EP4301678A1

EP4301678A1 - Storage and retrieval system

Info

Publication number: EP4301678A1
Application number: EP22710583.0A
Authority: EP
Inventors: Rainer Ernst Sohm; Werner Rüscher
Original assignee: LTW Intralogistics GmbH
Current assignee: LTW Intralogistics GmbH
Priority date: 2021-03-05
Filing date: 2022-03-04
Publication date: 2024-01-10
Also published as: US20230406634A1; DE102021105391A1; CN117222587A; WO2022184924A8; WO2022184924A1

Abstract

The invention relates to a storage and retrieval system (300) for a high-bay warehouse (400), comprising at least two self-propelling shuttle vehicles (100) which are mechanically unconnected to one another and which have a lifting device (108) and are designed to move into and to move out of storage channels (404) of the high-bay warehouse (400) in order to deliver a loading unit (500) to a storage space (402) of the high-bay warehouse (400) or to pick up a loading unit (500) from a storage space (402); a transport platform (202) which is self-propelling or is carried along in a direction of travel (214) in a rack aisle (408) of the high-bay warehouse (400) and which is designed to receive at least two of the shuttle vehicles (100) arranged one behind another in a row oriented perpendicularly with respect to the direction of travel (214); wherein a first shuttle vehicle (100.1) is designed to completely automatically lift, transport and deposit a loading unit (500.1), and wherein the first shuttle vehicle (100.1) and a second shuttle vehicle (100.2) are designed so as, at a distance from each other, to lift in each case only part of a joint loading unit (500.2), and to synchronously transport and deposit same.

Description

SHELVING SERVICE SYSTEM

The invention relates to a storage and retrieval system for a high-bay warehouse, which comprises a self-propelled or carried transport platform and at least two channel vehicles that are not mechanically connected to one another.

Storage and retrieval systems that include a storage and retrieval device with an entrained transport platform and several channel vehicles are known, for example, from DE 10 2010005 591 A1.

The handling of loads of different lengths using known shelf conveyors is fraught with difficulties. If the channel vehicle is shorter than the loading unit, long loading units can tip over or are not supported at the transport attachment points provided for this purpose. If the channel vehicle is significantly longer than the loading unit to be picked up, it may happen that the loading unit is picked up off-centre, which increases the load on the channel vehicle. In addition, with a so-called multi-deep shelf compartment, which is formed with a plurality of storage locations arranged one behind the other, such an eccentrically recorded loading unit cannot be parked at the channel end of the storage channel leading to the storage locations in the storage compartment.

It is therefore the object of the present invention to provide a storage and retrieval system for a high-bay warehouse that can be adapted more flexibly to loading units of different lengths.

This object is achieved by a storage and retrieval system with the features of claim 1. Advantageous configurations with expedient developments of the invention are specified in the dependent claims.

The storage and retrieval system according to the invention for a high-bay warehouse includes at least At least two self-propelled channel vehicles that are mechanically unconnected to each other, which have a lifting device and are set up to move into and out of storage channels in the high-bay warehouse in order to deliver a loading unit to a storage location in the high-bay warehouse or to pick up a loading unit from a storage location. The storage and retrieval system also includes a transport platform that is self-propelled in one direction of travel in a rack aisle of the high-bay warehouse or, in particular, carried along by a storage and retrieval device, which is designed to accommodate at least two of the channel vehicles arranged one behind the other in a row aligned perpendicular to the direction of travel. A first channel vehicle is set up to lift, transport and set down a loading unit completely independently. The first channel vehicle is also set up together with a second channel vehicle, with the channel vehicles spaced apart from one another, to lift only part of a common loading unit, transport it synchronously and set it down. The lifting and lowering of the load by the tunnel vehicles preferably also take place synchronously.

In this way, the first channel vehicle can be used to transport, store and retrieve shorter loading units in isolation. The use of the second channel vehicle is therefore not absolutely necessary for short loading units, but it is possible. If a loading unit is to be stored or retrieved that is significantly longer than the first canal vehicle, this common, long loading unit can be handled with both canal vehicles with the help of the second canal vehicle. The storage and retrieval system according to the invention can be adapted more flexibly with regard to the loading units to be stored, with the mechanical unconnection between the two channel vehicles increasing this flexibility even more significantly.

It has proven to be advantageous if the second channel vehicle is constructed identically to the first channel vehicle and is set up to lift, transport and set down a loading unit completely independently. In this way, both the first channel vehicle and the second channel vehicle can transport, store and retrieve shorter loading units isolated from one another. Longer loading units, on the other hand, are again handled by both canal vehicles transported together, whereby an optimized load absorption takes place via the distance to be assumed between the channel vehicles. The carrying capacity of the transport platform, in particular the transport platform of a storage and retrieval device, is designed in such a way that the transport platform can transport the two loaded channel vehicles at the same time.

In order to be able to keep the load on the storage and retrieval machine as low as possible, but still be able to handle loading units of different lengths, it has proven to be advantageous if the second channel vehicle is shortened compared to the first channel vehicle and set up as an auxiliary channel vehicle, exclusively by one Raise part of a common loading unit together with the first channel vehicle formed as a main channel vehicle, transport it synchronously and set it down. Here, too, the lifting and setting down of the two channel vehicles preferably take place synchronously.

The two canal vehicles are preferably equipped with isolated path measuring devices. In particular, the path measuring devices are formed with a rotary encoder and are therefore free of optical systems for determining the distance between the two channel vehicles. This means that there is no optical measurement of the distance between the first channel vehicle and the second channel vehicle, but only the distance measurement / position determination, for example via a barcode on the bearing channels or via the number of revolutions of a rotating encoder. The use of a rotary encoder and the avoidance of optical sensors reduces the manufacturing costs for such a sewer vehicle. For this reason, it is preferred that the sewer vehicles are each equipped with at least one path measuring device, which are each formed with a rotary encoder and are free of optical sensors.

There is the possibility that a third channel vehicle is present and that the first channel vehicle and the second channel vehicle and the third channel vehicle are set up to lift only part of a common loading unit at a distance from one another, to transport them synchronously and to set them down. In this way, particularly long or overly long loading units can be transported be handled by three or more channel vehicles.

To handle two different common loading units, it can be advantageous in special cases if the lifting device of at least one of the channel vehicles comprises two lifting platforms that can be operated separately from one another and are arranged one behind the other in a row perpendicular to the direction of travel of the self-propelled or on-board transport platform. This makes it easier, for example, to store two loading units that are transported together by three channel vehicles at different locations in the high-bay warehouse.

It is therefore also possible to transport a chain of loading units at the same time, it being advantageous if the first channel vehicle and the second channel vehicle are set up to lift and set down only part of a first common loading unit at a distance from one another if the second channel vehicle and the third channel vehicle are arranged to lift a second common loading unit, and when the first channel vehicle and the second channel vehicle and the third channel vehicle are arranged to synchronously transport at a distance from each other the first and the second common loading unit. Preferably, the first and the second common loading unit can also be raised or lowered synchronously.

Optionally, a central channel vehicle, which together with other channel vehicles can accommodate several loading units, can be equipped with a subdivided and separately controllable lifting device. This makes it possible for a loading unit that is lifted together, e.g. with the front channel vehicle, to be set down separately without the loading unit lifted together with the rear channel vehicle having to be set down at the same place.

It is advantageous if the transported transport platform is part of a shelving operation device, which can be positioned in the aisle by a (travel) drive of the storage and retrieval device and which can be adjusted in height by means of a lifting drive of the storage and retrieval device, in particular perpendicularly with respect to the direction of travel of the stacker crane and perpendicular to the row of channel vehicles or perpendicular to the direction of travel of the channel vehicles. In this way it is possible to serve storage locations or storage compartments on other levels, and the space provided by the building of the high-bay warehouse for storage compartments can also be optimally utilized.

Alternatively or additionally, it has proven to be efficient if the (self-propelled) transport platform is set up to drive through the rack aisle on several levels, and if a vertical conveyor is available and set up to move the transport platform between at least two of the levels of the high-bay warehouse . This means that the energy requirement for the self-propelled transport platform is lower.

The features and combinations of features mentioned above in the description and the features and combinations of features mentioned below in the description of the figures and/or shown alone in the figures can be used not only in the combination specified, but also in other combinations or on their own, without departing from the scope of the invention. Therefore, the invention also includes and discloses embodiments that are not explicitly shown or explained in the figures, but that result from the explained embodiments and can be generated by separate combinations of features.

Further advantages, features and details of the invention result from the claims, the following description of preferred embodiments and the drawings. show:

Fig. 1 is a schematic plan view of a high-bay warehouse with a rack operating system,

Fig. 2 shows two schematic side views of the channel vehicles, with a common loading unit being carried by both channel vehicles in the top view, and with the two in the bottom view Canal vehicles are shown, each carrying a loading unit completely independently,

3 shows the high-bay warehouse from FIG. 1 with a different embodiment of a storage and retrieval system, FIG. 4 shows the channel vehicles of the storage and retrieval system according to FIG. 3, corresponding to FIG.

5 shows a schematic side view of the channel vehicles of yet another storage and retrieval system, in which three of the channel vehicles carry two loading units or in which the three channel vehicles carry a common loading unit shown in dashed lines,

Fig. 6 is a schematic perspective view of a channel vehicle

storage and retrieval systems,

Fig. 7 is a schematic perspective view of the storage and retrieval device

Storage and retrieval system, which is positioned opposite the schematically indicated shelf in order to store a loading unit in a storage compartment,

8 shows a schematic side view of another channel vehicle with two lifting platforms, in particular separately controllable, and

9 shows a schematic perspective view of yet another rack operating system, in which the storage compartments are formed with a plurality of storage channels and the channel vehicles enter the plurality of storage channels synchronously and parallel to one another.

FIG. 1 shows a high-bay warehouse 400 which comprises a plurality of rows of shelves 410 aligned parallel to one another. Each row of shelves 410 is of a plurality formed by storage locations 402 arranged next to one another and one above the other, which are provided with storage channels 404 for receiving channel vehicles 100 . Only two rows of shelves 410 are shown here, although a different number of rows of shelves 410 is also possible. Depending on the desired throughput, there is also the advantageous option of making the individual storage channels 404 significantly longer than shown in FIG can become. Between two of the rows of shelves 410 there is a shelf aisle 408 in which a stacker crane 200 of a stacker crane system 300 is arranged in the present case. The storage and retrieval device 200 can be adjusted in the direction of travel 214 indicated by a double arrow, where the storage and retrieval device 200 shown is guided on two travel rails 216 . Instead of a rail-guided storage and retrieval device 200, a railless storage and retrieval device 200 can also be considered.

As an alternative to using a storage and retrieval device 200 to load the storage channels 404, a further embodiment variant provides for a storage service system to be used in which the loading units 500 are transported by means of one or more transport platforms on the respective storage level - preferably directly on the rack itself 202 to the individual storage locations 404 are transported benefits. The transport platforms 202 provided in this system are usually not equipped with their own lifting mechanism, with the help of which they could be raised or lowered to another storage level. In order to be able to transport the loading units 500 in this storage and retrieval system from one storage level to another storage level, either loading unit lifts are available - preferably integrated directly into the rack rows - or lifts are used in another possible equipment variant, which the previously mentioned mentioned transport platforms together with the loading unit can be transported back and forth between the different storage levels; so-called vertical conveyors. These last-mentioned combined transport platform/loading unit lifts are preferably arranged in the aisle 408. A storage and retrieval system is also conceivable in which both of the lift variants described above are implemented and complement each other in one and the same storage and retrieval system. The high-bay warehouse 400, which is preferably integrated into a building, has on the one hand very long or very deep storage locations 402.1, which in the present case are designed to accommodate long, common loading units 500.2. In the present case, the long storage locations 402.1 are designed to accommodate a 40-foot ISO container aligned in the longitudinal direction. However, the long storage locations 402.1 can also accommodate two shorter loading units 500.1, for example two 20-foot ISO containers, in their longitudinal direction, so that the long storage location 402.1 can also be used for storing shorter loading units 500.1 at multiple depths.

Purely by way of example, the row of shelves 410 with only long storage locations 402.1 is arranged on a first face perpendicular to the direction of travel 214 of the shelf operator device 200. On the opposite end, perpendicular to the direction of travel 214 of the storage and retrieval device 200, the row of shelves 410 is equipped exclusively with short storage locations 402.2, which can only accommodate short loading units 500.1, ie in particular 20-foot ISO containers. In addition, a transfer zone 406 is integrated into the row of shelves 410 shown below in the drawing, which enables loading units 500 to be stored and removed from storage in or from the high-bay warehouse 400 .

Each storage location 402 includes a storage channel 404, which is preferably formed by two C-shaped or Z-shaped channel rails running parallel to one another. The leg of the C- or Z-shaped rails that is at the top with respect to a direction of fall forms a support surface for the containers 500 to be stored. In order to be able to transport a loading unit 500, the channel vehicles 100 are equipped with a lifting device 108.

In addition to the storage structure with storage channels 404 shown in FIG there are guide rails in the direction of travel of the channel vehicle. Depending on the design of the loading units 500, it is also possible that the loading units 500 not, as previously described, placed on the upper legs of the C or Z rails, but that these are set down directly on any level shelf that may be present. Alternatively, the loading units 500 can also be placed on individual supporting brackets or the like that are present at certain points. Other storage compartment designs, which form mixed forms of the above-described support surfaces, channel vehicle guide rail system and channel vehicle lanes, are also possible.

The storage and retrieval system 300 in the high-bay warehouse 400 also includes a schematically indicated higher-level control computer 302, which includes a communication module 304. The higher-level control computer 302 is shown separately from the channel vehicles 100 and separately from the storage and retrieval device 200 in the present case. It is possible for a warehouse control computer to be in communication with the higher-level control computer 302 . In this embodiment, the superordinate control computer 302 can then form part of the storage and retrieval device 200 .

A schematic structure of a possible canal vehicle 100 can be seen on the basis of FIG. The channel vehicle 100 is equipped with a control device 102 and a communication device 104 . In addition, the channel vehicles 100 include a drive device 106, shown schematically, which is fed by an energy source or an energy store 122, for example by a powercap. The drive device 106 thus comprises at least one electric motor in order to drive at least two wheels 116, it also being possible for more than two driven wheels 116 to be present. Deviating from the representation according to FIG. 6, the channel vehicles 100 can also be designed with three or more lanes, should this be necessary because of the maximum possible wheel load or because of the shelf load.

The schematically illustrated lifting device 108 is presently formed with two pairs of lifting elements 110,112, so that if necessary a single platform can be raised and lowered together to form a loading unit 500 transport. However, there is also the possibility of activating the lifting elements 110 separately from the lifting elements 112, whereby a platform does not necessarily have to be present, but for example only protruding pins can be used, for example to transport containers. In order to be able to determine the position of the channel vehicles 100 within the warehouse and in particular to measure the distance covered by the channel vehicle 100, a distance measuring device 114 is present here. This distance measuring device 114, shown as an example, is preferably fixed redundantly on the frame of the sewer vehicle 100, with the distance measuring devices 114 preferably being arranged offset in the direction of travel 120 of the channel vehicle, in order to ensure that a sufficiently precise distance measurement is also carried out in the event of a crossing over a gap . The path measuring device 114 shown here as an example is provided with a rotary encoder, not shown in detail, which detects the rotation of a wheel 118 running along. In order to be able to take into account the free spaces between the transport platform 202 of the storage and retrieval device 200 and the storage compartment or storage channel 404, there is a traction drive which carries along a wheel rotating synchronously with the highlighted wheel 118, so that in the event of a transfer over a gap it is ensured that which the rotary encoder fixed to the wheel 118 reliably detects the movement of the canal vehicle 100 .

The control device 102 of the channel vehicles 100 is set up to cause the driving devices 106 of the channel vehicles 100 to move into or out of the storage channels 404 of the high-bay warehouse 400 . The Steuereinrich device 102 is also set up to cause the lifting device 108 to adjust the load handling devices 110, 112 between a raised and a lowered position. The control device 102 is also in a communication link with the two distance measuring devices 114, so that the data from the distance measuring devices 114 can be transmitted via the communication device 104 either to other channel vehicles 100 or to the higher-level control computer 302, in particular via its communication module 304.

Each communication connection described in the context of the invention can follow via a radio connection (WLAN, Bluetooth, NFC, etc.), via data light barriers (optical radio link), by cable or by means of a conductor line.

The higher-level control computer 302 controls and monitors the status of the channel vehicles 100 and can, in particular, assign driving orders to the channel vehicles 100, monitor the distance between the channel vehicles 100, initiate an emergency shutdown if there is a risk of the channel vehicles 100 colliding, and the status of the individual channel vehicles 100 by means of output a visualization on a display device. In addition, the higher-level control computer 302 can output the operating state and the status of the access security systems of the area of the Floch shelving system in which the channel vehicles 100 are located.

It is possible for exactly one of the channel vehicles 100 to be in the form of a master channel vehicle and equipped with a control device 102, which is in bidirectional communication with the higher-level control computer 302, and for at least one channel vehicle 100 in the form of a slave channel vehicle to be equipped with a control device 102 is equipped, which in turn is in bi-directional communication with the controller 102 of the master channel vehicle. In this case, the at least one slave channel vehicle receives its driving and flight commands from the associated master channel vehicle.

However, the control devices 102 of all channel vehicles 100 are preferably in a bidirectional communication link with the communication module 304 of the higher-level control computer 302. If the higher-level control computer 302 is not installed on the stacker crane 200, the communication module 304 is also in communication with a controller 210 of the stacker crane 200. This controller 210 also includes a communication device 208 for bidirectional communication with the higher-level control computer 302. The higher-level Control computer 302 then also assigns the drive and flow commands to storage and retrieval device 200 . The higher-level control computer 302 is presently set up to cause the channel vehicles 100 to move at a distance from one another, depending on the data reported back to it by at least one of the control devices 102 from the distance measuring devices 114, so that they move mechanically unconnected one behind the other or side by side at the same speed can ren.

This can be seen in more detail on the basis of FIG. 2, with a common loading unit 500.2 being carried by two channel vehicles 100 in the upper representation of the figure. The lower representation of the figure shows that both a first channel vehicle 100.1 and a second channel vehicle 100.2 have an identical structure and are therefore both designed to lift, transport and set down a short loading unit 500.1 completely independently. At the same time, however, both the first channel vehicle 100.1 and the second channel vehicle 100.2 are designed to lift only part of the common loading unit 500.2 shown above, to transport them synchronously and to set them down again at a distance from one another. The common loading unit 500.2 is, for example, a 40-foot ISO container. The short loading unit 500.1, for example, is a 20-foot ISO container. The distance between the two channel vehicles 100.1 and 100.2, which are mechanically unconnected to each other, is specified by the higher-level control computer 302 based on the data from the path measuring devices 114 of the two channel vehicles 100, in particular depending on the length of the loading unit 500 to be picked up. Depending on where the There are load lifting points of the load, it may be necessary for the channel vehicles 100 - to avoid overloading individual channel vehicle axles - to be at such a great distance from each other and to pick up the load so far outwards that the channel vehicles 100 protrude over the load. However, if the load receiving points of a storage item are further in than shown in Figure 2, there is the possibility that the channel vehicles 100 do not protrude beyond the storage item and thus the storage channels 404 and the aisle width of the shelf aisle 408 are further optimized, in particular who are fully utilized can. Since a long loading unit 500.2 does not have to be handled in every storage process, it is also possible for one of the channel vehicles 100, in this case the second channel vehicle 100.2, to remain in the transfer zone 406 and only be called in when a long loading unit 500.2 is to be stored. As an alternative to parking in the transfer zone 406, a channel vehicle 100 that is not required can also be parked at any other desired location, for example in one of the storage compartments 402. Since the channel vehicles 100 can be parked at any location and picked up again as needed, it is possible that the order of the channel vehicles 100 on the transport platform 202 of the storage and retrieval system changes from time to time. Especially in larger high-bay storage systems, in which, for example, several self-propelled transport platforms 202 or carried along by a storage and retrieval device 200 are present, it can happen that different channel vehicles 100 are on the transport platforms 202 at different times. The channel vehicles 100 are therefore not necessarily assigned to a single transport platform 202 but can be used freely. Possibly other transport tasks are also performed with these channel vehicles 100 in the overall system, i.e. also transports for which there is no need for intermediate transport of the channel vehicle 100 on a transport platform 202 of the shelf control system. An example of this is a relocation process within a long storage channel 402.1, in which a channel vehicle 100 successively relocates a plurality of loading units 500, which for reasons of time were initially placed at the front of the storage channel 404, to the rear end of the storage channel 404.

Figures 3 and 4 refer to the possibility that in a storage and retrieval system transport tasks of differently designed channel vehicles 100 can be performed by the channel vehicles 100 together or by just one alone. In the special case of Figures 3 and 4 it is shown that the second channel vehicle 100.2 is shortened compared to the first channel vehicle 100.1 and set up as an auxiliary channel vehicle, exclusively to lift part of a common loading unit 500.2 together with the first channel vehicle 100.1 formed as a main channel vehicle , to be transported synchronously and set down again. Thus, the first canal vehicle is 100.1 to be regarded as a “full” canal vehicle 100 that is designed to transport, for example, 20-foot ISO containers on its own. However, if a 40-foot ISO container is to be stored or retrieved, the second channel vehicle 100.2 is added in order to transport the long loading unit 500.2 together with the first channel vehicle 100.1.

Just as channel vehicle 100.2 in Figure 4 is a special channel vehicle that is only used to transport special loading units (in this case the long loading units 500.2), it is also possible that there are other special channel vehicles in a storage system that normally parked somewhere in a storage channel 404 or at a loading station and only used when required, e.g. to supplement the “standard” channel vehicle 100.1 or even to replace it for the duration of the special transport. Such a special channel vehicle could be formed, for example, with an elevated lifting platform that makes it possible to accommodate a loading unit 500 whose load-bearing points are significantly higher than those surfaces on which the loading unit 500 can be parked in the warehouse. Depending on the storage layout and the variety of stored goods, it is therefore possible for far more channel vehicles 100 to be present in a storage system than are simultaneously used for transport purposes.

Figure 5 refers to the possibility that a third channel vehicle 100.3 can also be present, and that the first channel vehicle 100.1 and the second channel vehicle 100.2 and the third channel vehicle 100.3 are set up at a distance from one another in each case only part of a common, in particular to be lifted over a long loading unit 500.3, to be transported synchronously and also set down again.

In addition, the first channel vehicle 100.1 and the second channel vehicle 100.2 are set up to lift and set down only part of a first common loading unit 500.2 at a distance from one another. In addition, the second channel vehicle 100.2 and the third channel vehicle 100.3 are set up to lift and set down a second common loading unit 500.2. In addition, the first channel vehicle 100.1 and the second channel vehicle are 100.2 and the third Channel vehicle 100.3 set up to synchronously transport the first and the second common loading unit 500.2 at a distance from one another. A transport chain is therefore also possible. In a preferred variant, the central channel vehicle 100.2 can be equipped with a subdivided lifting platform 112, with the lifting platform segments being able to be controlled separately and flexibly. This makes it possible, in the case of the previously described transport chain, to sell the loading units 500 at different points in the storage system.

Depending on the stored goods, it may also be necessary to use more than the three channel vehicles 100 shown in FIG. 5 and described above for the transport of a special loading unit 500 or a special loading unit chain. In a storage system with, for example, four or more than four channel vehicles 100, it is possible, in particular, that instead of a continuous transport chain with these, for example four channel vehicles 100, two channel vehicles 100 each pick up a short loading unit together and these two loading units with the e.g. four channel vehicles are then subsequently transported together on a transport platform 202 of the storage and retrieval system. Furthermore, mixed forms, e.g. one large canal vehicle 100 and several smaller canal vehicles 100, are also possible.

FIG. 7 shows a possible embodiment variant of a storage and retrieval system, which in the present case includes a “classic” storage and retrieval device 200 that includes a transport platform 202 for transporting channel vehicles 100 that is not self-propelled. The storage and retrieval device 200 could be used in a high-bay warehouse 400 according to FIGS. This storage and retrieval device 200 is formed from two vertical, rectangular frames arranged in parallel, which are connected to one another via cross-connections perpendicularly with respect to the direction of travel 214 of the storage and retrieval device 200 . At the front, ie perpendicularly with respect to the direction of travel 214, i.e. on their sides facing the storage channels 404 or the transfer zone 406, the two rectangular frames aligned parallel to one another are open, so that a loading unit 500 “inside” the frame on a Transport platform 202 of the stacker crane 200 can be spent. The two frame parts can be connected to one another via several cross braces and can be stiffened in particular in the sense of a truss to increase stability.

In order to be able to adjust the storage and retrieval device 200 along the direction of travel 214 indicated by the double arrow, there is a drive device 204, with an electric motor 204 for driving the storage and retrieval device 200 along the rails 216 in the aisle on the two lower corners of the frame of the storage and retrieval device 200 408 is present. The electric motors on the drive device 204 are driven synchronously. In the embodiment shown here, an electric motor of a flow device 206 for raising and lowering the transport platform 202 is attached to the vertical masts of the respective frames. The lifting or lowering of the transport platform takes place, for example, via a rope, a chain or a belt drive.

In addition, two channel vehicles 100 can again be seen, which have entered a storage channel 404 with a common loading unit 500.2, with the direction of travel 120 of the channel vehicles 100.1 and 100.2 being aligned perpendicularly with respect to the direction of travel 214 of the stacker crane 200. It can be seen that the transport platform 202 is set up to receive at least two of the channel vehicles 100 arranged one behind the other in a row that is aligned perpendicularly with respect to the direction of travel 214 of the storage and retrieval device 200 . However, it is also possible for the transport platform 202 to provide more than two transport parking spaces 212 for channel vehicles 100 in order to be able to handle correspondingly overly long loading units 500.3.

Figure 8 refers to the possibility that, to increase the flexibility of the loads or loading units 500 to be transported, the channel vehicles 100 can also be formed with two lifting platforms 110, 112 that can be actuated separately from one another and that are aligned in particular in a direction perpendicular to the direction of travel 214 of the storage and retrieval device 200 are arranged in rows one behind the other. canal vehicles 100 of this type can be used very flexibly. For example, with this channel vehicle 100 according to FIG. 8, such a large load can be transported that it has to be lifted with both lifting platforms 110, 112. Or each of the lifting platforms 110, 112 is used to transport its own smaller load. The possibility of controlling the lifting platforms 110, 112 separately also has the advantage that these two small loads can be parked at different locations in the high-bay warehouse. There is also the possibility of using a channel vehicle 100 according to FIG. 8 in conjunction with other, independent channel vehicles 100 for the transport of much larger loads. In this case, too, the advantage is that these loads, which are transported together, can be deposited at different locations in the warehouse if necessary.

FIG. 9 refers to the possibility that the concept of the synchronously operating channel vehicles 100 can also be used for the so-called transverse storage of stored goods. FIG. 9 shows a detailed view of a further embodiment of the storage and retrieval system 300, in which case only sections of the storage and retrieval device 200 can be seen, which in the present case only includes a vertical frame and optionally also only one travel rail. In this representation it is illustrated that the controller 210 of the storage and retrieval device 200 also includes the superordinate control computer 302 for the control and position detection of the channel vehicles 100 . Communication device 208 thus forms communication module 304 of higher-level control computer 302.

It can be seen that the transport platform 202 of the storage and retrieval device 200 has a plurality of transport parking spaces 212 for channel vehicles 100 .

These transport locations 212 are arranged in a row in the direction of travel 214 of the stacker crane 200 . Transport platform 202 is thus configured to accommodate at least two of channel vehicles 100 arranged next to one another in a row aligned in the direction of travel 214 of storage and retrieval device 200 and to position them so that they are aligned with a plurality of storage channels 404 of a single storage location 402 such that at least two of channel vehicles 100 move synchronously into their own storage channel 404 of the storage location 402 or exit from one. However, it is also possible that with a smaller load, only one of the channel vehicles 100 alone transports the load into the storage compartment. A total of four channel vehicles 100 are shown here, with the first channel vehicle 100.1, the second channel vehicle 100.2, the third channel vehicle 100.3 and the fourth channel vehicle 100.4 synchronously driving into four independent storage channels 404, which form a single storage area 402, in the transport case shown in FIG or drive out of it. In this storage area 402, it is possible for smaller loading units 500.1 to be arranged next to one another. However, it is also possible to store a single large loading unit 500.2 in this single storage location 402, which can be raised jointly by the at least two, in this case four, channel vehicles 100.1 to 100.4, transported synchronously and lowered again jointly.

A storage process for storing a common loading unit 500.2 in a storage location 402 of the high-bay warehouse 400 with the storage and retrieval system 300 is explained as an example with reference to FIG.

First, a common loading unit 500.2 is provided at a transfer zone 406, preferably at the first transfer zone 406.1 and, at the same time, subsequently or beforehand, the higher-level control computer 302 is informed of the transport pick-up points of the common loading unit 500.2. The superordinate control computer 302 receives the information on the exact pick-up points of the loading units 500 either from other software or the exact pick-up points are determined by the higher-level control computer 302 using the measured values from sensors or camera systems. These sensors or camera systems can be installed in a fixed manner or they can also be designed to be movable. It is also possible that individual sensors or camera systems required for this are designed to travel with the channel vehicles 100 . Mixed systems from the aforementioned recording methods for determining the exact recording points are also possible. The storage and retrieval device 200 is then moved and made available at the transfer zone 406, with the transport platform 202 already having two self-propelled, mechanically unconnected channel vehicles. witness 100 recorded. However, if only one of the two channel vehicles 100 is positioned on the transport platform 202, the storage and retrieval machine 200 can also first be moved to the second transfer zone 406.2 in order to load the second channel vehicle 100.2 from there onto the transport platform 202 of the storage and retrieval machine 200. The distance between the channel vehicles 100 is then specified by the higher-level control computer 302 on the basis of the position of the determined transport pick-up points of the common loading unit 500.2. This distance is then taken up by the channel vehicles 100, after which the common loading unit 500.2 at the transfer point is passed under on the instruction of the higher-level control computer 302. In the special cases in which at least some of the sensors or camera systems required to record the exact transport recording points are designed to travel with the channel vehicles 100, it may be that the channel vehicles 100 are already correctly under the common are positioned to be taken loading unit 500.2. Then a first part of the common loading unit 500.2 is picked up by the first tunnel vehicle 100.1, and, at the same time or subsequently, a second part of the common loading unit 500.2 is picked up by the second tunnel vehicle 100.2. “Picking up men” is to be understood as meaning the lifting of the lifting device 108 of the two channel vehicles 100 . The common loading unit 500.2 is then placed on the transport platform 202 of the storage and retrieval device 200 by synchronous movement of the two channel vehicles 100. The distance between the channel vehicles 100 is maintained by each of the channel vehicles 100 using the distance measuring devices 114 on the channel vehicles and by the superior Control computer monitored. The storage and retrieval device 200 is then moved to a storage compartment or storage location 402 for the common loading unit 500.2 and positions the transport platform 202, in particular also in its corresponding height, in such a way that it is aligned with a storage channel 404 leading to the storage location 402. The common loading unit 500.2 is then brought to the storage area 402 by a synchronous movement of the channel vehicles 100, with the distance between the channel vehicles 100 again being maintained on the basis of the data from the distance measuring device 114. The common loading unit 500.2 is then set down by the channel vehicles 100; so the lifting device 108 lowered again. The channel vehicles 100 can then be brought back onto the transport platform 202 if this is necessary. A common loading unit 500.2 is removed from storage in the reverse, analogous manner.

If, for example, several short loading units 500.1 are subsequently stored, it is possible for this to be done with just one channel vehicle 100. In such a case, for example, the other channel vehicle 100 can be left in any storage compartment during this time. This makes sense in particular when there are two different sized sewer vehicles 100 in the system and the loading unit 500 is so large that the larger sewer vehicle 100 would have to be used for storage. In this case, the smaller of the two channel vehicles 100 would “only get in the way” during the storage processes, in particular if the transfer zone 406 and the desired storage location are on the other side of the aisle 408 in each case.

As a result, a storage and retrieval system according to the present invention is characterized in that long loading units can be transported by two or more channel vehicles together, but smaller loading units can also be transported by one channel vehicle alone. This applies both to storage and retrieval systems, in which the loading units are placed lengthwise on the storage shelves, as shown in FIGS. 1 and 3, and to storage and retrieval systems, as shown in FIG. 9, in which the loading units are placed transversely on the shelves.

REFERENCE LIST

100 channel vehicle / shuttle / satellite vehicle

100.1 first canal vehicle

100.2 second channel vehicle

100.3 third channel vehicle

100.4 fourth channel vehicle

102 control device (canal vehicle)

104 communication device (canal vehicle)

106 drive device (canal vehicle)

108 lifting device

110 first lifting platform / first lifting device / first pair of lifting elements 112 second lifting platform / second lifting device / second pair of lifting elements

114 path measuring device

116 wheels (powered)

118 wheels (non-powered / mid-running)

120 direction of travel (canal vehicle)

122 energy storage/ power cap

200 stacker crane / transfer car

202 transport platform

204 drive device (stacker crane)

206 lifting drive (stacker crane)

208 communication device (stacker crane)

210 control (stacker crane)

212 transport space for canal vehicle

214 direction of travel (stacker crane)

216 rail

300 storage and retrieval system

302 higher-level control computer / warehouse control computer 304 communication module

400 high-bay warehouses

402 storage space 402.1 storage space long

402.2 storage space short 404 storage channel 406 transfer zone

406.1 first transfer zone

406.2 second transfer zone 408 Regalgasse

410 row of shelves 500 loading unit

500.1 short loading unit

500.2 long common loading unit

500.3 extra long common loading unit

Claims

EXPECTATIONS

1. Storage and retrieval system (300) for a high-bay warehouse (400) comprising

- At least two self-propelled channel vehicles (100) that are mechanically unconnected to one another, which have a lifting device (108) and are designed to move into and out of storage channels (404) of the high-bay warehouse (400) in order to move a loading unit (500) to a storage location (402 ) of the high-bay warehouse (400) or to pick up a loading unit (500) from a storage location (402),

- A transport platform (202) that is self-propelled or carried along in a direction of travel (214) in a rack aisle (408) of the high-bay warehouse (400), which is set up to accommodate at least two of the channel vehicles (100) in a direction perpendicular to the direction of travel (214). lined up to record,

- wherein a first channel vehicle (100.1) is set up, a loading unit

(500.1) lift, transport and set down completely independently,

- And wherein the first channel vehicle (100.1) and a second channel vehicle

(100.2) are set up to lift, synchronously transport and set down only one part of a common loading unit (500.2) at a distance from one another.

2. Storage and retrieval system (300) according to claim 1, characterized in that the second channel vehicle (100.2) is constructed identically to the first channel vehicle (100.1) and is set up to lift, transport and set down a loading unit (500.1) completely independently.

3. Storage and retrieval system according to Claim 1, characterized in that the second channel vehicle (100.2) is shortened compared to the first channel vehicle (100.1) and is set up as an auxiliary channel vehicle, exclusively by part of a common loading unit (500.2) together with the main channel vehicle formed first channel vehicle (100.1) to raise ben, to transport and sell synchronously.

4. storage and retrieval system (300) according to any one of claims 1 to 3, characterized in that the channel vehicles (100) are each equipped with at least one path measuring device (114).

5. Storage and retrieval system (300) according to claim 4, characterized in that the displacement measuring devices (114) are each formed with a rotary encoder and are free of optical sensors.

6. Storage and retrieval system (300) according to one of Claims 1 to 5, characterized in that the lifting device (108) of at least one of the channel vehicles (100) comprises two lifting platforms (110, 112) which can be operated separately from one another and which are arranged in a direction perpendicular to the Direction of travel (214) of the self-propelled or entrained transport platform (202) aligned row are arranged one behind the other.

7. Storage and retrieval system (300) according to one of claims 1 to 6, characterized in that a third channel vehicle (100.3) is present, and that the first channel vehicle (100.1) and the second channel vehicle (100.2) and the third channel vehicle (100.3) are set up, at a distance from each other, to lift only part of a common loading unit (500.3), to transport them synchronously and to set them down.

8. Storage and retrieval system according to Claim 7, characterized in that the first channel vehicle (100.1) and the second channel vehicle (100.2) are set up to lift and set down only part of a first common loading unit (500.2) at a distance from one another, so that the second Channel vehicle (100.2) and the third channel vehicle (100.3) are set up to lift and set down a second common loading unit (500.2), and that the first channel vehicle (100.1) and the second channel vehicle (100.2) and the third channel vehicle (100.3) are set up to synchronously transport the first and the second common loading unit (500.2) at a distance from one another.

9. Storage and retrieval system (300) according to one of Claims 1 to 8, characterized in that the transport platform (202) carried along is part of a storage and retrieval device (200) which can be positioned in the aisle (408) by a drive of the storage and retrieval device (200). and by means of a lifting drive

(206) of the stacker crane (200) is adjustable in height.

10. Storage and retrieval system (300) according to one of claims 1 to 8, characterized in that the transport platform (202) is set up to drive through the aisle (408) on several levels, and that a vertical conveyor is present and set up to spend the transport platform (202) between at least two of the levels of the high-bay warehouse (400).