WO2011128384A1 - System for storing and transporting transporting containers - Google Patents
System for storing and transporting transporting containers Download PDFInfo
- Publication number
- WO2011128384A1 WO2011128384A1 PCT/EP2011/055844 EP2011055844W WO2011128384A1 WO 2011128384 A1 WO2011128384 A1 WO 2011128384A1 EP 2011055844 W EP2011055844 W EP 2011055844W WO 2011128384 A1 WO2011128384 A1 WO 2011128384A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rail
- storage
- bound
- vehicle
- transport system
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
Definitions
- Storage and transport systems are available in a very diverse and different design and construction. It is known, for example, to equip the lanes of high-bay warehouses with rails in each storage level to provide horizontally movable on these rails, container transporting vehicles. Such solutions, for example, DE 39 07 623 A or DE 102 54 647 A, to name just a few examples.
- Storage systems for offloading containers using satellite vehicles show e.g. DE 10 2007 010 191 A1 or DE 20 2007 051 238 A1.
- Container in particular in front of the shelving systems dispensing and
- Receiving devices must be provided to hold certain buffers or collecting and sorting lines, to only some disadvantages of these known
- Transfer points of the respective sections of particular machine elements that can implement the container such as turntables or the like.
- Boundary conditions are adjusted. Another problem is often the accessibility of such complex conveyor systems in case of failure and maintenance.
- the object of the invention is to provide a transport and storage system that is highly flexible and on additional buffer sections, collection lines u. Like. As well as the direction of the container transport changing components can do without.
- this object is according to the invention by at least one equipped with a rail and a floor landing gear vehicle and a shelving system with
- the vehicles have separate landing gear for the
- Auslager in an embodiment, can be realized that manage without any fixed installation in the Vorzone of the warehouse and at the same time meet the demand for short reaction times and correct Auslager-sequence to a high degree.
- the transfer points can be arranged flexibly and at any distance from the warehouse.
- high-performance order picking are possible in which only a minimum of active mechanics is installed within the shelf and build very compact by using flat transverse tunnels, which also provides the invention in an embodiment also.
- the shelving system is equipped with tunnel-like corridor routes especially transverse to the rail-bound routes, the rail-bound routes in particular form the shelves of the shelving system.
- the front side members of the multi-layer shelving system carry or form the rail-bound routes.
- the vehicle is thus equipped for locomotion within the rack rail system and in the surface (on the floor) with two suspensions, the On the drive side consist of two motors and associated power electronics.
- the two engines are connected via one gearbox with the right and left drive wheels of the two chassis.
- the motors can rotate independently of each other with the same or different speeds. When traveling within the rail system, the two motors will always rotate at the same speed. When driving on the floor identical speeds lead to
- each vehicle is equipped with at least one sensor for detecting obstacles and / or for detecting position markers so-called
- Laser scanners that provide angles and distance from located obstacles.
- the current position of the vehicle can be based on a known
- Start position can be determined using coupling navigation algorithms.
- the information required for the distance traveled and the direction thereby observed is obtained by measuring the revolutions of the two motors. Because of various error influences, the current vehicle position calculated in this way increases with respect to the real position
- the peculiarity of the method is that, although the measured values of the laser sensor have no accuracy required for the task, by skillful filtering of the measured values and by fusion of the sensor readings with the - also faulty - based on the measurement of wheel revolutions motion information of the vehicle sufficiently accurate
- the order removed transport container for the final delivery and / or for sorting can be arbitrary, since the control options of both hall-and rail-bound vehicles a sequence change is easily possible, such as by overtaking a vehicle with leading position in front of a vehicle with rear position in the sorting system.
- the invention also provides that with the same drive a drive is such that the speed of the rail-bound ride is higher than that
- the steering kinematics can, for example be realized by means of speed difference control, of course, other possibilities are included according to the invention.
- the power supply via energy storage which are charged via sliding lines or non-contact, for example by an inductive energy transfer system while driving on the shelf, with other solutions are possible, such as fast charging at individual starting positions or storage change systems.
- the rail chassis not only allows the direct operation of
- Shelving systems also rail-bound sections can be integrated in the driving course to individual routes, for example. To be able to travel at a higher speed or to get from shelf sections to spatially separated shelf sections, such as suspended rails, so that
- sections of a manufacturing area which are placed on the ground, can be run over by such rail systems in the appropriate amount.
- This also makes it possible, for example, to realize traffic without intersection, by using unused spaces above production facilities or else to connect spatially separate shelf sections via suspended rails. It can also be run over sections of production areas, which are placed on the ground, with such a rail system in the appropriate amount.
- the vehicles For converting the vehicles can also be provided in the aisles or at appropriate locations also storage or lifting A / erteilwagen systems.
- the vehicles are thus vehicles that operate only one level or individual shelves on the shelf from the rails. If necessary, change the levels using the specified lifts, which can be positioned as desired.
- Such vehicles are also known as satellite vehicles.
- the tunnels can be designed very flat according to the height of the vehicles and have a width such that not only buffer sections in front of and behind the May result in lifts, so that due to the directional flow of the vehicles, the lifts are used in double play, ie, while a coming from upper shelf levels vehicle in the lower lift position leaves the lift, at the same time drives a vehicle that wants to climb up on the other side the lift table. This makes it possible to achieve high throughput rates of the lifts.
- the tunnels can be designed so that an above-mentioned overtaking of the vehicles is possible in order to achieve a certain sorting at the same time.
- the transport vehicles For loading and unloading the transport vehicles may be provided a transfer device, which is assigned in particular to the rail chassis of the vehicle and is adapted to this.
- the load-carrying means of the vehicles is used in rail operation, since then a precise definition of the vehicle to the transfer point is possible.
- FIG. 1 is a plan view of a portion of a warehouse with land-borne vehicles
- FIG. 2 is a side view approximately along line II-II in Fig. 1,
- Fig. 3 is an enlarged view of a transport vehicle in spatial
- Fig. 5 shows an enlarged Einfädel Scheme for the vehicles of lane-bound driving in rail-bound travel and in
- Fig. 6 is a load change station for loading and unloading of the vehicle
- Fig. 7 shows another embodiment during threading.
- the generally designated 1 storage and transport system is essentially of a shelf, for example, a high-bay, generally designated 2, formed, which is acted upon by 3 designated vehicles, wherein in the plan view of FIG. 1, the vehicles designated 3 the Use the corridor level as a driving plane, while the designated 3a vehicles are positioned in the rail system of the shelf 2 movable.
- the vehicles 3 thus travel on the shelf 2 itself on rails in the respective floor for supply and disposal of the shelves located in this floor, while they drive on the ground in the corridor. For this they have separate chassis.
- the shelving system 2 has u.a. tunnel-like corridor routes, generally designated 4, as well as rail-bound
- lift systems which serve to change the level of the vehicles.
- FIGS. 3 and 4 details of the vehicles 3 are indicated.
- the intended for rail travel wheels 9 and for the land ride are indicated.
- Fig. 3 are still rails 5a of the rail-bound driving ranges indicated as well as lateral guide wheels 12 to facilitate the threading and the method in the rails.
- reflective stationary control marks 14 and 14a can detect in order to distinguish between these marks by a corresponding arithmetic operation
- Sensors 13 other controls can be made possible, so that the floor-bound ride of the vehicles on calculated virtual routes (tracks) are set accordingly.
- the distances of individual vehicles can be determined side by side or in front of each other, which is shown in dotted lines in FIG. 5, wherein the target point-averaging beams are provided with the reference numeral 16.
- the current position of the vehicles 3 ' is determined starting from a known starting position S (compare direction of travel arrow in FIG. 7) using dead reckoning algorithms.
- the information required for the distance traveled (see direction of travel arrow in Figure 7) and the case observed direction is determined by measuring the
- Vehicle position relative to the real position with increasing distance driving has increasingly large deviations, with this method alone a longer trip on the free area to the entrance to the rail system 5 of the shelf 2 or a picking station or load change station (see Figure 6) not with sufficient Accuracy here means that the vehicle is the middle between the right and the left rail with a Accuracy meets better than about +/- 2 cm.
- Reflector marks 14, 14A detected and in their position relative to the vehicle
- the laser scanner 21 provides the control computer of the vehicles angle and distance of obstacles, here the reflector marks 14, 14A. From these measurements, which change in the further approach of the vehicle 3 'to the entrance of the rack aisle 15 to constantly, by means of suitable
- Ausensealgorithmen a target ride to the center of the entrance (indicated by a dashed line) performed with sufficient accuracy.
- the laser scanner 21 can also be used to detect and avoid obstacles. These can emerge unexpectedly, especially on the ground, since grounding, e.g. People or other vehicles can move.
- a double lift 17 is positioned, with the right part of the double lift 17 and the left part 17a in the example shown.
- roller conveyors 19 and 19a are connected, wherein the right in Fig. 6 front roller conveyor 19 is inclined downhill on the lift 17, while the slightly higher positioned rear
- Roller conveyor 19a sloping to a sorting and loading area 21 is inclined, such that the container designated T can run to the left, while the designated container 7 can run in the example shown to the right.
- the lifts 17 and 17a are aligned with the loading area of the vehicle 3 so that containers 7 can be delivered or containers T can be received.
- the station shown here can also be designed in other ways.
- the example presented represents an integration possibility in the existing rail system with the rails 5a for the then
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2011239980A AU2011239980A1 (en) | 2010-04-15 | 2011-04-13 | System for storing and transporting transporting containers |
CA2795022A CA2795022A1 (en) | 2010-04-15 | 2011-04-13 | System for storing and transporting transporting containers |
KR1020127026905A KR20130084597A (en) | 2010-04-15 | 2011-04-13 | System for storing and transporting transporting containers |
EP11715477A EP2558384A1 (en) | 2010-04-15 | 2011-04-13 | System for storing and transporting transporting containers |
SG2012073177A SG184402A1 (en) | 2010-04-15 | 2011-04-13 | System for storing and transporting transporting containers |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010015054.1 | 2010-04-15 | ||
DE102010015054A DE102010015054A1 (en) | 2010-04-15 | 2010-04-15 | Storage and transport system for transport containers od. Like. |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011128384A1 true WO2011128384A1 (en) | 2011-10-20 |
Family
ID=44169262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2011/055844 WO2011128384A1 (en) | 2010-04-15 | 2011-04-13 | System for storing and transporting transporting containers |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP2558384A1 (en) |
KR (1) | KR20130084597A (en) |
AU (1) | AU2011239980A1 (en) |
CA (1) | CA2795022A1 (en) |
DE (1) | DE102010015054A1 (en) |
SG (1) | SG184402A1 (en) |
WO (1) | WO2011128384A1 (en) |
Cited By (19)
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---|---|---|---|---|
EP2657155A1 (en) * | 2012-04-23 | 2013-10-30 | Krones AG | Electronic crash guard for autonomous shuttle with path measurement and orientation |
WO2014207021A1 (en) * | 2013-06-25 | 2014-12-31 | SSI Schäfer Noell GmbH Lager- und Systemtechnik | Storage and picking system and method for picking with autonomously moving shelf-serving devices |
WO2014166640A3 (en) * | 2013-04-12 | 2015-01-22 | Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. . | Operating vehicle, method for moving an operating vehicle at a storage rack arrangement, and storage rack arrangement |
EP3036179A1 (en) * | 2013-08-23 | 2016-06-29 | Eisenmann SE | Method and unit for conveying load carriers |
CN106429157A (en) * | 2015-08-11 | 2017-02-22 | 中西金属工业株式会社 | Storage device using self-propelled carrying trolley |
JP2017128402A (en) * | 2016-01-18 | 2017-07-27 | エヌエイチパーキングシステムズ株式会社 | Automatic warehouse and carriage-type conveying device |
DE102016207988A1 (en) * | 2016-05-10 | 2017-11-16 | Schmid Technology Systems Gmbh | Transport system and trolley for a transport system |
WO2018175425A1 (en) * | 2017-03-20 | 2018-09-27 | Berkshire Grey, Inc. | Systems and methods for processing objects including mobile matrix carrier systems |
CN109573438A (en) * | 2018-12-27 | 2019-04-05 | 北京艾瑞思机器人技术有限公司 | The method of transfer robot, shelf, warehousing system and Transport cargo rack |
WO2019084336A1 (en) * | 2017-10-27 | 2019-05-02 | Berkshire Grey, Inc. | Bin infeed and removal systems and methods for exchanging bins of objects with mobile matrix carrier systems |
US10576621B2 (en) | 2017-03-23 | 2020-03-03 | Berkshire Grey, Inc. | Systems and methods for processing objects, including automated mobile matrix bins |
US10611021B2 (en) | 2017-03-23 | 2020-04-07 | Berkshire Grey, Inc. | Systems and methods for processing objects, including automated mobile matrix carriers |
US10618745B2 (en) | 2016-12-09 | 2020-04-14 | Berkshire Grey, Inc. | Systems and methods for processing objects provided in vehicles |
US10632610B2 (en) | 2017-03-20 | 2020-04-28 | Berkshire Grey, Inc. | Systems and methods for processing objects including a zone gantry system |
US10649445B2 (en) | 2017-03-15 | 2020-05-12 | Berkshire Grey, Inc. | Systems and methods for storing, retrieving and processing objects including stackable semicircular towers |
US10894674B2 (en) | 2017-03-20 | 2021-01-19 | Berkshire Grey, Inc. | Systems and methods for processing objects including transport vehicles |
IT201900018074A1 (en) * | 2019-10-07 | 2021-04-07 | Tecnobrevetti S N C Di Ponti Giuseppe & Bianconi Mirella | WAREHOUSE GROUP |
DE102020001971A1 (en) | 2020-03-27 | 2021-09-30 | Ermias Simatos | Device and method for sorting and / or commissioning goods, in particular packages, bags, objects or the like. |
US11866269B2 (en) | 2021-10-06 | 2024-01-09 | Berkshire Grey Operating Company, Inc. | Dynamic processing of objects provided in elevated vehicles with evacuation systems and methods for receiving objects |
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ES2660373T3 (en) | 2014-08-11 | 2018-03-22 | Ssi Schäfer Automation Gmbh | Storage system and order preparation and procedure to deliver items sequentially |
KR20170134350A (en) * | 2015-02-05 | 2017-12-06 | 그레이 오렌지 피티이. 엘티디. | Method and apparatus for navigation control |
EP3466843A1 (en) * | 2017-10-03 | 2019-04-10 | AJ Produkter AB | A method and a device for controlling speed of a moving shuttle |
WO2020176706A1 (en) | 2019-02-27 | 2020-09-03 | Berkshire Grey, Inc. | Systems and methods for controlling the disgoring of objects in containers by vibratory motion |
DE102019203495A1 (en) * | 2019-03-14 | 2020-09-17 | Gebhardt Fördertechnik GmbH | A storage and removal system and a conveyor vehicle |
US20220097969A1 (en) * | 2020-09-28 | 2022-03-31 | Amazon Technologies, Inc. | Flexible, robotic automated storage and retrieval system |
US11427403B2 (en) * | 2020-09-28 | 2022-08-30 | Amazon Technologies, Inc. | High density, robotic warehouse system |
GB202104433D0 (en) * | 2021-03-29 | 2021-05-12 | Ocado Innovation Ltd | An automated storage and retrieval system |
NO346952B1 (en) * | 2021-04-30 | 2023-03-13 | Autostore Tech As | A storage container handling system and a method thereof |
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- 2011-04-13 AU AU2011239980A patent/AU2011239980A1/en not_active Abandoned
- 2011-04-13 SG SG2012073177A patent/SG184402A1/en unknown
- 2011-04-13 KR KR1020127026905A patent/KR20130084597A/en not_active Application Discontinuation
- 2011-04-13 EP EP11715477A patent/EP2558384A1/en not_active Withdrawn
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- 2011-04-13 WO PCT/EP2011/055844 patent/WO2011128384A1/en active Application Filing
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Cited By (47)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2657155A1 (en) * | 2012-04-23 | 2013-10-30 | Krones AG | Electronic crash guard for autonomous shuttle with path measurement and orientation |
WO2014166640A3 (en) * | 2013-04-12 | 2015-01-22 | Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. . | Operating vehicle, method for moving an operating vehicle at a storage rack arrangement, and storage rack arrangement |
US10450136B2 (en) | 2013-04-12 | 2019-10-22 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Operating vehicle, method for moving an operating vehicle at a storage rack arrangement, and storage rack arrangement |
WO2014207021A1 (en) * | 2013-06-25 | 2014-12-31 | SSI Schäfer Noell GmbH Lager- und Systemtechnik | Storage and picking system and method for picking with autonomously moving shelf-serving devices |
DE102013106640A1 (en) | 2013-06-25 | 2015-01-08 | Motum | Storage and picking system for picking with autonomously movable storage and retrieval machines |
US9725241B2 (en) | 2013-06-25 | 2017-08-08 | SSI Schäfer Noell GmbH Lager- und Systemtechnik | Storage and picking system and method for picking with autonomously moving shelf-serving devices |
EP3036179A1 (en) * | 2013-08-23 | 2016-06-29 | Eisenmann SE | Method and unit for conveying load carriers |
CN106429157A (en) * | 2015-08-11 | 2017-02-22 | 中西金属工业株式会社 | Storage device using self-propelled carrying trolley |
CN106429157B (en) * | 2015-08-11 | 2020-12-08 | 中西金属工业株式会社 | Storage facility using self-propelled transport vehicle |
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EP2558384A1 (en) | 2013-02-20 |
DE102010015054A1 (en) | 2011-11-17 |
CA2795022A1 (en) | 2011-10-20 |
AU2011239980A1 (en) | 2012-10-25 |
SG184402A1 (en) | 2012-11-29 |
KR20130084597A (en) | 2013-07-25 |
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