DE102021126500B3 - Shelf storage system with a three-dimensional shelf store and at least one vehicle for storing and retrieving load carriers - Google Patents

Abstract

A shelf storage system (1) is provided with a three-dimensional shelf storage (2) and at least one vehicle (7) for storing and retrieving load carriers (6, 30) into and out of the shelf storage (2), the shelf storage (2) having a three-dimensional receiving structure (3) for the load carriers (6, 30) and a multiplicity of support profiles (14) arranged at a distance from one another and in a right-angled arrangement, which are designed to support the load carriers (6, 30), with between the support profiles (14 ) Receiving shafts (19) for the load carriers (6, 30) are formed, and on an upper side (8) of the receiving structure (3) first rails (4) in a first direction (9) and second rails (5) in one to the first Direction (9) perpendicular second direction (10) are arranged according to a two-dimensional grid (13), and the rails (4, 5) are designed to accommodate the at least one vehicle (7) and the vehicle (7) has a first S has a set of running wheels (11) for movement in the first direction (9) and a second set of running wheels (12) for movement in the second direction (10) and a load carrier lifting device (20), the load carrier lifting device (20) having a first pivotable design Support arms (26) and the load carrier lifting device (20) has second pivotable support arms (27) which are pivotable independently of the first support arms (26).

Description

The present invention relates to a shelf storage system with a three-dimensional shelf store and at least one vehicle for storing and retrieving load carriers into and out of the shelf store according to the preamble of claim 1. The invention also relates to a method for storing and removing load carriers into and out of a Shelf store according to the preamble of claim 14.

Such a shelf storage system has a three-dimensional shelf warehouse or high-bay warehouse and usually has several vehicles that are designed for storing and retrieving load carriers with goods or conveyed goods arranged on them in the shelf warehouse and out of the shelf warehouse. Such a shelf storage system can be used to store heavy conveyed goods vertically one above the other in a space-saving manner in the high-bay warehouse.

Shelf storage systems have already become known which have a metal structure as a high-bay store and are designed for storing and retrieving the conveyed goods on or in the load carriers. The load carriers can be, for example, pallets or Euro pallets and also receptacles, which can be stored in the high-bay warehouse and removed from it again.

An example of such a rack storage system is based on the EP 2 962 962 B1 has become known, which has vehicles in the form of robots that can be moved on rails provided at the top of the rack storage, in directions perpendicular to one another. For this purpose, the robots or vehicles have two sets of wheels with which they can be moved in a first direction and in a second direction at right angles or perpendicular to the first direction in the rails or rails.

The robot, which has become known from the well-known shelf storage system, also has a load carrier lifting device, by means of which load carriers in the form of containers or boxes can be lowered into receiving shafts of the shelf store, so that there are several containers or boxes arranged one above the other in a receiving shaft, each with goods therein or conveyed goods.

The containers or boxes have standardized dimensions such that all of the containers or boxes to be accommodated in the respective receiving shaft have the same base area and also have the same height extension, ie are cuboid or cube-shaped.

As a result, the storage space or usable space available in the vertical direction of the receiving shaft for the goods to be conveyed on or in the load carriers depends on the base area of the load carrier and the height or dimensions of the load carrier measured in the vertical direction of the receiving shaft. In the case of the containers or boxes mentioned, this means that if there are only a few conveyed goods or goods in the containers or boxes arranged one above the other, which do not fill the containers or boxes to their full height, a great deal of usable storage space or usable space is wasted, since as it were much empty space left in the box or container is stored in the receiving shaft and thus due to the fact that unused storage space or storage space remains in the container, the utilization ratio or degree of utilization of the shelf volume and thus the shelf storage decreases significantly.

Even if pallets are used as load carriers instead of the box or container, these pallets are held on fixed height grids between the support profiles in the direction of the height of the receiving shaft, so that empty space is created again between pallets arranged one above the other, which can be used as valuable usable space or storage space for conveyed goods is lost. This fixed height grid leads to a significant reduction in the degree of utilization of the system due to the empty spaces in the shelf storage system, especially when goods or conveyed goods or payloads with lower heights are to be stored in the receiving shafts, since the concentration in the warehouse is low.

Based on DE 10 2009 017 241 A1 a storage system for accommodating goods in storage positions that can be reached by service vehicles has become known with a warehouse with storage positions arranged in horizontal levels, which can be acted upon by operating devices via which operating levels with vertical access.

Based on DE 20 2013 012 882 U1 a handling device for lifting a container of a storage system and plant system comprising a handling device has become known.

Based on DE 10 2019 111 709 A1 a shelf storage system for storing goods in a three-dimensional warehouse has become known.

Proceeding from this, the object of the present invention is to provide a rack storage system which increases the degree of utilization in the rack storage and therefore enables a significantly more efficient utilization of the storage space or usable space or storage space available in the rack storage. A method for storing and retrieving load carriers into and out of the shelf storage facility is also to be provided, with payloads or goods or conveyed goods of only a small height being able to be located on the load carriers.

In order to solve this problem with regard to the shelf storage system, the invention has the features specified in claim 1. Advantageous configurations of this are described in the further claims. In addition, the invention has the features specified in claim 14 with regard to the method to be created.

The invention creates a shelf storage system with a three-dimensional shelf store and at least one vehicle for storing and retrieving load carriers into and out of the shelf store, the shelf store having a three-dimensional receiving structure for the load carriers and a large number of support profiles arranged at a distance from one another and in a right-angled arrangement which are designed to support the load carriers, with receiving shafts for the load carriers being formed between the support profiles and first rails in a first direction and second rails in a second direction at right angles to the first direction being arranged on an upper side of the receiving structure in accordance with a two-dimensional grid and the Running rails are designed to accommodate the at least one vehicle and the vehicle has a first set of wheels for movement in the first direction and a second set of wheels for movement in the second direction Ite direction and a load carrier lifting device, the load carrier lifting device having first pivotable support arms and the load carrier lifting device having second pivotable support arms, which are pivotable independently of the first support arms.

The invention thus creates a rack storage system with a three-dimensional rack storage or high-rack storage, the rack storage system having at least one vehicle for storing load carriers in the rack storage and also out of the rack storage. The load carriers can have different dimensions with goods or conveyed goods or payloads measured perpendicular to the surface of the load carrier, so that goods or conveyed goods or payloads with height dimensions that vary greatly from one load carrier to another can be located on the load carriers.

The shelf storage system generally has a three-dimensional receiving structure for the load carriers and has a multiplicity of support profiles which are arranged at a distance from one another and in a right-angled arrangement and on which supports for the load carriers are formed. Receiving shafts for the load carriers are thus formed between the support profiles arranged in this way, so that the load carriers can be lowered into the receiving shafts and a plurality of load carriers can be arranged one above the other in one receiving shaft. As already explained above, the load carriers can be provided with very different goods or conveyed goods or payloads with very different height dimensions in the vertical axis direction of the respective receiving shaft, i.e. they can be arranged on the load carriers.

On the upper side of the three-dimensional receiving structure there are first rails in a first direction and second rails in a second direction perpendicular to the first direction, so the rails form a two-dimensional grid and are designed to hold the at least one vehicle already mentioned above.

The vehicle may have a first set of road wheels for movement in the first direction and a second set of road wheels for movement in the second direction. In the case of a vehicle designed, for example, in the form of a robot, a first set of wheels for moving the vehicle in the first direction of the grid or the running rails is located on two opposite sides of the vehicle and is located on the other two opposite sides of the vehicle each second set of running wheels are arranged for moving the vehicle in the direction orthogonal to the first direction.

The respective first sets of running wheels and the respective second sets of running wheels can therefore be lowered either onto the respective running rails or into the respective running rails at right angles thereto, so that the vehicle can be moved using the first two sets of running wheels - and the second running wheels raised at the same time - to the first Direction can move and the vehicle by means of the two second sets of wheels - can move in the second direction - and thereby raised first wheels.

The vehicle can also have a load carrier lifting device with which the vehicle can lower the respective load carrier with goods or conveyed goods or payloads arranged on it into the respective receiving shaft and can also lift the respective load carrier out of the receiving shaft again.

According to the invention, the load carrier lifting device has first pivotable support arms and also second pivotable support arms, which are pivotable independently of the first support arms. The first pivotable support arms can, for example, be brought into releasable engagement with a respective underside of the corresponding load carrier, so that the load carrier can be lowered into the respective receiving shaft when the load carrier is arranged on the first pivotable support arms of the load carrier lifting device.

The load carrier lifting device also provides pivotable second support arms, which can be pivoted independently of the first support arms relative to the load carrier lifting device and also relative to the first pivotable support arms. In this way, the first pivotable support arms can also be pivoted relative to the load carrier lifting device and also relative to the load carrier, independently of the second pivotable support arms.

Thus, the first support arms can be pivoted relative to the load carrier when the second support arms are not pivoted, and the second pivotable support arms can also be pivoted relative to the load carrier when the first support arms are not pivoted. In this way, for example, if the load carrier is arranged on four first support arms, i.e. is supported by them from below, the second support arms can be independent of the first support arms relative to the load carrier and also relative to the load carrier lifting device and also relative to the receiving shaft and pivot on relative to the respective support profile of the receiving shaft.

As will be explained in more detail below, this configuration makes it possible for support profiles to be shifted relative to the load carriers into an area within the receiving shaft by means of the second pivotable support arms, so that the respective load carrier can be placed or set down on the support profile or the support profiles . The load carrier can therefore be conveyed into the respective receiving shaft by means of the first support arms, on which the load carrier is arranged so that it is supported by the first support arms, and the support profiles can be raised at a height that is suitable for storing the load carrier in the longitudinal direction or vertical axis direction of the respective receiving shaft by means of the pivotable second support arms are pivoted or moved into an area below the underside of the load carrier or are moved relative to the underside of the load carrier or in general relative to the load carrier, so that the load carrier can be set down on the support profile or the support profiles and the first support arms from the releasable engagement position can be solved, for example, on the underside of the load carrier. The load carrier is then located on the support profile or the support profiles, which have been moved into the detection area below the underside of the load carrier by means of the second support arms, and rests, for example, on the support profile or on the support profiles.

If the load carrier is then to be transported out of the receiving shaft again using the load carrier lifting device, the first support arms are transported into the area below the underside of the load carrier and pivoted relative to the underside of the load carrier in such a way that the load carrier is lifted from the support profile or the Support profiles can be detached, i.e. can be lifted by them, so that the support profile or the support profiles can then be transported out of the receiving shaft again by means of the second pivotable support arms, i.e. can be transported in the direction to the side, for example relative to the longitudinal axis or vertical axis of the receiving shaft and thus the receiving shaft is ready again for storing the next load carrier.

According to a development of the invention, it is provided that the first and second support arms are each arranged on the load carrier lifting device such that they can pivot about a common axis and can be actuated to pivot about the axis by means of a device provided on the vehicle or on the load carrier lifting device.

A configuration is therefore possible, for example, according to which a first support arm is assigned a second support arm and both support arms can be pivoted about a common, for example vertical, axis and independently of one another, so that the two support arms can be pivoted on the common axis, but independently can be pivoted from each other.

What is achieved with this configuration is that the second support arm can be pivoted relative to the first support arm while this is arranged, for example, on an underside of a load carrier in order to support or carry it from below.

For example, several pairs of first and second support arms assigned to one another can be provided on the load carrier lifting device, for example four pairs of support arms, which are each arranged on the load carrier lifting device in such a way that the first support arms can support the load carrier from below in an area such that the load carrier with the goods or goods to be conveyed or payloads arranged on it can be held and supported securely and stably by the first support arms.

According to a further development of the invention, it is also provided that the first support arms are designed for the releasable engagement position with load carriers and/or load carrier-accommodating support means, the support means having holding elements which can be pivoted by the second support arms and are arranged with support beams running largely transversely to the support profiles of the receiving structure are designed so that they can be brought into releasable engagement.

In this way, the first support arms on the load carriers can be brought directly into a releasable engagement position with them or also with pallet carriers or the like, which in turn support load carriers. The support means in the form of pallet supports or the like may in turn comprise support elements in the form of, for example, liftable support beams which can be pivoted by the second support arms and brought into releasable engagement with support beams arranged on the receiving structure.

The second support arms can thus be brought into detachable engagement with the support beams, for example so that the load carriers can be moved vertically in the receiving shaft without colliding with the holding beams and then when the load carrier has reached a height in the receiving shaft, which corresponds to the intended height or position or placement in the receiving shaft, the support beams can be detached from the support beams by the second pivotable support arms or moved relative to the support beams into a position that allows the load carriers to be set down on the support beams can and by means of the first support arms.

In this way, it is achieved that the holding supports can be arranged at any location or position of the receiving shaft relative to the extension of the receiving shafts in the vertical axis direction in the vertical axis direction or vertical direction of the receiving shafts and can be positioned by the second pivotable support arms in such a way that the load carrier then can be placed on the support brackets. In this way, the storage capacity of the respective storage shaft can be divided as finely as desired, viewed in the direction of the vertical axis, so that the empty space or dead space found in the known configuration of the shelf storage system is minimized above the load carrier that is positioned accordingly in the storage shaft, since with the configuration according to the invention, the holding carrier can be moved into the area above the positioned load carrier or positioned load carrier with goods or payloads arranged on it, namely by means of the second pivotable support arms and on these holding carriers then shifted in this way, a next load carrier with goods arranged on it can be positioned in the receiving shaft, and the gap between the underside of the next Charge carrier and the previously positioned charge carrier arranged directly below it is minimized and thus the charge carrier density in the receiving shaft can be increased and so that the degree of utilization of the receiving shaft and thus the degree of utilization of the entire rack storage system can be increased considerably.

In the known shelf storage system described at the beginning with boxes or containers arranged one above the other in the receiving shaft, the situation can arise that in the lower box, viewed in the vertical axis direction of the box, there are only very few goods arranged and therefore a lot of empty space or unused loading space in the space above the goods and the Underside of the next box arranged above the box remains. The degree of utilization of the respective receiving shaft is therefore limited, since there can be a lot of unused loading space in the receiving shaft.

The invention solves this problem, since the unused empty space above a load carrier can be minimized with the variable utilization or change in the distance between load carriers arranged one above the other in the vertical axis direction of the receiving shaft. Depending on the division of the arrangement points or receiving points in the vertical axis direction of the receiving shaft for the holding elements or holding supports, the degree of utilization of the respective receiving shaft can be further increased. For example, the division can be higher in a first receiving shaft than in the adjacent second receiving shaft, so that viewed in its vertical axis direction, there can be more displaceable or relocatable holding supports or holding elements in the first receiving shaft than in the adjacent second receiving shaft. Load carriers are then mainly stored in the first receiving shaft, which, viewed in the vertical axis direction of the receiving shaft, hold different goods with a low height, while load carriers are stored in the adjacent second receiving shaft, which carry different goods with a greater height.

According to a development of the invention, it is provided that the support profiles are arranged to run in a vertical axis direction of the rack storage system and support profile support arms are arranged transversely to the support profiles, with a respective support profile being arranged between opposing support profile support arms on both sides of the support profile, which relative to the support profile support arms on these is slidably arranged by means of the second support arms and the load carrier can be placed on the support profile.

The storage rack therefore has support profiles which are arranged in the vertical axis direction of the storage rack and, for example, a receiving shaft for the load carriers is formed within an arrangement of four support profiles arranged at right angles to one another. Support profile support arms extend transversely to the support profiles and support profile support arms can be arranged on both sides of a respective support profile. Support profiles in the form of, for example, displaceable crossbeams can be arranged on the support profile support arms. The support beams mentioned above can constitute such cross beams. The support profiles can be displaced by means of the second pivotable support arms in such a way that the support profiles arranged displaceably on the supporting profile support arms are displaced by means of the second support arms, which are designed to be pivotable independently of the first pivotable support arms.

For this purpose, the second support arms can be lowered relative to the support profiles by means of the load carrier lifting device and then pivoted under the support profiles, brought into detachable engagement with them and then by means of a pivoting movement of the second pivotable support arms, the support profiles can be displaced on the support profile support arms, namely up to in an area below the load carrier, so that the load carrier can then be set down on the support profiles by means of the first pivotable support arms, which then support the load carrier on the support profile support arms, which in turn are supported on the support profiles and the set-down load carrier is thus arranged in the receiving shaft , For example, above another charge carrier arranged underneath, which is located at a minimum vertical distance in the vertical axis direction of the receiving shaft from the charge carrier then arranged above it. In this way, several load carriers can be arranged one above the other in the receiving shaft, with a minimum distance between the underside of the upper load carrier and the top of the lower load carrier or the goods or conveyed goods or payloads arranged on it.

The empty space between the lower load carrier and the upper load carrier arranged above it is thus minimized and in this way the degree of utilization of the receiving shaft is increased and thus the degree of utilization of the shelf storage system is also considerably increased.

According to a further development of the invention, it is also provided that the support profile has an elongated configuration with a rectangular support and at the end regions of the support a profile which at least partially positively overlaps or surrounds the respective support profile support arm is provided, on which the support profile is supported on the support profile support arm.

In this way, the support profiles on the support profile support arms can be displaced by means of the second pivotable support arms, i.e. they can be displaced out of the accommodation shaft transversely to the accommodation shaft, so that a load carrier can be lowered into the accommodation shaft and also be displaced into it transversely to the accommodation shaft, so that a load carrier can be can be sold to the support profiles, as explained above.

According to a development of the invention, it is also provided that the load carrier lifting device is provided with an actuating means which is non-positively coupled to the first and/or second support arms and the actuating means is designed for actuation by drive means provided on the vehicle or on the load carrier lifting device.

This means that on the load carrier lifting device, drive means in the form of an electric motor or the like, for example, can drive the actuating means, which can be a toothed belt drive, for example, which in turn can drive the respective first and/or second support arm to pivot.

In this way, the first and/or second support arms can each be actuated to pivot independently of one another, for example in such a way that said electric motor drives a first toothed belt drive which is coupled to a power transmission device for transmitting driving force to the first support arms. The electric motor can also drive a second toothed belt drive, with which the second pivotable support arm is then pivoted independently of the first pivotable support arm.

According to a development of the invention, it is also provided that the load carrier lifting device is designed for vertical movement relative to the receiving shaft and has a base frame on which the first and/or second support arms are arranged pivotably relative to the base frame and has a cover frame spaced apart from the base frame, wherein Guide rollers are arranged on the base frame and cover frame, which can be brought into contact with the support profiles, the support arms being arranged in particular in the corner area of the base frame.

The base frame can be designed to complement the cross-sectional shape of the receiving shaft, for example, be rectangular in shape and have a pair of first and/or second support arms in each of the corner regions, which are designed to be pivotable independently of one another and are designed to be pivotable independently of one another relative to the base frame.

The load carrier lifting device can have a cover frame arranged at a distance from the base frame, which is also designed to complement the cross-sectional shape of the receiving shaft, and the base frame and the cover frame can be connected to one another via tension rods or other profiles. The cover frame can be connected to the vehicle via, for example, traction cables or toothed belts, so that the cover frame and thus the load carrier lifting device can be lowered into the receiving shaft by means of the vehicle and moved relative thereto in the vertical axis direction of the receiving shaft.

In this way, the base frame is also moved relative to the receiving shaft in the direction of the vertical axis, as is a load carrier, which rests, for example, on the first pivoting support arms.

The load carrier lifting device is guided in the receiving shaft by means of guide rollers arranged on the base frame and on the cover frame, which can roll on the support profiles, ie can be brought into contact with the support rollers.

According to a development of the invention, it is provided that the vehicle has a modular structure and has a travel module with a box-shaped base frame with the first and the second set of running wheels, which can be raised on the base frame and lowered onto the rails and can be driven with a drive motor and the vehicle has a lifting module with drivable traction means in the form of, for example, lifting toothed belts, by means of which the load carrier lifting device can be raised and lowered.

The vehicle provided for movement on the travel rails on the upper side of the receiving structure of the shelf storage system therefore has a travel module with a base frame, which can be box-shaped. A first set of running wheels can be arranged on each of two opposite longitudinal sides of the base frame and a second set of running wheels can be arranged on each of the two other, opposite longitudinal sides. Those wheels are then always lowered onto the rails on which the vehicle is to move in the respective direction.

The vehicle can also have a lifting module, which is designed to accommodate drivable lifting toothed belts or other lifting means, so that the load carrier lifting device can be moved with the lifting means or toothed belt relative to the receiving shaft, i.e. it can be lowered into the receiving shaft or raised in the receiving shaft.

The lifting module can also have a box-shaped base frame, on the underside of which, for example, the box-shaped base frame of the travel module is arranged. According to the invention, it is also provided that the toothed lifting belts or other lifting means are accommodated in a storage module which, for example, has rollers for looping accommodation of the lifting means or toothed lifting belts, so that the lifting means or toothed lifting belts, depending on the length thereof, are used to lower the load carrier lifting device into the receiving shaft is needed to be wound up or unwound on the rolls. The storage module can also have a box-shaped base frame and be located above the travel module and below the lifting module.

The respective box-shaped base frame also ensures that the vehicle has a receiving space within the internal dimensions of the box-shaped base frame, in into which the load carrier lifting device can be lifted, so that the vehicle can move on the rails with the load carrier lifting device arranged within the respective base frame.

According to a development of the invention, it is also provided that the vehicle has the storage module just explained, which is designed to accommodate the toothed lifting belt and has rollers around which the toothed lifting belt is wrapped in such a way that the length of the toothed lifting belt provided in the direction of the depth of the receiving shafts is changeable. Instead of the toothed lifting belt, traction means or ropes or the like can also be used to raise and/or lower the load carrier lifting device in the respective receiving shaft.

According to a further development of the invention, it is also provided that a drive device is provided on the load carrier lifting device for the pivoting actuation of the first and/or second support arms, which takes place independently of one another, and the drive device drives a rotary-actuated coaxial shaft assigned to a respective pair of first and second support arms.

The coaxial shaft can have two shafts or tubes that can be rotated and are arranged one inside the other, so that, for example, the first support arm can be pivoted by rotating the inner shaft or the inner tube, while the second support arm can be pivoted by rotating the shaft or tube coaxial with the inner shaft or tube outer shaft or outer tube can be pivoted.

The drive device can be, for example, a respective electric motor that is arranged on the lifting module and, via a respective toothed belt, drives the respective roller of the storage module for rotary actuation, on which a lifting toothed belt or other lifting means is arranged, with which the load carrier lifting device is raised or lowered .

According to a development of the invention, it is also provided that the first support arms are designed to be pivotable through an angle of largely 90 degrees and the second support arms are designed to be pivotable through an angle of largely 135 degrees.

Via a pivoting actuation of the first support arms, these can be pivoted relative to the load carrier, that is, for example, pivoted in such a way that the load carrier rests on the respective upper side of the first support arms. When the load carrier has then been lowered to rest on the above-mentioned support profiles or crossbeams, the first support arms can be pivoted through 90 degrees relative to the load carrier, so that the load carrier lifting device can be raised.

When the load carrier lifting device has been lowered into the receiving shaft with the load carrier resting on the first pivotable support arms, the second pivotable support arms can still be pivoted when the load carrier is arranged soaring on the first support arms, for example to below the support profiles or crossbeams. A lifting movement of the load carrier lifting device by a predetermined distance in the vertical axis direction of the receiving shaft then causes the second support arms to come into detachable engagement with the support profiles or crossbeams and can be pushed or pulled into the area below the load carrier by a pivoting movement of the second support arms, so that then a lowering movement of the load carrier lifting device with the load carrier arranged thereon leads to the load carrier coming to rest on the upper side of the support profiles or the cross member and thereby detaching itself from the upper side of the first pivotable support arms. The first support arms and also the second support arms are then pivoted out of the area below the load carrier, so that a lifting movement of the load carrier lifting device in the receiving shaft means that it can be lifted in an upward direction with the first and second support arms pivoted, while the load carrier is attached to the Support profiles or crossbeams remain in the receiving shaft.

According to a development of the invention, it is also provided that the load carrier lifting device is designed for the simultaneous conveyance of at least two load carriers arranged one above the other. The load carrier lifting device can therefore transport two or more load carriers arranged one above the other with goods or conveyed goods or payloads located on one or both or more load carriers into the receiving shaft or in turn transport them out of the receiving shaft. In such a configuration, the lower load carrier, seen in the vertical axis direction of the receiving shaft, can rest on the first pivotable support arms and a second load carrier arranged above it can, for example by means of spacers, rest on the load carrier arranged underneath on its upper side and a third load carrier arranged above the second load carrier, etc., can be above Spacers rest on the second charge carrier on its upper side, so that the charge carrier lifting device can lower the stack of charge carriers formed in this way into the receiving shaft and can lift it out of the receiving shaft again.

If such a stack of load carriers is to be lowered into the receiving shaft, the load carrier stack is lowered into the receiving shaft with the lower load carrier resting on the first pivotable support arms and the load carrier stack can then be lowered on two crossbeams or support profiles, which are supported by the second pivotable support arms have been pushed or pulled into the receiving slot, as explained in detail above. The load carrier stack then lies on the crossbeams or support profiles and above the load carrier stack another load carrier stack or even a single load carrier can then be lowered into the receiving shaft and placed on two further crossbeams or support profiles.

According to a development of the invention, it is also provided that the lifting module has a drive motor assigned to the respective toothed lifting belt and has a control device which is designed for synchronous control of the process of raising and/or lowering the load carrier or the load carrier stack.

A drive motor can therefore be assigned to each lifting toothed belt or traction means or lifting means, so that the load carrier lifting device can be lowered into the receiving shaft guided on the guide rollers, specifically together with the first and/or second support arms arranged on the load carrier lifting device and the actuating device for the pivoting actuation of the support arms, a load carrier or a load carrier stack can also be arranged on the load carrier lifting device, as has been explained in detail above.

The invention also provides a method for storing and retrieving load carriers in and out of a storage rack, which has a three-dimensional receiving structure for the load carriers and a large number of support profiles which are spaced apart from one another and arranged at right angles and are designed to support the load carriers , wherein receiving shafts for the load carriers are formed between the support profiles and first running rails are arranged in a first direction and second running rails are arranged in a second direction at right angles to the first direction in accordance with a two-dimensional grid on an upper side of the receiving structure and the running rails are designed to accommodate the at least one vehicle and the vehicle has a first set of running wheels for movement in the first direction and a second set of running wheels for movement in the second direction and a load carrier lifting device, whereby by means of the L load carrier lifting device, a load carrier supported by first support arms arranged on the load carrier lifting device is lowered into a receiving shaft and by means of second support arms arranged on the load carrier and displaceable relative to the first support arms, support profiles that can be displaced relative to the support profiles are displaced relative to an underside of the load carrier lifting device and the load carrier is moved to the Support profiles is arranged.

According to the invention, a method is also provided according to which load carriers can be stored and retrieved in a three-dimensional receiving structure of a rack storage facility, specifically by means of a load carrier lifting device. The load carrier lifting device has first support arms on which the load carrier can be supported and lowered by means of the load carrier lifting device into the receiving shaft of the three-dimensional rack storage and also lifted out of the receiving shaft or transported out.

The load carrier is arranged on the first support arms of the load carrier lifting device and is supported by them, and second support arms are also pivotably arranged on the load carrier lifting device, which can be pivoted independently of the first pivotably arranged support arms in such a way that these second support arms are relative to the support profiles the three-dimensional receiving structure displaceable support profiles or cross members can move relative to an underside of the load carrier lifting device and then the load carrier can be arranged on the support profiles or lowered. When the load carrier has been set down on the support profiles that have been displaced or relocated by the second pivotable support arms, both the first pivotable support arms and the second pivotable support arms are pivoted relative to the load carrier in such a way that the load carrier lifting device can be lifted and the first and second support arms during be guided past the outer dimensions of the load carrier during the lifting process and are thus ready to receive the next load carrier.

• 1 eine schematische perspektivische Darstellung eines Ausschnitts eines Regallagers mit einer dreidimensionalen Aufnahmestruktur für Ladungsträger mit auf der Aufnahmestruktur angeordneten ersten und zweiten Fahrschienen;
• 2 eine schematische perspektivische Darstellung der Fahrschienen der Darstellungen nach 1 mit einem daran angeordneten Fahrzeug zur Einlagerung und Auslagerung von Ladungsträgern;
• 3 eine perspektivische Darstellung eines dreidimensionalen Regallagers mit einem exemplarisch darin eingelagerten Ladungsträger;
• 4 eine perspektivische Darstellung des Fahrzeugs aus 2 in einer vergrößerten Darstellung;
• 5 eine perspektivische Darstellung einer Ladungsträgerhubvorrichtung;
• 6 drei Darstellungen zur Erläuterung der Handhabung der Ladungsträgerhubvorrichtung durch das Fahrzeug;
• 7 eine weitere perspektivische Darstellung der Ladungsträgerhubvorrichtung mit daran angeordnetem Ladungsträger in einer Ansicht schräg von oben;
• 8 eine perspektivische Darstellung der Unterseite der Ladungsträgerhubvorrichtung nach 7 in einer Ansicht schräg von unten;
• 9 eine vergrößerte Darstellung eines Ausschnitts der 7 zur Erläuterung der Führungsrollen;
• 10 eine perspektivische Darstellung des Ausschnitts A nach 8 der Zeichnung in einer Ansicht schräg von oben unter Weglassung des Ladungsträgers und zwar in einer Stellung mit eingefahrenen ersten und zweiten Tragarmen;
• 11 eine Darstellung ähnlich derjenigen nach 10 mit zum Tragen des Ladungsträgers verschwenkten Tragarmen;
• 12 eine Darstellung ähnlich derjenigen nach 11 mit zur Verlagerung der Querträger verschwenkten zweiten Tragarmen;
• 13 eine Darstellung der Position der ersten und zweiten Tragarme im eingefahrenen Zustand entsprechend 10;
• 14 eine Darstellung der Position der ersten und zweiten Tragarme in einer zum Tragen des Ladungsträgers verschwenkten Stellung entsprechend 11;
• 15 eine Darstellung der Position ähnlich derjenigen nach 12 zur Erläuterung der zur Verlagerung der Querträger verschwenkten zweiten Tragarme;
• 16 eine Darstellung einer Ansicht von oben auf die ersten und zweiten Tragarme mit der Stellung der zweiten Tragarme zur Vorbereitung der Verlagerung der Querträger;
• 17 eine Darstellung ähnlich derjenigen nach 16 in einer Ansicht von unten;
• 18 eine perspektivische Darstellung eines Ausschnitts eines Regallagers mit im Aufnahmeschacht positionierter Ladungsträgerhubvorrichtung;
• 19 eine vergrößerte Darstellung der Einzelheit B nach 18;
• 20 eine perspektivische Darstellung eines Fahrzeugs nach einer Ausführungsform;
• 21 eine perspektivische Darstellung der Ladungsträgerhubvorrichtung;
• 22 eine vergrößerte Darstellung einer Einzelheit C nach 21 mit einer Stellung der ersten und zweiten Tragarme zum Tragen eines Ladungsträgers;
• 23 eine vergrößerte Darstellung einer Einzelheit D nach 21; und
• 24 eine perspektivische Darstellung ähnlich derjenigen nach 1.

The invention is explained in more detail below with reference to the drawing. This shows in:

• 1 a schematic perspective representation of a section of a rack storage system with a three-dimensional receiving structure for load carriers with arranged on the receiving structure first and second rails;
• 2 a schematic perspective representation of the rails of the representations 1 with a vehicle arranged thereon for the storage and retrieval of load carriers;
• 3 a perspective view of a three-dimensional storage rack with a load carrier stored therein as an example;
• 4 a perspective view of the vehicle 2 in an enlarged view;
• 5 a perspective view of a load carrier lifting device;
• 6 three representations to explain the handling of the load carrier lifting device by the vehicle;
• 7 another perspective view of the load carrier lifting device with load carriers arranged thereon in a view at an angle from above;
• 8th a perspective view of the underside of the load carrier lifting device 7 in a view obliquely from below;
• 9 an enlarged view of a section of the 7 to explain the leadership roles;
• 10 a perspective view of section A 8th the drawing in a view obliquely from above, omitting the load carrier, specifically in a position with retracted first and second support arms;
• 11 a representation similar to that shown below 10 with pivoted support arms for carrying the load carrier;
• 12 a representation similar to that shown below 11 with the second support arms pivoted to move the cross members;
• 13 a representation of the position of the first and second support arms in the retracted state accordingly 10 ;
• 14 a representation of the position of the first and second support arms in a pivoted position for carrying the load carrier 11 ;
• 15 a representation of the position similar to that shown below 12 to explain the second support arms pivoted to move the cross members;
• 16 a representation of a view from above of the first and second support arms with the position of the second support arms in preparation for the displacement of the cross member;
• 17 a representation similar to that shown below 16 in a view from below;
• 18 a perspective view of a section of a racking system with a load carrier lifting device positioned in the receiving shaft;
• 19 an enlarged view of the detail B after 18 ;
• 20 a perspective view of a vehicle according to an embodiment;
• 21 a perspective view of the load carrier lifting device;
• 22 an enlarged representation of a detail C after 21 with a position of the first and second support arms for supporting a load carrier;
• 23 an enlarged representation of a detail D after 21 ; and
• 24 a perspective view similar to that shown in FIG 1 .

1 The drawing shows a schematic perspective view of a section of a rack storage system 2 with a three-dimensional receiving structure 3 with first travel rails 4 and second travel rails 5 arranged on the receiving structure 3, these being components or parts of a rack storage system 1, as shown in detail in 2 shown in the drawing.

The shelf storage 2 is designed to accommodate load carriers 6, of which a load carrier 6 in 3 can be seen in the drawing.

For ease of presentation and better visualization, in 3 the drawing shows the rack storage 2 without the rails 4 and 5 in order to get a visual insight into the rack storage 2. In a rack storage system 1 with a vehicle 7, as is based on 2 As can be seen from the drawing, the plurality of first rails 4 and second rails 5 are located on the upper side 8 of the receiving structure 3, as can be seen from the detail in FIG 1 is evident. This in 2 the drawing visible vehicle 7 can drive to the first rails 4 and second rails 5 move in a first direction 9 and in a second direction 10, namely by means of two first sets of running wheels 11 and second sets of running wheels 12, by means of which the vehicle 7 is moved on the running rails 4 corresponding to a two-dimensional grid 13, 5 can be moved in such a way that the respective two sets of wheels 11 or 12 are lowered onto the rails 4 or 5 and the vehicle 7 can be moved in the first direction 9 or in the second direction 10.

1 The drawing shows two support profiles 14 which extend downwards from the top 8 of the three-dimensional receiving structure 3 of the shelf storage system 1 in the direction of the arrow 15 and are fixed on the bottom, for example, to a hall floor 16 or the like. How it based on 3 As can be seen from the drawing, a plurality of support profiles 14 are provided in a right-angled arrangement to form the three-dimensional storage rack 2 and between the support profiles 14 support profile support arms 17 are provided on either side of a respective support profile.

On the upper side 8 of the three-dimensional storage rack 8, several vehicles 7 can be moved on the first rails 4 and second rails 5, since each vehicle 7 only occupies one field 18 between two opposite pairs of rails made up of rails 4 and rails 5. a in 2 not shown in the drawing - but for example in 24 shown - so the second vehicle 7 can be in accordance with the drawing 2 drive past the vehicle 7 that can be seen, for example in the direction of the arrow 9, ie in the first direction or also in the second direction according to the arrow 10, without colliding with the vehicle 7 shown.

The respective rails 4 and 5 are each designed so wide, i.e. each have such a wide driving profile, that the two vehicles, i.e. vehicle 7 and vehicle in 24 vehicles shown can drive past each other without touching.

This configuration ensures that the degree of utilization of the shelf storage system 1 can be significantly increased, since the vehicles can drive or move on the top 8 of the shelf storage 2 as part of a so-called swarm intelligent system and thus several receiving shafts 19, of which in 1 For the sake of explanation, only one is shown, can be operated at the same time, i.e., for example, a load carrier 6 can be stored in a first receiving shaft 19 and at the same time a load carrier 6 can be stored in a second receiving shaft 19 or can also be removed from it, with the receiving shafts 19 can also be directly adjacent to each other.

Everyone in 2 The fields 18 visible in the drawing are assigned a respective receiving shaft 19 , so the respective field 18 delimits a respective receiving shaft 19 on the upper side 8 of the storage rack 2 and the receiving shaft 19 extends in the direction of the arrow 15 1 for example up to hall floor 16.

The load carrier lifting device is, for example, based on 5 visible in the drawing. In the illustrated embodiment, this has a rectangular base frame 21 and has a cover frame at a distance from the base frame 21, as is also shown in FIG 5 can be seen in the drawing. The cover frame is connected to the base frame 21 with supports or spacers 23 .

How it based on the 6 As can be seen from the drawing, which shows the vehicle 7 in the illustration on the left, the load carrier lifting device 20 is located entirely in the interior 24 of the vehicle 7 . The middle representation of the 6 shows that the load carrier lifting device 20 has already been lowered somewhat out of the interior space 24 in order to be lowered into a receiving shaft 19 of the storage rack 2 . The right representation of 6 shows that the load carrier lifting device 20 has already been completely lowered out of the interior space 24 .

4 The drawing shows the load carrier lifting device 20 fully accommodated in the interior 24 of the vehicle 7, this corresponds to the position in which the vehicle 7 with the load carrier lifting device 20 is moved in the interior 24 on the first and second rails 4, 5 on the upper side 8 of the rack storage 2 can.

As can be seen from the perspective view of the 7 As can be seen, guide rollers 25 are arranged both on the base frame 21 and on the cover frame 22, by means of which the load carrier lifting device 20 can roll on the support profiles 14 during the displacement movement, so that the load carrier lifting device 20 moves over the guide rollers 25 during the entire displacement movement within the receiving shaft 19 the support profiles 14 is performed in such a way that the guide rollers 25 both on a front side and on the two transverse sides of the respective support profile 14 with the basis of 9 the drawing more visible guide rollers 25 can roll.

8th The drawing shows a perspective view of the underside of the load carrier lifting device 20 in a view obliquely from below. The base frame 21 has a first pivotable support arm 26 and a second pivotable support arm 27 in all four corner regions. As this is explained in more detail below with reference to 10 until 15 of the drawing, the first brackets 26 are pivotable independently of the second brackets 27 and the second brackets 27 are pivotally independent of the first brackets 26.

The respective pair of support arms 26, 27 is pivotally mounted on a common axis 28 on the base frame 21, i. H. the respective first support arm 26 and the respective second support arm 27 can be pivoted on the respective axis 28, as will be explained in more detail below, with each first support arm 26 of a respective support arm pair 29 consisting of the first support arm 26 and second support arm 27 being pivoted independently of the second Support arm 27 of the pair of support arms 29 can be pivoted. Likewise, each second support arm 27 can be pivoted on the axis 28 independently of the respective support arm 26 .

10 the drawing shows a perspective view of section A 8th of the drawing, in a view obliquely from above, with the 8th the load carrier 6 shown in the drawing in the form of the pallet 30 shown there has been omitted.

10 shows part of the base frame 21 and the first support arm 26 and the second support arm 27 arranged on the common axis 28, namely in a retracted position in which the support arms 26, 27 are arranged pivoted in the base frame 21, so that the load carrier lifting device 20 is also the base frame 21 can be lifted past a pallet 30, that is, for example, it can be lowered over the pallet 30 coming from above, and the pallet 30 is thus then located within the interior space 24 of the load carrier lifting device 20.

During the lowering movement of the load carrier lifting device 20 over the pallet 30, the support arms 26, 27 do not collide with the pallet 30. 13 the drawing shows a representation of the position or setting of the two support arms 26, 27 in the retracted state accordingly 10 in a representation from above, i.e. a plan view.

In the space 31 between the pairs of support arms 29 with the support arms 26, 27, the pallet 30 can be accommodated. If the load carrier lifting device 20 is arranged relative to the pallet 30 or the load carrier 6 in such a way that the load carrier 6 or the pallet 30 is received in the intermediate space 31, then the support arms 26, 27 can be moved into the in 11 the drawing shown position or position are pivoted, in which both the support arms 26 and the support arms 27 in a 90 degree relative to the position after 10 pivoted position are arranged, as is also the case in more detail with reference to 14 can be seen in the drawing.

If in the position of the support arms 26, 27 after 11 and 14 the load carrier lifting device 20 in the opposite direction of the arrow 15 1 is raised, this lifting movement of the load carrier lifting device 20 leads to the support arms 26 coming to rest with their respective upper side 32 on the underside 33 of the pallet 30 and the pallet 30 can thus be raised relative to the rack storage 2 or lowered further, namely in the receiving shaft 19 and in this way the load carrier can be stored or removed from storage in the storage rack 2 or out of the storage rack 2.

12 and 15 show a representation of the position or position of the support arms 26, 27 with the shift from to 11 and 12 support profiles or crossbeams 34 shown only schematically.

18 shows a perspective view of a section of a rack storage system 2 with a load carrier lifting device 20 positioned in the receiving shaft 19, on which a load carrier 6 in the form of a pallet 30 is arranged, i.e. the pallet 30 is supported with its underside 33 by the upper side 32 of the respective first pivotable support arms 26 supported or carried.

The support profiles 34 or crossbeams 34, which 19 the drawing can be seen, which is an enlarged view of the detail B after 18 The drawing shows can be moved or relocated in the direction of the double arrow 35 by means of the pivotable second support arms 27 and that on the support profile support arms 17, as is based on 19 can be seen in the drawing. 3 shows a large number of support profiles 34 or crossbeams 34 in rack storage 2 and makes it clear that each support profile 34 or each crossbeam 34 can be pushed or relocated on the support profile support arms 17 of rack storage 2, specifically in the direction of double arrow 35, which is shown in 3 is also shown. 19 of the drawing shows in connection with the a plurality of support profiles or cross members 34 showing 3 , also that the respective support profile 34 or cross member 34 has an elongated configuration has a rectangular carrier 59, at the respective end regions 60 of which has a profile 61 which positively engages around the support profile support arm 17 and on which the support profile 34 is supported on the support profile support arm 17.

To move the support profiles 34 or crossbeams 34, the second pivotable support arms 27 are removed from the 11 and 14 in the positions shown in the drawing 12 and 15 the drawing shown positions pivoted in the outward direction. With the second support arms 27 pivoted in the outward direction, the load carrier lifting device 20 with the pallet 30 resting on the support arms 26 is moved in the opposite direction to the arrow 15 1 lifted by a predetermined distance or stroke in the upward direction and this lifting movement of the load carrier lifting device 20 causes the second pivotable support arms 27 to come into releasable engagement with the respective cross member or support profile 34 . A pin 37 (see FIG 15 ) be arranged.

During this lifting movement of the load carrier lifting device 20, the second support arm 27 comes into releasable engagement with the respective engagement end 38 on which the pin or pin 37 is arranged with the support profile 34 or cross member 34; the pin or pin 37 can therefore, for example, be connected to an underside of the U-shaped support profile or cross member 34 come into releasable engagement. A pivoting movement of the second pivotable support arms 27, while these are still in the releasable engagement position with the support profile or the cross member 34, results in the cross members 34 being shifted or pushed or pulled under the underside 33 of the load carrier 6 or the pallet 30 . Then the load carrier lifting device 20 with the pallet 30 arranged thereon or the load carrier 6 is moved in the direction of the arrow 15 1 lowered by a predetermined distance, then the bottom 33 comes to the top 39 (see 19 ) of the respective crossbeams or support profiles 34 to rest and is held by the crossbeams or support profiles 34.

If the support arms 27 from the in 15 the position shown in the drawing can be pivoted inwards, i.e. the in 14 If the position of the support arms 27 shown in the drawing is adjusted, the cross members or support profiles 34 have been displaced inwards relative to the pallet 30 and the load carrier lifting device 20 can move in the opposite direction to arrow 15 1 be lowered as just discussed. The load carrier 6 or the pallet 30 is now on the transversely displaced support profiles or cross members 34 and the load carrier lifting device can in the direction of arrow 15 after 1 be lowered further. Then the support arms 26, 27 in the retracted position 10 respectively 13 of the drawing and the load carrier lifting device can be lifted upwards in the retracted position of the support arms 26, 27 against the direction of the arrow 15 in the storage rack 2, the pallet 30 that has just been stored or the load carrier 6 that has just been stored remains in the storage rack 2 or the three-dimensional receiving structure 3 of shelf storage 2 stored.

If the load carrier 6 or the pallet 30 with goods or conveyed goods arranged on it or on it, which can each have completely different heights, as has already been explained above, is to be removed from the rack storage 2 again, then the load carrier lifting device 20 with the position the support arms 10 respectively 13 the drawing in the direction of arrow 15 after 1 lowered in the receiving shaft 19 until the first support arms 26 are arranged with their upper side 32 below the underside 33 of the pallet 30 or the load carrier 6 . The support arms 26 are then inserted into the in 11 the drawing or 14 the drawing pivoted position, the pallet 30 or the load carrier 6 comes with the underside 33 on the top of the support arms 26 to rest and is lifted from the top 39 of the support profiles or cross member 34. During this lifting movement, the second support arms 27 with the engagement end 38 and the pins 37 arranged thereon come into releasable engagement with the underside 40 (see FIG 19 the drawing). In this position, the second pivotable support arms 27 can then be moved out of position in 14 in the position shown in the drawing 15 in the position shown in the drawing are pivoted outwards and, during this pivoting movement, pull the crossbeams or support profiles 34 on the support profile support arms 17 outwards again, so that the crossbeams or support profiles 34 are pushed or relocated outwards from the receiving shaft 19 of the racking system 2 and thus the receiving shaft 19 for the lifting movement of the load carrier lifting device 20 is free.

16 The drawing shows a view from above of the first and second support arms 26, 27 with the position of the second support arms 27 in preparation for the displacement of the crossbeams or support profiles 34.

As is readily apparent, the first support arms 26 are pivotable at an angle of approximately 90 degrees about the common axis 28 of the two support arms 26, 27 between the retracted position 10 according to the drawing and the pivoted position for carrying the pallet 30 or the load carrier 6 11 or 14 the drawing. The second support arms 27 can be pivoted through a pivoting angle or pivoting range of approximately 135 degrees, specifically on the axis 28, namely between the retracted position 10 or 13 according to the drawing and the pivoted position for shifting the support profiles or crossbeams 34 12 or 15 the drawing.

The second support arms 27 are thus used to shift the support profiles or crossbeams 34 into the pivoted position 12 or 15 who also in 16 the drawing is pivoted and the lifting movement of the load carrier lifting device 20 causes the respective engagement end 38 of the second displaceable or pivotable support arms 27 to come into releasable engagement with the underside 40 of the respective support profile or cross member 34 . A displacement or pivoting movement of the second support arms 27 by about 45 degrees in the direction of arrow 41 after 16 the drawing results in the cross beams or support profiles 34 being displaced inwards into the receiving shaft 19 and thus the load carrier lifting device 20 with the pallet 30 arranged thereon or the load carrier 6 arranged thereon in the direction of the arrow 14 1 can be lowered, whereby the underside 33 of the pallet 30 of the load carrier 6 comes to rest on the upper side 39 of the respective support profile or cross member 34 . During this lowering movement, the bottom 33 of the pallet 30 or the load carrier 6 is then detached from the top 32 of the respective first support arm 26 and the pallet 30 or the load carrier 6 rests on the support profile 34 or the cross member. Then the two support arms 26, 27 from, for example, in 14 in the position shown in the drawing 10 the drawing visible retracted position are pivoted and the load carrier lifting device 20 can be raised or lowered in the receiving shaft 19, the load carrier 6 or the pallet 30 remains on the cross members or support profiles 34 arranged.

17 the drawing shows a representation similar to that after 16 the drawing in a view from below. The support arms 26 and 27 are shown in the position in which the pallet 30 or the load carrier 6 rests on the support arms 26, i.e. is supported by the support arms 26 and the support arms 27 have been pivoted into the position in which they support the support profiles 34 or cross member 34 to the carrying position 14 can shift the drawing or have already shifted the support profiles 34 or crossbeams 34 out of the receiving shaft 19 again.

20 The drawing shows a perspective view of an embodiment of a vehicle 7 of the shelf storage system according to the invention.

As is readily apparent, the vehicle 7 has a modular structure and has a travel module 42 with a box-shaped base frame 43 on which two first sets 11 of running wheels and two second sets 12 of running wheels are provided, which are mounted on the respective running rails 4 and 5 can be lowered so that the vehicle can be moved in the first direction 9 or back and in the second direction 10 or back, specifically on the upper side of the three-dimensional support structure 3 along the first and second rails 4, 5, specifically in the interior space 24 of the vehicle 7 recorded load carrier lifting device 20, on which a load carrier 6 or a pallet 30 can be arranged or the load carrier lifting device 20 has no load carrier during the traversing movement.

In addition to the driving module 42, the vehicle also has a lifting module for 44 with drive motors 45 arranged thereon, which have toothed lifting belts 46 at their disposal. The drive motors 45 are activated by means of a controller 62 provided on the lifting module 44 for synchronous actuation. The toothed lifting belts 46 or drive belts can be used to drive rollers 47 of a storage module 48 arranged between the travel module 42 and the lifting module 44, on which lifting means can be rolled up and down, by means of which the load carrier lifting device 20 is lowered into the receiving shaft 19 and lifted out of the receiving shaft 19 can be. Independent lifting means can therefore be arranged on the rollers 47 or the toothed lifting belts or drive belts 46 driven by the drive motors 45 can also be rolled up and unrolled; the storage module 48 is therefore required to accommodate the length required for the lifting movement of the load carrier lifting device 20 along the entire height of the receiving shaft 19 of the traction means or lifting means provided.

21 The drawing shows a perspective view of the load carrier lifting device 20 with a drive device 49 for the pivoting actuation of the first 26 and second 27 support arms that runs independently of one another. As it is based on the schematic diagram 21 and 23 the drawing can be seen, has the Drive device 49 based on 23 the drawing more visible rotary actuator 50 with a first pulley 51 and a second pulley 52, which are designed for rotary actuation of a coaxial shaft 53. By means of the first pulley 51, a drive belt 54 can be actuated, which drives the outer wave profile 55 of the coaxial shaft 53, which is provided for the pivoting actuation of the first support arms 26. A rotary actuation of the pulley 51 thus leads to a rotary actuation of the outer wave profile 55 of the coaxial shaft 53, by means of which the first support arms 26 can be pivoted. In a similar manner, a rotary actuation of the belt pulley 52 leads to a rotary actuation of the inner corrugated profile 56 of the coaxial shaft 53, by means of which actuation the second pivotable support arms 27 can be pivoted, a rotary actuation of the second corrugated profile 56 therefore leads to a pivoting actuation of the second support arms 27 and ultimately to a displacement movement of the support profiles or crossbeams 34 relative to the receiving shaft 19.

22 shows an enlarged representation of a detail C after 21 of the drawing and serves to explain the configuration of the two support arms 26 and 27. As is readily apparent, the two support arms 26, 27 can be pivoted independently of one another on the common axis of rotation 28, i.e. pivoted independently of one another and the second support arm 27 has a wall 57, with which the second bracket 27 comes to rest on the end face 58 of the first bracket 26 when the second bracket 27 from the in 15 in the position shown in the drawing 14 the drawing shown position is pivoted. This configuration serves to limit the angle of rotation of the pivoting range of the respective second support arm 27. The pallet 30 rests on the support arm 26 and the limitation of the pivoting angle ensures that the displaced cross member 34 automatically comes to rest below the underside 33 of the pallet 30 and thus the pallet 30 can be lowered to the cross members 34.

24 The drawing shows a schematic perspective representation of a section of a rack storage system 2 with a three-dimensional receiving structure 3 with first running rails 4 and second running rails 5 arranged on the receiving structure 3, similar to that shown in FIG 1 , where in the representation according to 24 several vehicles 7 are arranged on the upper side 8 of the storage rack 2. This makes it clear that several vehicles 7 can be moved on the upper side 8 in order to be able to serve several receiving shafts 19 at the same time, in order to be able to store goods in the receiving shafts 19 or to retrieve them from them. Merely to simplify the representation, in 24 only one receiving shaft 19 is shown in the drawing. In fact, each field 18 can be assigned a receiving shaft 19, so that the racking system 2 has a large number of receiving shafts 19 and the large number of vehicles 7 moving on the top 8 can also serve a large number of receiving shafts simultaneously.

By means of the configuration of the shelf storage system according to the invention, the degree of utilization of a three-dimensional shelf storage is increased considerably. Depending on the respective height of the loading of the pallet or the load carrier with goods or conveyed goods or payloads, viewed in the vertical axis direction of the receiving shaft, a displacement of the crossbeams or support profiles can take place at different heights, so that the problem of unused empty spaces in the receiving shaft is solved. If goods with different dimensions are to be stored in the height direction of the receiving shaft, according to the invention cross members or support profiles above the load carrier provided with goods are pushed or relocated with different dimensions into or out of the receiving shaft and thus the distance between the receptacle for a next load carrier and the upper closing end of the goods of the underlying load carrier are minimized, the degree of utilization of the shelf storage system according to the invention is significantly higher than the degree of utilization of the known shelf storage system.

With regard to features of the invention not explained in detail above, reference is expressly made to the patent claims and the drawing.

Reference List

1

rack storage system

2

shelf storage

3

intake structure

4

first rails

5

second rails

6

charge carrier

7

vehicle

8th

top

9

first direction

10

second direction

11

first set of wheels

12

second set of wheels

13

two-dimensional grid

14

support profiles

15

Arrow

16

hall floor

17

support arm

18

Field

19

receiving slot

20

Load carrier lifting device

21

base frame

22

deck frame

23

carrier

24

inner space

25

leadership role

26

first support arms

27

second support arms

28

axis

29

Pair of support arms

30

palette

31

space

32

Top of the first support arm

33

Underside of the load carrier or the pallet

34

Support profile, cross member

35

double arrow

36

end area

37

pin, pin

38

intervention end

39

top

40

bottom

41

Arrow

42

driving module

43

base frame

44

lifting module

45

drive motor

46

toothed belt

47

roll

48

memory module

49

drive device

50

rotary actuator

51

pulley

52

pulley

53

coaxial shaft

54

drive belt

55

wave profile

56

wave profile

57

Wall

58

face

59

carrier

60

end area

61

profile

62

steering

Claims (14)

Shelf storage system (1) with a three-dimensional shelf store (2) and at least one vehicle (7) for storing and retrieving load carriers (6, 30) into and out of the shelf store (2), the shelf store (2) having a three-dimensional receiving structure (3 ) for the load carriers (6, 30) and a multiplicity of support profiles (14) arranged at a distance from one another and in a right-angled arrangement, which are designed to support the load carriers (6, 30), with receiving shafts ( 19) for the load carriers (6, 30), and on an upper side (8) of the receiving structure (3) first rails (4) in a first direction (9) and second rails (5) in a direction relative to the first (9 ) perpendicular second direction (10) are arranged according to a two-dimensional grid (13), and the rails (4, 5) are designed to accommodate the at least one vehicle (7) and the vehicle (7) has a first set of wheels (11) for movement in the first direction (9) and a second set of running wheels (12) for movement in the second direction (10) and a load carrier lifting device (20), characterized in that the load carrier lifting device (20) has a first pivotable design Support arms (26) and the load carrier lifting device (20) has second pivotable support arms (27) which are pivotable independently of the first support arms (26). Shelf storage system (1) according to claim 1 , characterized in that first (26) and second (27) support arms are each arranged on the load carrier lifting device (20) so that they can pivot about a common axis (28) and by means of a device provided on the vehicle (7) or on the load carrier lifting device (20). Device (50) about the axis (28) are pivotally operable. Shelf storage system (1) according to claim 1 or 2 , characterized in that the first support arms (26) are designed for the releasable engagement position with load carriers (6, 30) and/or load carriers (6, 30) receiving support means (17), the support means having holding elements (34) which are supported by the second support arms (27) are pivotable or displaceable and can be brought into releasable engagement with support beams (17) of the receiving structure (3) which are arranged running largely transversely to the support profiles (14). . Shelf storage system (1) according to claim 1 or 2 , characterized in that the support profiles (14) are arranged to run in a vertical axis direction of the shelf storage system (2) and support profile support arms (17) are arranged transversely to the support profiles (14), with between opposing support profile support arms (17) on both sides of the support profile (14) a respective support profile (34) is arranged, which is arranged to be displaceable relative to the support profile support arms (17) by means of the second support arms (27) and the load carrier (6, 30) can be set down on the support profile (34). Shelf storage system (1) according to one of the preceding claims, characterized in that the support profile (34) has an elongated configuration with a rectangular support (59) and at the end regions (60) of the support (59) a respective support profile support arm (17) at least profile (61) that encompasses sections in a form-fitting manner is provided, on which the support profile (34) is supported on the support profile support arm (17). Shelf storage system (1) according to one of the preceding claims, characterized in that the load carrier lifting device (20) is provided with an actuating means (53) which is non-positively coupled to the first and/or second support arms (26, 27) and the actuating means (53 ) is designed to be actuated by drive means (54) provided on the vehicle (7) or on the load carrier lifting device (20). Shelf storage system (1) according to one of the preceding claims, characterized in that the load carrier lifting device (20) is designed for vertical movement relative to the receiving shaft (19) and has a base frame (21) on which the first and/or second support arms (26, 27) are pivotably arranged relative to the base frame (21) and have a cover frame (22) spaced apart from the base frame (21), guide rollers (25) being arranged on the base frame (21) and on the cover frame (22) and on the support profiles (14 ) can be brought into contact, the support arms (26, 27) being arranged in particular in the corner area of the base frame (21). Shelf storage system (1) according to one of the preceding claims, characterized in that the vehicle (7) has a modular structure and has a travel module (42) with a box-shaped base frame (43) with the first and the second set of wheels (11, 12). which can be raised on the base frame (43) and lowered onto the rails (4, 5) and driven by a drive motor, and the vehicle (7) has a lifting module (44) with drivable toothed lifting belts (45), by means of which the load carrier lifting device (20 ) can be raised and lowered. Shelf storage system (1) according to claim 8 , characterized in that the vehicle (7) has a storage module (48) which is designed to accommodate the toothed lifting belt (45) and has rollers (47) around which the toothed lifting belt (46) is wrapped in such a way that in the direction of the Depth of the receiving shafts (19) provided length of the toothed belt (46) is variable. Shelf storage system (1) according to one of the preceding claims, characterized in that a drive device (50) for pivoting the first and second support arms (26, 27) independently of one another is provided on the load carrier lifting device (20), and the drive device (50) has a one a rotatable coaxial shaft (53) associated with each pair (29) of first and second support arms (26, 27). Shelf storage system (1) according to one of the preceding claims, characterized in that the first support arms (26) are designed to be pivotable through an angle of largely 90 degrees and the second support arms (27) are designed to be pivotable through an angle of largely 135 degrees. Shelf storage system (1) according to one of the preceding claims, characterized in that the load carrier lifting device (20) is designed for the simultaneous conveyance of at least two load carriers (6, 30) arranged one above the other. Shelf storage system (1) according to one of the preceding Claims 8 until 12 , characterized in that the lifting module (44) has a drive motor (45) assigned to the respective toothed lifting belt (46) and has a control device which is used for the synchronous control (62) of the process of raising and/or lowering the load carrier (6, 30) is trained. Method for storing and removing charge carriers (6, 30) in and out a shelf store (2) which has a three-dimensional receiving structure (3) for the load carriers (6, 30) and a large number of support profiles (14) arranged at a distance from one another and in a right-angled arrangement and which are used to support the load carriers (6, 30) are formed, with receiving shafts (19) for the load carriers (6, 30) being formed between the support profiles (14), and on an upper side (8) of the receiving structure (3) first running rails (4) in a first direction (9) and second rails (5) are arranged in a second direction (10) at right angles to the first direction (9) according to a two-dimensional grid (13), and the rails (4, 5) are designed to accommodate the at least one vehicle (7) and that Vehicle (7) has a first set of wheels (11) for movement in the first direction (9) and a second set of wheels (12) for movement in the second direction (10) and a load carrier lifting device (20), dadurc h characterized in that a load carrier (6, 30) supported by first support arms (26) arranged on the load carrier lifting device (20) is lowered into a receiving shaft (19) by means of the load carrier lifting device (20) and by means of a second load carrier lifting device (6, 30) arranged and relative to the first support arms (26) displaceable support arms (27) relative to the support profiles (14) displaceable support profiles (34) are displaced relative to an underside of the load carrier lifting device (20) and the load carrier (6, 30) on the support profiles ( 34) is arranged.

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