WO1992004713A1 - Systeme automatique de stockage - Google Patents

Systeme automatique de stockage Download PDF

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Publication number
WO1992004713A1
WO1992004713A1 PCT/EP1991/001662 EP9101662W WO9204713A1 WO 1992004713 A1 WO1992004713 A1 WO 1992004713A1 EP 9101662 W EP9101662 W EP 9101662W WO 9204713 A1 WO9204713 A1 WO 9204713A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage
storage system
robot
input
gripper
Prior art date
Application number
PCT/EP1991/001662
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 WO1992004713A1 publication Critical patent/WO1992004713A1/fr

Links

Classifications

    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B15/00—Driving, starting or stopping record carriers of filamentary or web form; Driving both such record carriers and heads; Guiding such record carriers or containers therefor; Control thereof; Control of operating function
    • G11B15/675—Guiding containers, e.g. loading, ejecting cassettes
    • G11B15/68—Automatic cassette changing arrangements; automatic tape changing arrangements
    • G11B15/682—Automatic cassette changing arrangements; automatic tape changing arrangements with fixed magazines having fixed cassette storage cells, e.g. in racks
    • G11B15/6835—Automatic cassette changing arrangements; automatic tape changing arrangements with fixed magazines having fixed cassette storage cells, e.g. in racks the cassettes being transferred to a fixed recorder or player using a moving carriage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B65G1/0464—Storage devices mechanical with access from above
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0003—Automatic card files incorporating selecting, conveying and possibly reading and/or writing operations
    • G06K17/0012—Automatic card files incorporating selecting, conveying and possibly reading and/or writing operations with more than one selection steps, e.g. selection of a record carrier from a selected compartment of a compartmented storage

Definitions

  • the invention relates to an automatic storage system for storage objects, in particular for information carriers, comprising at least one storage unit with a plurality of storage locations for storing the storage objects, an input and output station and a robot for gripping and transporting the storage objects between the storage locations and the input and output Dispensing station.
  • Automatic storage systems of this type are known, for example, for storage cartridges of computer systems. These storage cartridges are tape cartridges on which the information that is to be stored over a longer period of time is stored.
  • the input and output station is a tape writing and reading unit, which is able to read the information on the tapes of the tape cassettes and, if necessary, write on this information.
  • a robot with a gripper is mounted on a trolley, which in turn is arranged on rails on the bottom between the storage units, which, for example, as Turrets are formed, back and forth to transport the cartridges from the storage units to the input and output station.
  • the known automatic storage systems have the disadvantage that they cannot be inserted into existing spatial conditions without difficulty and that, when such systems are inserted into spatial conditions, high storage densities can only be achieved with complex measures, such as, for example, rotating towers with respect to these rotatable sub-towers, can be realized.
  • the invention is therefore based on the object of improving an automatic storage system of the generic type in such a way that it can be constructed as simply as possible and can also be integrated as easily as possible into existing spatial conditions and can also be expanded.
  • this object is achieved according to the invention in that the robot moves within a travel plane located above the storage unit and the input and output station in a first and a second direction transverse to the first of a travel area has movable arm supports, on which a gripper movable in a third direction, perpendicular to the travel plane, is held, that the gripper is designed for gripping the storage objects in a gripping direction running transversely to the third direction, that the storage units are designed such that the storage locations are arranged in storage areas running essentially parallel to the third direction and that the storage areas are overlapped by the travel area of the arm support.
  • the possibility is created of integrating the storage systems into an existing space in a simple manner, since the dimensions of the space in the first and second direction can be fully used.
  • the storage units can be stationed in a simple manner on a floor surface of the room without the need for complex measures.
  • the storage density can be increased without complex measures in the storage units, since the gripper is moved in three directions perpendicular to each other at every point of the space below the travel area, so that no problems with the adaptation to the dimensioning of the space occur and also with regard to the storage units no special measures have to be taken to optimally populate an optimal storage density in the available space with storage units.
  • a particularly advantageous solution of the robot provides that the arm support is held so that it can be moved in the second direction on a traverse that can be moved in the first direction.
  • the cross-member is a portal cross-member that can be moved in the first direction on two portal rails.
  • the two portal rails offer the possibility of moving the portal crossbar with the necessary stability and positioning accuracy over the travel range.
  • the arm carrier has a guide arm which is held immovably in the third direction and extends in this direction and along which the gripper can be displaced .
  • the guide arm ensures rigid guidance of the gripper and also ensures that the robot according to the invention is on the side of the gripper opposite the gripper Travel area does not require a great deal of space, since the guide arm is immovable in the third direction and is not displaced as a whole when the gripper is moved in the third direction and thus protrudes in the corresponding gripper positions on the side opposite the gripper.
  • the gripper can be rotated about an axis parallel to the third direction, so that the storage areas have the most varied orientation relative to the first and second direction. It is particularly useful if the gripper can be rotated through at least 180 °.
  • the entire guide arm carrying the gripper can be rotated about the axis parallel to the third direction.
  • the gripper comprises gripping elements which extend in a gripping direction, the gripping direction being essentially perpendicular to the third direction.
  • the gripping element can be rotated relative to a gripper body about an axis parallel to the gripping direction. This gives, for example, the possibility of positioning a storage object in a storage position in the storage locations of the storage unit and storing it in a position rotated by 90 ° in the input and output station.
  • the gripping element can be rotated by at least 90 °.
  • the gripping element has two gripping fingers that can be moved towards one another, between which the storage object can be gripped.
  • the gripping element has an ejector with which the storage object can be detached from the gripping element .
  • the ejector is movable up to a front end of the gripper.
  • the function of the robot according to the invention and in particular the transport performance can be further increased by arranging two grippers which can be moved in the third direction on the arm. With two grippers, the number of movements of the arm support which require the most time can be considerably reduced if two objects are transported at the same time, for example two storage objects to be inserted one after the other into the input and output station or if also when changing from one storage object in the input and output station to the next, which a gripper can remove and the next gripper already has the next storage object ready to use after removing the previous one.
  • these can preferably be arranged such that they extend in two opposite gripping directions, that is to say enclosing an angle of 180 °.
  • the gripping directions of the two grippers enclose an angle of 90 ° with one another, since the gaps or passageways between the storage units that the grippers need to pass through can be made narrower.
  • a particularly preferred exemplary embodiment provides that a drive motor for the first direction is seated on the crossmember.
  • a drive motor for the gripper sits on the arm support in the third direction. It is also expedient if a drive motor for rotating the gripper about the axis parallel to the third axis is seated on the arm support.
  • the easiest way to move the gripper in the third direction is that the gripper can be displaced by a spindle running along the arm or a toothed belt.
  • a particularly preferred exemplary embodiment provides that the storage areas run perpendicular to the travel plane. Furthermore, in order to achieve the greatest possible storage density, it is provided that the storage areas run parallel to one another, the storage areas being aligned parallel to one another at least in the third direction.
  • the storage areas could be designed as cylindrical areas, which would be the case if the storage units were rotating towers known from the prior art. Since these rotary towers require a high level of control, a structurally simpler solution provides that the storage areas are storage levels that can be stationary and along which the gripper can be moved in a simple manner.
  • a storage system according to the invention can be constructed in a particularly simple manner if driving aisles are provided parallel to the first and second directions.
  • passageways are then expediently all connected to one another so that the gripper can move along these passageways.
  • a particularly preferred exemplary embodiment provides that the storage units form a storage area, to which the input and output station is arranged to the side of the same.
  • a plurality of input and output stations are advantageously provided, since the storage objects generally remain in these for a longer time, so that access to the automatic storage system is provided by providing a plurality of input stations. and output stations can be increased considerably and the access limit for a large number of input and output stations is limited by the transport capacity of the robot.
  • a particularly preferred type of arrangement of the input and output stations provides that they are arranged in a row lying to the side of the storage area.
  • the input and output stations are arranged in a row which penetrates the storage area.
  • the transport processes can also be particularly simplified if the input and output statistics are arranged in a row running parallel to the storage areas, since in this case no large traversing movements across the storage areas are required.
  • the transport times of the robot can be shortened by arranging an insertion side of the input and output unit facing the storage area.
  • the gripper comes out of the storage area with a storage object, it can be inserted very quickly into the input and output unit.
  • the insertion sides of the input and output stations arranged in a row are arranged on opposite sides of the row, so that one can be inserted from both sides of the row Storage object in one of the input and output stations is possible. It is particularly advantageous if the insertion sides of successive input and output stations are on opposite sides of the row.
  • the limiting element for accessibility in the case of a plurality of input and output stations is Transport performance of the robot.
  • a further preferred exemplary embodiment of the solution according to the invention provides that several robots are provided with arm carriers which are movable in the plane of travel and which have grippers which can be moved in the third direction.
  • each robot has a portal cross-beam which runs on the same portal rails, so that several robots can run on a set of portal rails and thus a structurally simple construction of the storage system according to the invention is possible.
  • a first drive element is arranged along a portal rail, with which each robot interacts with a second drive element for displacing the portal crossbar in the first direction.
  • a first drive element is designed as a toothed rack and the second drive element is designed as a toothed pinion.
  • a preferred embodiment provides that each robot has access to the entire memory area and thus every memory object in the memory units can be gripped by any robot.
  • the storage area In order to avoid a collision of several robots operating in the storage area, provision is preferably made for the storage area to be divided into sub-areas. A robot is expediently assigned to each sub-area.
  • the risk of collision of the robots operating in the respective sub-area can be reduced by assigning at least one input and output station to each robot.
  • each robot can have access to the entire area and to all input and output stations.
  • Such a configuration can be realized particularly easily if the input and output station is arranged between the two sub-areas, so that if both Robots work in their sub-areas, both of which have access to the one or more input and output stations arranged between these sub-areas, but if the robot cannot operate a sub-area assigned to it for any reason, the other robot has the option to also access all storage locations of this sub-area and the corresponding output stations.
  • a particularly preferred exemplary embodiment of such a control provides that the control checks before carrying out a transport order whether this sub-area overlaps with the other sub-areas of the other robot and executes the transport order if it does not overlap.
  • a particularly preferred application of the storage system according to the invention is - as already mentioned at the beginning - the use of the same for storing storage cartridges or data carrier cartridges as storage objects, in which case the automatic storage system represents an automated data carrier archive.
  • the input and output station is a data exchange unit which is able to read the memory cartridges or data carriers and, if necessary, also to rewrite them.
  • These data exchange units generally have an insertion slot which requires the storage cartridges or data carriers to be inserted in a horizontal orientation, while on the other hand it is more advantageous for storing the storage cartridges or data carriers in the storage locations and in particular also for accessing them. if they are positioned there in a vertical orientation, i.e. rotated by 90 °, in relation to their orientation in the insertion slot.
  • the storage spaces are preferably storage compartments lying next to one another in a row and separated by dividing elements, and the storage units have a plurality of these storage compartments.
  • securing the storage objects against unauthorized access and in particular also securing the area in which the gripper is moving can be solved particularly simply by the fact that the storage units and the input and output stations in their outer areas are enclosed by a wall, so that the gripper between the input and output stations and the storage units can be moved back and forth within the wall.
  • the wall is preferably arranged such that it encloses the storage area with the input and output stations on the outside thereof.
  • doors are preferably also provided in the wall, which are arranged, for example, in such a way that they enable access to a drive way.
  • the arm carrier can be moved in the travel plane by means of a wide-arm robot unit.
  • This wide-arm robot unit preferably comprises a base frame and an inner arm and an outer arm, all of which can be moved relative to one another, preferably about two mutually parallel axes.
  • the inner arm can be moved about a first axis relative to the base frame and the outer arm can be moved about a joint relative to the inner arm.
  • the outer arm preferably carries at its end the arm carrier, which in turn carries the guide arm, which - as described in connection with the preceding exemplary embodiments - is designed.
  • this robot is preferably provided with a controller which controls the pivoting movement of the inner arm relative to the base frame, the outer arm relative to the inner arm and additionally the guide arm about the third axis relative to the outer arm in order to guide the guide arm in the gears between the To be able to move storage units without collision.
  • FIG. 1 shows a perspective view of a first exemplary embodiment
  • FIG. 3 shows a plan view of a second exemplary embodiment
  • FIG. 5 shows a plan view of a fourth exemplary embodiment
  • FIG. 6 shows a plan view of a fifth exemplary embodiment
  • 7 shows a plan view of a sixth exemplary embodiment
  • FIG. 8 shows a plan view of a seventh exemplary embodiment
  • FIG. 9 shows a representation similar to FIG. 2 of the gripper of an eighth exemplary embodiment
  • FIG. 10 shows a plan view of a ninth exemplary embodiment
  • FIG. 11 shows a section along line 11-11 in FIG. 10;
  • Fig. 13 is a plan view of an eleventh embodiment.
  • a first exemplary embodiment of an automatic storage system according to the invention comprises, as shown in FIG. 1, a multiplicity of storage units 10a-f which have storage locations 14 arranged next to one another in rows 12, which, when the automatic storage system according to the invention is used for storage cartridges 16 are designed as compartments for the storage cartridges 16.
  • each of these storage units 10 several of the rows 12 of adjacent storage locations 14 are arranged one above the other, so that the storage locations 14 as a whole lie in a storage area 18, which in the case of the storage units 10 of the first exemplary embodiment is designed as a plane, the storage surface 18 preferably being perpendicular to a base surface 20 which carries the storage units 10.
  • the storage units 10a-c are arranged one behind the other in a first direction 22 and have gaps 24 between their mutually facing sides which form passageways.
  • the storage units 10d to 10f are arranged in the same way, the storage unit 10d being opposite the storage unit 10a, the storage unit 10b and the storage unit 10f being the storage unit 10c and being arranged at a distance from one another, so that there is also an aisle 26 between them forms from which the aisles 24 are accessible.
  • the aisle 26 preferably extends parallel to the first direction 22 and the aisles 24 perpendicularly laterally away from it.
  • the storage units 10 are two portal rails 28 and 30 running parallel to one another, in the first direction 22 or also called the X direction, which are preferably carried by the storage units 10, the storage units 10a-c the portal rail 28 and the Storage units 10-f carry the portal rail 30 on each of their outer side areas.
  • a portal crossbeam designated as a whole by 32, which extends between the portal rails 28 and 30 and runs on running surfaces 34 and 36 of the same, preferably with guide rollers not shown in the drawing.
  • the portal traverse 32 extends in a second direction 38 or Y direction perpendicular to the first direction 22.
  • the first direction 22 and the first direction 38 form a travel plane 40, which lies in particular parallel to the floor surface 20 above the storage units 10 and in which an arm support designated as a whole as 42 can be moved both in the first direction 22 and in the second direction 38 is.
  • the arm support 42 is guided on the running surfaces 44 and cross rails 46 of the portal cross member 32 and represents a slide which is displaceably mounted on these cross rails 46.
  • a drive shaft 48 is provided on the side of a cross rail 46, which drives two gearwheels 50 and 52, each arranged on an inside of the portal rails 28 and 30 and with one on this inside of the portal rails 28 and 30, fixed racks 54 and 56 are engaged.
  • the drive shaft 48 is rotatably mounted on the portal crossbeam 32 and is driven by a longitudinal drive 58 which is also fixedly arranged on the portal crossbeam 32 and, in the simplest case, is an electric motor.
  • the portal cross member 32 can thus be displaced in the first direction 22 or X direction.
  • a transverse drive 60 in the form of a motor is held on the portal cross member 32, which drives a toothed belt 62 which extends essentially over the entire width of the portal cross member 32 extends in the second direction 38 between the two cross rails 46 on an inside thereof and is fixedly connected to the arm support 42.
  • the toothed belt 62 By moving the toothed belt 62 back and forth, the arm carrier can thus be displaced in the second direction 38 or Y direction, so that the arm carrier 42 can be displaced in the travel plane 40 both in the first direction 22 and in the second direction 38.
  • the arm support 42 is in turn provided with a guide arm 66 extending from it perpendicular to the travel plane 40 in a third direction 64 or Z direction between the two transverse rails 46, which in the simplest case is formed by a guide tube and guide surfaces on opposite sides 68 and 70, on which a gripper slide 72, which is shown still enlarged in FIG. 2, is displaceably guided in the third direction 64 or Z direction.
  • This gripper slide carries two grippers 73a and 73b.
  • the guide arm 66 extends over the entire travel length over which the gripper slide 72 is to be movable in the third direction 64.
  • the guide arm 66 For moving the gripper carriage 72 along the guide arm 66, the guide arm 66 is provided with a spindle 74 which extends along the same and which is held by a spindle which is held on the gripper carriage 72 and with it firmly connected spindle nut 76 extends through.
  • This spindle 74 is driven by a spindle drive 78 which sits on the arm support 42 and is preferably an electric motor.
  • the arm carrier 42 in turn comprises a carriage 80 and a platform 82 which is rotatably mounted about this third direction 64 on this carriage 80 and which in turn carries the spindle drive 78 and is fixedly connected to the guide arm 66.
  • the platform 82 can be rotated about the third direction 64, for which purpose the carriage 80 carries a rotary drive 84 with which, for example, a toothed belt 86 engaging the platform 82 can rotate it by an angle 00.
  • the angle QL is preferably selected such that — as will be explained in more detail later — the guide arm 66 can be rotated by at least 180 °.
  • the gripper chute 72 not only carries the spindle nut 76, but the grippers 73 with gripper elements 88 and 90 are also arranged on opposite sides thereof, which move around a fourth direction 94, which is preferably perpendicular runs to the third direction 64 and parallel to the travel plane 40, relative to which the gripper carriage 72 forming a common gripper body can be pivoted.
  • a swivel drive 96 and 98 is arranged on the gripper carriage 72, with which the gripping element 88 or 90 assigned to the corresponding swivel drive 96 or 98 can be set in rotation about the fourth direction 94.
  • Each of these gripping elements 88 and 90 comprises two gripping fingers 100 and 102 which extend essentially parallel to the fourth direction 94 or gripping direction and which can be moved towards one another by a gripping drive 104, which is likewise held on each of the gripping elements 88, 90 are, for example, to grip the storage cassette 16.
  • each of the gripping elements 88 and 90 also comprises an ejector 106 which is arranged between the gripping fingers 100 and 102 and from a retracted position, shown in solid lines in FIG. 2, to a front position in FIG. 2 Shown in dashed lines, is movable, the front position is preferably at least at the level of front ends 108 and 110 of gripping fingers 100 and 102, respectively.
  • the swivel drives 96 and 98 are preferably designed such that at least one pivoting of the gripping elements 88 and 90 is possible by an angle of 90 °.
  • the embodiment of the storage system according to the invention shown in FIG. 1 also includes an input and output unit 112 in the form of a data exchange unit, which is provided on an insertion side 114 with an insertion slot 116, in which the storage cartridges 16 for Reading and / or writing can be used or removed from the gripper 73.
  • an input and output unit 112 in the form of a data exchange unit, which is provided on an insertion side 114 with an insertion slot 116, in which the storage cartridges 16 for Reading and / or writing can be used or removed from the gripper 73.
  • the length of the portal rails 28 and 30 should be selected such that both all the storage units 10, preferably also the input and output unit 112, lie below a travel range of the arm support 42.
  • the insertion side 114 of the input and output unit 112 is preferably to be arranged such that it is easily accessible by one of the grippers 73 in order to ensure that the storage cartridges 16 can be inserted and removed as quickly as possible. In the case shown in FIG.
  • the insertion side 114 is aligned parallel to the first direction 22 or the X direction and the input and output unit 112 is arranged in such a way that its insertion side 114 lies to the side of a continuation of the passage 26, so that the gripper 73 traveling along the aisle 26 can insert a storage cassette 16 gripped by the gripping fingers 100 and 102 into the insertion shaft 116 as quickly as possible without large adjustment movements of the arm carrier 42.
  • the insertion shaft 116 is arranged in such a way that it requires a horizontal alignment of the storage cartridge 16, while the storage units 10 are constructed such that they require a vertical alignment of the storage cartridges 16 in the storage locations 14, so that this requires a pivoting of the respective gripping element 88 or 90 about the pivot axis 94 at an angle of 90 ° by means of the pivot drive 96 or 98 when moving between the storage locations 14 and the insertion shaft 116.
  • all the storage units 10 are arranged as close as possible to one another, so that the aisles 24 and 26 represent the maximum required gaps that are necessary for one to enable collision-free passage of the gripper 73.
  • the storage units 10 as a whole form a storage area 120, so that the input and output unit 112 is arranged outside and to the side of the same, but below the travel area of the arm support 42.
  • the gripper 73 together with the guide arm 66, the arm carrier 42, and the portal traverse 32, form a robot, designated as a whole by 122, which controls the transport of the storage cartridges 16 between the input and output unit 112 and the storage units, controlled by a controller 124 , carries out this control, in the case of a memory cartridge archive, for example, receives the order from a computer system to access a memory cartridge 16 in any memory location 14 of one of the memory elements 10, to transport it to the input and output unit 112, in its insertion slot 116 so that the input and output unit 112 can read the information content of the storage cassette 16 and, for example, also pass it on to the computer.
  • a memory cartridge archive for example, receives the order from a computer system to access a memory cartridge 16 in any memory location 14 of one of the memory elements 10, to transport it to the input and output unit 112, in its insertion slot 116 so that the input and output unit 112 can read the information content of the storage cassette 16 and, for example, also pass it on to the
  • the storage cassette 16 can then be written to in the input and output unit 112 with additional or new information, and then the robot 122 again, controlled by the controller 124, also transports the storage cassette 16 into a free storage space 14 of the storage units 10, the control 124 independently manages the free memory locations and assigns the cheapest storage location 14 to the storage cartridge 16 to be stored, in which the robot 122 then inserts the storage cartridge 16.
  • two robots 122a and 122b are provided, which are preferably of identical design.
  • the robots 122a and 122b are designed such that they run on the same running surfaces 34 and 36 of the same portal rails 28 and 30 and also engage in the same racks 54 and 56, so that only one set of portal rails 28 and 30 and Racks 54 and 56 are required to support the two robots 122a and 122b.
  • the storage units 10 of the second exemplary embodiment shown in FIG. 3 are designed in exactly the same way as the storage units 10 of the first exemplary embodiment, so that reference is also made to the corresponding explanations for the first exemplary embodiment, with the only difference that a larger number of storage units lOa-r are provided.
  • the storage locations 14 for the storage cartridges 16 are, however, provided in the same way as in the first embodiment in rows 12 arranged one above the other and lying next to one another.
  • the storage units 10a-r are also provided with storage locations 14 on opposite sides, so that each storage unit is arranged two at a distance from one another Has storage areas 18a and 18b, in which the storage locations 14 are located, the storage areas 18 being parallel planes.
  • all storage areas 18 are designed parallel to one another and parallel to the second direction 38 driving aisles 24 which open into a common central driving aisle 26.
  • an input and output unit 112 not only an input and output unit 112 is provided, but also a plurality of input and output units 112 to 112n are provided, all of which are constructed in principle in the same way as the input and output unit 112, but with their insertion pages 114 are arranged facing the storage units 10a-r forming the storage area 120.
  • the input and output units 112a-g are arranged in a row next to one another, their insertion sides 114 being aligned parallel to the second direction 38 and likewise being parallel to the storage areas 18 of the storage units 10, which are also parallel to the second direction 38 are arranged.
  • the input and output units 112h-n are arranged in a row next to one another, their insertion sides facing the insertion sides 114 of the input and output unit 112a-g and the storage area 120 and being aligned parallel to the second direction 38.
  • a drive aisle 130 is also formed between the storage area 120 and the rows 112a-g and 112h-n, which also opens into the drive aisle 26, so that the gripper 73 of the respective one Robot 122a, b can be moved back and forth in front of these rows of belt units.
  • the aisle 130 is preferably of the same width as the aisles 24 between the storage units 10.
  • Each of the robots 122a and 122b is controlled by its own controller 124a and 124b, with the controllers 124a and 124b communicating with each other.
  • the robot 122a or 122b with the most favorable position is first selected by the respective controller 124a or 124b.
  • the controller 124a or 124b determines which partial area of the entire travel area has to be covered in order to carry out the transport request. It is then checked whether this subarea is not being run over by the other robot 122b or 122a. If this is not the case, the transport request is carried out, the travel range of the respective robot 122a or 122b to be traversed being blocked for the respective other robot 122b or 122a.
  • the robots 122a and 122b can be controlled by the controls 124a and 124b in such a way that, in principle, they can access all the storage locations 14 of the storage units 10, so that a common storage pool is available and, for example, the entire one if the robot 122a fails Contents of the storage units 10 are accessible via the robot 122b and the input and output units 112h-n assigned to it.
  • the belt units 10a-r are in principle arranged exactly the same as in the second embodiment.
  • all of the input and output units 112 "a to 112'1 are not arranged with their insertion sides 114 parallel to the second direction 38, but rather parallel to the first direction 22, in such a way that the input and output units 112 'form a row extending under the portal rail 28, the insertion sides 114 facing the storage area, in particular the storage units 10a to 10h.
  • the robots are also identical to those of the first and second exemplary embodiments.
  • an aisle 132 is provided which extends in front of the insertion sides 114 along the entire row of the input and output units 112.
  • the aisles 24 between the storage units 10 then open into this aisle 132.
  • the aisle 132 extends parallel to the first direction 22, while the aisles 24 extend parallel to the second direction 38, as in the exemplary embodiments described above.
  • the driving aisle 26, which extends parallel to the first direction 22, as in the exemplary embodiments described above, is also maintained, which is at a distance from the driving aisle 132 and parallel runs to this.
  • the third exemplary embodiment works in principle exactly like the second exemplary embodiment with the only difference that in principle the input and output units 112'a-1 are accessible to both robots 122a and 122b and thus not only storage units 10 form a common storage pool, the content of which Robots 122a and 122b are accessible, but also the input and output units 112'a-1.
  • the configuration of the third exemplary embodiment also offers the possibility of extending the portal rails 28 and 30 beyond the storage area and on both sides of the same to create a maintenance area 125 in which the respective robot 122a or 122b can be positioned such that the other robot 122b or 122a can work freely in the entire memory area and also has free access to all input and output units 112'a-1.
  • the second exemplary embodiment offers even greater flexibility when extending individual input and output units 112'a-1, since the entire number of input and output units 112a-l is available for both robots 122a and 122b and thus a switch to still functioning ones Input and output units 112a-1 is possible.
  • FIG. 5 In a fourth embodiment of a storage system according to the invention, shown in FIG. 5, two robots 122a and 122b are also used, which run on the same portal rails 28 and 30, so that reference can be made to the explanations regarding the second and the first embodiment in this regard . Similar to the second exemplary embodiment, the input and output units 112a-g and 112h-n are each arranged in rows running parallel to the second direction 38, just as in the second exemplary embodiment.
  • the storage units 10 are still constructed in such a way that their storage locations 14 are arranged in storage areas 18 which are planes aligned parallel to one another. However, these storage areas 18 are aligned parallel to the first direction 22, so that now passages 26 'running between these storage areas 18 also run parallel to the first direction 22, while those between the rows of storage units 10a-f, 10g-1 and Lom-r lying aisles 24 'run parallel to the second direction 38.
  • travel paths 130 are provided, which enable the gripper to select the cheapest input and output unit 112 in each case.
  • These robots 122a and 122b are formed in the same way as in the first and second exemplary embodiments.
  • This principle was modified in a fifth exemplary embodiment, shown in FIG. 6, in such a way that two rows of memory units 10a-f and 10g-1 are provided, which are sub-areas 134 and 136, respectively form between which three rows of input and output units 112a-c and 112 "df and 112" gi are provided, the input and output units 112 "ac with their insertion sides 114 of the row 112" df and also the Row of input and output units 112 "gi are arranged with their insertion sides 114 facing the row 114d-f, that is to say that in both rows the insertion sides 114 are each on the same side, while in the row 112" df the insertion sides 114 are arranged alternately are, that is, the input side 114 "d faces the insertion side 114 of the row 112a-c, the same applies to the input and output unit 112" f, while the input and output unit 112 "e the insertion side 114 of the row 112 "gi is assigned.
  • all of the insertion sides 114 of the input and output units 112 ′′ extend parallel to the first direction 22 and thus also parallel to the storage levels 18 of the storage units 10.
  • intermediate storage units 10'a and 10'b are arranged between the rows 112 "ac and 112" df and 112 "gi, which in principle are constructed in exactly the same way as the storage units 10 and are aligned with their storage levels 18.
  • These intermediate storage units Units 10 ' are not primarily used to serve as long-term storage for, for example, storage cartridges 16, but to provide storage locations 14 for short-term storage, which are arranged opposite the insertion sides 114 of the input and output units 112 "and from which the gripper 73 is particularly useful fast Can remove storage cartridges and insert them into the input and output units 112 "or, on the other hand, insert storage cartridges 16 removed from the input and output units 112" in order to temporarily end the input and output process quickly, so that the respective storage cartridges 16 later can be stored in other storage locations 14 in the storage units 10a-f and 10g-l.
  • the same robots 122a and 122b are used in the fifth exemplary embodiment, which have already been described in detail in the first and second exemplary
  • the sub-area 134 is assigned to the robot 122a and the sub-area 136 is assigned to the robot 122b, although a common controller 124 ′′ is provided which controls both robots 122a and 122b.
  • the robot 122a now primarily serves all transport requests from the subarea 134, while the robot 122b serves all transport requests from the subarea 136.
  • the input and output units 112 "ai are designed such that they are accessible to both robots 122a and 122b, the insertion sides 114 of the input and output units 112e-f arranged on alternating sides offering the possibility that the respective robots 122a, 122b, depending on which storage unit it comes from, moves the input and output unit 112 to the closest insertion side 114.
  • the fifth exemplary embodiment according to FIG. 1 is designed such that they are accessible to both robots 122a and 122b, the insertion sides 114 of the input and output units 112e-f arranged on alternating sides offering the possibility that the respective robots 122a, 122b, depending on which storage unit it comes from, moves the input and output unit 112 to the closest insertion side 114.
  • the intermediate storage units 10 ' serve to transfer storage cartridges 16 from one sub-area 134 to the other sub-area 136, so that, for example, the robot 122a stores the storage cartridge 16 in one Parking space 14 of the intermediate storage unit 10 'and the robot 112b picks up the storage cartridge 16 there.
  • the controller 124 ' is designed such that if one of the robots 122a or 122b fails, the other robot 122b or 122a is able to access all of the storage units 10 and thus all of the sub-areas 134 and 136 and all of the ons and output units 112 ".
  • the memory area is likewise divided into two, namely into a subarea 138 and 140, the subareas 138 and 140 with the memory units 10a-l and lOm-x each extending along the first direction 22 .
  • the storage units 10 are designed exactly as in the previous exemplary embodiments and, with their storage areas 18, are aligned parallel to the first direction 22, just as in the fourth and fifth exemplary embodiments.
  • aisles 26' extend parallel to the first direction 22.
  • aisles 26 ' are additionally interrupted by aisles 24', which run in the second direction 38 in order to open up the possibility that a storage cassette 16 can be transported by the shortest route from its storage space 14 to the respective input and output unit 112 ''.
  • three robots 122a, 122b and 122c are provided, which run on the same portal rails 28 and 30 and engage the same racks 54 and 56 with their gears 50 and 52.
  • robots 122a, b and c are designed in exactly the same way as the robot 122 in the first exemplary embodiment, so that full reference can be made to the statements relating to the first exemplary embodiment.
  • All three robots 122a, 122b and 122c are controlled by a common controller 124 'which prevents the three robots 122a, 122b and 122c from colliding with each other, the controller 124' for each of the robots 122a, b and c in the presence of a transport ⁇ demand determines a sub-area that is blocked for the other robots.
  • a storage subarea 142 or 144 or 146 is preferably provided, for which this robot 122a or 122b or 122c processes the transport requirements. Only if one of the other robots 122a, 122b or 122c cannot meet the transport requirements in its storage subarea 142, 144 or 146, another robot 122a, 122b or 122c works in this storage subarea 142, 144 or 146, which is a problem ⁇ loose is possible because all robots run on the same portal rails 28 and 30.
  • each of the robots 122a, 122b or 122c should in principle be controllable in such a way that it can have access to all storage units 10 and to all input and output units 112 "', if this is necessary.
  • the storage units 14, the input and output stations 112 and the robots 122a and b are arranged in the same way as in the second exemplary embodiment shown in FIG. 3.
  • the portal rails 28 and 30 are each carried by holders 150 which engage on some of the storage units which are designed such that they also remove the holders 150 for the portal rails 28 and 30 ⁇ Provide sufficient support.
  • a wall 152 and 154 extends parallel to the first direction 22 on an outer side of the storage units in each case from the input and output station 112g to the input and output station 112n and from the Input and output station 112a to input and output station 112h. This wall thus shields the traversing range in which the gripper 73 moves, so that the storage objects in the storage units are also protected.
  • the walls 152 and 154 are preferably also provided with doors 156 which are arranged, for example, in such a way that they each give direct access to one of the aisles 24.
  • the seventh exemplary embodiment according to FIG. 8 is constructed and constructed in exactly the same way as the second exemplary embodiment, so that full reference can be made to this.
  • the two grippers 73a and b are arranged in such a way that their gripping directions 94'a and 94'b no longer have an angle of 180 °, as in the first exemplary embodiment , close together, but only an angle of 90 °.
  • the gripper according to the eighth embodiment is designed in the same way as the gripper according to the first embodiment, so that full reference is made to the relevant statements.
  • a ninth exemplary embodiment shown in FIGS. 10 and 11, comprises memory units 10 which are designed in exactly the same way as in the first exemplary embodiment and are arranged in the same manner as in the latter.
  • an arm carrier 42 ' on which a guide arm 66 is held, which is designed in the same way as the guide arm 66 of the first exemplary embodiment, can be moved in the travel plane 40 above the storage units.
  • a gripper 73 designed in the same way as in the first exemplary embodiment can be moved with the gripper carriage 72 along the third direction 64.
  • the gripper 73 and the gripper chute 72 are designed identically as in the first embodiment.
  • a robot is designated as a whole with 122', which preferably comprises a wide-arm robot unit 158 which has a base frame 160 on which an inner arm can be rotated about a first axis 162 164 is mounted, which in turn has a joint 166 is connected to an outer arm 168, the inner arm 164 and the outer arm 168 being rotatable about a second axis 170.
  • the outer arm 168 carries the arm support 42 'at its end facing away from the joint 166.
  • the base frame 160 of the robot 122 ' is preferably designed such that it can be placed on one of the storage units 10, in this case the storage unit 10e, and thus eliminates the need for a separate support frame for the robot 122'.
  • the length of the inner arm 164 and of the outer arm 168 is in each case dimensioned such that the latter can access all storage locations 14 in all storage units 10 and also also the input and output unit 112.
  • the robot 122 When accessing the storage locations 14 and the input and output unit 112, the robot 122 'moves the guide arm 66 in the aisles 24 and 26 in exactly the same way as in the first exemplary embodiment.
  • the robot 122 ' is provided with a controller 172 which controls the pivoting movements of the inner arm 164 relative to the base frame 160 and of the outer arm 168 relative to the inner arm 164 and also also rotates the guide arm 66 in the arm carrier 42' about which To hold gripper 73 in the respectively required orientation to the respective storage location 14 or to the input and output unit 112.
  • the rotary drive 84 'provided for rotating the guide arm 66 about the third direction 64 is additionally actuated, so that it is not only used to rotate the gripper 73 either by 180 ° or to access the input and output unit 90 °, but also to compensate for the rotation of the arm support 42 'during the movement of the robot 122'.
  • the ninth exemplary embodiment works in exactly the same way as the exemplary embodiments described above, so that reference is made in full to this.
  • two robots 122'a and 122'b are provided, which work with their arms 164a and 168a or 164b and 168b in different planes 40a or 40b and thus also an arm support 42'a and 42'b move in different planes above the storage units 10, the travel levels 40a and 40b being such that the arms 164a and 168a and 164b and 168b do not collide with one another and the arm carrier 42'a in the lower level is movable under the arms 164b and 168b.
  • the input and output unit 112a is assigned to the robot 122'a, while the input and output unit 112b is assigned to the robot 122'b. If one of the robots 122'a or 122'b fails, however, the other one is able to access all memory locations 14 of all memory units 10 and to all input and output units 112a and 112b.
  • the robots 122'a and 122'b are arranged such that the robot 122'a accesses the storage units 10a, 10b, 10e and 10f and on the storage units 10a and 10b and Often, the memory locations 10c and 10g facing the memory units and the robot 122'b access the memory units 10d and 10h and the memory locations of the memory hexes 10c and 10g facing them. Furthermore, at least one input and output unit 112a is assigned to the robot 122'a and one input and output unit 112b to the robot 122'b.
  • the robots 122'a and 122'b are designed in exactly the same way as in the tenth embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Un système automatique de stockage d'objets comprend au moins une unité de stockage des objets, une station d'entrée et de sortie et un robot de saisie et de transport des objets. Afin d'améliorer un tel système, de sorte que celui-ci ait une structure aussi simple que possible et puisse être aisément intégré dans des locaux existants, le robot comprend un bras porteur mobile dans un plan de déplacement situé au-dessus de l'unité de stockage et de la station d'entrée et de sortie, dans une première direction et dans une deuxième direction transversale par rapport à la première, dans une zone de déplacement. Le bras porteur possède une pince de saisie mobile dans une troisième direction perpendiculaire au plan de déplacement, qui saisit les objets dans une direction transversale par rapport à la troisième direction. L'unité de stockage comprend des surfaces de stockage essentiellement parallèles au troisième sens de déplacement, dans lesquelles sont agencés les espaces de stockage, les surfaces de stockage étant sous-jacentes à la zone de déplacement du bras de support.
PCT/EP1991/001662 1990-09-05 1991-09-03 Systeme automatique de stockage WO1992004713A1 (fr)

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DE19904028059 DE4028059A1 (de) 1990-09-05 1990-09-05 Automatische speicheranlage
DEP4028059.4 1990-09-05

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WO1992004713A1 true WO1992004713A1 (fr) 1992-03-19

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DE (1) DE4028059A1 (fr)
WO (1) WO1992004713A1 (fr)

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US5471561A (en) * 1992-08-08 1995-11-28 International Business Machines Corporation Automated storage library with rotatable arm and oblique angle effectors
US5456567A (en) * 1993-12-08 1995-10-10 Harnischfeger Corporation Floor-running stacker crane and method for carrying hot metal
EP1820754A3 (fr) * 2006-02-15 2007-10-31 Gollmann Kommissioniersystme GmbH Système d'étagère et procédé de stockage automatisé de petits objets
EP1889800A2 (fr) 2006-02-15 2008-02-20 Gollmann Kommissioniersystme GmbH Système d'étagère et procédé de stockage automatisé de petits objets
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