DE102017002363A1 - SHELVING UNIT AND RAILING SYSTEM - Google Patents

Abstract

The invention relates to a storage and retrieval unit (12a-12f) having a transport unit (22) which can be moved horizontally and vertically in at least one storage aisle of a high rack (10a-10g) and which is designed to selectively control one of a plurality of storage spaces of the high rack by a controller (10a - 10g) to be driven.
It is proposed to equip the transport unit (22) with at least one gripper arm (28) which is designed to remove articles (30) from a container (14) arranged on the parking space (32) of the transport unit (22).

Description

The invention relates to a stacker crane and a shelf storage system according to the independent claims.

Fully automated or semi-automated high bay warehouses include stacker cranes that can load and unload containers or pallets in high bay warehouses. For this purpose, a transport unit is arranged vertically movable on a mast, which in turn is horizontally movable. Furthermore, transport units designed for loading or unloading generally comprise a load-handling device for removing the container or container, which, depending on the application, can be designed as a telescopic table, chain or roller conveyor or as a shuttle.

The storage and retrieval device spends the removed container or the pallet removed to a goods issue, from where it can be promoted if necessary by means of conveyor to order picking n.

At goods-to-man order picking stations where articles are picked from bulk goods or bulk goods containers, containers containing the desired articles are removed from the high-bay racking system using the logistics system comprising the stacker crane and delivered to the picking station and then have to be delivered Picking person does not empty the container completely, be stowed again in the high bay.

If only a few or a few items are taken from general cargo or bulk goods containers, this process is comparatively energy-consuming and time-consuming.

Such a system is for example in the EP 2 576 401 B1 disclosed.

The use of articulated robots for automatic picking is known, for example from the WO 2012/163666 A1 , With the help of one or more cameras, the position of an article is detected in the container, whereupon the articulated-arm robot then removes it and deposits it in a target container.

From the DE 2015 103 941 A1 For example, a portable image capture system is known that transmits image data to an image processing unit. The image processing unit determines the location of the image acquisition by comparing reference points with a previously stored model.

Furthermore, material handling equipment with robotic gripping arms are known which can remove articles from shelves and place them in a transport or destination container.

The invention has for its object to avoid unnecessary travel paths of a source container, especially when picking piece or bulk material.

The object is achieved by a stacker crane according to claim 1 or by an automated rack storage system with such a stacker crane. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

The invention is particularly based on a storage and retrieval unit with a horizontally and vertically movable transport unit, which can be moved by means of a suitable control so that any desired parking space of a high rack can be approached.

According to the invention, the storage and retrieval unit comprises at least one gripping arm, which is designed to remove articles from a piece goods container or bulk goods container arranged in front of the transport unit. In this case, the general cargo container or bulk goods container can be pulled out of the shelf and stored after removal back into the shelf or, if the space is sufficient, remain on the shelf, while the gripping arm engages in the general cargo or bulk containers.

In the following, general cargo and bulk goods containers are collectively referred to as containers or source containers, wherein the container may also be a container for receiving other articles, which the skilled person would not designate as general cargo.

In a preferred embodiment of the invention, the transport unit comprises a transport container or a parking space provided for parking or holding such a transport container. The gripping arm is then preferably designed to deposit the removed article in the at least one transport container. The stacker crane can then collect several items before they are transported to the goods issue or order picking.

It is also proposed that the storage and retrieval unit comprises means for detecting a three-dimensional position and orientation of the articles in the container. These can be formed or supported by one or more CCD cameras and in a preferred embodiment also by a lighting. For the detection of spatial data, various known methods can be used, for example the evaluation of several Shooting from different angles, the distortion of a projected light grid on the article, the comparison of images with different illuminations or lights from different angles, laser scanners or the like. In an advantageous embodiment of the invention, vibrations of the device are utilized by making recordings with time intervals which are synchronized with a vibration period corresponding to the vibration, in such a way that the time interval between recordings corresponds to an odd multiple of half the oscillation period. In a particularly advantageous embodiment of the invention, the vibrations may be natural vibrations of the system which are constantly generated as a result of braking or acceleration processes of the transport unit, or may be induced in a targeted manner. The recognition accuracy can be improved by a pre-stored model of the container, a shelf or the entire shelf in the DE 2015 103 941 A1 Furthermore, machine-readable codes, for example bar codes or QR codes, can be attached to the container or to the parking space of the shelf, by means of which errors can be avoided.

In addition to vibration movements of the camera relative to the container or the articles and vibrations of the illumination can be used relative to the container in order to draw conclusions about the spatial arrangement of the articles in the container.

In an advantageous embodiment of the invention, the storage and retrieval unit further comprises load-receiving means for at least partially pulling out of the container. These can be designed, for example, as telescopic or telescopic forks, roller conveyors, belt conveyors, gripping arms or shuttles. In a particularly advantageous embodiment, the transport unit is simultaneously suitable for loading and unloading the containers in the high-bay warehouse.

It is also proposed that the storage and retrieval unit comprises a device provided in the transport unit for applying a bar code to the removed article. The isolated piece goods or bulk goods is individualized and can be managed in the further order picking.

Furthermore, it is proposed that at least two of the three elements image acquisition device, gripping arm and illumination are movable together or are arranged at one end of the same robot arm or articulated arm. As a result, the complexity can be reduced and costs can be saved.

In a shelf storage system according to the invention, a controller for controlling the transport unit is provided, which is designed to deliver the transport container to a picking station.

By the invention can be avoided that for picking individual piece goods each of the entire container off and must be stored again. Rather, the picking or the removal with the help of the gripper arm on the transport unit can be done directly in the high bay and not only at the picking station.

However, the invention is not limited to the picking of individual articles. Of course, it is possible that a limited number of articles will be removed to provide a small supply at the picking station, but this does not cover the entire contents of the source container and is less bulky. Overall, the number of storage and retrieval operations for general cargo containers can be reduced.

Further advantages of the invention will become apparent from the following description of preferred embodiments, the claims and the accompanying drawings. Those skilled in the art will also individually consider the features and advantages disclosed in the embodiments and figures in specific combinations, and group them into other useful combinations to adapt the invention as defined in the claims to its needs.

• 1 ein erfindungsgemäßes Regallagersystem in einer Draufsicht; und
• 2 ein erfindungsgemäßes Regalbediengerät des Regallagersystems nach 1.

Show it:

• 1 an inventive shelf storage system in a plan view; and
• 2 an inventive storage and retrieval unit of the shelf storage system according to 1 ,

1 shows a shelf storage system according to the invention in a plan view. The shelf storage system includes several high shelves 10a - 10g with intermediate shelf aisles, in each of which a stacker crane 12a - 12f works, which in the high shelf 10a - 10g stored containers 14 Pick up in a goods receipt and on the high rack 10a - 10g turn off and off the high rack 10a - 10g and deliver to a goods issue. Furthermore, the shelf storage system includes several picking stations 16a - 16d of the goods-to-person type, in which various source containers 18 be provided on a conveyor, which the order picking person items or goods and refer to the present orders or specifications in target container (not shown) can put, which are then promoted for delivery.

Depending on the order, the conveyor technology provides source containers 18 with the desired articles at the picking stations 16a-16d and / or stores them in the high-bay rack 10a - 10g again.

In the shelf storage system according to the invention, the source container 18 either the high rack 10a - 10g stored container 14 be, for example, containers or pallets, or transport containers 20 , which can be smaller and lighter and are explained in more detail below.

2 shows a transport unit 22 a fiction-related storage and retrieval device 12a - 12f for use in a shelf storage system 1 , The transport unit 22 is in a conventional manner on a mast 24 vertically movable, and the mast 24 can be moved horizontally within the storage lane, so that the transport unit 22 in front of any parking space of the high rack 10a - 10g can be parked in the camp lane. The transport unit 22 includes load handling equipment 26 for picking up the containers 14 in the high bay 10a - 10g so that they can be stored and retrieved. The load handling equipment 26 can be telescopic tables, chain conveyors, roller conveyors or grippers that hold the containers 14 from the high bay 10a - 10g remove or in the high rack 10a - 10g can turn off. Furthermore, shuttles can be used.

After removal from the Hochregalstellplatz the containers 14 parked on a parking space.

The transport unit 22 the storage and retrieval unit according to the invention 12a - 12f is also with a gripper arm 28 equipped, which is designed for individual articles 30 from the container 14 refer to. The gripper arm 28 is a three- or five-axis robotic gripper arm with a claw gripper or suction pad that is designed to provide the desired range of articles 30 can be safely removed.

Next to the gripper arm 28 is a parking space 32 for parking a transport container 20 intended.

The storage and retrieval unit according to the invention 12a - 12f is designed in this way to individual articles 30 from the high bay 10a - 10g refer to.

A container 14 in which the desired article 30 is, by means of the load-carrying means 26 containing a means for pulling out the container 14 are from his pitch on the high bay 10a - 10g pulled out and on the transport unit 22 switched off. A control computer 40 The system then removes with the help of the gripper arm 28 a desired number of articles 30 and put them in the transport container 20 from. Subsequently, the load handling device pushes 26 the container 14 back on his parking ubd delivers the transport container 20 to the goods issue, from where he uses suitable conveyor technology to picking 16a - 16d is transported.

The storage and retrieval unit according to the invention 12a - 12f can therefore individual articles 30 from the high bay 10a - 10g to the picking station 16a - 16d promote, without the entire container 14 to have to carry.

There are also embodiments of the invention are conceivable in which the transport unit 22 no transport container 20 and in which the individual article 30 then also during transport from the gripper arm 28 is held.

The storage and retrieval unit according to the invention 12a - 12f In embodiments of the invention, it is also possible to undertake a complete picking order by placing an order completely in the transport container 20 picked or also execute parts of a picking order.

Furthermore, it is conceivable that a transport unit 22 several transport containers 20 includes, then different articles 30 can record or the articles 30 for different picking stations 16a - 16d contain.

In an advantageous embodiment of the invention, the container 14 a general cargo or bulk container and the articles 30 are accordingly general cargo or bulk goods. The gripper arm 28 may also include a trowel, a bucket or a sucker for the removal of bulk material.

For targeted removal of cargo includes the transport unit 22 in an advantageous embodiment, means for detecting a three-dimensional position and orientation of the article 30 in the container 14 , In particular, these means comprise one or more CCD cameras 34 and / or a lighting 36 so the controller 40 the three-dimensional position of the article 30 capture and the gripper arm 28 can control accordingly. All of the technologies known under the heading "Bin-Picking" can be used. In a particularly advantageous embodiment of the invention uses in the controller 40 integrated image processing unit vibration of the system, which inevitably when braking the transport unit 22 or when moving out of the container 14 occur to information about the three-dimensional position of the article 30 in the general cargo container 14 to win. The pictures of the CCD camera 34 are synchronized with the vibrations such that Images are obtained with different recording angles according to the vibration amplitude and from these or from the comparison of these images information about the location of the article 30 in a third, perpendicular to the image plane of the CCD camera 34 extending dimension are calculated.

In an optional embodiment of the invention, the transport unit comprises 22 An institution 38 for applying a barcode on the removed article 30 preferably at the end of the gripper arm 28 is attached. The device may be, for example, a label printer or a labeling machine or an inkjet printer. Also a lighting 36 for generating reproducible conditions for image capture by the CCD camera 34 can on the gripper arm 28 be attached. To capture the three-dimensional position of the article 30 can also do the lighting 36 be moved so as to obtain images with different illumination angles, from which or from their shadow then depth information can be obtained.

The storage and retrieval unit according to the invention 12a - 12f therefore includes a five-axis gripper arm 28 such as 3D Camera technology, lighting 36 and image processing software. Upon receipt of a removal request, the control unit drives the storage and retrieval unit 12a - 12f to the specified container parking space 32 , the device removes the container or container 14 from the high bay and stores the container 14 motion stable. After that, the contents of the container 14 scanned and the individual piece goods or the individual article 30 is taken.

After removal of the piece goods by the gripper arm 28 becomes the container 14 parked at his previous parking space in the high-bay warehouse. Only after complete or partial emptying of the container 14 from the high bay 10a - 10g removed to be refilled or refilled. The removed piece goods are provided with a bar code and either directly with the conveyor system to the picking station 16a - 16d spent or in the transport container 20 , which also serves as a buffer, intermediately stored. With sufficient filling level of the buffer container this is spent with the conveyor technology from the high-bay warehouse and the piece goods contained therein by means of sorters, optionally with the help of the barcode, isolated and picked.

Instead of the constant movement of entire pallets or containers or containers 14 becomes the much lighter cargo individually or in a transport container 20 transported. Depending on the cargo size and weight, this can reduce the number of transport journeys when filling with two articles 30 halved, and when filled with a number of n articles 30 The number of transport movements can be reduced to 1: n.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 2576401 B1 [0006]
• WO 2012/163666 A1 [0007]
• DE 2015103941 A1 [0008, 0016]

Claims (12)

Storage and retrieval unit (12a-12f) having a transport unit (22) which can be moved horizontally and vertically in at least one storage lane of a high-bay rack (10a-10g) and which is designed to be controlled by a controller (40) optionally to one of a plurality of storage spaces of the high rack ( 10a - 10g), characterized by at least one gripping arm (28) which is adapted to remove articles (30) from a container (14) approached by the transport unit (22). Storage and retrieval unit (12a - 12f) after Claim 1 , characterized in that the transport unit (22) comprises means for withdrawing the container (14) from the parking space prior to removal of the article (30) and again shutdown of the container (14) after removal of the article (30). Storage and retrieval unit (12a - 12f) after one of the Claims 1 or 2 , characterized in that the container (14) is a general cargo and bulk goods container. Storage and retrieval unit (12a - 12f) according to one of the preceding claims, characterized in that the transport unit (22) comprises a parking space (32) provided for parking or holding a transport container (20). Storage and retrieval unit (12a - 12f) according to one of the preceding claims, characterized in that the gripping arm (28) is adapted to store the removed article (30) in at least one on the parking space (32) stationary transport container (20). Storage and retrieval unit (12a - 12f) according to one of the preceding claims, characterized in that the storage and retrieval unit (12a - 12f) comprises means for detecting a three-dimensional position and orientation of the articles (30) in the container (14). Storage and retrieval unit (12a - 12f) after Claim 6 , characterized in that the means for detecting the three-dimensional position and orientation comprise one or more CCD cameras (34) and illumination (36). Storage and retrieval unit (12a - 12f) after Claim 7 , characterized in that the means for detecting the three-dimensional position and orientation comprises an image processing unit which uses vibrations to detect the position and orientation of the articles (30) in a third dimension perpendicular to the image plane of the CCD camera (34) , Storage and retrieval unit (12a - 12f) according to one of the preceding claims, characterized by load-bearing means (26) for loading and unloading of the container (14) into and out of the high-bay warehouse Storage and retrieval unit (12a-12f) according to one of the preceding claims, characterized by a device (38) provided in the transport unit (22) for applying a bar code to the removed article (30). Storage and retrieval unit (12a - 12f) after Claim 7 , characterized in that at least one of the means for detecting the three-dimensional position and orientation is attached to one end of the gripping arm (28). Shelf storage system with a storage and retrieval unit (12a - 12f) according to one of the preceding claims, a picking station (16a - 16d) and a controller (40) for controlling the transport unit (22), which is adapted to a transport container (20) of the transport unit ( 22) to the picking station (16a - 16d) to transport.

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