EP2558384A1 - Système de stockage et de transport pour récipients de transport - Google Patents

Système de stockage et de transport pour récipients de transport

Info

Publication number
EP2558384A1
EP2558384A1 EP11715477A EP11715477A EP2558384A1 EP 2558384 A1 EP2558384 A1 EP 2558384A1 EP 11715477 A EP11715477 A EP 11715477A EP 11715477 A EP11715477 A EP 11715477A EP 2558384 A1 EP2558384 A1 EP 2558384A1
Authority
EP
European Patent Office
Prior art keywords
rail
storage
bound
vehicle
transport system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11715477A
Other languages
German (de)
English (en)
Inventor
Michael Ten Hompel
Winfried Schroer
Thomas Albrecht
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dematic GmbH
Original Assignee
Dematic GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dematic GmbH filed Critical Dematic GmbH
Publication of EP2558384A1 publication Critical patent/EP2558384A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars

Definitions

  • Storage and transport systems are available in a very diverse and different design and construction. It is known, for example, to equip the lanes of high-bay warehouses with rails in each storage level to provide horizontally movable on these rails, container transporting vehicles. Such solutions, for example, DE 39 07 623 A or DE 102 54 647 A, to name just a few examples.
  • Storage systems for offloading containers using satellite vehicles show e.g. DE 10 2007 010 191 A1 or DE 20 2007 051 238 A1.
  • Container in particular in front of the shelving systems dispensing and
  • Receiving devices must be provided to hold certain buffers or collecting and sorting lines, to only some disadvantages of these known
  • Transfer points of the respective sections of particular machine elements that can implement the container such as turntables or the like.
  • Boundary conditions are adjusted. Another problem is often the accessibility of such complex conveyor systems in case of failure and maintenance.
  • the object of the invention is to provide a transport and storage system that is highly flexible and on additional buffer sections, collection lines u. Like. As well as the direction of the container transport changing components can do without.
  • this object is according to the invention by at least one equipped with a rail and a floor landing gear vehicle and a shelving system with
  • the vehicles have separate landing gear for the
  • Auslager in an embodiment, can be realized that manage without any fixed installation in the Vorzone of the warehouse and at the same time meet the demand for short reaction times and correct Auslager-sequence to a high degree.
  • the transfer points can be arranged flexibly and at any distance from the warehouse.
  • high-performance order picking are possible in which only a minimum of active mechanics is installed within the shelf and build very compact by using flat transverse tunnels, which also provides the invention in an embodiment also.
  • the shelving system is equipped with tunnel-like corridor routes especially transverse to the rail-bound routes, the rail-bound routes in particular form the shelves of the shelving system.
  • the front side members of the multi-layer shelving system carry or form the rail-bound routes.
  • the vehicle is thus equipped for locomotion within the rack rail system and in the surface (on the floor) with two suspensions, the On the drive side consist of two motors and associated power electronics.
  • the two engines are connected via one gearbox with the right and left drive wheels of the two chassis.
  • the motors can rotate independently of each other with the same or different speeds. When traveling within the rail system, the two motors will always rotate at the same speed. When driving on the floor identical speeds lead to
  • each vehicle is equipped with at least one sensor for detecting obstacles and / or for detecting position markers so-called
  • Laser scanners that provide angles and distance from located obstacles.
  • the current position of the vehicle can be based on a known
  • Start position can be determined using coupling navigation algorithms.
  • the information required for the distance traveled and the direction thereby observed is obtained by measuring the revolutions of the two motors. Because of various error influences, the current vehicle position calculated in this way increases with respect to the real position
  • the peculiarity of the method is that, although the measured values of the laser sensor have no accuracy required for the task, by skillful filtering of the measured values and by fusion of the sensor readings with the - also faulty - based on the measurement of wheel revolutions motion information of the vehicle sufficiently accurate
  • the order removed transport container for the final delivery and / or for sorting can be arbitrary, since the control options of both hall-and rail-bound vehicles a sequence change is easily possible, such as by overtaking a vehicle with leading position in front of a vehicle with rear position in the sorting system.
  • the invention also provides that with the same drive a drive is such that the speed of the rail-bound ride is higher than that
  • the steering kinematics can, for example be realized by means of speed difference control, of course, other possibilities are included according to the invention.
  • the power supply via energy storage which are charged via sliding lines or non-contact, for example by an inductive energy transfer system while driving on the shelf, with other solutions are possible, such as fast charging at individual starting positions or storage change systems.
  • the rail chassis not only allows the direct operation of
  • Shelving systems also rail-bound sections can be integrated in the driving course to individual routes, for example. To be able to travel at a higher speed or to get from shelf sections to spatially separated shelf sections, such as suspended rails, so that
  • sections of a manufacturing area which are placed on the ground, can be run over by such rail systems in the appropriate amount.
  • This also makes it possible, for example, to realize traffic without intersection, by using unused spaces above production facilities or else to connect spatially separate shelf sections via suspended rails. It can also be run over sections of production areas, which are placed on the ground, with such a rail system in the appropriate amount.
  • the vehicles For converting the vehicles can also be provided in the aisles or at appropriate locations also storage or lifting A / erteilwagen systems.
  • the vehicles are thus vehicles that operate only one level or individual shelves on the shelf from the rails. If necessary, change the levels using the specified lifts, which can be positioned as desired.
  • Such vehicles are also known as satellite vehicles.
  • the tunnels can be designed very flat according to the height of the vehicles and have a width such that not only buffer sections in front of and behind the May result in lifts, so that due to the directional flow of the vehicles, the lifts are used in double play, ie, while a coming from upper shelf levels vehicle in the lower lift position leaves the lift, at the same time drives a vehicle that wants to climb up on the other side the lift table. This makes it possible to achieve high throughput rates of the lifts.
  • the tunnels can be designed so that an above-mentioned overtaking of the vehicles is possible in order to achieve a certain sorting at the same time.
  • the transport vehicles For loading and unloading the transport vehicles may be provided a transfer device, which is assigned in particular to the rail chassis of the vehicle and is adapted to this.
  • the load-carrying means of the vehicles is used in rail operation, since then a precise definition of the vehicle to the transfer point is possible.
  • FIG. 1 is a plan view of a portion of a warehouse with land-borne vehicles
  • FIG. 2 is a side view approximately along line II-II in Fig. 1,
  • Fig. 3 is an enlarged view of a transport vehicle in spatial
  • Fig. 5 shows an enlarged Einfädel Scheme for the vehicles of lane-bound driving in rail-bound travel and in
  • Fig. 6 is a load change station for loading and unloading of the vehicle
  • Fig. 7 shows another embodiment during threading.
  • the generally designated 1 storage and transport system is essentially of a shelf, for example, a high-bay, generally designated 2, formed, which is acted upon by 3 designated vehicles, wherein in the plan view of FIG. 1, the vehicles designated 3 the Use the corridor level as a driving plane, while the designated 3a vehicles are positioned in the rail system of the shelf 2 movable.
  • the vehicles 3 thus travel on the shelf 2 itself on rails in the respective floor for supply and disposal of the shelves located in this floor, while they drive on the ground in the corridor. For this they have separate chassis.
  • the shelving system 2 has u.a. tunnel-like corridor routes, generally designated 4, as well as rail-bound
  • lift systems which serve to change the level of the vehicles.
  • FIGS. 3 and 4 details of the vehicles 3 are indicated.
  • the intended for rail travel wheels 9 and for the land ride are indicated.
  • Fig. 3 are still rails 5a of the rail-bound driving ranges indicated as well as lateral guide wheels 12 to facilitate the threading and the method in the rails.
  • reflective stationary control marks 14 and 14a can detect in order to distinguish between these marks by a corresponding arithmetic operation
  • Sensors 13 other controls can be made possible, so that the floor-bound ride of the vehicles on calculated virtual routes (tracks) are set accordingly.
  • the distances of individual vehicles can be determined side by side or in front of each other, which is shown in dotted lines in FIG. 5, wherein the target point-averaging beams are provided with the reference numeral 16.
  • the current position of the vehicles 3 ' is determined starting from a known starting position S (compare direction of travel arrow in FIG. 7) using dead reckoning algorithms.
  • the information required for the distance traveled (see direction of travel arrow in Figure 7) and the case observed direction is determined by measuring the
  • Vehicle position relative to the real position with increasing distance driving has increasingly large deviations, with this method alone a longer trip on the free area to the entrance to the rail system 5 of the shelf 2 or a picking station or load change station (see Figure 6) not with sufficient Accuracy here means that the vehicle is the middle between the right and the left rail with a Accuracy meets better than about +/- 2 cm.
  • Reflector marks 14, 14A detected and in their position relative to the vehicle
  • the laser scanner 21 provides the control computer of the vehicles angle and distance of obstacles, here the reflector marks 14, 14A. From these measurements, which change in the further approach of the vehicle 3 'to the entrance of the rack aisle 15 to constantly, by means of suitable
  • Ausensealgorithmen a target ride to the center of the entrance (indicated by a dashed line) performed with sufficient accuracy.
  • the laser scanner 21 can also be used to detect and avoid obstacles. These can emerge unexpectedly, especially on the ground, since grounding, e.g. People or other vehicles can move.
  • a double lift 17 is positioned, with the right part of the double lift 17 and the left part 17a in the example shown.
  • roller conveyors 19 and 19a are connected, wherein the right in Fig. 6 front roller conveyor 19 is inclined downhill on the lift 17, while the slightly higher positioned rear
  • Roller conveyor 19a sloping to a sorting and loading area 21 is inclined, such that the container designated T can run to the left, while the designated container 7 can run in the example shown to the right.
  • the lifts 17 and 17a are aligned with the loading area of the vehicle 3 so that containers 7 can be delivered or containers T can be received.
  • the station shown here can also be designed in other ways.
  • the example presented represents an integration possibility in the existing rail system with the rails 5a for the then

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de stockage et de transport (1) pour récipients de transport (7), comprenant au moins un véhicule (3) équipé d'un mécanisme de roulement sur rails et d'un mécanisme de roulement sur le sol distinct ainsi qu'un système de rayonnage (2) pourvu de voies de déplacement (5, 4) sur rails et sur le sol pour le véhicule (3). Ledit véhicule (3) est équipé d'un système de capteur et de commande de manière qu'il puisse se mouvoir de manière autonome sur les voies de déplacement (5, 4) sur rails et sur le sol et changer de voies de déplacement.
EP11715477A 2010-04-15 2011-04-13 Système de stockage et de transport pour récipients de transport Withdrawn EP2558384A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010015054A DE102010015054A1 (de) 2010-04-15 2010-04-15 Lager- und Transportsystem für Transportbehälter od. dgl.
PCT/EP2011/055844 WO2011128384A1 (fr) 2010-04-15 2011-04-13 Système de stockage et de transport pour récipients de transport

Publications (1)

Publication Number Publication Date
EP2558384A1 true EP2558384A1 (fr) 2013-02-20

Family

ID=44169262

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11715477A Withdrawn EP2558384A1 (fr) 2010-04-15 2011-04-13 Système de stockage et de transport pour récipients de transport

Country Status (7)

Country Link
EP (1) EP2558384A1 (fr)
KR (1) KR20130084597A (fr)
AU (1) AU2011239980A1 (fr)
CA (1) CA2795022A1 (fr)
DE (1) DE102010015054A1 (fr)
SG (1) SG184402A1 (fr)
WO (1) WO2011128384A1 (fr)

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CN110650903B (zh) 2017-03-23 2021-07-20 伯克希尔格雷股份有限公司 用于处理包括自动移动矩阵载体的物体的系统和方法
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CN117509204A (zh) 2019-02-27 2024-02-06 伯克希尔格雷营业股份有限公司 用于通过振动来控制物体在容器中的卸放的系统和方法
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Also Published As

Publication number Publication date
AU2011239980A1 (en) 2012-10-25
CA2795022A1 (fr) 2011-10-20
DE102010015054A1 (de) 2011-11-17
WO2011128384A1 (fr) 2011-10-20
KR20130084597A (ko) 2013-07-25
SG184402A1 (en) 2012-11-29

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