WO2007007354A1 - Système de gestion général d’entreposage de palettes, véhicules automobiles, etc. - Google Patents

Système de gestion général d’entreposage de palettes, véhicules automobiles, etc. Download PDF

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Publication number
WO2007007354A1
WO2007007354A1 PCT/IT2005/000388 IT2005000388W WO2007007354A1 WO 2007007354 A1 WO2007007354 A1 WO 2007007354A1 IT 2005000388 W IT2005000388 W IT 2005000388W WO 2007007354 A1 WO2007007354 A1 WO 2007007354A1
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WO
WIPO (PCT)
Prior art keywords
trucks
robot
transit
objects
guides
Prior art date
Application number
PCT/IT2005/000388
Other languages
English (en)
Inventor
Marco Martelli
Davide Martelli
Alessandro Terrizzano
Giulio Bernabei
Original Assignee
Marco Martelli
Davide Martelli
Alessandro Terrizzano
Giulio Bernabei
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 Marco Martelli, Davide Martelli, Alessandro Terrizzano, Giulio Bernabei filed Critical Marco Martelli
Priority to PCT/IT2005/000388 priority Critical patent/WO2007007354A1/fr
Publication of WO2007007354A1 publication Critical patent/WO2007007354A1/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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G1/0471—Storage devices mechanical with access from beneath

Definitions

  • the invention relates to a solution for general warehouse space manage- ment and particularly for total utilization of spaces and reducing to a minimum direct action by operators to perform maneuvers.
  • the invention tends to solve warehouse management - for deliveries and collections - of products packaged in pallets, of the parking of motor vehicles (for long and short stays) and for other equivalent functions. Fundamental characteristics are possibility of reducing spaces required until now to perform maneuvers, the possibility of avoiding the presence of personnel in the spaces used for storage, consequently making it unnecessary to comply with rules which also establish the need for specific spaces in areas requiring the presence of personnel. These possibilities are advantageous in particular for cold storage ware- houses, with regard to costs and discomfort.
  • the system in question substantially comprises:
  • lifting and lowering means to pick and place individual objects, using controls or remote controls;
  • a limited number of empty places are kept free on each level for the handling of stored objects, in order to progressively create the route from and to a perimeter position of the truck carrying the object to be stored or to be retrieved; this handling can be managed with a computer program.
  • under-pallet supports can be provided, which are suitable to allow transit of the robot trucks under the stored objects and suit- able to be lifted together with the object to be handled, by the lifting and lowering means provided on the robot trucks.
  • said means to support the objects can include spaced projections extending from the floor of the warehouse, on which each object rests either directly or by means of a substantially flat structure.
  • Said transit guides can be produced by rails for single flange rail wheels, or by magnetic tracks on surfaces of racks defining said floors and on which robot trucks with wheels or endless belts can move, or by lasers, encoders, guiding lines, theodolites or similar systems.
  • Said guide means can also be power vehicles or combined with power vehicles.
  • Other characteristics of the invention are contained in and defined by the claims set forth at the foot of the present description.
  • FIGS 8 and 9 show plan views of two possible embodiments of transit guides
  • Figures 10 and 11 show a plan view and a sectional view according to Xl-Xl in Figure 10, enlarged, the operating method of robot trucks for transferring, depositing and retrieving objects;
  • Figures 12 and 13 show in a vertical section a possible example of embodiment of a robot truck or "shuttle" in two functional arrangements thereof;
  • Figures 14, 15, 16 and 17, 18, 19 respectively show in a plan view, in a longi- tudinal vertical section and in a side view with partial sections, each of two lower and upper trucks present in the robot truck or shuttle in Figures 12 and 13;
  • Figures 20, 21 and 22 schematically show a plan view and side views in two arrangements of a robot truck or shuttle according to a further possible embodi- ment of a robot truck or "shuttle".
  • Figures 1 to 7 show plan views of some possible arrangements of systems for storage and retrieval -using specific robot trucks - of objects such as pallets or the like. Storage and retrieval will be implemented with different criteria allowing operation at different transport speeds, extension of the necessary routes and of the times available for transportation operations.
  • a "block” or each "block” or each “block” with several racks comprises of a plurality of zones occupied by the stored objects.
  • Each "block” can be accessible from ground level on one or on more than one of its sides or on all its sides by routes P of T for vehicles such as lift or horizontal handling trucks or even by motor vehicles to be parked.
  • Lift trucks can be provided to reach the various racks above ground level.
  • fixed elevators such as hoists or elevators M or N, which can also reach racks below ground level, can also be provided.
  • P1 indicates routes to convey the flow of these vehicles C towards a transit lane T, where the objects can be consigned to suitable carriers to reach points of sale
  • the vehicles C can circulate to reach posts which can be posts for direct delivery of the objects or storage shelves in premises accessible to the public for sales in supermarkets.
  • Hoists M can be provided on the outside of the blocks, or can be incorporated in the blocks, such as those indicated with N; external hoists such as those MX ( Figures 5 and 6) can also serve two opposite blocks.
  • a relatively long period of time is available, when the premises accessible to the public are shut, to restock the shelves of these premises with objects such as pallets which are, for example, retrieved during the night according to pre-established programs and according to needs resulting from the final results of daytime sales, to restock the supermarket shelves.
  • Storage in the systems can also be performed at suitable times for transfer from distribution centers and warehouses of sales premises such as supermarkets or other premises and stores.
  • the layout can be modified in the case of individual objects to be stored upon arrival and to be delivered directly from storage in the blocks I indicated above upon request by the user. This occurs, for example, to deliver motor vehicles being retrieved and respectively to store motor vehicles delivered to be parked in the blocks I.
  • a relatively short time must be taken for the maneuvers to retrieve the vehicle from the park- ing or storage place and deliver it to the station for reconsignment, which can be the lowest position reached by the hoist traveling downward (or the position at ground level when traveling upward in the case of parking spaces below ground level).
  • the vehicle can be delivered for parking and redelivered, even locked, in places accessible to the user, from where trucks for internal use transfer the vehicle to the block and retrieve the vehicle from the block for redelivery, without any need to enter the vehicle.
  • Some empty spaces will be provided in each of the various storage zones to allow internal handling of a certain number of objects stored in the same zone, in order to more or less rapidly create the progressive formation of a route to be taken by the object to reach the hoist, i.e.
  • Each block I is provided with racks R with very limited vertical distances be- tween them, as a function only of the overall dimensions of the objects O to be stored, without any need for the presence or transit of personnel, which do not need to enter the individual blocks except for special maintenance operations and the like.
  • the hoists will have surfaces equipped with guides which are an extension of the transit guides, to allow the robot trucks to reach the position for the unloading maneuvers and those for loading for storage.
  • the hoists can be used only to serve the highest racks not easily reached by the lift trucks, the latter instead being used for retrieval from the lower racks, where deliveries and retrievals can consequently take place along the entire perimeter reachable with said lift trucks; therefore, with routes that are relatively very short, i.e. to reach (see Figure 1), from the parking position X1, the position Ko for retrieval with the lift truck E.
  • the transit routes will be sufficiently wide and suitable to allow the movements of the trucks or transport vehicles which are also lift trucks.
  • suitable relatively very low sides S will be provided in all positions in which retrieval can take place, for the dual purpose of preventing the risk of accidental overrun of a robot truck (to be described) beyond the structure of the block, and of guiding the operator in pre- cise leveling of the forks when these must be inserted in a pallet to retrieve an object.
  • the transit arrangements between various blocks, the sizing of the various blocks both in width and length, and the equipment provided for handling of the various objects will depend on the needs for which each system is intended, also in relation to the times required or available for handling incoming and, above all, outgoing objects, and to the times available for the operations, which can vary from the relatively long times for, for example, night restocking, to the relatively very short times required to deliver one object previously stored and which must be delivered separately, such as a motor vehicle to be returned to the user who must collect it and who in any case must give prompt notice of the request for collection of the vehicle.
  • vehicles can also be transferred autonomously along the routes P, Pl, T, etc., to the platform of a hoist M lo- cated at "ground" level of said routes, after which, when the vehicle has reached the platform of the hoist or the like, it only requires to be fastened - even with its own brake - on a robot truck equipped with under-pallet located on the platform, so that from this moment the object formed of the vehicle is entrusted to the robot truck which transfers it to the storage in the relative zone and to the redelivery zone at ground level, to personnel in charge of collection or to the owner of the vehicle directly.
  • the various zones must be equipped according to the different shapes and different overall dimensions of the motor vehicles (or other objects), to reduce unused spaces to a minimum; for example, different zones of a block, different blocks, different racks of a block or of a zone of a block could be allocated to categories of motor vehicles with different overall dimensions, with suitable classification as a function of the estimated presences of motor vehicles of different shapes.
  • the object in position 3 can be transferred to position 4, the object in position 2 can be transferred to position 3 and then the object X1 which has reached position 1 can reach position 2. Subsequently, the object which is in position 4 can be transferred to position 1 , the object in position 3 can be transferred to position 4, the object in position 2 can be transferred to position 3. Immediately afterwards, the free place 3 can be reached by the object in position 6, the object in position 5 can be transferred to position 6 and the object X1 which is in position 2 can reach position 5. With similar transfers from position X1 the object can reach position KO and then the platform of the hoist M1, which in the meantime has reached the level of the rack with the object in position KO for retrieval.
  • an object to be retrieved from position X1 will be transferred to the nearest perimeter, for example to the position Ko'.
  • Each rack must be provided with robot trucks in sufficient number to implement the operations in the times available and/or with the necessary transfer speed, and with a number of empty places that is at least equal to or greater than the number of robot trucks available.
  • Figures 8 to 11 show a solution in which each rack comprises a floor with transit surfaces for trucks, to be described, which are guided by two orthogonal series of transit guides.
  • Recessed rails for trucks with relevant wheels, or mag- netic tracks or strips for wheels or endless belts, which can transit on continuous racks such as those R, can be used as transit guides.
  • Lasers, encoders, guiding lines, theodolites or other systems can also be used as guide means.
  • Figures 8, 10 and 11 show two directions of magnetic tracks or strips 12 and 14 lying orthogonal to each other and crossing over in the points 16.
  • These mag- netic tracks can be used for guiding by means of sensors positioned in specific positions on the trucks which must transit in the two directions defined by the two lines of guides 12 and 14, to handle - as already indicated -the objects to be stored or already stored and which must be moved by means of robot trucks (to be described) driven along sections of said tracks, with commands which can be sent to each truck in any suitable and known manner, also among those already listed, according to programming to be implemented for suitable individual maneuvers, case by case.
  • the magnetic tracks or strips can be composed of a simple adhesive strip, which holds a power wire in position, or provided in small channels produced on the rack and by the passage of low voltage current create a magnetic field detected by the instruments installed on the shuttle and allow control of its movement. Power transmissions for the installed powers will also be provided.
  • Figure 8 shows, as guide tracks, pairs of rail tracks 112 and 114, for relative wheels.
  • the rails can project from the racks or be recessed in the racks Alternatively, a grid-like metallic structure can be provided for the rails.
  • a single guide rail and trucks with wheels for the rail and with wheels or endless belts which transit on the rack can also be provided.
  • projections can be provided extending from the racks, positioned at the angles of the objects O or pallets or other structures suitable to support the objects, in replacement of the under- pallets.
  • Each of the robot trucks or shuttles can transit along the tracks of the two orthogonal directions (see for example Figure 12 to 19) with two groups of wheels or endless belts to transit parallel to the transit guides 12 and alternatively parallel to the transit guides 14.
  • Each group of wheels (or endless belts) can alternatively be raised to be idle and lowered to be operative.
  • each robot truck must be suitable to lift an under-pallet 22 with relative pallet 20 and/or an equivalent structure and the relative object O, when the robot truck must handle said object for the needs described above.
  • each robot truck can be provided with a wheeled structure which can be angularly oriented according to two directions of the transit guide (see Figures 20 to 22).
  • Each robot truck is generically indicated with 28 and in actual fact includes in combination a lower truck 30 and an upper truck 32; the lower truck 30 includes wheels 34 which are suitable to allow transfer according to the double arrow f34.
  • the upper truck 32 has wheels 36 suitable for transfers according to the double arrow f36 orthogonal (or almost orthogonal) to the direction of the arrow f34.
  • the wheels 34 and 36 can be replaced by endless belts which can guarantee a more stable direction of transfer, when the robot trucks are guided by magnetic tracks.
  • the wheels 34 and 36, when cooperating with rails 112 and 114 ( Figure 9) are shaped on at least one side as indicated with 134 and 136.
  • Number 34A indicates a motor unit for operation of two wheels 34 and/or 134 coaxial with each other
  • number 36A indicates a motor unit for a pair of coaxial wheels 36 and/or 136.
  • the two trucks 30 and 32 are capable of reciprocal vertical sliding, as they are guided by four sliding units 4OA on the lower truck 30 and 4OB on the upper truck 32.
  • Each of these sliding units includes a column on one truck and a sliding seat for said column on the other truck.
  • At least one lifting and lowering jack assembly (optionally multiple - at least triple - for objects such as motor vehicles) operates between the two trucks, indicated generically with 44 and operated by a geared motor 46, to obtain reciprocal controlled vertical movements between the two trucks, by means of a screw column 44A.
  • This assembly 44 operates between plates 3OA and 32A of the structures of the two trucks 30 and 32.
  • the upper truck 32 has a plate 32A while the lower truck has a plate 3OA, which is provided with projections 3OB extending upwards and arranged around the plate 32A.
  • Each robot truck 28 (comprising the two trucks 30 and 32 with the relative components including the jack assembly or assemblies 44) can transit underneath the under-pallets 22 resting with the projections 22A on the racks R or on the equivalent structures of the rails, or can transit on table structures carrying the pallets or the objects directly and resting on the projections extending from the racks.
  • Figure 11 illustrates various conditions taken by the wheels of the robot trucks, of the under-pallets and of the pallets, with respect to the two racks illustrated therein.
  • the jack assembly 44 can be operated to perform lowering of the lower truck 30 so that the wheels 36 or 136 are active, while the wheels 34 or 134 of the upper truck 32 remain raised.
  • the upper truck 32 can alternatively be lowered so that the wheels 34 are active, while the wheels 36 are raised.
  • the robot truck 28 (including the trucks 30, 32) can be transferred according to the arrows f36 and f34 respectively. These movements are obtained by keeping the robot truck as- sembly 28, 30, 32 limited to a size which allow transit underneath the under- pallets 22 or equivalent structures.
  • the choice of lifting by means of the projections 3OB or the plate 32A depends on the direction to be set for the robot truck according to the arrows f34 or f36, on the basis of the program set for transfer of the pallet and of the object to a retrieval position, or respectively for the opposite route for storage of an object arriving at one of the maneuvering positions to be loaded using the hoists or lift trucks.
  • FIG. 20 to 22 is shown in Figures 20 to 22.
  • the two trucks 30 and 32 are replaced by an upper framework 128 and an underlying wheeled structure 130 equipped with wheels 132 rotating about a vertical axis - when controlled remotely - to take the wheels to two alternative positions at 90° from each other.
  • this solution means to lift the framework 128 from the running surface of the rack are provided, to lift the object with the optional pallet or under-pallet, and to rest the framework 128 on the rack R and lift the wheeled structure 130 slightly to make the wheels 132 change direction, all with jack means.
  • the truck indicated in Figures 20 to 22 therefore functions like the one indicated in Figures 12 to 19.
  • the motors for moving the robot trucks will be provided with actuators, which allow reversal of direction, braking and progressive acceleration.
  • the robot trucks will have at least: a communication system based on radio frequency or with carrier waves; one or more on-board measurement systems, for relative or absolute calculation of the position of the truck or shuttle on the surface; shock absorbers and a control system to prevent the load from overturning, during the braking or accelerating phase; components suitable to operate at low temperatures, when required.
  • a rescue robot truck or shuttle can be provided to take initial action, with onboard camera and mechanical arm, for recovery of a faulty robot truck.
  • Each of the robot trucks is controlled so as to successively reach crossing points 16 between the sliding guides 12 and 14 (respectively in the crossing points 116 between the rails 112 and 114).
  • the robot truck is controlled in order to invert the position of the two trucks 30 and 32 to exchange the wheels 34 with the wheels 36 or vice versa; or to rotate the wheeled structure 130 through 90°. This requires lowering of the load transported by the truck until it is resting temporarily on the under-pallet 22.
  • the truck 28 must be braked and the central jack assembly 44 must be commanded to determine switching between the wheels 34 and the wheels 36 (or the equivalent function for the solution in Figures 20, 22), with con- sequent limited lowering and re-lifting of the load.
  • transit with switching of direction of the route takes place without lifting or lowering and directly with transit of the robot truck underneath the under-pallets 22 or equivalent structure.
  • the jack assembly is commanded to implement lowering and therefore placing of the under-pallet in the desired position.
  • the stopping position of the pallets and of the under- pallets can correspond geometrically to a crossing point between the guides 12 and 14 and 112 and 114 respectively, i.e. with the crossing points corresponding to the geometrical center of the trucks and under-pallets, as shown in the drawing; however, the arrangement could also differ from the one drawn, providing it is constant for all the positions.
  • the only remaining problem is simply where to position the sensors to receive the commands, with respect to the guide tracks such as 12 and 14 or 112 and 114 or equivalent, the sensors of which are mounted on the robot trucks.
  • a program for handling the robot trucks for storage and retrieval of objects must be capable of recognizing at all times the position in which each stored object with the relative pallet and under-pallet is in at that moment and thus capable of recognizing the position of all the objects at all times, as well as capable of programming the routes both for storage and for redelivery, also as a function of the movements required to progressively free the trajectory established time by time for a robot truck, utilizing the empty spaces to be chosen appropriately in relation to the existing situation with respect to the filled spaces and to the position estab- _ _
  • the management software will therefore be designed to supply at least the following functions: 1. real time situation of the warehouse, with list of pallet places occupied, and indication of the object (and therefore, type of article, expiration date, of arrival date, supplier, delivery note, batch and quantity of "boxes" for goods, or respectively the data relative to parked vehicles and their updated position or the like);
  • rescue robot trucks can be provided, again guided by the computer, to take action in the case of an accident or for recovery of a faulty robot truck; at least one rescue robot truck can be provided on each floor of a system.
  • a second problem is linked to recovering the pallet, also with automated structures, which must cover long transfer distances for each retrieval.
  • the invention in question is a solution to optimize storage spaces in general, both to obtain total utilization of the spaces and to reduce to a minimum direct action by operators in charge of maneuvers.
  • the invention is directed at solving warehouse management, for deliveries and retrievals of products packaged in pallets, or equivalent articles (such as garaging of motor vehicles), for both long and short stays, without leaving aisles and habitable spaces for their placement, but by making the product itself move.
  • the solution in question allows the construction, inside the warehouse, of a structure with several floors, (four and more) for storage of pallets or the like, with- out gaps, utilizing practically ajl the space available.
  • an elevator or hoist is provided at the side, which supplies the upper floors and when required lowers stock or products with low rotation.
  • Said structure can be constructed with reinforced concrete floors or only with racks, formed by the supporting bars and by the grid of the rails, which define the route of the pallets, provided for any movement thereof.
  • the remote controlled shuttle or robot truck is able to lift and lower the required pallet (obviously with its load) by a few centimeters and to move it in the four directions, forward, backward, right and left, orthogonally, to move it from one _ -
  • the pallet After reaching the perimeter, the pallet is ready to be picked up by elevators (hoists) and/or by lift trucks, operator-driven or automatic, or, otherwise, it can be placed on sliding surfaces, for automatic exit from the warehouse and for delivery; vice versa, the reverse route is analogously taken for storage operations.
  • elevators hoists
  • lift trucks operator-driven or automatic, or, otherwise, it can be placed on sliding surfaces, for automatic exit from the warehouse and for delivery; vice versa, the reverse route is analogously taken for storage operations.
  • Characteristics of the invention are therefore the reduction of spaces to date required for maneuvers and the possibility of avoiding the presence of personnel in the spaces used for storage. This allows avoidance of an obligation to comply with safety rules which, among other things, establish that specific spaces must be left free in areas in which personnel is present. Pallet places require an empty space of at least 10 cm around the pallet.
  • each floor is equipped with a railing, which prevents overrun of the shuttle due to an error in maneuver and prevents the lift truck from damaging the shuttle or under-pallet during the maneuver to pick up the pallet.
  • the system is balanceable, as it is able to redistribute the work over several shuttles simultaneously and collaboratively. It is scalable, as it can grow, increasing its performances, at any time.
  • the system in question comprises: 1. structure with a plurality of levels for storage of pallets composed of concrete floors or metal racks;
  • shuttle capable of performing movements in the three levels of the space, by means of lifting/lowering systems, wheels or endless belts;
  • under-pallets (one for each pallet place occupied), to allow the shuttle to move freely on its floor and position itself under the pallet to be transferred.
  • the under-pallet is lifted by the shuttle together with the object to be moved; _ _
  • the structure comprising four or more floors, can be constructed with reinforced concrete floors, or load-bearing racks.
  • the lift trucks used as lifting and transport means, can easily reach the fourth floor, while beyond this they cannot be used for safety reasons.
  • a good empty places/speed ratio can be reached, by providing at least three empty places in the area controlled by the shuttle.
  • This lost space for the purpose of total utilization of space, is not significant, for systems provided with at least 700 pallet places, managed by at least four shuttles per floor.
  • the warehouse offers four picking/bulk retrieval sides on which four operators or automatic trucks can operate without knocking into one another.
  • the warehouse is in continuous movement and most of its work can take place at night, when the perimeter zones are prepared for the next day with the requested consignments or products.
  • a parking garage can operate in the same way, with total use of space, with premises of reduced height, as opposed to the 1/3 normally utilized in current parking garages.
  • the structure can also be positioned against the walls, in some solutions, to _
  • the plans and calculations must be obtained for implementation of the floor and of the load-bearing columns, formulated in order to waste as little space as possible, while guaranteeing the absolute stability of the structure.
  • the magnetic guide strips or other equivalent transit guides for movement of the shuttle will be fitted in the floor. With small movements to the right or left, in the opposite direction to deviation, these will correct movement of the shuttle, which is transferring the requested pallet, to maintain it totally rectilinear and stable in the running direction.
  • intersection of the strips or rails is used to indicate to the shuttle the exact stopping point and to take one of the two orthogonal directions, if necessary.
  • the rails transmit power to the shuttle and guide its movements perfectly, guaranteeing rectilinear movement devoid of deviations. In the intersection points there is a break in the rails a few millimeters in length, to create a square inside, which allows the crossing to be crossed and, if necessary, positioning of the shuttle.
  • the transit guides depend on the solution chosen for the structure, and pre- cisely: magnetic strips, lasers, encoders, rails, guiding lines, theodolites or the like, for structure with reinforced concrete floors, with rails, for rack structures.
  • the shuttle can move on wheels or endless belts, remaining on top of the magnetic strips.
  • Rails These are made of hardened iron and channel the wheels to prevent any swerving and supply power to the shuttle.
  • intersections allow the shuttle to move at the crossing and to change direction.
  • Encoders Counter connected to the traction system of the shuttle, of the revolutions and parts of revolutions of the drive shaft, in a manner absolute or relative to a zero point defined in the structure (i.e. the crossing of the rails).
  • the shuttle is a lift truck, capable of moving orthogonally and of being excep- tionally low. It can be provided with:
  • the shuttle designed ad hoc to move under the pallet, lift and transfer it, has the following characteristics:
  • the position of the pallets in stock is constantly controlled by the computer, which knows both the nature of the object occupying it and optionally its characteristics (i.e. quantity, weight, measurements, volumes, etc.).
  • the computer will select the pallets to be positioned upon arrival, or to be retrieved and transferred to the pe- rimeter for retrieval.
  • the computer will also control, at all times, the position of the shuttles arranged on each floor and can consequently decide which shuttle is most suitable to move the pallet in question.
  • the sequence of commands will be as follows: 1. activating the shuttle; 2. guiding it to reach, following an optimal route, the pallet to be transferred;
  • pallet to be transferred without touching the other pallets, under-pallets, with slightly different characteristics to the pallet, are provided.
  • the pallet - being manufactured according to new European regulations, is composed of a supporting surface 80 x 120 cm, or 100 x 120 cm, capable of holding up to 15 quintals, with nine cube shaped feet measuring approximately 8 cm per side, and of 3 spars for connection of the feet and to strengthen the entire structure - would not allow the shuttle to move on the floor underneath it, the under-pallet, provided with only four feet, arranged under corners of the supporting surface, allows the shuttle to circulate freely underneath, as it occupies the same a surface as the supporting surface of the under-pallet, minus the perimeter zone defined by the four feet.
  • the under-pallet made of plastic, wood or iron, is therefore required for free movement of the shuttle and must be provided in the same number as the pallet places for each floor, with the exclusion of the pallet places which are to be left empty.
  • the under-pallets are eliminated and a fixed under-pallet is applied at the front of the shuttle.
  • raised points must be installed to support the pallets, arranged in order to allow movements of the shuttle. Movement Logics
  • Another problem to be solved concerns the operators, who, again in the case of cold storage warehouses, are obliged to work in extremely uncomfortable conditions. By occupying all the space available, the warehouse is totally utilized, but blocked completely, preventing whoever from rotating its products.
  • the computer can decide which shuttle to move and which route to take, to reach, optimizing the operation, the required pallet place.
  • the operation to position and arrange the pallets will be performed entirely automatically, upon presentation of orders to be executed (i.e. the evening for the following day), or upon request by the operator, who will transmit individual orders by computer.
  • the pallets can be organized on a FIFO or LIFO system, or taking account of the expiration date, distributing the entire list of references with priority of rotation on the perimeter for retrieval. Algorithm for movement
  • a level of the warehouse can be considered like the surface on which the game defined "The puzzle of 15" is played, the fundamental rules of which are as follows:
  • V each configuration or solution can be reached with a finite number of moves.
  • the surface of the warehouse can be considered as a rectangular/square structure, in which a series of numbers are positioned and, for example, the numbers can be placed in the order:
  • the numbers 10, 20, 19, 9 are taken and added to or subtracted from the number to be moved and "upward or downward movement and then movement to the RIGHT or LEFT" are denied.
  • rescue robot trucks can be provided, again controlled by the computer, to take action in the event of an accident or for recovery of a faulty working robot truck; at least one rescue robot truck can be provided on each level of a system.

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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Chaque élément d’une pluralité de niveaux est doté d’un réseau de guidages de transfert suivant deux lignes orthogonales (12, 14) ; les guidages de transfert identifient des bacs pour des objets individuels (O) ; des chariots robotisés sont adaptés pour se déplacer alternativement et séquentiellement avec des roues (34, 36) sur les guidages des deux lignes ; lesdits chariots sont équipés de moyens de levage/descente pour déplacer des objets individuels soutenus par des palettes (22). Aux positions périmétriques, les objets à entreposer sont livrés tandis que les objets à enlever de l’entrepôt sont récupérés.
PCT/IT2005/000388 2005-07-07 2005-07-07 Système de gestion général d’entreposage de palettes, véhicules automobiles, etc. WO2007007354A1 (fr)

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PCT/IT2005/000388 WO2007007354A1 (fr) 2005-07-07 2005-07-07 Système de gestion général d’entreposage de palettes, véhicules automobiles, etc.

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