WO1991007338A1 - Stockeur et dispositif de stockage pour objets stockes - Google Patents

Stockeur et dispositif de stockage pour objets stockes Download PDF

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Publication number
WO1991007338A1
WO1991007338A1 PCT/EP1990/001876 EP9001876W WO9107338A1 WO 1991007338 A1 WO1991007338 A1 WO 1991007338A1 EP 9001876 W EP9001876 W EP 9001876W WO 9107338 A1 WO9107338 A1 WO 9107338A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage
memory
robot
access
units
Prior art date
Application number
PCT/EP1990/001876
Other languages
German (de)
English (en)
Inventor
JÖrg Linser
Original Assignee
Grau Gmbh & Co.
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 Grau Gmbh & Co. filed Critical Grau Gmbh & Co.
Publication of WO1991007338A1 publication Critical patent/WO1991007338A1/fr

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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
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles

Definitions

  • the invention relates to a memory for memory objects for use in memory devices automated with robots, the memory having memory compartments arranged in a memory area which can be brought into a robot access position.
  • the invention relates to an automatic storage device for storage objects with a memory, which has the features described above, with an exchange unit in which the storage objects can be used for object or information exchange and with a robot for transporting the storage objects between the robot access position of the storage and the Exchange unit.
  • Memories with such features are known from the prior art. These stores are, for example, revolving towers which have storage compartments which extend in the radial direction on their circumferential surface and into which the storage objects can be inserted. These turrets can be rotated so that each storage compartment can be brought into a robot access position.
  • the disadvantage of such memories can be seen in the fact that the number of memory objects stored per unit volume of the memory is too small and causes problems in particular for extensive memory devices, since a very large space requirement is required.
  • the invention is therefore based on the object of improving a memory of the type described at the outset in such a way that it can be used to store a larger number of memory objects per unit volume.
  • the memory has a plurality of memory units in which the memory objects are each arranged in a memory fan area, and in a memory position in a stacking direction successive memory units with their memory fan areas are located in memory areas, which are arranged facing each other so that the storage units can be moved relative to one another, that each storage unit can be moved out of the storage position by a movement with a direction of movement transverse to the stacking direction and that the storage unit can be brought into an access position after leaving the storage position , in which the storage compartments of the same are in the robot access position.
  • the storage objects preferably comprise standardized containers in which the part actually to be stored is accommodated.
  • the advantage of the solution according to the invention can be seen in the fact that the provision of a plurality of storage units, which are arranged in the storage position with flat storage compartments facing one another, enables a very high storage density of storage objects to be achieved and that the individual storage units are accessed in that they are relative allow each other to move out of their storage position and then bring them into an access position in which the individual storage objects can be accessed.
  • the storage units can be moved out of the storage position with storage compartment surfaces oriented in any direction transverse to their stacking direction.
  • the storage compartment surface is oriented essentially parallel to the direction of movement when moving out of the storage position.
  • the memory according to the invention can be designed to be particularly compact if, when moving out of the memory position, the memory fan area is oriented essentially parallel to the extent of the respective memory area.
  • the storage units it is possible for the storage units to be arranged offset relative to one another, so that the storage compartment surfaces are arranged facing one another only with partial surfaces.
  • Particularly high storage densities can, however, be achieved in that successive storage units are arranged in the storage position with their storage compartment surfaces facing one another over the entire surface. This means that the storage compartment surfaces of successive storage units are arranged congruently with one another.
  • each storage unit in the access position of each storage unit, its storage compartment area is parallel to the storage area. In the simplest case, this can be done in such a way that, in the access position of each storage unit, its storage fan area is located in the storage area, so that the storage units can only be moved in the area of the respective storage area.
  • each storage unit in the access position of each storage unit, its storage compartment area is arranged transversely to the storage area. This may affect access to the Storage compartments of this storage unit bring advantages which are described in detail in connection with the automatic storage device according to the invention.
  • the simplest way to achieve a high storage density is that the storage areas of successive storage units run essentially parallel to one another, in the simplest case the storage areas are aligned completely parallel to one another.
  • a particularly preferred version of an exemplary embodiment according to the invention provides that the storage units are arranged in a row in a row in the storage position in a stacking direction.
  • the robot access direction could be inclined at an acute angle with respect to the storage fan surfaces.
  • an embodiment is particularly preferred in which the storage compartment surfaces with storage compartments in the robot access position run essentially perpendicular to a robot access direction to the storage compartments.
  • the highest storage density is achieved in an embodiment in which the storage compartments are planes and preferably the storage surfaces are planes in which the storage compartments are located.
  • the storage units can be moved by a drive.
  • a common drive is provided which can be connected to individual memory units or can be moved towards the respective memory unit in order to move it from the memory position into the access position.
  • each storage unit has its own drive is provided.
  • each storage unit can be moved from a single storage position into a single access position and thus each storage unit can be moved into these two positions.
  • each storage unit can be moved in two different access positions.
  • a particularly favorable solution provides for the access positions to be on opposite sides of the storage position, so that the storage unit can be moved from its storage position into one of the two opposite storage positions.
  • the storage positions themselves lie in a row, so that the two access positions are likewise each arranged in rows lying on opposite sides of this row of storage positions.
  • Another embodiment with a very high storage density provides that the two storage units are arranged in opposite storage positions and one of these storage units can be moved into the common access position between the storage positions. This means that only one access position is arranged between two storage positions, in each of which a storage unit is arranged, so that each access position is assigned two storage positions and therefore very little space is required for the access positions to the storage units.
  • the storage positions are arranged in two rows opposite one another and the respective access position between them. Particularly in the case of storage positions lying one behind the other in rows, it is expediently provided that the storage surfaces are arranged transversely, preferably perpendicularly, to a longitudinal direction of the storage and thus to a stacking direction of the rows of storage positions.
  • the storage units can be positioned exactly in their storage position by stop elements, the stop elements preferably being arranged in such a way that the storage units can be brought into contact with them when they are moved into the access position.
  • the stop elements are arranged in a stationary manner, so that only the storage unit has to be moved against them.
  • the storage units are movably held on a storage rack by rail guides.
  • the storage units with rolling bodies are preferably movable on tracks of the storage rack. These paths can extend once over the entire path which the storage unit travels from the storage position to the respective access position.
  • the invention is based on the further object of designing an automatic storage device of the generic type as compactly as possible.
  • this object is achieved according to the invention in that the storage device is designed in accordance with one or more of the features described above.
  • such an automatic storage device is provided with a robot which can be moved on a roadway between the robot access positions and the exchange unit.
  • the simplest and most expedient arrangement of a memory according to the invention relative to such a robot can be achieved according to the invention in that the storage compartment surfaces are arranged transversely to a longitudinal direction of the path of the robot in the access position.
  • the storage compartment surfaces are preferably arranged perpendicular to the longitudinal direction of the path of the robot.
  • one possibility of accessing the memory compartments of the memory unit in the access position is that the memory unit is above the road in the access position.
  • the robot can be accessed in a very simple manner.
  • this arrangement has the disadvantage that the storage unit in the access position blocks a movement of the robot in the longitudinal direction of part of the road.
  • an alternative solution provides for the storage unit to be located to the side of the road in the access position.
  • the storage unit can also be arranged such that its storage compartment surface is perpendicular to the longitudinal direction of the robot's lane and thus a robot access direction to the storage compartments is parallel to the longitudinal direction of the lane.
  • the storage compartment area of the respective storage unit runs essentially parallel to the longitudinal direction of the robot's lane and thus a robot access direction is preferably essentially perpendicular to the longitudinal direction of the lane.
  • the storage units with rolling elements can preferably be moved on tracks of the storage rack. These paths can extend once over the entire path which the storage unit travels from the storage position to the respective access position.
  • These tracks are arranged so that they preferably guide the storage units at a distance from the carriageway for the robot, so that the carriageway can be guided regardless of the storage units.
  • the tracks are preferably arranged above the storage units, so that the storage units in these tracks can be moved over the road for the robot.
  • the robot has a carriage and an extension track arranged thereon, which can be aligned with the tracks of the storage device to extend the same.
  • This has the advantage that the tracks of the memory do not always have to extend over the entire track, in particular when the storage units are in the access position transverse to and above the track, but rather when a memory unit is to be moved into the access position , the corresponding path is extended by the extension path on the robot's trolley and thus the respectively selected storage unit can be moved into the appropriate access position.
  • a stop element for the storage unit in the access position is also provided on the carriage of the robot, since an exact positioning of the storage unit with respect to a gripper of the robot is then achieved in the access position.
  • the stop is arranged to be stationary, so that the storage unit comes to rest on the stop element when it is moved into the access position.
  • a control is advantageous here with which the extension track can be aligned with the parts of the memory.
  • an inexpensive and simply constructed exemplary embodiment provides that the drive for moving the storage units sits on the carriage, so that the drive engages in particular when a storage unit is started up can be brought to the respective storage unit in order to bring the storage compartment surfaces thereof into the robot access position.
  • the robot is arranged on the carriageway in such a way that the robot access direction to the storage units in the access position from the exchange units points away, so that the robot after the Gripping a memory object to the respective free exchange unit is movable and during this method of the robot the memory unit can also be moved back to its memory position and a new memory unit can be moved to the access position which the robot has to approach next.
  • a particularly advantageous exemplary embodiment provides that the robot can be moved in such a way that it can be brought into the same defined position relative to each storage unit in the access position for access to all storage compartments of this storage unit.
  • This relative position can always be assumed by the robot if the storage units in the storage position are arranged such that they enable the robot to travel to the storage unit in the access position.
  • a particularly preferred embodiment of the invention provides that the storage objects have containers with identical external dimensions, which hold a storage item. It is even better if the containers have identical outer contours. These containers can be gripped by the robot and stored in the storage compartments, which are also preferably identical.
  • the memory device is a data archive, the memories of which are cassette memories, the memory objects representing cassettes comprising data carriers which can be stored in the memory compartments of the memory.
  • the exchange unit it is a data exchange unit with which an exchange of the data on the data carrier with that of a computer system is possible.
  • Fig. 1 is a plan view in section along line 1-1 in
  • FIG. 2 shows a first exemplary embodiment of a storage device according to the invention
  • FIG. 2 shows a section along line 2-2 in FIG. 1;
  • Fig. 3 is a side view in the direction of part A in Fig. 1;
  • FIG. 4 shows a section similar to FIG. 2 through a variant of the first exemplary embodiment
  • FIG. 5 shows a plan view similar to FIG. 1 of a second exemplary embodiment
  • Fig. 6 is a section along line 6-6 in Fig. 5;
  • FIG. 7 shows a plan view of a third exemplary embodiment of the memory device according to the invention similar to FIG. 1;
  • Fig. 8 is a section along line 8-8 in Fig. 7; 9 is a plan view similar to FIG. 1 through a fourth embodiment;
  • FIG. 10 shows a section along line 10-10 in FIG. 9.
  • a first exemplary embodiment of a cassette memory according to the invention designated 10 as a whole in FIG. 1, comprises a storage rack 12 on which a plurality of storage units 14a to 1 are arranged.
  • Each of these storage units 14 comprises cassette compartments 18 arranged in a cassette compartment surface 16, the walls 20 of which are perpendicular to the cassette surface 16, so that 22 cassettes 24 can be inserted into these cassette compartments 18 in an insertion direction oriented perpendicular to the cassette surface 16, or counter to the insertion direction 22 can be removed from these.
  • the cassette compartments 18 are arranged in a plurality of rows 26 one above the other, the rows 26 extending in the direction of a transverse direction 28 between two vertical side walls 30 and 32 of the respective storage unit 14 .
  • the side walls 30 and 32 are still connected to one another by transverse walls 36 and 38, which extend in the transverse direction 28.
  • the cassette compartment surface 16 extends between the side cheeks 30 and 32 and the transverse cheeks 36 and 38 and is delimited by them.
  • the cassette store 10 according to the invention is now constructed in such a way that, in a storage position 13, all the storage units 14 are arranged one behind the other in a stacking direction 40, the respective cassette compartment surfaces 16 of successive storage units 14 facing one another flat.
  • all storage units 14a to 141 are of identical design.
  • the stacking direction 40 runs in the horizontal direction.
  • the densest packing according to the invention of the storage units 14 in the storage position 13 can be achieved in that all the cassette compartment surfaces 16a to 161 lie in a storage surface 42a to 421 respectively assigned to them, the storage surfaces 42 being arranged in parallel and at an equidistant distance in the storage rack 12.
  • the equidistant distance can be chosen to be as small as possible, so that the storage units 14 in the storage position 13 can advantageously be packed as densely as possible and thus the largest possible number of cassettes 24 can be stored in cassette compartments 18 in the smallest possible volume.
  • the storage units 14 are preferably arranged congruently in their storage position 13 in the stacking direction 40 one behind the other.
  • each storage unit can be moved out of its storage position 13 in such a way that the cassette compartment surface 16 of each storage unit 14 remains in the storage surface 42, but in the direction of one
  • the surface area of the storage area 42 is shifted, for example in the horizontal direction 44, as shown in FIG. 1, to the extent that the respective storage unit, in FIG. 1 the storage unit 14b, with its cassette compartment area 16b overlaps with the others Cassette compartment surfaces 16a to 161 is arranged.
  • the storage unit 14b is preferably displaced to such an extent that its side cheek 30b is arranged in the horizontal direction 44 at a distance from the side cheeks 32a and c to 1.
  • the access position 43 of the storage unit 14b is oriented relative to the roadway 48 such that the robot 46 is in the center of the storage unit 14.
  • An embodiment of such a robot 46 which is used in an automatic data archive according to the invention, comprises, as in FIG. 1 3 to 3, a carriage 50 which can be moved back and forth on the carriageway 48, which is preferably formed by two rails 52 and 54.
  • a lifting column 56 extends from the carriage 50 in a substantially vertical direction, on which a platform 58 can be moved up and down in the vertical direction 60.
  • An inner pivot arm 62 is held on this platform 58 and can be pivoted about an essentially vertical axis 64 relative to the platform 58.
  • an outer pivot arm 66 is held at a front end of the inner pivot arm 62, which is also pivotable relative to the inner pivot arm 62 about an essentially vertical axis 68 and on the outer pivot arm 66 an arm 70 extending in the vertical direction, which is rotatable relative to the outer swivel arm 66 about a vertical axis 72 and is displaceable in the direction thereof.
  • a lower end of this arm 70 carries a gripper 74 which is equipped, for example, with two gripping fingers 76 for gripping the cassettes 24.
  • Access to the cassette compartments 18 of the storage unit 14b in the access position 43 takes place in a robot access direction which is identical to the insertion direction 22 and which is thus perpendicular to the cassette compartment surface 16.
  • a displacement of the individual storage units 14 from the storage position 13 into the access position 43 is, as shown in detail in FIGS. 3 and 4, possible, for example, in that the storage frame 12 comprises an upper cross member 80 which is parallel to the respective storage area 42 and extends parallel to the horizontal direction 44 over the storage units 14 and thereby overlaps both their storage position 13 and their access position 43.
  • the cross member 80 is preferably mounted on two columns 82 and 84 at its ends.
  • the cross member is provided on its underside with two opposing raceways 86 and 88 with a distance between them, on which rollers 90 and 92 can roll.
  • the rollers 90 and 92 form a pair of rollers, which is held on a support arm 94 located between them, which extends from the upper transverse cheek 36 of the respective rack unit 14 upwards between the raceways 86 and 88.
  • raceways 86 and 88 also extend both over the storage position 13 and the access position 43 of the respective rack unit 14.
  • Each rack unit is preferably provided with two pairs of rollers 90, 92 arranged at a distance from one another for displacement.
  • the storage units 14 which can be displaced by these pairs of rollers 90 and 92 and the tracks 86 and 88 on the crossmember 80 can now be displaced, for example, by a hydraulic cylinder 96 between the storage position 13 and the access position 43, the hydraulic cylinder 96 preferably likewise in the crossmember 80 is arranged above the raceways 86 and 88 and thereby for example with a cylinder rod 98 on one of the support arms 94, preferably on the support arm 94 closest to the side wall 32.
  • the displacement path of the hydraulic cylinder 96 is dimensioned such that it corresponds to the displacement path by which the storage unit 14 must be displaceable from the storage position into the rest position.
  • the hydraulic cylinder 96 is actuated by a controller designated 100 as a whole in FIG. 2, which in each case shifts the rack unit 14 from the storage position into the access position in which a cassette 24 is to be stored or from which a cassette 24 is to be removed.
  • stop elements 95 are also provided, which are mounted, for example, on the column 84 facing the access position 43, so that the shelf unit with the side cheek 32b can come to rest against it and consequently the shelf unit in the Access position 43 through the tracks 86 and 88 and the stop elements 95 is in a precisely defined position, so that the gripper 76 can access the individual cassette compartments 18 without errors.
  • the storage units 14 are not held in a hanging manner on a cross member 80, but rather have rollers 102 arranged on the transverse cheeks 38, with which the respective storage unit 14 on a roller conveyor 104 of the storage rack 12 is movable.
  • the roller conveyor 104 also extends parallel to the respective storage surface 42 and the corresponding horizontal direction 44, but only up to the carriage 50 of the robot 46, so that the robot is moved past the roller conveyors 104 of the individual storage units 14 when moving along the travel path 48 can.
  • the carriage 50 in turn carries an extension conveyor 106 which likewise extends parallel to the respective storage surface 42 and with its longitudinal extension following the respective roller conveyor 104 can be positioned along the carriageway 48 by moving the carriage 50 so that the respective storage unit 14 with its rollers 102 can be pushed from the roller conveyor 104 onto the extension track 106 and thus in its access position 43 partially or completely on the carriage 50 with the Casters 102 stands up.
  • the carriage 50 with the extension track 106 in order to transfer the selected storage unit 14 into its access position 43, the carriage 50 with the extension track 106 must first be positioned so that it is aligned with the roller track 104. Then the respectively selected storage unit, in FIG. 5 likewise the storage unit 14b, is then placed on the roller conveyor 104 and the extension track 106 with the rollers from the storage position, in which the storage unit 14 is only on the roller track 104, moved to the access position.
  • a shifting device 107 with a hydraulic cylinder 108 is provided, the shifting device 107 being held on the carriage 50 and being movable with it.
  • a pulling pin 109 which can be moved parallel to the extension track 106 by the hydraulic cylinder 108 can be brought into engagement with a receptacle 110 on the transverse cheek 38 in order to pull the respective storage unit 14 with its rollers 102 from the roller track 104 onto the extension track 106 and to be positioned against the fixed stop 95.
  • the engagement of the mandrel 109 with the receptacle 110 can take place simultaneously with the alignment of the extension track 106 relative to the roller conveyor 104.
  • a guide rail 103 is also provided above the respective storage unit 14, in which each storage unit 14 is guided with an armature 105 which engages in the guide rail 103.
  • the positioning of the storage units 14 in the access position 43 on the carriage 50 by means of the stop element 95 permits a relative positioning of the The gripper 76 to the storage unit 14, which is even more precise than in the previous variant, since the extension track 106 and the stop element 95 are fixedly arranged on the carriage 50 and thus the relative position of the carriage 50 to the tracks 86 and 88 and the column 84 for the relative position of the gripper 76 to the rack unit 14 in the access position 43 is irrelevant.
  • position sensor elements 112 and 114 are arranged on the storage frame 12 as well as on the carriage 50, which interact with one another for the aligned positioning of the extension track 106 and the roller track 104 and via a control 116 control the movement of the carriage 50 along the carriageway 48.
  • the same position sensor elements 112 and 114 and the same control 116 can also be used to control the trolley in the embodiment shown and described in FIGS. 1 to 3.
  • one or more data exchange units 120 are arranged in continuation of the cassette memory 10 along the carriageway 28, to which the cassettes 24 are read from the individual cassette compartments 18 by means of the robots 46 and can be described.
  • the automatically operating data archive is provided with an overall control 118, which receives the individual cassette requests from a mainframe be communicated. If there is such a requirement, the overall control 118 first selects one of the storage units 14 in which the corresponding cassette 24 is stored. The controller 46 then moves the robot 46 with its carriage 50 into the corresponding position. Subsequently, the selected storage unit, such as storage unit 14b in FIG. 1, is transferred from its storage position 13 to the access position 43 with the aid of the controller 100, in which the robot now accesses again with the aid of the controller 116. The robot will then remove the selected cassette 24 from the storage unit 14b.
  • the overall control 118 first selects one of the storage units 14 in which the corresponding cassette 24 is stored. The controller 46 then moves the robot 46 with its carriage 50 into the corresponding position. Subsequently, the selected storage unit, such as storage unit 14b in FIG. 1, is transferred from its storage position 13 to the access position 43 with the aid of the controller 100, in which the robot now accesses again with the aid of the
  • the storage unit 14b is then moved back from its access position 43 to the storage position 13 and the robot 46 is now moved by means of the controller 116 to one of the data exchange units 120, in which the exact position is also, for example, via position sensor elements 112 and 114 of the trolley 50 is determined.
  • the robot 46 then immediately inserts the cassette gripped with the gripper 74 into the corresponding data exchange unit 120, so that the cassette can then either be read or written in the data exchange unit 120.
  • the cassette memory 10 ' according to the invention - as shown in FIGS. 5 and 6 - comprises a first row 121 of storage positions 13, in which storage units 14a to 141 can be held in the storage position, and a second row 122 of storage positions 13, in which further storage units 14m to 14x can be in their storage position.
  • the first row 121 and the second row 122 are arranged parallel to one another in their stacking direction 40 and, moreover, the storage units 14m to 14x with their cassette compartment surfaces 16m to 16x each lie in the same storage surfaces as the cassette compartment surfaces 16a to 161 of the storage units 14a to 141.
  • the storage unit 14m is assigned to the storage unit 14a, the storage unit 14b, the storage unit 14n, etc., to the storage unit 141, to which the storage unit 14x is assigned.
  • the first row 121 and the second row 122 are at a distance from one another which is so large that the access position 43 for the memory units 14a and 14m, 14b and 14n, etc. to 141 and 14x which are respectively assigned to one another is assigned to each other between these two ⁇ neten storage positions 13 for the respective storage units 14.
  • Each of the mutually associated storage units 14a and 14m, 14b and 14n, etc. is therefore transferred to its access position 43 in the storage area 42a, 42b, etc. assigned to it, with its cassette compartment area 14a, 14m, 14b, 14n, etc. into a space 124 moves between the rows 121 and 122, whereby according to the invention only one of the mutually assigned storage units 14a and 14m, 14b and 14n etc. can be moved into the access position 43.
  • the space 124 is preferably at least as wide in the horizontal direction 44 as the extent of the storage units 14 in the transverse direction 28, so that one storage unit 14 is completely accessible in the space in the corresponding access position 43.
  • the carriageway 48 preferably extends centrally between the two rows 121 and 122 parallel to the stacking direction 40, so that the robot 46 as a whole can be moved back and forth between the two rows 121 and 122 and thereby has access to the storage units 14 arranged in the access position 43.
  • the robot is preferably arranged between the cassette memories 10 'and the data exchange units 120 such that the robot access direction 22 is directed away from the data exchange units 120 in a longitudinal direction 126 of the roadway 48 and thus the robot is on the side facing the data exchange units 120 when accessing the cassette compartments of the storage units 14 in the access position 43 and can thus immediately go to the corresponding data exchange unit 120 after accessing the respective cassette to insert the cassette.
  • cross members 80 ' designed in accordance with the first exemplary embodiment, are arranged above the storage units 14, so that in this embodiment, during the displacement of the storage units 14 from the storage position 13 into the access position 43, they are also still arranged at the same time the carriage 50 of the robot 46 can move.
  • the cross member 80 ′ extends over the two rows 121 and 122 and also over the intermediate space 124 between them and is supported outside the same.
  • the mutually associated storage units 14a, 14m, 14b and 14n etc. are each slidably mounted on a respective cross member 80 ', although each of the storage units 14 is provided with a hydraulic cylinder 96 which is assigned to it, in order to move it from the storage position 13 to be moved into the access position 43.
  • FIGS. 7 and 8 insofar as the same parts are used as in the first exemplary embodiment, the same reference symbols are used, so that the description of these parts also refers to the explanations for the first Execution example can be referred to in full.
  • the storage positions 13a to 131 of the storage units 14a to 141 are each assigned two access positions 43 'and 43 "located in the same storage area 42a to 421, a first robot 46a in the access positions 43' and one in the access position 43" second robot 46b has access to the cassette compartments 18 of the respective storage unit 14.
  • the storage units 14 are preferably mounted on a cross member 80 ′′, which is constructed in the same way as the cross member 80 of the first exemplary embodiment, but via both the storage position 13 and the access positions lying on both sides thereof 43 'and 43 "extends and is preferably supported in each case on the outside of the access positions 43' and 43".
  • each storage unit 14 is an extension in the direction of the cross member 80 " assigned to the circumferential tension member 130, which can be driven by a motor 132.
  • This tension member 130 extends in the longitudinal direction of the cross member 80 "to such an extent that a connection point 134 of this tension member 130 with the respective storage unit 14 can be moved so far in the longitudinal direction of the crossmember 80 "that the respective storage unit 14 can be positioned both in the two access positions 43 'and 43" and in the storage position 13.
  • Both the first robot 46a and the second robot 46b and their roadways 48a and 48b are preferably of identical design and extend in the stacking direction 40 along the row of memory positions 13 and beyond the memory 10 "along data exchange units 120, so that in the same As in the first embodiment, the cassettes 24 can be transported from the individual cassette compartments to the data exchange units 120 and back.
  • the advantage of the third exemplary embodiment can be seen in the fact that the number of storage units 14 can be varied as desired and the transport capacity is doubled, since cassettes can be transported to data exchange units 120 by means of robot 46a and by means of robot 46b and can be read there.
  • the third exemplary embodiment has the advantage that the entire information contained in the cassettes 24 of the cassette memory 10 "is still available even if one of the robots 46a or 436b has failed because the other robot is in the same way Has access to all cartridges 24 and thus each of the cartridges 24 can also be read in one of the data exchange units 120.
  • the cassettes 24 and the data exchange units 120 are designed such that each data exchange unit 120 can read the entire information of each cassette 24.
  • the entire information content of the cassette memory 10 is thus available even if one of the robots 46a or 46b fails.
  • FIGS. 9 and 10 insofar as the same parts are used, they are provided with the same reference numerals, so that with regard to the description of these parts, the explanations for can refer to the first embodiment.
  • all memory units 14a to 141 are arranged in memory positions 13a to 131, which have the same arrangement as in the cassette memory 10.
  • individual storage units 14 can also be moved out of the storage position 13 with their cassette compartment surface 16 in the direction of the respective storage surface 42 in order to be brought into their access position.
  • the storage units 14 stay after leaving the storage position 13a, the storage units 14 are not in the respective storage area 42, but, as shown in FIG. 9, are pivoted out on this storage area 42, so that the cassette compartment area 16 later stands transversely to the storage area 42.
  • each storage unit 14 is pivotally held about a vertical axis 140 on a carriage 142 which extends in the vertical direction and is guided on both sides on rails 144 and 146 which are parallel to the transverse cheeks 36 and 38 of the storage units 14 in the storage area 42 and extend parallel to the horizontal direction 44.
  • an access position 153 positioned in this way in which the cassette compartment surface 16 can preferably lie parallel to the stacking direction 40, can be seen in the fact that when the path 48 of the robot 46 runs alongside the memory 10 "', the access position 153 standing cassette compartments 18 lie to the side of the road and to the side of the robot 46, so that the robot 46 can drive past them and a robot access direction 152 is now perpendicular to a longitudinal direction 49 of the road 48.
  • each displacement carriage 142 can preferably be moved by toothed pinions 154 and 156 which extend parallel to the rails 144 and 146 and can be driven by a common motor 162. Due to the common drive of the pinions 158 and 159, the carriage 142 will always be movable in the respective storage plane with the pivot axis 140 oriented vertically. In addition, a further motor 163 is provided for pivoting the respective storage unit 14 about the pivot axis 140.

Abstract

Dans le but de perfectionner un stockeur (10) pour objets stockés, utilisé dans des dispositifs de stockage automatisés avec des robots, ledit stockeur (10) présentant des cases de stockage (18) disposées dans une surface de stockage (16), susceptibles d'être amenées en position de saisie par des robots, de manière à pouvoir stocker un plus grand nombre d'objets par unité de volume, il est proposé que le stockeur présente plusieurs unités de stockage (14) dans lesquelles les cases de stockage (18) sont disposées respectivement sur une surface (16) des cases de stockage, que des unités de stockage (14) se succédant dans une position de stockage, dans une direction d'empilement (40) soient situées par leurs surfaces (16), dans des surfaces de stockage (42) orientées l'une vers l'autre à plat, que les unités de stockage (14) soient relativement mobiles les unes par rapport aux autres, que chaque unité de stockage (14) soit retirée de l'emplacement du stockeur (13) par déplacement dans une direction perpendiculaire à la direction d'empilement (40), et que l'unité de stockage soit amenée, aprés avoir quitté l'emplacement du stockeur (13), dans une position de saisie (43) dans laquelle les cases de stockage se trouvent en position de saisie par les robots.
PCT/EP1990/001876 1989-11-09 1990-11-09 Stockeur et dispositif de stockage pour objets stockes WO1991007338A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19893937252 DE3937252A1 (de) 1989-11-09 1989-11-09 Kassettenspeicher und datenarchiv fuer datentraeger umfassende kassetten
DEP3937252.9 1989-11-09

Publications (1)

Publication Number Publication Date
WO1991007338A1 true WO1991007338A1 (fr) 1991-05-30

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ID=6393154

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1990/001876 WO1991007338A1 (fr) 1989-11-09 1990-11-09 Stockeur et dispositif de stockage pour objets stockes

Country Status (3)

Country Link
EP (1) EP0534965A1 (fr)
DE (1) DE3937252A1 (fr)
WO (1) WO1991007338A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0600506A2 (fr) * 1992-12-04 1994-06-08 WUPPERMANN LAMAG GmbH Dépôt par panneaux coulissants
EP0734975A1 (fr) * 1995-03-28 1996-10-02 GEBR. WILLACH GmbH Magasin à rayonnage déplaçable
EP0924144A1 (fr) * 1997-12-16 1999-06-23 GEBR. WILLACH GmbH Magazin à rayonnage
EP0924145A1 (fr) * 1997-12-16 1999-06-23 GEBR. WILLACH GmbH Magasin à rayonnage
EP0924143A1 (fr) * 1997-12-16 1999-06-23 GEBR. WILLACH GmbH Magazin à rayonnage
IT202000017116A1 (it) * 2020-07-15 2022-01-15 Silvano FAGIANI Isola robotizzata compatta per farmacie
WO2022079467A1 (fr) * 2020-10-13 2022-04-21 Fagiani Andrea Système de distribution robotique à fonction de compactage pour pharmacies

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4311311A1 (de) * 1993-04-06 1994-10-13 Trans Finanz Service Sa Vorrichtung zum Lagern und Handhaben von Stückgut
KR100966434B1 (ko) * 2005-06-20 2010-06-28 엘지디스플레이 주식회사 카세트 적재장비

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FR1482549A (fr) * 1966-06-07 1967-05-26 Wild A G & Co Ltd Installation de stockage
FR2185556A2 (fr) * 1972-05-26 1974-01-04 Guigan Jean
FR2323184A1 (fr) * 1975-09-05 1977-04-01 Ibm Systeme de manipulation d'echantillons
EP0235488A1 (fr) * 1986-09-19 1987-09-09 REDOUTE CATALOGUE Société Anonyme: Installation de manutention robotisée
US4866255A (en) * 1986-06-17 1989-09-12 Peter Sing Apparatus for article storage, retrieval and inventory

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DE2952769A1 (de) * 1979-12-29 1981-07-02 Leopold 6831 Reilingen Weinlich Regallager
DE8907753U1 (fr) * 1988-09-29 1989-09-07 Grau Gmbh & Co, 7070 Schwaebisch Gmuend, De

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1482549A (fr) * 1966-06-07 1967-05-26 Wild A G & Co Ltd Installation de stockage
FR2185556A2 (fr) * 1972-05-26 1974-01-04 Guigan Jean
FR2323184A1 (fr) * 1975-09-05 1977-04-01 Ibm Systeme de manipulation d'echantillons
US4866255A (en) * 1986-06-17 1989-09-12 Peter Sing Apparatus for article storage, retrieval and inventory
EP0235488A1 (fr) * 1986-09-19 1987-09-09 REDOUTE CATALOGUE Société Anonyme: Installation de manutention robotisée

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0600506A2 (fr) * 1992-12-04 1994-06-08 WUPPERMANN LAMAG GmbH Dépôt par panneaux coulissants
EP0600506A3 (fr) * 1992-12-04 1994-12-21 Wuppermann Lamag Gmbh DépÔt par panneaux coulissants.
EP0734975A1 (fr) * 1995-03-28 1996-10-02 GEBR. WILLACH GmbH Magasin à rayonnage déplaçable
EP0816261A1 (fr) * 1995-03-28 1998-01-07 GEBR. WILLACH GmbH Magazin à rayonnage déplaçable
EP0816260A1 (fr) * 1995-03-28 1998-01-07 GEBR. WILLACH GmbH Magazin à rayonnage déplaçable
EP0924144A1 (fr) * 1997-12-16 1999-06-23 GEBR. WILLACH GmbH Magazin à rayonnage
EP0924145A1 (fr) * 1997-12-16 1999-06-23 GEBR. WILLACH GmbH Magasin à rayonnage
EP0924143A1 (fr) * 1997-12-16 1999-06-23 GEBR. WILLACH GmbH Magazin à rayonnage
IT202000017116A1 (it) * 2020-07-15 2022-01-15 Silvano FAGIANI Isola robotizzata compatta per farmacie
WO2022079467A1 (fr) * 2020-10-13 2022-04-21 Fagiani Andrea Système de distribution robotique à fonction de compactage pour pharmacies

Also Published As

Publication number Publication date
EP0534965A1 (fr) 1993-04-07
DE3937252A1 (de) 1991-05-16

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