertion or removal cycles.
The retrieval process can then be done in reverse order than previously described. In this case, the or the goods 2 are removed from the storage space 17 by the second conveyor vehicle 3b, then spent on the provided in this or in another shelf level 16 buffer space and stored there. Subsequently, the load 2 can be removed from this buffer space by the first conveyor 3a and either to a supply device 43, 44; 72 or to a load-Flebevorrichtung 34 a, 34 b spent and delivered there.
Due to the different arrangements described above in detail as well as the mutually different design of the load-handling unit 4 different processes for the storage and / or removal of cargoes 2 can be performed.
It is possible in one embodiment (eg according to the embodiment of FIG. 1) that the load manipulation unit 4 in addition to the first load lifting device 34 a, the first buffer device 35 a in the direction of the rack aisle 15 on one side of the first load lifting device 34 a and in at least some of the shelf levels 16, the outfeed staging devices 43 for intermediate buffering of one or more items 2 to be unloaded and toward the rack aisle 15 on the other side of the first load lifting device 34a and in at least some of the rack levels 16 the stock staging devices 44 for the Intermediate buffers one or more goods to be stored 2 includes. In this case, the first conveying vehicle 3a and the second conveying vehicle 3b can be moved on at least one of the guideways such that in a first operating phase the first conveying vehicle 3a serves the retrieval provision device 43 for the intermediate buffering of one or more outsourced goods 2 and the second conveying vehicle 3b on the one hand serves the Einlager-providing device 44 for the Zwischenpuffern one or more goods to be stored 2.
In a second phase of operation can in the shelf level 16, in which the conveyor vehicles 3a, 3b, the first conveyor vehicle 3a, the Einlager-providing device 44 for the intermediate buffering one or more goods to be stored 2 and the second conveyor vehicle 3b, the Auslager-providing device 43 for the Serve intermediate buffers of one or more goods 2 to be outsourced. Otherwise, in the second operating phase in the rack level 16, in which the conveyor vehicles 3a, 3b are located, either only the first conveyor vehicle 3a, the warehousing device 44 for the intermediate buffering of one or more goods to be stored 2 or only the second conveyor vehicle 3b, the Auslager- Serve supply device 43 for the Zwischenpuffern one or more outsourced goods 2. The latter may be particularly advantageous when e.g. a high Auslagerleistung is required, so that in this shelf level 16, both the first conveyor vehicle 3a and the second conveyor vehicle 3b serve the Auslager-providing device 43. It is exclusively to ensure that the conveyor vehicles 3a, 3b work "collision-free".
In this case, the control system switches between the operating phases for the conveyor vehicles 3a, 3b. Likewise, the control system, the driving movements of the conveyor vehicles 3a, 3b, which are located on one and the same shelf level 16, control or coordinate so that they do not collide.
If the load handling unit 4 comprises on both sides of the rack aisle 15 a first load lifting device 34a with a first buffer device 35a and a second load lifting device 34b with a second buffer device 35b (eg according to the embodiment shown in dotted lines in FIG Outfeed staging devices 43 and second staging devices 44 of the second buffer device 35b are operated in the same manner via the conveyor vehicles 3a, 3b as in the first buffer device 35a.
In another embodiment (e.g., according to the embodiment of Figure 7), the load handling unit 4 on both sides of the rack aisle 15 may comprise a first load lifting device 34a having a first buffering device 35a and a second loading lifting device 34b having a second buffering device 35b.
In this case, the first buffer device 35a in the direction of the rack aisle 15 on one side of the first load-lifting device 34a and in at least some of the shelf levels 16, the Auslager-provisioning devices 43 for the Zwischenpuffern one or more outsourced goods 2 on. The second buffer device 35b has, in the direction of the rack aisle 15 on one side of the second load lifting device 34b and in at least some of the rack levels 16, the storage provision devices 44 for the intermediate buffering of one or more goods 2 to be stored. As a result, the first conveying vehicle 3a and the second conveying vehicle 3b can be moved on at least one of the guideways in such a way that in a first operating phase the first conveying vehicle 3a can retrieve the retrieval provision device 43 for buffering one or more loaded goods 2 or the ready-to-put preparation direction 44 for the Zwischenpuffern one or more goods to be stored 2 operated. Either the load 2 to be stored can be transported from the storage provision device 44 to one of the storage bins 17 serving as a buffer space or the load 2 to be outsourced from the buffer space to the removal provision device 43. Independently of the first conveying vehicle 3 a, the second conveying vehicle 3 b can transport the load 2 to be stored / stored between the buffer space and a predefined storage space 17. In a second operating phase, in addition to the first conveyor vehicle 3a, the second conveyor 3b can also serve the retrieval device 43 for buffering one or more items 2 to be retrieved or the store provision unit 44 for buffering one or more items 2 to be stored. This makes it possible that, after a first execution, either the load 2 to be stored is transported by the storage provision device 44 to one of the storage bins 17 serving as buffer space or to a predefined storage space 17. According to a second embodiment, the load 2 to be outsourced can also be transported from the buffer space or predefined storage space 17 to the removal provision device 43. In this case, the control system switches between the operating phases for the conveyor vehicles 3a, 3b. Likewise, the control system, the driving movements of the conveyor vehicles 3a, 3b, which are located on one and the same shelf level 16, control or coordinate so that they do not collide.
In another embodiment (eg, according to the embodiment of FIG. 8), in addition to the first load lifting device 34a, the load handling unit 4 may drive the first buffering device 35a toward the rack aisle 15 on one side of the first load lifting device 34a and at least some of the Racking levels 16 have the provision devices 72 for the Zwischenpuffern one or more outsourced cargo 2 and / or stored goods 2. As a result, the first conveying vehicle 3a and the second conveying vehicle 3b can be moved on at least one of the guideways such that in a first operating phase the first conveying vehicle 3a serves the provision device 72 for the intermediate buffering of one or more loaded goods 2 or goods 2 to be stored and either the goods to be stored 2 are transported from the storage provision device 72 to one of the storage bins 17 serving as a buffer space or the goods 2 to be outsourced are transported from the buffer space to the storage provision device 72. The provision device 72 accordingly serves both a storage operation and an unloading operation. Independently of the first conveying vehicle 3 a, the second conveying vehicle 3 b can transport the load 2 to be stored / stored between the buffer space and a predefined storage space 17.
In a second operating phase, the second conveyor vehicle 3b can also serve the provision device 72 for the intermediate buffering of one or more items 2 to be stored or items 2 to be stored, and either the item 2 to be loaded from the provisioning unit 72 to one of the storage spaces 17 serving as buffer space or a predefined storage space 17 , or transport the outsourced cargo 2 from the buffer space or predefined storage space 17 to the provision device 72. In this case, the control system switches between the operating phases for the conveyor vehicles 3a, 3b.
Finally, it should be mentioned that the travel movements of the conveyor vehicles 3 a, 3 b, which move on the guide rails 27, 28 in the same guideway in a shelf plane 16, are to be coordinated such that a collision is avoided, even if the travel areas of the conveyor vehicles 3 a, 3 b overlap , This may be the case when the control system toggles between the first phase of operation and the second phase of operation, as described in detail above.
This collision protection can be realized either by an "internal" sensor 73a, 73b respectively arranged on the conveyor vehicles 3a, 3b (as indicated diagrammatically in dashed lines in FIG. 9) and / or by an electronic infrastructure planning module (program logic) of the control system (not shown) become. In addition, by means of the infrastructure planning module, a route optimization for the conveyor vehicles 3a, 3b can take place.
The sensors 73a, 73b are connected to the control electronics 66a, 66b (FIG. 5) of the respective conveyor vehicle 3a, 3b. The first control electronics 66a of the conveyor vehicle 3a and second control electronics 66b of the conveyor vehicle 3a, 3b can each communicate with the central control system and transmit data bidirectionally in the manner described above. It is also possible that the first control electronics 66a of the conveyor vehicle 3a and second control electronics 66b of the conveyor vehicle 3a, 3b communicate with each other or the data between the conveyor vehicles 3a, 3b are transmitted bidirectionally. The sensor system 73a, 73b of the conveyor vehicle 3a, 3b comprises at least one distance measuring device or distance measuring device, for example an optoelectronic measuring system, in particular a laser or infrared measuring system or triangulation sensor and the like, or an ultrasonic sensor. As a result, the distance between the conveyor vehicles 3a, 3b can be measured and a safe distance can be maintained when the conveyor vehicles 3a, 3b approach each other. It is thus possible that with increasing mutual approach of the conveyor vehicles 3a, 3b, the travel drives 65a, 65b are controlled via the central control system and / or via the control electronics 66a, 66b such that either both conveyor vehicles 3a, 3b braked controlled or their driving speed , in particular regulated is reduced or one of the conveyor vehicles 3 a, 3 b controlled brakes or its travel speed, in particular regulated reduced. The conveyor vehicles 3a, 3b can be so far as to move towards each other so far that they just do not collide. It can also be provided that the conveyor vehicles 3a, 3b are each provided with a stop element on their mutually facing vehicle sides. The stop elements are preferably made of elastically yielding elastomers, in particular rubber, produced damping elements and form elastic rubber buffers.
The "internal" sensors 73a, 73b, for example infrared light barriers, of the conveyor vehicles 3a, 3b can also serve to supply the data to control the ferry operation of the individual conveyor vehicles 3a, 3b and of the actuator for the load receiving device 11. Thus, the light barriers serve not only the distance measurement for the collision avoidance, but also the wireless communications between the conveyor vehicles 3a, 3b and the control system and / or wireless communications between the conveyor vehicles 3a, 3b.
On the other hand, the infrastructure planning module may control in advance the travel movements and / or travel paths of the conveyor vehicles 3a, 3b depending on the storage orders and removal orders such that the travel areas of the conveyor vehicles 3a, 3b which rest on the guide rails 27, 28 of the same guideway move a shelf level 16, not even overlap. Optionally, the sensor system 73a, 73b described above can also be used in addition to the infrastructure planning module. In this case, the travel movements of the conveyor vehicles 3a, 3b are evaluated via a position measuring system. The displacement measuring system comprises a path measuring device connected to the control system, for example a capacitive displacement transducer, inductive displacement transducer, magnetic displacement transducer or optoelectronic displacement transducer. In doing so, the measuring method of absolute and incremental distance measurement is used. The traction motor 8a, 8b or traction drive 65a, 65b is preferably equipped with a resolver or incremental encoder (therefore an "internal" sensor system 74a, 74b on the conveyor vehicles 3a, 3b, as shown schematically in FIG. 5). By means of the path measuring device, the actual positions of the conveyor vehicles 3a, 3b, which are traversed on the guide rails 27, 28 of the same guideway in a rack plane 16, can be detected. The
Actual positions are transmitted to the infrastructure planning module either via the conductor rail arrangements 67, 68 or via the radio link to the control system comprising the infrastructure planning module. The infrastructure planning module specifies the target positions for the conveyor vehicles 3a, 3b. A bar code positioning system known per se is also conceivable as a path measuring device. A target comparison in the roadway planning module avoids a collision between the conveyor vehicles 3a, 3b.
Furthermore, there is also the possibility that the position measuring system is a position location system, not shown, in particular a navigation device in the form of GPS for detecting the actual positions of the conveyor vehicles 3a, 3b. For this purpose, the conveyor vehicles 3a, 3b are provided with a transmitting and / or receiving device (not shown) and on the other hand, the control system with a transmitting and / or receiving device, via which a wireless data exchange takes place.
In principle, it is also possible that a per se known "block distance control" is realized for collision avoidance. Each of the guideways on which at least two conveyor vehicles 3a, 3b are simultaneously operated is divided into a number of block section sections. If there are two conveyor vehicles 3a, 3b on the guideway, there are two or more block section sections, for example three. The conveyor vehicles 3a, 3b are operated according to a first operating phase and second operating phase, therefore the travel ranges of the conveyor vehicles 3a, 3b overlap. The first block section extends along the storage racks 12a, 12b and the second block section extends along the buffer 35a; 35b. Are for example on both sides to the load-lifting device 34a; 34b buffer path sections 41a, 42a; 41b, 42b, as shown in Fig. 1 or Fig. 9, the first block section extends along the storage shelves 12a, 12b, the second block section along the buffer section 42a; 41b and the third block section along the buffer section 41a; 42b. The shelf storage system comprises per guideway on which at least two conveyor vehicles 3a, 3b are simultaneously operated, an "external" sensor system (not shown), which defines the block section sections. The "external" sensor system is formed, for example, by light barriers at the ends of the block sections, a camera system per block section and the like. The "external" sensor is connected to the control system.
The operation of the "block distance control" will now be described with reference to FIG. 9. Is now on a guideway in the buffer section 41a; 42b along the first block section section, the first conveyor vehicle 3a (first phase of operation) and the second conveyor vehicle 3b from the second or third block section section in the first block section section retract ren, for example for a removal process (second phase of operation), so before the first conveyor vehicle 3a have completely left the first block section before the second conveyor vehicle 3b can enter the first block section section. The same applies if in the buffer path section 42a; 41b along the second block section section, the second conveyor vehicle 3b is located and the first conveyor vehicle 3a is to retract from the first or third block section in the second block section section, for example for a retrieval operation (second phase of operation). The presence of the first / second conveyor vehicle 3a; 3b in the first / second block section is detected via the "external" sensor.
If, for example, with two conveyor vehicles 3a; 3b be stored / outsourced, therefore the conveyor vehicles 3a; 3b store goods in the third block section section 2 in the shelf storage 12a, 12b or outsource from the shelf storage 12a, 12b, the respective conveyor vehicle 3a; 3b from the first / second block section section in the third block section section when the other conveyor vehicle 3a; 3b has left the third block section section. The presence of the first / second conveyor vehicle 3a; 3b in the third block section is detected by the sensors. Of course, in the case of longer lanes, the third block section can be subdivided into a plurality of block section sections, in which case each block section section comprises an "external" sensor system.
Common to all versions is that even after switching between the first and second operating phase between the conveyor vehicles 3a, 3b, which are operated simultaneously on a guideway, a minimum distance is maintained parallel to the lane direction.
Finally, attention is drawn to advantages / effects of the shelf storage system.
In the case of long shelf warehouses, the travel paths of the conveyor vehicles 3 a, 3 b can be significantly reduced, as can be seen in particular from FIG. 9. In addition, in each racking plane 16, via the (left) first conveying vehicle 3a, goods 2 can be transferred to and from the (left) storage racks 12a, 12b on the left side to the load-fluffing device 34a; 34b stored or outsourced and on the (right) second conveyor vehicle 3b load 2 into or from the (right) storage racks 12a, 12b on the right side to the load-Flebevorrichtung 34a; 34b are stored or outsourced, therefore, the conveyor vehicles 3a, 3b independently of each other on the right or left side with respect to the load-Flebevorrichtung 34a; 34b and at the same time work in the storage and retrieval operation.
Depending on the order situation (number of storage and retrieval operations), however, both conveyor vehicles 3a, 3b, which move on the guide rails 27, 28 of the same guideway in a rack plane 16, can optionally load either between the (left) buffer section 42a; 41b and the (left) storage racks 12a, 12b or between the (right) buffer section 41a; 42b and the (right) storage shelves 12a, 12b manipulate (store). This is done by switching between the first and second operating phases.
As a result, in a "chaotic storage" so-called "unbalanced loads" can be compensated.
"Shock loads" are understood to mean the "uneven" distribution of orders for the conveyor vehicles 3a, 3b with respect to the (left) storage shelves 12a, 12b on the left side to the load-flea device 34a; 34b and (right) Lagerrega len 12a, 12b on the right side to the load-lifting device 34a; 34b. For example, according to FIG. 9, the (left) second conveyor vehicle 3b can be "relieved" of an unloading operation of goods 2 from the (left) storage shelves 12a, 12b, even though the (right) first conveyor 3a is responsible for the unloading operation of the containers 2 the (left) storage shelves 12a, 12b is used by this the load-lifting device 34a; 34b passes and in the storage area of the (left) storage racks 12a, 12b moves. The same applies to a storage process of goods 2 and for a removal or storage process from / in the / the (left) storage racks 12a, 12b. In other words, at the same time, a plurality of conveyor vehicles 3a, 3b can also be mounted on only one of the sides relative to the load-lifting device 34a; 34b, hence the page where there is a relatively high number of orders.
Otherwise, in the case of "performance-optimized storage", it is possible to adjust the capacity for the removal or storage operations of goods 2 with different turnover rates (A articles, B articles, C articles) between the right storage shelves 12a, 12b and left storage shelves 12a, 12b. Thus, at the same time, for example, the (left) first conveying vehicle 3a can store or unload a load 2 of low turnover frequency (C article) with a longer travel path and the (right) second conveying vehicle 3b can load 2 higher turnover frequency (A article). store with a shorter track or outsource. In this case, for example, the (left) first conveyor vehicle 3a a goods 2 low Um-schlaghäufigkeit store (C-article) or outsource, while the (right) second conveyor vehicle 3b several goods 2 higher turnover rate (A-article) successively store or outsource can.
If a conveyor-lifting device 5 is optionally provided, one or more conveyor vehicles 3a, 3b can be transferred between the rack levels 16, in which case at least one conveyor vehicle 3a, 3b remains in each rack level 16. This can also be done depending on the order situation (number of storage and retrieval processes). After this execution, the performance can be scaled very easily.
By specifying the routes for the conveyor vehicles 3a, 3b, which are operated simultaneously on a guideway, a "logical separation" of the routes can be created. This can be done by the infrastructure planning module. In other words, for example, according to the embodiment in FIG. 1 or FIG. 9, the first conveying vehicle 3 a exclusively the supplying device 43 and the second conveying vehicle 3 b exclusively serve the providing device 44. But it can also be changed depending on the order situation (number of storage and retrieval operations), the operation of the provisioning device 43, 44.
According to the embodiment of Fig. 9, it would also be possible that the (left) first conveyor vehicle 3a does not merely load 2 between the (left) buffer section 42a; 41b and the (left) storage racks 12a, 12b, but also loads 2 between the (left) buffer section 42a; 41b and the (right) storage shelves 12a, 12b. Likewise, the (right) second conveyor 3b can not only load 2 between the (right) buffer section 41a; 42b and the (right) storage racks 12a, 12b manipulate but also loads 2 between the (right) buffer section 41a; 42b and the (left) storage shelves 12a, 12b.
The embodiments show possible embodiments of the shelf storage system with the rack warehouse 1 and the cargo manipulation unit 4, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather also various combinations of the individual embodiments are possible with each other and this possibility of variation due to the teaching on technical action by objective invention lies in the ability of those skilled in this technical field.
Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
The task underlying the independent inventive solutions can be taken from the description.
Above all, the individual embodiments shown in FIGS. 1 to 9 can form the subject of independent solutions according to the invention.
For the sake of order, it should finally be pointed out that for a better understanding of the construction of the rack storage system with the rack storage 1 and the load handling unit 4, this or its components have been shown partially unevenly and / or enlarged and / or reduced in size.
REFERENCE SIGNS LIST 1 shelf storage 30 guide frame 2 load 31 lifting drive 3 conveying vehicle 32 receiving device 4 load manipulation unit 33 longitudinal beam 5 conveyor vehicle 34 load-lifting device
Lifting device 35 Buffering device 6 Base frame 36 Transporting device 7 Mast 9 Guiding device 39 Drive motor 10 Guide wheel 40 Feed direction 11 Load receiving device 41 Buffer section 12 Storage rack 42 Buffer section 13 Telescopic arm 43 Supply device 14 Driver 44 Supply device 15 Regal alley 45 Transfer section 16 Shelf plane 46 Transfer section 17 Storage bin 47 Buffer section 18 first shelf support side 48 conveying direction 19 second shelf support side 49 transfer section 20 front longitudinal beam 50 transfer section 21 rear longitudinal beam 51 buffer section 22 cross member 52 conveying direction 23 profile web 53 transfer region 24 upper profile flange 54 conveying device 25 lower profile flange 55 conveying device 26 guide web 56 conveying technology plane 27 first guide rail 57 conveying technology plane 28 second Guide rail 58 conveying section 29 59 conveying section 60 transfer lifter 61 Tran Sport device 62 Mast 63 Drive motor 64 65 Traction drive 66 Control electronics 67 First conductor line arrangement 68 Second conductor line arrangement 69 Conductor line 70 Conductor line 71 Current collector 72 Supply device 73 Sensor system 74 Sensor system

权利要求:
Claims (23)
[1]
1. Automatic shelf storage system with a shelf storage (1) with storage racks (12a, 12b), which in superimposed shelf levels (16) storage bins (17) for goods (2), wherein between the storage shelves (12a, 12b) a rack aisle (15) at least between the first and second shelf storage sides (18,19) of the shelf storage (1), a load-handling unit (4) with at least a first load-lifting device (34a) with a first liftable and lowerable transport device (36a) for Storing and / or retrieving the load (2), a plurality along the rack aisle (15) in at least some of the shelf levels (16) extending guideways each having a first guide rail (27) and a second guide rail (28), wherein the first and the second guide rail (27, 28) of the respective guide track up to the load-handling unit (4) or the first and the second guide rail (27, 28) on the load Ma passing by and at least a first conveyor vehicle (3a) and a second conveyor vehicle (3b) for transporting the load (2) between the storage racks (12a, 12b) and the load handling unit (4), which at least first and second conveyor vehicle (3a, 3b) on the respective guide track on the first and second guide rail (27, 28) are movable, wherein the conveyor vehicles (3a, 3b) each have a drive (65a, 65b) and control electronics (66a, 66b) and independently can be controlled from one another, and at least one conveyor system connected to the first load-lifting device (34a) for transporting and transporting loads (2) to and from the first load-lifting device (34a), characterized in that the first guide rail (27) is equipped with a first sliding line arrangement (67) and the second guide rail (28) with a second sliding line arrangement (68) and each of the Schle ifleitungsanordnungen (67, 68) own sliding lines (69, 70) comprises, and that the first conveyor vehicle (3a) for power and / or data supply with current collectors (71a) contacts the contact rails (69) of the first sliding line arrangement (67) and the second Conveying vehicle (3b) for power and / or data supply with current collectors (71b) contacts the conductor rails (70) of the second sliding line arrangement (68), along at least one of the guide tracks on the first and second guide rails (27, 28) of the first conveyor vehicle ( 3a) and the second conveyor vehicle (3b) are simultaneously and independently movable.
[2]
2. shelf storage system according to claim 1, characterized in that each of the sliding line assemblies (67, 68) each comprise an electrical insulator and two electrically isolated from each other by the insulator conductor rails (69a, 69b, 70a, 70b).
[3]
3. rack storage system according to claim 1 or 2, characterized in that the first conductor line arrangement (67) with their conductor lines (69) exclusively a first power supply bus and the second conductor rail arrangement (68) with their contact rails (70) exclusively form a second power supply bus, via which first power supply bus motor or control currents for the drive (65a) and the control electronics (66a) of the first conveyor vehicle (3a) and via which second power bus motor or control currents for the drive (65b) and the control electronics (66b) of second conveyor vehicle (3b) are transferable.
[4]
4. shelf storage system according to claim 3, characterized in that the control electronics (66a) of the first conveyor vehicle (3a) and the control electronics (66b) of the second conveyor vehicle (3b) for bidirectional data transmission over a wireless, in particular common, communication network, in particular a wireless network, connected to a central control system.
[5]
5. rack storage system according to claim 1 or 2, characterized in that the first conductor line arrangement (67) with its contact rails (69) both a first power supply bus and a first data bus and the second conductor rail arrangement (68) with their contact rails (70) both a second Energieversorgungsbus and form a second data bus, via which conductor rails (69) of the first conductor rail arrangement (67) both motor or control currents and data transmission signals for the traction drive (65a) and the control electronics (66a) of the first conveyor vehicle (3a) and which contact lines (70) of the second conductor line arrangement (68) can be transmitted both motor currents or control signals and data transmission signals for the travel drive (65b) and the control electronics (66b) of the second transport vehicle (3b).
[6]
6. rack storage system according to one of the preceding claims, characterized in that the first guide rails (27) on a first storage shelf (12 a) and the second guide rails (28) on a second storage rack (12 b) are fastened, wherein the first guide rails (27) each one of the first storage rack (12a) facing uprising profile web (23a), an angled from this upper profile flange (24a) with a horizontal tread for wheels (7) of the first and second conveyor vehicle (3a, 3b), one of the profile web (23a) angled lower profile flange (25a) and a guide web (26a) angled away from the upper profile flange (24a) in the direction of the lower profile flange (25a) with a guide surface for a first guide device (9a) of the first conveyor vehicle (3a), and wherein the second guide rails (28 ) each one the second storage rack (12b) facing upstanding profile web (23b), an angled from this upper Profilfl 24b with a horizontal running surface for running wheels (7) of the first and second conveying vehicle (3a, 3b), a lower profile flange (25b) angled away from the profile web (23b) and one from the upper profiled flange (24b) in the direction of the lower profiled flange ( 25b) angled guide web (26b) having a guide surface for a second guide device (9b) of the second conveyor vehicle (3b), wherein the first and second sliding line assemblies (67, 68) respectively within the profile cross section of the first guide rails (27) and the second guide rails (28) lie.
[7]
7. shelf storage system according to any one of the preceding claims, characterized in that the current collector (71 a) of the first conveyor vehicle (3 a) on that side of the conveyor vehicle (3 a) is arranged, which the first guide rail (27) with its first sliding line arrangement (67) facing is.
[8]
8. rack storage system according to one of the preceding claims, characterized in that the current collector (71b) of the second conveyor vehicle (3b) on the side of the conveyor vehicle (3b) is arranged, which the second guide rail (28) with its second sliding line arrangement (68) facing is.
[9]
9. shelf storage system according to one of the preceding claims, characterized in that the load-handling unit (4) the first load-lifting device (34 a) and a first buffer device (35 a), which are arranged as a unit outside the rack aisle (15), and that the first buffer device (35a) towards the rack aisle (15) on one of the sides of the first load-lifting device (34a) and in at least some of the shelf level (16) Vorstellungen (43, 44) for the intermediate buffering one or more einzulagernder and / or outsourced goods (2).
[10]
10. shelf storage system according to claim 9, characterized in that the load-handling unit (4) the first load-lifting device (34 a) and a first buffer device (35 a), which are arranged as a unit outside the rack aisle (15), and that the first buffer device (35a) in the direction of the rack aisle (15) on one side of the first load-lifting device (34a) and in at least some of the rack levels (16) first supply devices (43) for the intermediate buffering of one or more goods to be stored and / or outsourced ( 2) and in the direction of the rack aisle (15) on the other side of the first load lifting device (34a) and in at least some of the rack levels (16) second provision devices (44) for the intermediate buffering of one or more loaded and / or outsourced goods (2 ).
[11]
11. rack storage system according to claim 9 or 10, characterized in that the load handling unit (4) and a second load-lifting device (34 b) with a second liftable and lowerable transport device (36 b) for storing and / or retrieval of the load (2 ).
[12]
12. shelf storage system according to claim 11, characterized in that the load-handling unit (4) the second load-lifting device (34 b) and a second buffer device (35 b), which are arranged as a unit outside the rack aisle (15), and that the second buffering device (35b) on one of the sides of the second load-lifting device (34b) and in at least some of the racking levels (16) supply devices (43, 44) for the intermediate buffering of one or more loaded goods (2) to be stored and / or outsourced.
[13]
13. shelf storage system according to claim 12, characterized in that the load-handling unit (4) the second load-lifting device (34 b) and a second buffer device (35 b), which are arranged as a unit outside the rack aisle (15), and that the second buffer device (35b) in the direction of the rack aisle (15) on one side of the second load-lifting device (34b) and in at least some of the rack levels (16) first supply devices (43) for the intermediate buffering of one or more goods to be stored and / or outsourced ( 2) and in the direction of the rack aisle (15) on the other side of the second load lifting device (34b) and in at least some of the shelf levels (16) second provision devices (44) for the intermediate buffering of one or more loaded and / or outsourced goods (2 ).
[14]
14 shelf storage system according to one of the preceding claims, characterized in that the at least first and / or the at least second load-lifting device (34 a, 34 b) are at least spaced apart a lane width from each other and are mirror images of each other.
[15]
15. shelf storage system according to one of claims 1 to 14, characterized in that the load-handling unit (4) between the end-side shelf storage sides (18, 19) arranged and in the storage shelves (12 a, 12 b) is in-energized.
[16]
16. rack storage system according to one of claims 1 to 14, characterized in that subsequent to the first shelf storage side (18) of the shelf storage (1), the load manipulation unit (4) is arranged.
[17]
17 shelf storage system according to one of claims 1 to 16, characterized in that subsequent to the second shelf storage side (19) of the shelf storage (1) a conveyor vehicle lifting device (5) for receiving at least one conveyor vehicle (3a, 3b) is arranged.
[18]
18. A method for loading and unloading of goods (2) in a shelf storage system comprising a shelf storage (1) with storage racks (12a, 12b), which in superimposed shelf levels (16) storage bins (17) for cargoes (2), wherein extending between the storage racks (12a, 12b) a rack aisle (15) at least between the first and second shelf storage side (18, 19) of the racking (1), a load handling unit (4) with at least a first load lifting device (34a) a first raisable and lowerable transport device (36a) for storing and / or retrieving the load (2), several along the rack aisle (15) in at least some of the shelf levels (16) extending guideways, each having a first guide rail (27) and a second Guide rail (28), wherein the first and the second guide rail (27, 28) of the respective guide track extend to the load handling unit (4) or the first and the second Führungssch and at least a first conveyor vehicle (3a) and a second conveyor vehicle (3b) for transporting the loads (2) between the storage racks (12a, 12b) and the load handling unit (4), which at least first and second conveying vehicle (3a, 3b) on the respective guide track on the first and second guide rail (27, 28) are movable, wherein the conveyor vehicles (3a, 3b) each have a traction drive (65a, 65b) and have control electronics (66a, 66b) and are independently controllable via a control system, and to the first load-lifting device (34a) connected conveyor for transporting and removal of cargo (2) to or from the first load-lifting device (34a ), in particular using the Reaallaaersvstems according to any one of the preceding claims, characterized in that on at least one of the guideways, the first conveyor (3a) and the second conveyor vehicle (3b) and thereby transporting the conveyor vehicles (3a, 3b) in each case via mutually separate sliding line arrangements (67, 68) each with their own conductor rails (69, 70) independently of each other with energy and / or data be supplied.
[19]
19. The method according to claim 18, characterized in that the load manipulation unit (4) and a first buffer device (35a) in the direction of the rack aisle (15) on one side of the first load lifting device (34a) and in at least some of the shelf levels (16) outfeed staging devices (43) for intermediate buffering of one or more items to be unloaded (2) and towards the rack aisle (15) on the other side of the first load lifting device (34a) and in at least some of the shelf levels (16) Provision devices (44) for the intermediate buffering of one or more goods to be stored (2), wherein at least one of the guideways, the first conveyor vehicle (3a) and the second conveyor vehicle (3b) are moved such that in a first phase of operation, the first conveyor vehicle (3a) on the one hand, the Auslager-providing device (43) for the intermediate buffering of one or more outsourced cargo (2) operate t and the second conveyor vehicle (3b) on the one hand the Einlager-providing device (44) for the intermediate buffering of one or more stored goods to be stored (2) operated and in a second phase of operation at least one of the conveyor vehicles (3a; 3b) on the other hand, the respective other Auslager- providing device (43) for the Zwischenpuffern one or more outsourced cargoes (2) or Einlager-providing device (44) for the intermediate buffering one or more stored goods (2) operated, the control system between the operating phases for the conveyor vehicles (3a, 3b) switches.
[20]
20. The method according to claim 19, characterized in that in the second phase of operation, the first and second conveyor vehicle (3a, 3b) either the Auslager-provisioning device (43) for the Zwischenpuffern one or more outsourced cargoes (2) or the Einlager-Bereitstellvorrichtung ( 44) for the intermediate buffering of one or more goods to be stored (2).
[21]
21. The method according to claim 18, characterized in that the load-handling unit (4) on both sides of the rack aisle (15) a first load-lifting device (34a) with a first buffer device (35a) and a second load-lifting device (34b) with a second buffer device (35b), which first buffer device (35a) towards the rack aisle (15) on one side of the first load lifting device (34a) and in at least some of the shelf levels (16) Auslager-providing devices (43) for Zwischenpuffern a or a plurality of outsourcing goods (2), and which second buffering device (35b) toward the rack aisle (15) on one side of the second load lifting device (34b) and in at least some of the shelf levels (16) Einlag-Bereitstellvorrichtungen (44) for the Have intermediate buffers one or more goods to be stored (2), wherein on at least one of the guideways, the first conveying vehicle (3a) and the second Förderfa (3b) are moved such that in a first phase of operation, the first conveyor vehicle (3a) the Auslager-provisioning device (43) for the Zwischenpuffern one or more outsourced cargoes (2) or the Einlager-providing device (44) for the Zwischenpuffern one or operated several goods to be stored (2) and either the einzulagernde load (2) from the Einlager-Provisioning device (44) to one of serving as a buffer space bins (17) or the outsourced cargo (2) transported from buffer space to Auslager-provision device (43) and the second conveying vehicle (3b) independently of the first conveying vehicle (3a) transports the load to be stored / stored (2) between the buffer space and a predefined storage space (17), and in a second operating phase also the second conveying vehicle (3b) the outfeed providing device (43) for intermediate buffering of one or more goods to be unloaded (2) or d The storage-supply device (44) serves for the intermediate buffering of one or more goods to be stored (2) and either the load (2) to be stored from the storage-supply device (44) to one of the storage bins (17) serving as buffer space or a predefined storage space ( 17), or transported the outsourced load (2) from the buffer space or predefined storage space (17) for Auslager-provision device (43), wherein the control system between the operating phases for the conveyor vehicles (3a, 3b) switches.
[22]
22. The method according to claim 18, characterized in that the load manipulation unit (4) also includes a first buffer device (35a) in the direction of the rack aisle (15) on one side of the first load lifting device (34a) and in at least some of the shelf levels (16) Provision devices (72) for the intermediate buffering of one or more outsourced goods (2) and / or goods to be stored (2), wherein on at least one of the guideways the first conveyor vehicle (3a) and the second conveyor vehicle (3b) so move be operated in a first phase of operation, the first conveyor vehicle (3a) the provision device (72) for the Zwischenpuffern one or more outsourced cargo (2) or stored goods (2) and either the stored load (2) from the Einlager-Bereitstellvorrichtung ( 72) to one of the buffer space serving as storage bins (17) or the outsourced load (2) from the buffer space to the outsourcing B Transporting device (72) transported and the second För derfahrzeug (3b) regardless of the first conveyor vehicle (3a) the auszulagern de / stored load (2) between the buffer space and a predefined storage space (17) transported, and in a second phase of operation, the second Serving vehicle (3b) the supply device (72) for the Zwischenpuffern one or more outsourced cargo (2) or stored goods to be stored (2) and either the einzulagernde load (2) from the supply device (72) to one of the buffer space serving as storage bins (17 ) or a predefined storage space (17), or transported the outsourced load (2) from the buffer space or predefined storage space (17) to the provision device (72), wherein the control system between the operating phases for the conveyor vehicles (3a, 3b) switches.
[23]
23. The method according to any one of claims 18 to 22, characterized in that the driving movements of the conveyor vehicles (3a, 3b) via an internal and / or external sensors (73a, 73b, 74a, 74b) and / or an electronic infrastructure planning module are monitored in that, when switching between the first and second operating phases, a minimum distance between the conveyor vehicles (3a, 3b), which are operated simultaneously on the respective guide track, is maintained.

类似技术:

---

公开号 | 公开日 | 专利标题

---

EP3038950B1|2017-06-21|Automatic rack storage system and corresponding method

---

EP2607292B1|2014-12-17|Sytsem for the transport of goods arranged on auxiliary aids

---

EP2794430B1|2016-04-06|Rack storage system and method for operating same

---

EP3286111B1|2018-11-07|Method for transferring part-load consignments to a storage rack for storage, and storage system

---

EP2673217B1|2016-10-05|Rack store system and method for operating it

---

EP1254852B1|2008-07-23|Storing- and conveying system of modular construction

---

EP2709933B1|2020-04-01|Rack store system

---

EP3419918B1|2021-10-27|Storage and retrieval device for parallel operation of a high-bay warehouse and operating method therefor

---

EP1447354B1|2007-04-04|Storage system and method

---

EP2673219B1|2018-03-28|Rack store system and method for operating it

---

DE102014003451A1|2015-09-10|Reagal control unit with raised rail

---

EP3243769A1|2017-11-15|Method and storage device for storing piece goods with bridgeable shelf rows

---

EP2673220B1|2017-04-12|Single-level storage and retrieval unit for storing articles in a rack store and retrieving them therefrom

---

WO2013044895A1|2013-04-04|Movement device for transport units

---

EP2006224B1|2011-03-09|Automatic handling of multiple bearing good carriers

---

WO2019154815A1|2019-08-15|Order-picking system

---

DE102013013018A1|2015-02-12|Storage system with a chain drive

同族专利:

---

公开号 | 公开日

---

EP3038950B1|2017-06-21|

---

CN105636883B|2018-01-12|

---

US20160297610A1|2016-10-13|

---

EP3038950A1|2016-07-06|

---

WO2015027261A1|2015-03-05|

---

AT514710B1|2015-06-15|

---

ES2640826T3|2017-11-06|

---

CN105636883A|2016-06-01|

---

US9764900B2|2017-09-19|

引用文献:

---

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

---

DE4217084A1|1991-05-22|1992-11-26|Daifuku Kk|LOAD CONVEYOR SYSTEM FOR AN AUTOMATED WAREHOUSE|

---

EP1254852A1|2001-05-03|2002-11-06|Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V.|Storing- and conveying system of modular construction|

---

WO2012106746A1|2011-02-08|2012-08-16|Tgw Mechanics Gmbh|Rack store system and method for operating it|

---

WO2013006879A2|2011-07-08|2013-01-17|Tgw Mechanics Gmbh|Rack storage system|

---

WO2013090958A1|2011-12-21|2013-06-27|Tgw Logistics Group Gmbh|Rack storage system and method for operating same|

---

GB1155601A|1965-10-22|1969-06-18|Gough Equip Ltd B A|Improvements in or relating to Transporting and Storage Systems|

---

US3880264A|1971-03-05|1975-04-29|Alden Self Transit Syst|Power system|

---

DE2113202B2|1971-03-18|1976-09-02|Hoffmann geb. Chvala, Maria, 5000Köln|Goods stores with vertically movable transfer equipment - has self-propelling transport units on rails of individual floors of vertical shelf rows|

---

DE2113201A1|1971-03-18|1972-09-28|Maria Hoffmann Geb Chvala|Warehouse with an extremely high turnover rate|

---

KR0183454B1|1993-10-07|1999-04-15|마스다 쇼오이치로오|Apparatus for transferring cargoes|

---

EP0733563A1|1995-03-22|1996-09-25|Toyokanetsu Kabushiki Kaisha|Merchandise handling equipment and merchandise storage equipment|

---

US20020182035A1|2000-12-21|2002-12-05|Karlen James P.|Stowage and retrieval system|

---

JP2003264216A|2002-03-08|2003-09-19|Murata Mach Ltd|Carrier system|

---

US6923612B2|2002-03-29|2005-08-02|TGW Transportgeräte GmbH & Co. KG|Load-handling system and telescopic arm therefor|

---

JP3910129B2|2002-09-30|2007-04-25|株式会社イトーキ|Automatic warehouse|

---

FI20031259A|2003-09-04|2005-03-05|Fastems Oy Ab|Multi-shelf lift system and method for controlling it|

---

AT501062B1|2004-06-04|2007-06-15|Katt Transp Gmbh|METHOD FOR PROMOTING GOODS AND PLANT FOR IMPLEMENTING THE PROCESS|

---

JP4232112B2|2005-09-29|2009-03-04|株式会社ダイフク|Goods transport equipment|

---

CN101446824A|2008-12-08|2009-06-03|青岛理工大学|System and method for managing and controlling material picking operation on production line|

---

DE102009029438A1|2009-08-19|2011-02-24|Psb Intralogistics Gmbh|Shelf storage system and a method for operating a shelf storage system|

---

JP5513930B2|2010-03-03|2014-06-04|デマティックアカウンティングサービシーズゲーエムベーハー|3D automatic warehouse|

---

WO2011113053A1|2010-03-12|2011-09-15|Casepick Systems, Llc|Replenishment and order fulfillment system|

---

DE102010030998A1|2010-07-06|2012-01-12|Dematic Accounting Services Gmbh|Transport system with guides for guided transport vehicles and method for its operation|

---

AT510918B1|2010-12-21|2015-05-15|Tgw Mechanics Gmbh|TRACKING AND RAILING RAIL FOR A VEHICLE SUPPLIED VIA A TRANSPORT LINE|

---

DE102011012950B4|2011-03-03|2021-05-12|Grenzebach Maschinenbau Gmbh|Device and method for the defined intermediate storage and picking of produced goods of the same type but different sizes|US20180099846A1|2015-03-06|2018-04-12|Wal-Mart Stores, Inc.|Method and apparatus for transporting a plurality of stacked motorized transport units|

---

US9896315B2|2015-03-06|2018-02-20|Wal-Mart Stores, Inc.|Systems, devices and methods of controlling motorized transport units in fulfilling product orders|

---

EP3444205A1|2015-05-29|2019-02-20|TGW Mechanics GmbH|Method for storing different piece goods in a storage rack|

---

AT516612B1|2015-10-06|2016-07-15|Tgw Mechanics Gmbh|Automated storage system and method for storing hanging garments in this storage system|

---

JP6531638B2|2015-12-09|2019-06-19|株式会社ダイフク|Goods transport equipment|

---

KR101889928B1|2017-01-17|2018-08-21|씨제이대한통운 |System and method for moving cargo|

---

MA44692B1|2017-06-14|2020-12-31|Grow Solutions Tech Llc|Sliding gear for an industrial trolley|

---

US20180367614A1|2017-06-14|2018-12-20|Grow Solutions Tech Llc|Systems and methods for communicating via a track with an industrial cart|

---

US10602676B2|2017-06-14|2020-03-31|Grow Solutions Tech Llc|Systems and methods for providing an industrial cart for a grow pod|

---

EP3620879B1|2018-09-07|2021-05-05|Tetra Laval Holdings & Finance S.A.|A system and method for controlling a packaging machine|

---

DE102018132814B3|2018-12-19|2020-03-26|SSI Schäfer Automation GmbH |Storage and picking system and method for configuring a vehicle|

---

DE102019112642A1|2019-05-14|2020-11-19|Dematic Gmbh|Shelf storage system with multi-level storage racks|

---

US20210032032A1|2019-07-29|2021-02-04|Nimble Robotics, Inc.|Storage Systems and Methods for Robotic Picking|

---

US20210032031A1|2019-07-29|2021-02-04|Nimble Robotics, Inc.|Storage Systems and Methods for Robotic Picking|

---

CN112027643A|2020-08-04|2020-12-04|武汉凌云光电科技有限责任公司|Unloader and tool automatic production line on tool|

---

EP3960655A1|2020-08-24|2022-03-02|Dematic GmbH|System for storage of goods carriers|

---

DE102020133408B3|2020-12-14|2022-03-17|Dematic Gmbh|Rack storage system with multi-level storage racks|

法律状态:

优先权:

---

申请号 | 申请日 | 专利标题

---

ATA50526/2013A|AT514710B1|2013-08-27|2013-08-27|Automatic racking system with independently movable conveyor vehicles, and method for this|ATA50526/2013A| AT514710B1|2013-08-27|2013-08-27|Automatic racking system with independently movable conveyor vehicles, and method for this|

---

PCT/AT2014/050183| WO2015027261A1|2013-08-27|2014-08-26|Automatic rack storage system|

---

ES14796656.8T| ES2640826T3|2013-08-27|2014-08-26|Automatic shelf storage system and corresponding procedure|

---

US14/914,700| US9764900B2|2013-08-27|2014-08-26|Automatic rack storage system|

---

CN201480056217.2A| CN105636883B|2013-08-27|2014-08-26|Automatic commodity shelf system|

---

EP14796656.8A| EP3038950B1|2013-08-27|2014-08-26|Automatic rack storage system and corresponding method|