DE102020122556A1 - Warehouse, storage element and method for operating a warehouse - Google Patents

Abstract

The present application relates to a warehouse (1) comprising a storage system (3) for the stationary storage of a large number of containers (2), a route system (5) along which a storage robot (4) can be moved, the storage system (3) having a comprises a large number of storage elements (6) connected to one another.In order to provide a warehouse that can be operated more efficiently than the warehouses known in the prior art, the invention proposes that the storage elements (6) each have a plurality of functional levels spaced vertically from one another, with a first functional level of a respective storage element (6) is designed as a storage level (9) for the stationary storage of at least one container (2), with a second functional level parallel to the first functional level and at a distance from the first functional level as a route level (10) for providing a route section for the storage robot (4) is formed, with a large number of bearing elements (6 ) is connected to one another in series in such a way that these storage elements (6) together with the route sections formed in their route levels (10) form at least one route (11) of the route system (5) for the storage robot (4).

Description

The present application relates to a warehouse according to the preamble of claim 1. The present application also relates to a storage element according to the preamble of claim 10. Finally, the present application relates to a method for operating a warehouse according to the preamble of claim 20.

The warehouse includes a storage system and a route system. The storage system is used for the stationary storage of a large number of containers. This can be, for example, box-shaped containers in which goods are stored that are prepared for dispatch on demand. Basically, within the meaning of the present application, a “container” is understood to mean any object that is suitable for storing goods. Consequently, a container does not necessarily have to be a box surrounded by side walls, be it with or without a lid. Instead, containers without walls are also conceivable, for example pallets, since these are also suitable for storing goods. The route system provides at least one storage robot with a system of routes along which the storage robot can be moved. The storage system and the route system interact in such a way that a respective storage robot can reach the containers stored in the storage system via the route system.

The storage system comprises a large number of storage elements connected to one another. The storage elements can each be suitable for receiving a container. It is particularly conceivable here for the bearing elements to be of the same design as one another, with the bearing system advantageously being formed exclusively by bearing elements.

When operating a warehouse, it is provided that at least one storage robot, which is in an empty state and whose loading area is free of containers, travels along a route of a route system to a storage element that is filled with a container. The container is taken over from the storage element by means of the storage robot, so that the storage robot is transferred to its loading state. The storage robot in its loading state travels along a route, which may be the same route that the storage robot traveled on the way to the storage element or a different route, to a storage element that does not have a container. The storage robot transfers the container it has loaded to the storage element, as a result of which the storage robot is returned to its empty state and at the same time the storage element is filled with the container. This procedure is typically repeated as desired, so that in the course of the operation of the warehouse, successive containers are moved from one storage element to another storage element. Here, in particular, containers are moved in such a way that they are made available for further processing, for example for the preparation of goods located in the containers.

State of the art

Warehouses of the type described above are already known in the art. For this purpose, for example, refer to the international patent application WO 2014/195867 A1 pointed out. This describes a warehouse that can be operated automatically and comprises at least one storage robot. The warehouse comprises a track system and a storage system, the storage robot being movable using the track system and containers being storable using the storage system. The route system is constructed at right angles, with each storage robot being able to move in horizontal directions oriented perpendicularly to one another. The route system is constructed in the form of straight route sections, with individual storage points for containers being located perpendicularly to the route sections in the form of pockets. The individual "storage pockets" formed in this way, which form the storage system, can be approached by means of a storage robot via the assigned route section. Here, the storage robot can leave the route section and enter the respective storage pocket so that it is positioned below the container stored there. A loading area of the storage robot can then be raised, as a result of which the container is lifted off a storage area and then carried by the storage robot. The storage robot can finally return to the route section together with the container and continue driving the container to a destination via the route system.

The well-known warehouse is disadvantageous in that its organization is inflexible with regard to storing and accepting containers. The storage robots are therefore dependent on route sections that are typically designed as one-way streets in order to control individual storage elements designed as storage pockets. From a certain size of the warehouse, in which a large number of storage robots are used, the capacity of the warehouse quickly reaches its limits, so that an expansion of the warehouse is always necessary to expand the capacity. This entails a considerable investment and space requirement.

task

The present application is therefore based on the object of providing a goods store and a method for its operation, which can be operated more efficiently than the goods store known in the prior art.

solution

The underlying object is achieved according to the invention with a warehouse having the features of claim 1 . Advantageous refinements result from the associated subclaims.

The warehouse according to the invention is characterized in that at least a large number of the storage elements of the storage system, more preferably all storage elements that the storage system comprises, each have a plurality of functional levels that are vertically spaced apart from one another. A first functional level is designed as a storage level, which is provided for the stationary storage of at least one container. The second functional level, which is designed as a route level for providing a route section for the storage robot, extends parallel to the first functional level. In particular, the route level of the respective storage element can be located below the storage level. According to the invention, a large number of storage elements are connected to one another in series, so that the route sections of the storage elements, which are formed in their route levels, together form at least one route of the route system for a storage robot. In particular, each bearing element can have guide rails, with bearing elements connected to one another combining the individual sections of the guide rails, which are each assigned to one of the bearing elements, to form a route. In this context, the arrangement of a plurality of storage elements “in a row” requires that at least three storage elements are arranged one behind the other, preferably directly connected to one another, such that a storage robot proceeds from the first storage element in the row via the second storage element to the third storage element can drive in line. It is not decisive here whether the bearing elements are arranged in a "straight row" one behind the other, ie together form a straight section. Consequently, it is also conceivable that the connection of the bearing elements in series forms a path section that has a kinked or curved course.

The warehouse according to the invention has many advantages. In particular, the boundaries between the storage system and the track system that exist in the prior art are eliminated. Thus, due to the configuration of the storage elements with the two functional levels, each storage element is suitable for accommodating at least one container, with the same storage element being a part of the route system due to its functional level designed as a route level. A respective storage robot can therefore use each of the storage elements both as part of a route along which the storage robot moves to process a respective order and to deliver or take over a container that is taken over from the functional level designed as a storage level or parked in it . In this way, the warehouse according to the invention can be used completely freely, as a result of which the organization of the warehouse can be operated in an optimized manner without any obstructive boundary conditions. Absolute exclusions, which in the state of the art forbid certain areas of the warehouse for setting down containers or vice versa for driving a warehouse robot, do not occur. The additional degrees of freedom obtained in this way enable mathematically optimized operation of the warehouse, as a result of which the efficiency of the warehouse according to the invention can be significantly increased compared to a known warehouse on the same area.

In a particularly advantageous embodiment of the warehouse, at least a majority of the bearing elements, preferably all of the bearing elements, are of identical construction. In this way, the warehouse can be modularly expanded in a particularly simple manner, with the warehouse being able to be enlarged by connecting further storage elements.

With regard to the accommodation of containers, it can also be particularly advantageous if at least one storage element, preferably a plurality of storage elements, more preferably all storage elements, is designed in such a way that it is tailored to a specific type of container, so that a respective storage element is suitable for supporting a container of the certain type precisely, especially with the formation of a form fit to include. The precisely fitting or form-fitting accommodation of a container is to be preferred insofar as the container remains securely in a specific storage position, in particular when the warehouse as a whole is subject to operational vibrations or the like.

As already explained above, such a warehouse is particularly advantageous in which the path level of a respective storage element is arranged vertically below its storage level net is. This type of configuration is preferably given for a majority of the bearing elements, preferably for all bearing elements. The arrangement of the route level below the storage level offers the advantage that, for the purpose of transporting a container, a storage robot can move below the container stored in the storage level using the route level, so that by lifting a loading area of the storage robot, the container is lifted out of its receptacle in the storage element and stored in this way on the storage robot. A container can be transferred to a respective storage element in the same way, with the loading area of the storage robot being lowered.

In a further embodiment of the warehouse according to the invention, at least one storage element, preferably a plurality of the storage elements, is connected to at least three further storage elements, preferably to four further storage elements, on one floor of the warehouse. This configuration is particularly advantageous if the bearing elements are each rectangular when viewed individually. The connection with at least three further bearing elements, preferably with four further bearing elements, means that a respective bearing element interacts with further bearing elements on more than two of its sides. Since the storage elements together form the track system, this type of design for the warehouse means that a respective storage robot can move in different directions, starting from the respective storage element. Thus, the storage robot, coming from a storage element, can either continue straight ahead to a storage element connected opposite, or turn left or right onto a respective storage element connected at the side. The connection of a large number of storage elements within one level, which is advantageously uninterrupted, enables maximum storage capacity, which is associated with a corresponding capacity of the track system, since according to the invention each storage element is used to store at least one container and to provide a track section. In contrast to the prior art, the storage robots are then free in the warehouse according to the invention to use any number of different routes to get from a starting point to an end point. In contrast, the storage robots according to the prior art are typically dependent on dedicated route sections that extend along straight paths, in particular in the form of one-way streets. In such known systems, the movements of the storage robots are severely restricted and thus impede efficient operation of the goods store.

In order to increase the capacity of the warehouse, it can also be advantageous if the warehouse has several floors arranged vertically one above the other. These are preferably connected to one another by means of at least one elevator, by means of which a storage robot and/or at least one container can be moved from one floor to another floor.

To create floors, it can be particularly advantageous if storage elements that are located on adjacent floors are connected to one another by means of support elements. In particular, in the case of rectangular bearing elements, the support elements can each extend starting from the four corners of a respective bearing element, so that vertically adjacent bearing elements are connected to one another by means of a total of four support elements. It can be particularly advantageous if the support elements are arranged in corner regions of the respective bearing elements in such a way that the horizontally adjacent bearing elements can be connected equally to the respective support elements. It is thus conceivable, for example, that at a contact point where four corners of four rectangular, horizontally adjacent bearing elements abut one another, a support element acts that causes vertical support for all adjacent four bearing elements in their respective corners. In this way, several storeys of storage elements can be constructed particularly easily using a comparatively small number of support elements.

Advantageously, a plurality of storage elements, preferably all storage elements of the warehouse, are directly or indirectly connected to one another. This can be done in a particularly simple manner by means of a form-fitting connection, in which adjacent bearing elements are connected to one another in a force-transmitting manner, forming a form-fitting connection. It can be helpful here to use at least one connecting means, for example in the form of a screw bolt. The "direct connection" of adjacent storage elements offers the significant advantage that a respective storage robot can transfer directly from one storage element to an adjacent storage element during its journey, i.e. in particular no driving aids or the like extending between the adjacent storage elements have to be used. By means of such a configuration, the route system of the warehouse can be formed exclusively by the storage elements, with the warehouse therefore managing entirely without dedicated route elements or the like. This configuration is particularly advantageous with regard to a modular structure of the warehouse, since the extension of which can only be achieved by means of further storage elements and - if there are several floors - by means of associated support elements. The change and in particular enlargement of a respective warehouse can then be carried out particularly cheaply and quickly.

Furthermore, such a warehouse can be particularly advantageous, which has at least two spaced-apart satellite bearings, which are each formed by a large number of bearing elements. These bearing elements can be arranged in a plurality of storeys in at least one of the satellite bearings, preferably in a plurality of satellite bearings, more preferably in all satellite bearings. In particular, the satellite bearings can each comprise at least 20, preferably at least 35, more preferably at least 50 bearing elements. The satellite bearings are connected to one another by means of a connecting path formed by bearing elements. In this way, a route is available to a storage robot, by means of which it can travel from one of the satellite bearings to another satellite bearing. The described configuration of a warehouse is particularly advantageous in order to set up the warehouse in a decentralized manner. The configuration of the bearing elements according to the invention with two functional levels makes it possible to connect the satellite bearings that are separate from one another by means of bearing elements. The structure of the warehouse as a whole is therefore particularly easy, since regardless of a central structure with a large, connected warehouse or a decentralized structure with at least one satellite warehouse, the construction can be carried out in any case using the storage elements. The conceptual design of different warehouses is correspondingly particularly easy.

The object according to the invention is also achieved by means of a bearing element with the features of claim 10. Advantageous refinements result from the associated subclaims. The storage element, which is intended for use in a warehouse according to the above description, is characterized by a plurality of vertically spaced functional planes. A first functional level is designed as a storage level for the stationary storage of at least one container, while a second functional level oriented parallel to the first functional level and spaced apart from the first functional level is designed as a route level for providing a route section for a storage robot. In particular, the line level can be located vertically below the storage level. Furthermore, both functional levels can be oriented horizontally.

The storage element according to the invention is particularly well suited to form a warehouse according to the invention, with a large number of such storage elements being connected to one another. The resulting advantages have already been explained above. In particular, the storage elements can in principle be used in a dual function, namely both to provide a route section for a storage robot and to provide a storage capacity for at least one container.

In an advantageous embodiment of the storage element according to the invention, the same is designed to accommodate exactly one container. A warehouse that is formed with a plurality of such storage elements, preferably consisting entirely of corresponding storage elements, can be scaled particularly well depending on a desired number of parking spaces for containers. Consequently, each individual storage element corresponds to a parking space for a container.

The bearing plane of the bearing element is advantageously defined by means of a plurality of bearing points spaced apart from one another, the bearing plane as such preferably not being self-contained. In particular, it is advantageous if the storage level is open, so that a storage robot can “break through” the storage level and take over a container stored in the storage level from the storage element. In particular in an embodiment in which the storage level is arranged vertically above the transport level, it is advantageous if the storage level is completely open at least in a central region of the storage element, so that a storage robot can be positioned centrally below the storage level using the transport level, whereupon it can take over a stored in the storage level of the storage element container from below by, for example, occurs with a loading area from below through the storage level and thereby lifts the container from the storage level.

In an advantageous embodiment, the bearing element according to the invention is equipped with a rectangular basic shape, with the bearing element preferably having a function console in each of its four corners. The function consoles each extend vertically, starting from the track level, in particular vertically upwards, and each advantageously form a container receptacle. In this way, the function consoles are suitable for jointly defining the storage level, with the container receptacles of the function consoles in particular being able to lie together in a plane that defines the storage level. The configuration of a bearing element with function consoles arranged in its corners particularly advantageous insofar as a clear intermediate space that extends between the function consoles is free of load-bearing elements and can therefore be freely used by a storage robot. In particular, the bearing element horizontally forms the path level between the function consoles, in which the bearing robot can move. It is particularly advantageous here if the clear distances between adjacent function consoles are matched to the lateral dimensions of the storage robot, so that the storage robot can always move between the function consoles. In a warehouse in which a large number of storage elements are joined together in terms of area, i.e. together form a continuous level, a storage robot can move unhindered if the storage elements are designed in the manner described, since the function consoles are only located in the corners of the storage elements and so that the routes of the storage robot are not obstructed. In particular, the storage robot can freely position itself centrally below a respective container, which is stored at its corners on the function consoles by means of the corresponding container mounts.

In an advantageous embodiment of the bearing element according to the invention, in which the bearing element has the function consoles described above, at least one of the function consoles, preferably all function consoles, has form-fitting means which are suitable for directly or indirectly interacting positively with corresponding form-fitting means of function consoles of adjacent bearing elements. For example, it is conceivable that adjacent bearing elements are positively connected to one another by means of a tongue and groove system, with a functional console of a bearing element being equipped with at least one corresponding groove and a functional console of an adjacent bearing element being equipped with a corresponding tongue. With regard to a respective bearing element, this means that its function brackets are advantageously equipped with corresponding form-fitting means, for example grooves or tongues, on their outer surfaces, whereby for the purpose of connection to adjacent bearing elements, for example, the function brackets are always fitted on one side of the bearing element with male form-fitting means and the function consoles on the other side of the bearing element are equipped with female form-fitting means. In this way, adjacent bearing elements can be connected directly to one another via the function consoles, which means that the associated positive-locking means can correspond with one another and in this way form a force-transmitting connection.

In comparison to this, an indirectly form-fitting connection can make use of at least one additional form-fitting means which interacts with corresponding, in particular similarly designed form-fitting means of adjacent bearing elements.

It is also conceivable that the function consoles of a bearing element are each part of a higher-level console unit that includes a total of four function consoles. In this way, the console unit is suitable for providing a function console for a total of four bearing elements. The assignment of the function consoles is optional, so that the console unit can also work together with just one, two or three storage elements. In particular, the console unit can have corresponding form-fitting means that enable a form-fitting connection with other components of the respective bearing elements.

Furthermore, the underlying object is achieved by means of a set that includes a warehouse according to the above description and at least one storage robot. The storage robot is suitable for taking over at least one container from a storage system of the warehouse or handing it over to the storage system and driving it along a track system of the warehouse. Furthermore, the storage robot includes a loading area on which at least one container can be stored. It also has a drive train, by means of which it can be driven and in this way can be moved along the route system. In particular, the drive train can include all elements that are required for the independent movement of the storage robot. This can, for example, relate to one or more motors, in particular electric motors, at least one transmission device, for example a drive belt, a plurality of running devices, for example wheels, and an electrical energy store.

The set according to the invention is characterized in that the warehouse is designed according to the previous description. The resulting advantages have already been explained above.

In an advantageous embodiment of the set according to the invention, the storage robot comprises at least one lifting device, by means of which its loading area can be raised and lowered. Such a storage robot is particularly well suited to picking up a container stored in a storage level of a storage element of the warehouse, starting from a route level of the same storage element that is located vertically below the storage level. For this it is only necessary that the Lagerro boter is positioned on the track level below the container, whereupon the loading area is raised by means of the lifting device. This increases the effective overall height of the storage robot until the vertical distance between the route level and the storage level is completely bridged, so that an underside of the container comes into direct contact with the loading area of the storage robot. Raising the loading area beyond this point leads to the container being raised above the storage level of the respective storage element and thus to a certain extent being lifted out of the storage element. The container is now located on the storage robot, which can move using a drive train and the route system of the warehouse and in this way transport the container to a desired location in the warehouse. The transfer of a respective container can then take place particularly easily in the reverse order, with the loading surface of the storage robot being lowered by means of the at least one lifting means until the container comes into direct contact with storage elements, in particular container receptacles formed on function consoles, which allow further lowering of the container impede. The container is then stored in the storage level of the respective storage element and the loading area of the storage robot is free. If the loading area is lowered further, the height of the storage robot finally falls below the vertical distance between the storage level and the route level, so that the storage robot can move freely below the respective container, i.e. in particular without colliding with the container, in the route level.

Accordingly, it is of particular advantage if the storage robot can be transferred between a free state and a storage state by means of the lifting means, the overall height of the storage robot being lower when it is in its free state than when it is in its charging state. The free state is when the storage robot does not carry a container, i.e. its loading area is free. On the other hand, the state of charge is present when at least one container is stored on the loading area of the storage robot. Advantageously, the storage robot can be moved along the route system both when it is free and when it is loaded. According to the above explanation, it is also advantageous if a vertically measured overall height of the storage robot when it is in its free state is less than a vertical distance between the path level and the storage level. The loading area of the storage robot is lowered accordingly. Conversely, it can also be particularly advantageous if the loading area of the storage robot is raised when it is in its loading state in such a way that the overall height of the storage robot exceeds the vertical distance between the path level and the storage level. In this way, the above-described taking over and handing over of containers from or to storage elements can take place in a particularly simple manner. This is particularly the case when the storage level of a respective storage element is open in such a way that the loading area of a storage robot can penetrate the storage level from an underside of the storage level and thereby take over a container stored in the storage level. A corresponding embodiment can consist, for example, in that the respective storage element is equipped with four function consoles on the corners, each of which has a container receptacle for receiving one corner of a container. In such a configuration, the storage level is completely open apart from these four support points, which form the container receptacles, so that a storage robot in particular can easily penetrate the storage level from below with its loading area and thereby take over the container.

Furthermore, such a configuration of the warehouse can be advantageous in which at least one storage element, preferably all storage elements, if they are equipped with guide rails, have notches that are made in the form of depressions in the guide rails. The notches serve to enable the rollers of a respective storage robot to be able to move in a direction perpendicular to the respective guide rail into which the notch is made, without the rollers colliding with the guide rail. The position of the notches in the guide rails is therefore matched to the storage robot in such a way that the notches allow the storage robot to travel without colliding. The guiding effect of the guide rails is otherwise retained.

1. a) Mindestens ein in einem Leerzustand vorliegender Lagerroboter, dessen Ladefläche frei von Containern ist, fährt entlang einer von Streckenabschnitten einer Mehrzahl von Lagerelementen gebildeten Fahrstrecke zu einem befüllten Lagerelement, in dessen Lagerebene ein Container gelagert ist;
2. b) Der Container wird mittels des Lagerroboters von dem Lagerelement übernommen, wodurch der Lagerroboter in seinen Ladezustand, in dem die Ladefläche mit dem Container beladen ist, überführt und das Lagerelement geleert werden;
3. c) Der in seinem Ladezustand befindliche Lagerroboter fährt entlang einer Freistrecke, die von Streckenabschnitten untereinander zusammenhängender, leerer Lagerelemente gebildet ist, deren Lagerebenen frei von Containern sind, zu einem leeren Lagerelement;
4. d) Der Lagerroboter übergibt den Container an die Lagerebene des Lagerelements, wodurch der Lagerroboter in seinen Leerzustand überführt und das Lagerelement befüllt werden;
5. e) Der Lagerroboter fährt entlang einer von Streckenabschnitten einer Mehrzahl von Lagerelementen gebildeten Fahrstrecke zu einem befüllten Lagerelement, in dessen Lagerebene ein Container gelagert ist.

Finally, the underlying problem is solved by means of a method with the features of claim 20. This procedure includes the following procedural steps:

1. a) At least one storage robot which is in an empty state and whose loading area is free of containers travels along a route formed by sections of a plurality of storage elements to a filled storage element, in the storage level of which a container is stored;
2. b) The container is taken over by the storage robot from the storage element, as a result of which the storage robot is transferred to its loading state, in which the loading area is loaded with the container, and the storage element is emptied;
3. c) The storage robot that is in its loading state travels along an open route, which is formed by route sections of interconnected, empty storage elements whose storage levels are free of containers, to an empty storage element;
4. d) The storage robot transfers the container to the storage level of the storage element, as a result of which the storage robot is transferred to its empty state and the storage element is filled;
5. e) The storage robot travels along a route formed by route sections of a plurality of storage elements to a filled storage element, in the storage level of which a container is stored.

The method described provides that the storage robot can move unhindered along the route system when it is in its free state, in which its loading area is free of containers, i.e. in particular regardless of whether one or more storage elements are filled with containers or not. The reason for this is that the storage robot can move in the path levels of the storage elements, with the path levels of the storage elements responsible for this being arranged at a vertical distance from the storage levels. In particular, in an embodiment in which the path levels run vertically below the storage levels, the storage robot can have an overall height when it is empty that is less than the vertical distance between the storage level and the path level.

However, as soon as the storage robot is in its loading state, in which its loading area is loaded with at least one container, the storage robot has to move along free stretches that exclusively include sections of unfilled storage elements. Storage elements that are filled with at least one container are not available to the storage robot in its storage state as part of its route, since the container on its loading area would collide with a container arranged in the storage level of a respective storage element.

The method according to the invention is characterized in that free stretches along which a storage robot can move when it is in its loading state change during operation of the goods store. As described above, the potential affiliation of a route section formed in a respective route level of a storage element is decided according to whether the associated storage level is free or loaded with a container. As a result, as a result of loading or unloading of a respective storage element, at least one free section of the associated warehouse changes. Since the storage elements can change their filling status at any time due to their two functional levels, that is, they can be loaded or unloaded at any time, the available free sections change again and again during operation of the warehouse. In the prior art, which has conceptually separate systems for the storage of containers and for the movement of storage robots, the free sections basically extend along the section system that is provided for moving the storage robots. There is no provision for storing containers along the route system, so that the free routes of the known warehouses will not change. In particular, it is customary in the prior art for the track system and the storage system to be constructed separately. In the method according to the invention, free stretches can be generated in particular according to the “sliding puzzle” principle. This can be useful in particular when the storage system has a comparatively high degree of loading, which indicates a ratio of storage elements filled with containers to the total number of all storage elements in the warehouse. The greater the degree of loading, the more sensible it is to use the sliding puzzle to generate one or more free sections.

In a particularly advantageous embodiment of the method according to the invention, a plurality of storage robots cooperate in order to empty a plurality of storage elements connected one behind the other in a straight path, so that a straight free path is created. It has turned out that in some operating situations of the set, the creation of "tramlines" is advantageous for a temporary maximum efficiency of the respective warehouse. Due to the dual function of the storage elements of the warehouse, it is generally not necessary for straight tramlines to be available at all times. The latter can nevertheless be advantageous for processing individual jobs, so that the proposed "collaboration" of several storage robots to create such a lane can be particularly advantageous.

exemplary embodiments

• 1: Eine perspektivische Ansicht eines erfindungsgemäßen Warenlagers, das mit einer Mehrzahl von Containern befüllt ist,
• 2: Eine perspektivische Ansicht eines erfindungsgemäßen Sets umfassend ein erfindungsgemäßes Warenlager, das mit einer Mehrzahl von Containern befüllt ist, sowie eine Mehrzahl von Lagerrobotern,
• 3: Ein Detail eines Ausschnitts des Sets gemäß 2,
• 4: Eine Draufsicht auf ein erfindungsgemäßes Set,
• 5: Die Draufsicht gemäß 4, wobei sich Container an anderen Stellen befinden,
• 6: Eine Seitenansicht eines erfindungsgemäßen Sets,
• 7: Die Seitenansicht gemäß 6 in einem anderen Zustand,
• 8: Eine weitere Seitenansicht eines erfindungsgemäßen Sets,
• 9: Eine perspektivische Ansicht eines erfindungsgemäßen Warenlagers, das mit zwei Satellitenlagern ausgestattet ist,
• 10: Eine perspektivische Ansicht eines erfindungsgemäßen Warenlagers, das mit einem Fahrstuhl ausgestattet ist,
• 11: Ein Detail eines erfindungsgemäßen Lagerelements und
• 12: Ein Detail eines Lagerroboters eines erfindungsgemäßen Sets.

The invention is explained in more detail below using an exemplary embodiment which is illustrated in the figures. It shows:

• 1 : A perspective view of a warehouse according to the invention, which is filled with a plurality of containers,
• 2 : A perspective view of a set according to the invention comprising a warehouse according to the invention, which is filled with a plurality of containers and a plurality of storage robots,
• 3 : A detail of a section of the set according to 2 ,
• 4 : A plan view of a set according to the invention,
• 5 : According to the plan view 4 , with containers in other places,
• 6 : A side view of a set according to the invention,
• 7 : The side view according to 6 in a different state
• 8th : Another side view of a set according to the invention,
• 9 : A perspective view of a warehouse according to the invention, which is equipped with two satellite warehouses,
• 10 : A perspective view of a warehouse according to the invention, which is equipped with an elevator,
• 11 : A detail of a bearing element according to the invention and
• 12 : A detail of a storage robot of a set according to the invention.

An embodiment in the 1 until 12 is shown describes a set according to the invention, which comprises a warehouse 1 according to the invention, the warehouse 1 being loaded with a plurality of containers 2 which can be moved by a plurality of robots 4 . For this purpose, the warehouse 1 has a storage system 3 and a route system 5 . The storage system 3 serves for the (temporary) storage of the containers 2, with the route system 5 comprising a total of all routes 11 along which the storage robots 4 can move. In the example shown, the warehouse 1 is formed from a large number of storage elements 6 according to the invention, which are constructed in the same way. The individual storage elements 6 serve to a certain extent as modules that can be assembled as desired, resulting in the warehouse 1 in total. In the example shown, the warehouse 1 comprises a plurality of floors 12 which are vertically spaced from one another. In this way, containers 2 can be stored not only next to each other but also one above the other. In order to fix the individual storage elements 6 vertically relative to one another, the warehouse 1 comprises a large number of support elements 14.

The storage elements 6 according to the invention, of which the warehouse 1 is formed, each have two functional levels, namely a storage level 9 and a route level 10. Both functional levels are oriented horizontally, with the storage level 9 extending vertically above the route level 10 at a distance. This is particularly evident from the 6 until 8th . The storage level 9 is used to hold a container 2 , with the bearing elements 6 each being designed to hold exactly one container 2 in the example shown. The bearing elements 6 are each rectangular here, each having a function console 22 in their corners. This is particularly evident from 11 . The function consoles 22 extend vertically upwards, starting from an element base 31 that defines the track level 10 , with the function consoles 22 each having a container receptacle 23 . These container mounts 23 each provide a horizontal storage area on which one corner of a respective container 2 can be placed. In addition, the container receptacles 23 each have a side edge running around 90° and directed away from a center of the bearing element 6 . The combination of the horizontal storage surface and the side edge enables the container receptacle 23 together to receive a respective container 2 in a form-fitting manner. In particular, a container 2 accommodated by the container cradle 23 cannot move in the horizontal direction because it is prevented from doing so in all directions by the side edges of the container cradle 23 . The horizontal bearing surfaces are located together in the bearing plane 9 or define the latter. As is particularly well based on the 6 until 8th results, there is a bottom 38 of a respective container 2 within the storage level 9, so that below the storage level 9 extending space is free.

As described above, the track level 10 extends vertically below the storage level 9. In this way, the storage level 9 and the track level 10 are at a distance 17 from one another. The route plane 10 is defined by a surface of the element base 31 on which a respective storage robot 4 can travel. Depending on how the storage robots 4 are designed, a respective storage element 6 can have guide rails 28 which are arranged on the element base 31 and extend vertically upwards, starting from the path level 10 . These guide rails 28 are used to guide the storage robots 4 along their respective travel routes 11 and in this way in particular to prevent unintentional lateral breakouts or the like. The storage robots 4 each comprise a loading area 7 on which a container 2 can be stored. In the presence of an empty state is the loading area 7 of a respective ligen storage robot 4 free of containers 2. As soon as a container 2 is conversely on the loading area 7, the storage robot 4 is in its state of charge. For the purpose of transferring the storage robot 4 from its empty state to its charging state and vice versa, the storage robot 4 has at least one lifting means 18, by means of which the loading area 7 of the storage robot 4 can be raised and lowered. Such a lifting means 18 can be formed by a hydraulic cylinder, for example.

It is possible to change an effective overall height 16 of the storage robot 4 by means of the lifting means 18 . This mechanism is important in the illustrated embodiment of the set according to the invention, since a respective storage robot 4 can be transferred between its empty state and its stored state by means of the lifting means 18 . For this it is necessary that the storage robot 4 is positioned on a storage element 6 below a container 2 which is mounted on the storage element 6 . The storage robot 4 is in its empty state, with its loading area 7 being lowered so far that the overall height 16 of the storage robot 4 is below the vertical distance 17 between the path level 10 and the storage level 9 . Therefore, when it is in its empty state, the storage robot 4 can move freely below the container 2 without colliding with it. For the takeover of the container 2 from the storage element 6, the loading area 7 is now raised by means of the lifting means 18, so that the overall height 16 of the storage robot 4 increases. At a time when the overall height 16 corresponds exactly to the distance 17, the loading area 7 comes into contact with the underside 38 of the respective container 2. A further lifting of the loading area 7 now leads to the container 2 being lifted and consequently lifted out of the container receptacles 23 of the function consoles 22 of the storage element 6 . The container 2 is now stored on the storage robot 4, which is then in its loading state. It goes without saying that the storage robot 4 is now no longer free to move along any routes 11 of the route system 5 , regardless of whether the storage elements 6 of the warehouse 1 are full. Instead, the storage robot 4 can only move along route sections of those storage elements 6 that are free of containers 2 . A route along which the storage robot 4 can consequently still travel is referred to as “free route 27” within the meaning of the present application. So that a respective storage robot 4 can move unhindered along the route system 5 when it is empty, the exemplary embodiment shown provides that the lateral dimensions 32 of a respective storage robot 4 are smaller than the corresponding clear distances 33 between the function consoles 22 of a respective storage element 6. In this way it is possible for the storage robot 4 to move between the function consoles 22 so that the storage robot 4 can basically move in any direction starting from a center of a storage element 6 . All that is required for this is that at least one further bearing element 6 is available in the selected direction, which provides a corresponding route section in its route plane 10 .

In the example shown, the warehouse 1 is formed exclusively from a combination of a large number of storage elements 6 . These bearing elements 6 are each connected directly to one another. According to the invention, they are connected to one another in series in such a way that the bearing elements together form a large number of routes 11 of the route system 5 . In this case, the bearing elements 6 each provide a route section that is part of a respective route 11 . The route sections are formed in the route levels 10 of the bearing elements 6 . Various variants are conceivable for the specific configuration of the track levels 10, starting with a plane surface on which a storage robot 4 can move freely, through to fixed rails that allow a guided movement of a storage robot 4 along predetermined directions. In the example shown, the guide rails 28 already described above are used, with each bearing element 6 having two pairs of rails oriented perpendicularly to one another. Corresponding to the pairs of rails, the storage robots 4 each include a plurality of rollers 30 which are suitable for interacting with the guide rails 28 in a form-fitting manner, so that a lateral deflection of the rollers 30 relative to the guide rails 28 is prevented. The rollers 30 of a respective storage robot 4 are assigned to two separate groups which can be raised and lowered independently of one another by means of a respectively assigned lifting means. In this way, the rollers 30 of one group can be brought into engagement with the guide rails 28 of the first pair of rails or the rollers 30 of the other group can be brought into engagement with the guide rails 28 of the second pair of rails. This selection enables the storage robot 4 to move in the direction defined by the first pair of rails or in the direction defined by the second pair of rails, these directions being aligned in accordance with the pairs of rails being perpendicular to each other. In order to change its direction of travel, a storage robot 4 can move to the middle of a respective storage element 6, lift the rollers 30 of the currently active group, i.e. the group that is in engagement with the guide rails 28 of one pair of rails, and lift the rollers 30 of the other group with it engages the guide rails 28 of the other pair of rails bring. By driving the rollers 30, which are now in contact with the guide rails 28, the storage robot 4 will now move along the guide rails 28 of the other pair of rails and consequently in a direction of travel perpendicular to its previous direction of travel. The guide rails 28 are provided with corresponding notches 37 so that the running rollers 30 , which are guided on the track level 10 of the respective bearing element 6 , do not collide with the guide rails 28 of the other pair of rails.

As explained above, a respective storage robot 4 cannot move independently of the filling status of the storage elements 6 of the warehouse 1 if it is in its loading state. Instead, he is dependent on free stretches 27 which are composed of stretches of storage elements 6 that are free of containers 2 . Since the filling state of the storage elements 6 changes continuously during operation of the warehouse 1, the clearances 27 also change as a result 4 and 5 . This illustrates that the routes 11 along which a storage robot 4 in its empty state can move regardless of the filling states of the storage elements 6 always remain the same. In contrast to this, the free stretches 27 depend on the locations in the warehouse 1 where containers 2 are stored.

In order to create straight free sections 27 in certain operating situations, it can be particularly advantageous if a plurality of storage robots 4 cooperate with one another in order to place containers 2 in a targeted manner in such a way that storage elements 6 result in a straight row, one behind the other, all of which are unfilled are. The movement of a storage robot 4 along an inherently straight free path 27 typically requires less time than a movement along a free path 27 which is deflected several times. This is the case in particular if the storage robots 4 are designed in accordance with the manner described above, which, in order to change the direction of travel of the storage robot 4, first requires the storage robot 4 to be stopped, followed by a change in the engagement of the rollers 30 with the guide rails 28 of the respective pairs of rails .

As a rule, warehouses are designed with several floors in order to be able to store a multiple number of containers 2 on the same floor space. In order to enable an arrangement of storage elements 6 on several floors 12 in the warehouse 1 according to the invention, the same comprises the support elements 14 already mentioned above. For this purpose, the representation according to FIG 11 referred. Accordingly, the function consoles 22 of each bearing element 6 are connected to a form-fitting means 24 which interacts with a corresponding form-fitting means 25 of a respective support element 14 . The form-fitting means 24 of a respective bearing bracket 22 is formed here in the form of a recess which penetrates vertically through the bearing bracket 22 and has a quadrant-shaped cross section. Correspondingly, the form-fitting means 25 of a respective support element 14 are formed in the form of pins, which likewise have a quadrant-shaped cross section. For the purpose of a form-fitting connection of a respective support element 14 with a respective function console 22, the support element 14 can be inserted from above into the form-fitting means 24 of the function console 22 or, conversely, the function console 22 can be pushed with its form-fitting means 24 onto the form-fitting means 25 of the support element 14. This type of connection is particularly well suited to assembling the storage elements 6 in a modular design, with an expansion of a respective warehouse 1 simply by “plugging in” further storage elements 6 . Adjacent storage elements 6 are advantageously connected exclusively by means of such positive-locking connections, so that assembly of the warehouse 1 as a whole is possible at least essentially without tools.

Advantageously, the bearing elements 6 as such are also joined together by means of plug-in connections, with the function console 22 having lateral recesses 26 for receiving support tubes 21 . An element base 31, which to a certain extent defines the track level 10 of the respective bearing element 6 and on which the guide rails 28 are arranged, is mounted vertically on the support tubes 21 in this construction. The corners of the element base 31 are cut so that the function consoles 22 are flush with the sides 15 of the element base 31 .

The design of a respective warehouse 1 requires, in addition to a horizontal transport of containers 2, the possibility of vertical transport, so that containers 2 can be stored in an upper floor 12 or removed from an upper floor 12. In order to achieve this, the warehouse 1 has an elevator 13, which is an example based on 10 results. Such an elevator 13 can be suitable for transporting a storage robot 4 and/or a container 2 .

In certain constellations it can be advantageous for the operation of a warehouse 1 if this is decentralized. Such a decentralized warehouse 1 has a plurality of spatially spaced accumulations of storage locations for containers 2 . These individual clusters are referred to as "Satellite Camps 35, 36". Such a decentralized warehouse is shown here as an example based on 9 . This warehouse 11 comprises two satellite warehouses 35, 36 which are connected to one another by means of a connecting path 34. The warehouse 1 consists overall of a large number of storage elements 6 connected to one another. In addition to the satellite bearings 35, 36 as such, this also applies to the connecting path 34, which is formed from a large number of storage elements 6 connected one behind the other in a straight row. Storage robots 4 can travel back and forth between the satellite bearings 35, 36 by means of the connecting path 34. Due to the structurally identical construction of the bearing elements 6, it is easily conceivable to supplement the warehouse 1 with another satellite bearing.

The set according to the invention comprises at least one storage robot 4. A set with a large number of storage robots 4 is typically operated. In the example shown, these each include a drive train 8 which has a power storage unit 19 , a plurality of drive means 20 and a plurality of rollers 30 . The drive means 20, which are formed here by electric motors, interact with the rollers 30 via drive belts 29. The basic structure of such a storage robot is shown particularly well on the basis of 12 . In the example shown, the power storage device 19 is formed from a plurality of interconnected lithium-ion cells, which are arranged in a floor of the storage robot 4 . Each storage robot 4 also has an in 12 lifting means, not shown, by means of which a loading area 7, not shown, can be raised and lowered. Furthermore, the storage robot 4 has equally in 12 lifting means, not shown, by means of which rollers 30 of a first group or rollers 30 of a second group can be brought into contact with a respective element base 31. Here, the rollers 30 of the first group are assigned to opposite sides of the storage robot 4, these rollers 30 being collectively characterized in that they can be driven or rotated about drive axes that are parallel to one another. The same applies to the rollers 30 of the other group, which are assigned to the other two opposite sides of the storage robot 4 .

Reference List

1

warehouse

2

Container

3

storage system

4

storage robot

5

route system

6

bearing element

7

truck bed

8th

powertrain

9

storage level

10

track level

11

driving distance

12

floor

13

elevator

14

support element

15

side

16

height

17

distance

18

lifting gear

19

power storage

20

drive means

21

support tube

22

function console

23

container pickup

24

form-fitting means

25

form-fitting means

26

recess

27

free range

28

guide rail

29

drive belt

30

roller

31

element base

32

side dimension

33

distance

34

connecting line

35

satellite camp

36

satellite camp

37

score

38

bottom

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was 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.

Patent Literature Cited

• WO 2014/195867 A1 [0005]

Claims (21)

Goods warehouse (1), comprising - a storage system (3) for the stationary storage of a large number of containers (2), - a route system (5) along which a storage robot (4) can be moved, the storage system (3) having a large number of connected storage elements (6), characterized in that the storage elements (6) each have a plurality of functional levels spaced vertically from one another, a first functional level of a respective storage element (6) being designed as a storage level (9) for the stationary storage of at least one container (2). , wherein a second functional level parallel to the first functional level and at a distance from the first functional level is designed as a track level (10) to provide a track section for the storage robot (4), wherein a large number of storage elements (6) are connected to one another in series in such a way that these bearing elements (6) together at least with the route sections formed in their route planes (10). form a route (11) of the route system (5) for the storage robot (4). Warehouse (1) after claim 1 , characterized in that at least one storage element (6), preferably a plurality of storage elements (6), more preferably all storage elements (6), and a specific type of container (2) are designed to be coordinated with one another in such a way that the respective storage element (6 ) is suitable for receiving a container (2) of this type with a precise fit, in particular with the formation of a form fit. Warehouse (1) according to one of the preceding claims, characterized in that at least a large part of the routes (11) of the route system (5), preferably the entire route system (5), is formed by means of storage elements (6) connected to one another. Goods store (1) according to one of the preceding claims, characterized in that at least one storage element (6), preferably a plurality of the storage elements (6), on a floor (12) of the goods store (1) interacts with at least three further storage elements (6). . Goods store (1) according to one of the preceding claims, characterized in that storage elements (6) located at least on one floor (12) of the goods store (1) are connected directly to one another, preferably forming a form fit. Goods store (1) according to one of the preceding claims, characterized by a plurality of floors (12) arranged vertically one above the other, the goods store (1) preferably having at least one elevator (13) by means of which a storage robot (4) and/or at least one container ( 2) movable from one floor (12) to another floor (12). Warehouse (1) after claim 6 , characterized in that storage elements (6) located on adjacent floors (12) are connected to one another by means of support elements (14), an upper bearing element (6) preferably being supported on the lower bearing element (6) by means of the support elements (14). Goods store (1) according to one of the preceding claims, characterized in that at least one storage element (6), preferably a plurality of storage elements (6), more preferably all storage elements (6), have a rectangular basic shape, with preferably at least one storage element (6 ), preferably a plurality of bearing elements (6), on all of its four sides (15) optionally in each case with a further bearing element (6) can be connected or is connected. Goods store (1) according to one of the preceding claims, characterized by two satellite stores (35, 36) spaced apart from one another, each of which is formed by a large number of storage elements (6) arranged in several storeys (12), the satellite stores (35, 36) are connected to one another by means of a connecting path (34) formed by bearing elements (6), so that a travel path (11) is available to a storage robot (4), and from one of the satellite bearings (35, 36) to the other satellite bearing (35, 36) to drive. Storage element (6) for use in a goods store (1) according to one of the preceding claims, characterized by several functional levels spaced vertically from one another, a first functional level being designed as a storage level (9) for the stationary storage of at least one container (2), one parallel oriented to the first functional level and spaced apart from the first functional level, the second functional level is designed as a route level (10) for providing a route section for a storage robot (4). Bearing element (6) after claim 10 , characterized in that the route plane (10) of a respective bearing element (6) vertically is arranged below its storage level (9). Storage element (6) according to one of the preceding claims, characterized in that the storage element (6) is designed to accommodate exactly one container (2). Bearing element (6) according to one of the preceding claims, characterized by a rectangular basic shape, with the bearing element (6) having a function bracket (22) in each of its four corners, with the function brackets (22) each starting from the path level (10) extend vertically and each form a container receptacle (23), so that the function consoles (22) together define the storage level (9). Bearing element (6) after Claim 13 , characterized in that at least one function bracket (22), preferably all function brackets (22), have form-fitting means (24) which are suitable for directly or indirectly form-fitting with corresponding form-fitting means (24) of function brackets (22) of adjacent bearing elements (6). to cooperate. Set comprising a warehouse (1) and at least one storage robot (4), the storage robot (4) for taking over and/or handing over at least one container (2) from a storage system (3) of the warehouse (1) and for moving at least one container (2) of the warehouse (1) along a route system (5) of the warehouse (1), the storage robot (4) comprising a loading area (7) on which at least one container (2) can be stored, the storage robot ( 4) comprises at least one drive train (8), by means of which the storage robot (4) can be moved along the route system (5), characterized by a goods store (1) according to one of the preceding claims. set after claim 15 , characterized in that the storage robot (4) has at least one lifting means (18) by means of which its loading area (7) can be raised and lowered. set after Claim 16 , characterized in that the storage robot (4) can be transferred between a free state and a charging state by means of the lifting means (18), wherein an overall height (16) of the storage robot (4) when it is in its free state is lower than when it is in its charging state, wherein the storage robot (4) can be moved along the track system (5) both when it is free and when it is loaded. Set according to one of the preceding claims, characterized in that the path level (10) of a respective storage element (6) is arranged vertically below its storage level (9), with a loading surface (7) of the storage robot (4) being in its free state such is lowered, that an overall height (16) of the storage robot (4) falls below a vertical distance (17) between the path level (10) and the storage level (9). Set according to one of the preceding claims, characterized in that the path level (10) of a respective storage element (6) is arranged vertically below its storage level (9), with a loading surface (7) of the storage robot (4) being in its loading state such is raised that an overall height (16) of the storage robot (4) exceeds a vertical distance (17) between the path level (10) and the storage level (9). Method for operating a set according to one of the preceding claims, comprising the following method steps: a) At least one storage robot (4) which is in an empty state and whose loading area (7) is free of containers (2) travels along one of the route sections of a plurality of Storage elements (6) route (11) formed to a filled storage element (6), in whose storage level (9) a container (2) is stored; b) The container (2) is taken over from the storage element (6) by the storage robot (4), as a result of which the storage robot (4) is transferred to its loading state, in which the loading area (8) is loaded with the container (2) and the storage element (6) are emptied; c) The storage robot (4) in its loading state travels along a free route (27) which is formed by route sections of interconnected, empty storage elements (4) whose storage levels (9) are free of containers (2), to an empty storage element (6); d) the storage robot (4) transfers the container (2) to the storage level (9) of the storage element (6), as a result of which the storage robot (4) is transferred to its empty state and the storage element (4) is filled; e) The storage robot (4) travels along a route (11) formed by sections of a plurality of storage elements (4) to a filled storage element (6) in whose storage level (9) a container (2) is stored; characterized in that free stretches (27) along which a storage robot (4) in its loading state can move change during operation of the warehouse (1) as a result of the filling and emptying of various storage elements (4). procedure after claim 20 , characterized in that a plurality of storage robots (4) cooperate with one another in order to empty a plurality of storage elements (6) connected one behind the other in a straight line, so that a straight free line (27) is created.

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