WO2013004695A1

WO2013004695A1 - System and method for placing a storage good into a rack and removing a storage good from a rack

Info

Publication number: WO2013004695A1
Application number: PCT/EP2012/062928
Authority: WO
Inventors: Elmar Issing
Original assignee: SSI Schäfer Noell GmbH Lager- und Systemtechnik
Priority date: 2011-07-05
Filing date: 2012-07-03
Publication date: 2013-01-10
Also published as: DE102011106677B4; DE102011106677A1

Abstract

The invention relates to a storage system and to a method for placing a storage good (30) into a rack (12) and removing a storage good from a rack by means of a load bearing means of a rack operating device that can be moved in a rack aisle in the longitudinal direction (X) of the rack (12), wherein the load bearing means can be moved vertically by means of a lifting unit of the rack operating device, wherein the load bearing means is designed to exchange storage goods (30) with rack locations, wherein the load bearing means has at least two longitudinally arranged handling locations (112, 114), wherein the load bearing means is supported such as to be movable in the longitudinal direction (X) relative to the lifting unit and wherein a storage-good conveying device extends within, above, or below the rack (12) across a length of the rack.

Description

System and method for storing and retrieving a

Storage goods in and out of a shelf

The present invention relates to a method for storing and retrieving a stored goods in and out of a shelf with a load handling means of a shelf in the rack aisle movable storage and retrieval device, wherein the load handling device of the stacker crane by means of a lifting unit of the stacker crane is moved vertically and wherein the load receiving means is arranged for the exchange of stored goods with shelf space in a transverse direction.

The present invention further relates to a storage system with a shelf, a storage material conveyor for the supply and removal of on and auszulagernden stored goods and with a stacker crane.

The document DE 20 2005 013 680 U 1 shows a shelf vehicle for container storage, which has a frame in which two load handling means can move up and down together in a vertical direction side by side. A container exchange takes place in a transverse direction, i. perpendicular to the longitudinal direction of a rack aisle.

The document DE 102 34 150 A1 discloses a method and system for operating a shelf in a picking system. In conventional shelves a supply and removal of stored and auszulagernden stored goods, which are usually piece goods with or without load carriers, via a stored goods conveyor to a front page of a shelf or a rack aisle, in the a storage and retrieval unit, in particular its chassis, is moved freely or (rail) guided in a horizontal direction. A material flow as well as a control of the storage and retrieval device and the supply and removal conveyor system is carried out by a higher-level control, such as a material flow computer and / or a warehouse management computer. The conveyor system connects the frontal, mostly transversely, to the shelf (s). A travel path of the storage and retrieval unit overlaps the front side with the conveyor technology, where the stored and outsourced storage goods between the conveyor and the storage and retrieval unit are replaced.

This frontal supply and disposal of the shelf with or from storage material represents material flow technology a "bottleneck" or a bottleneck, as on the conveyor much more stored goods per unit time can be transported as stored goods stored with the stacker crane in the shelf and can be outsourced from the shelf. The speed of the stacker crane limits a throughput (single games or double plays / time unit). One of the storage and retrieval speeds of the storage and retrieval unit depends, among other things, on a path length traveled by the chassis or chassis of the storage and retrieval unit in the horizontal direction and by a lifting unit of the storage and retrieval unit in the vertical direction, in order to move the load receiving means to an emplacement space or storage space on the shelf bring.

To increase at least a number of outsourcing per unit time from a shelf, the German patent application DE 2 158 537 A proposes to provide within the shelf a horizontally endlessly circulating (longitudinal) conveyor. On the loop-shaped, endlessly circulating conveyor preferably stored goods are transported and transported, which statistically very often outsourced - and thus of course also frequently stored accordingly - must be. In addition to these conveyors conventional storage and retrieval devices are used, as they have already been generally described above, which are moved laterally to the shelves along their long sides in rack aisles between adjacent shelves. Since the endless circulating on the shelves conveyor mainly for picking, ie used for the purpose of removal at a removal station, no supply of the shelf with new cargo and also no disposal of old or used storage goods or load carriers on this endlessly circulating conveyor , The supply and disposal takes place, as already described above, on the stacker cranes. The stacker cranes are supplied with new stored goods at one end. There, the storage and retrieval devices also give away the storage goods that are no longer needed or the empty load carriers for removal or removal. The removal stations are located at the opposite end of the rack aisle, outside of the rack aisle. The stacker cranes can also be used in addition to the supply of extraction stations. In addition, the stacker cranes are used to exchange stored goods between the endless revolving conveyor and the feed and discharge conveyors.

Thus, it is possible that more storage goods of a shelf can be outsourced to a removal station, as if only the storage and retrieval unit is used for retrieval. However, performance of this system does not improve when e.g. All stored goods of the rack must be exchanged for other storage goods because the "bottleneck" of the frontal delivery remains.A replacement may be necessary for various reasons.The stored (old) storage goods have either been used up, ie the rack has been emptied and there are only empty containers in the racking areas, or a stored (old) assortment of stored goods should be exchanged for another (new) assortment.

It is therefore an object of the present invention to provide a method for storage and retrieval of stored goods in a rack and from a shelf with a higher throughput. Furthermore, a system is to be provided which allows and permits the increased throughput at all.

The object is achieved by a method for storing and retrieving a stored goods in and out of a shelf with a load-carrying means of a shelf movable in the longitudinal direction of the shelf in a rack aisle storage, the load handling means by means of a lifting unit of the stacker crane is moved vertically, wherein the load receiving means is arranged for the exchange of storage goods with shelf space in a transverse direction, wherein the load receiving means has at least two longitudinally arranged handling places, each shelf space is usable as a storage space and as a paging space and wherein a stored goods conveyor inside, above or below the shelf on extending a length of the shelf, comprising the steps of: supplying a storage goods to be stored at a first transfer point on the goods-handling equipment, wherein the first transfer point is within a shelf area; Moving the lifting device by means of the method of the storage and retrieval unit in a horizontal and / or vertical direction to the first transfer point; Moving the supplied stored goods to a first handling place of the load receiving means; Moving the lifting device by means of moving the stacker crane in the horizontal and / or vertical direction to a paging space on the shelf, and moving a stored stock to be outsourced from the shelf from the paging space to a second handling location of the load receiving means; Moving only the load receiving means in the longitudinal direction, so that the first handling place of the load receiving means is opposite to the paging space; Moving the storage goods to be stored from the first handling station of the lifting device to the unloading station; Moving the lifting device by means of the method of the storage and retrieval unit in the horizontal and / or vertical direction to a second transfer point on the storage product conveyor, wherein the second transfer point is within the shelf area; and moving the stored material to be outsourced from the second handling location of the load receiving means to the second transfer station.

The average input and Auslagerleistung is significantly increased. This is partly due to the fact that the warehoused goods to be stored and to be outsourced are transported deeper into the rack aisle via the stored goods conveyor system and not, as usual in the prior art, lingering at the front end of the shelf for transfer. The (driving) paths that have to be covered with the storage and retrieval unit are drastically shortened, because they are covered by the material handling system.

By the longitudinally movable load handling device of the storage and retrieval device storage and retrieval can take place at the same shelf space, since only the load handling equipment, but not the stacker crane or its chassis, in the Is moved longitudinally. In this way you save at least one drive from a storage / retrieval space to a storage / emplacement space.

In a preferred embodiment, at least two stored goods are received and delivered simultaneously in each storage product exchange cycle, wherein the at least two stored goods to be stored in particular at the same time of the stored material conveyor and the at least two outsourced storage goods are delivered simultaneously to the stored material conveyor.

In this way, a double double game can be realized. Here, too, shorten the transport routes. Fewer journeys are required to store and retrieve the stored goods.

In particular, after receiving the at least two stored goods first one of the warehoused goods to be stored at a first emplacement, then the load handling device is moved by means of the storage and retrieval device to another shelf space to perform the replacement of another stored stock goods, where on the other storage space is first outsourced and then stored and with only the load handling means is moved in the longitudinal direction.

In a further advantageous embodiment, the shelf is operated with a double-deep storage, for the replacement of a stored rear warehousing first a front stored stored goods, which is located on the shelf in front of the rear stored storage goods, on the first or second handling space of the lifting device is returned to its original front shelf space after a longitudinal offset cycle of the lifting device.

A drive of the storage and retrieval unit, as was required in the prior art to implement the front storage to another shelf space to clear the (exchange) way for the rear storage, is no longer necessary because the load-carrying means can implement the forward stored goods solely by a reciprocating motion in the longitudinal direction and thus can clear the way. Thus, at least one drive of the storage and retrieval unit can be saved to another shelf space.

Further, it is preferred if the load handling device should be no longer free to handle the load receiving means after a transfer of the front storage, is moved by means of the stacker crane to the remote shelf space, preferably by moving only the load receiving means to the front stored goods in the to move to a remote storage location, and then moved back to accommodate the rear stored goods.

In addition, it is preferred if the load receiving means, should be free before receiving the front stored goods still at least two handling areas, the front stored goods on one of the free handling places, then only the load-carrying means moves in the longitudinal direction, so that another, free handling place the rear stored goods opposite and receives the rear stored goods.

In a further advantageous embodiment, a new einzulagerndes stored goods is moved from the stored goods conveyor to the first handling space at the second transfer point, while the outsourced stored material is moved from the second handling space on the stored material conveyor.

In this case, the second transfer slot of an exchange cycle coincides with the first transfer slot of a subsequent exchange cycle. This saves a drive of the stacker crane to the first transfer point of the subsequent exchange cycle.

In particular, warehoused goods to be stored on the stored goods conveyor technology are promoted so that the load handling device is moved by means of the storage and retrieval device from a respective first transfer point to an associated storage space only in the vertical direction. In this case, the first transfer point and the storage space are in the same rack column, so that the storage and retrieval unit must not be moved in the longitudinal direction. It is then sufficient to operate only the lifting unit - and not the chassis - to spend the load-carrying means on the level of a storage place. This saves time and energy.

Further, it is preferred if on the storage product delivery virtual delivery windows are defined such that the load handling device is moved by means of the storage and retrieval device from a respective paging space to an associated second transfer point only in the vertical direction to a respective auszulagerndes stored goods from the move respective second handling space in one of the dispensing window, which can still be moved first and then coincides with the associated second transfer point.

The movement of the stored goods conveyor technology is here matched to the storage and retrieval unit that a discharge location, i. E. the second transfer point, and then at a position of the storage and retrieval unit, when the storage and retrieval unit either directly absorbs the stored goods or has already recorded. A drive of the stacker crane in the longitudinal direction is then not required. A height offset by means of the lifting unit is completely sufficient so that the load handling device can reach the second transfer point on the stored goods conveyor.

Usually, the outsourced stored goods can of course be submitted to any free (dispensing) position (dispensing window) on the stored goods conveyor. However, if at the same time a new storage goods to be stored is to be accommodated, the delivery position on the stored goods conveyor system must adjoin directly to a provision position for a newly stored goods to be stored. This requires a timing of the processes on each other, but leads to a significant reduction in the way and time that is needed to replace the stored goods.

Furthermore, the above-defined object is achieved by a storage system with a shelf, a stored material handling equipment and a stacker crane, wherein the Storage goods conveyor within, above or below the shelf over a length of the shelf along a rack aisle, the storage and retrieval unit in the rack aisle is moved horizontally, a vertically movable lifting unit and a load receiving means with at least two handling stations for the exchange of goods in a transverse direction with shelf spaces wherein the load-receiving means is mounted longitudinally movable relative to the lifting unit and wherein each shelf space is usable as a storage and retrieval space, and wherein the system has a controller which is adapted to carry out the method according to the invention.

It is understood that the stored goods conveyor technology can not only extend horizontally through the shelf, but also obliquely, i. E. additionally has a height offset from one end face to the other end of the shelf.

Further, it is preferred if each handling space of the load-receiving means is provided with adjustable in the longitudinal direction of the delivery jaws, which are in and out in the transverse direction to securely grasp and hold a stored goods.

With the adjustable delivery jaws different sized storage goods can be handled easily and preferably gripped in a press fit.

A telescopic design of the delivery jaws allows, for example, the transfer of stored goods in the transverse direction.

Further, it is advantageous if the handling areas of the load-receiving means in the longitudinal direction adjoin one another directly.

The handling stations form a unit that can be moved by a single drive. It then suffices to move the handling stations together around the width of a handling station (in the longitudinal direction of the shelf) in order to either store a storage item in the shelf space that has just been processed or to outsource a stored item beforehand. Also, it is advantageous if each handling station of the load-receiving means has a conveyor which is operable in the transverse direction.

In this way, the stored goods can be moved on the handling stations to an outer edge of the handling station to keep the paths in the transverse direction when replacing the stored goods as short as possible.

In a further preferred embodiment, the lifting unit comprises a hoist and coupled to the hoist truck, wherein the load-receiving means is mounted on the lift truck in the longitudinal direction movable, wherein the load-receiving means comprises a guide bar having a length in the longitudinal direction, the at least - and preferably exactly - is longer by the length of a single handling space as handling spaces are provided.

It is understood that the features mentioned above and those yet to be explained not only in the particular combination given, but also in other combinations or alone, without departing from the scope of the present invention.

Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description. Show it:

Fig. 1 is a perspective view of a partially cut shown

Storage system according to the present invention;

Fig. 2 is a plan view of the storage system of Fig. 1;

3 shows a schematic, in the form of a side view illustrated 5-point ride according to the prior art;

Fig. 4 is a schematically illustrated 2-point ride according to the present

Invention; Fig. 5 is a schematically illustrated 4-point travel according to the present invention;

Fig. 6A-C

a sequence of a storage and storage process in perspective view;

Fig. 7A is a schematic 2-point ride with double deep storage;

FIG. 7B shows a swapping sequence in a plan view in the 2-point travel of FIG

Fig. 7A;

FIG. 8 shows a comparison of time profiles showing a number of loading and unloading operations (games) per hour under different technical conditions; FIG. and

9 is a schematic flowchart of a method according to the present invention.

1 shows a perspective view into a partially shown bearing system or bearing 10. The bearing 10 is in particular a rack storage with one or more shelves 12. The shelves 12 may be individual, Double or multiple shelves act.

In Fig. 1, two individual shelves 12-1 and 12-2 are shown, between which a storage and retrieval device 14, which is also referred to below as "RBG" 14, in the horizontal direction (ie in the XZ plane) in a In the longitudinal direction X of the shelves 12-1 and 12-2 is movable in a rack aisle 16, as indicated by two arrows.The RGB 14 can be freely movable or rail-guided .. In Fig. 1, the RBG 14 is floor bound and moves along a It is understood that the RBG 14 can also be designed as a shelf-bound or ceiling-guided arrangement.The rack aisle 16 is arranged between the racks 12-1 and 12-2, even if only a single one Shelf 12 is provided below is spoken by a rack aisle 16, along which the RBG 14 moves along the shelf 12.

The RBG 14 has at least one mast 18, in the present case, for example, two masts 18-1 and 18-2, which are connected to one another via a cross member 20 and an unspecified landing gear and form a stable (torsionally rigid) Form driving frame. The cross member 20 may interact with a ceiling guide. In addition to a lower vehicle may be provided on the cross member 20 alternatively or additionally an upper chassis (not shown). The RGB 14 also has a lifting unit 22. The lifting unit 22 in turn has a hoist 24, which may be attached to the lower chassis, and a lift truck 26. The lift truck 26 is coupled via an unillustrated traction means (timing belt, ropes or the like) to the hoist 24 to move the lift truck 26 in a vertical direction (Y direction) along the masts 18-1 and 18-2 or to method.

A load receiving means 28, which will also be referred to below as "LAM" 28, is arranged on or on the lift truck 26. The LAM 28 is set up to simultaneously transport at least two stored goods 30. A stored item 30 comprises one not closer load (eg piece goods, goods, products, cartons, collis, etc.) which is arranged on or in a load carrier (eg pallet, tray, container, cardboard, etc.) not shown in more detail the lift truck 26 in the vertical direction Y. Further, the LAM 28 moves along with the RBG 14 and its undercarriage and traveling frame in the horizontal direction X. Further, the LAM 28 is arranged to store goods 30 in a transverse direction (Z direction ) to transfer.

In Fig. 1, a single stored product 30-1 on the LAM 28 is shown. Other stored goods 30-2 and 30-3 are shown on stored goods conveying techniques 32-1 and 32-2. The storage product handling techniques 32-1 and 32-2 are located centrally within the shelves 12-1 and 12-2 and extend in the longitudinal direction X through the shelves 12-1 and 12-2. In this way, the stored goods 30-2 and 30-3 may be provided, picked up or delivered at any location along the shelves 12. In contrast to the prior art, in which the stored goods 30 tendered on the front side of the rack aisle 16 be, the stored goods 30 can be transported on the or the storage goods conveyor techniques 32 deep into the rack aisle 16 into it. The stored goods 30 can thus cover a substantial part of the way, which they have to cover for the purpose of storage or retrieval in the longitudinal direction X, via the stored goods conveyor 32. The RBG 14 is relieved thereby, because it has to travel shorter distances, at least in the longitudinal direction X.

The LAM 28 is designed so that stored goods 30 can be exchanged both with the stored goods conveyor 32, which is exemplarily provided in the form of a roller conveyor 36, and shelf spaces 38 in the transverse direction Z. It will be appreciated that the stored product conveyor 32 may also be realized by another type of conveyor (e.g., belt conveyors, belt conveyors, etc.). A concrete embodiment of the LAM 28 will be described below.

The shelf spaces 38 are arranged vertically one above the other (shelf leases or horizontally juxtaposed (shelf) columns.) However, the shelf spaces 38 can also be located at a distance from one another. However, the shelf spaces 38 can also be configured differently in size The storage goods 30 can be stored simply, twice or several times deep in the rack space 38 (in the Z direction) designed for easy or multiple deep storage and retrieval.

Although the stored product conveyor 32 is shown in FIG. 1 in a mid-height region of the shelves 12-1 and 12-2, the stored product conveyor 32 can replace any row of shelves. The stored goods conveyor 32 may also be arranged on or below the shelf 12 or obliquely in through the shelf 12.

A higher-level controller 39 can regulate both a material flow within the bearing 10 and a movement of the RBG 14, in particular of the LAM 28. The controller 39 may include a material flow computer not shown in detail, a warehouse management computer including appropriate storage bin management software and Similar include. The controller 39 may be realized as a distributed network, so that a control of the RBG 14 may be performed, for example by a local programmable logic controller (PLC), which carries the RBG 14 in an unspecified cabinet on the chassis with it. The PLC can also coordinate the movement of the LAM 28.

The data connection between the individual system components, such as the RBG 14, the stored goods conveyor system 32, etc., can be wired (eg via a bus system) and / or wireless (eg WLAN), as it takes the form of a Double arrow 41 in Fig. 1 is indicated. The controller 39 thus also communicates, for example, with infeed and outfeed components (not shown), which can be arranged in particular in an area of the shelf 12 along the stored goods conveyor 32. There may also be lateral ejector, belt lifter or the like, which cause a transfer of the stored goods 30 in the transverse direction Z or at least support.

Furthermore, the stored goods conveyor 32 may be formed in the region of the shelves 12 as a positioning conveyor, as described in the German patent application DE 10 2010 044 615, to which reference is made in its entirety and on September 2, 2010 was submitted. The stored material conveyor 32 is then preferably designed as a roller conveyor 36, wherein a plurality of location detector pairs (light barriers, light sensors, etc.) are arranged in spaces between adjacent rollers to stop stored goods 30 at predetermined positions on the stored goods conveyor 32 positionally accurate. This is particularly in the case of a recording of the stored material 30 of the stored material conveyor 32 by the LAM 28 of the RBG 14 for the purpose of storage of the absorbed storage product 30 of advantage. Another advantage is the distance-optimized storage of the stored goods 30. The paths of the RBG 14 can thus be shortened. Preferably, the stored material conveyor 32 is at least in the region of the shelves 12 segmentally formed, each segment having at least one length of a stored product 30 in order to provide as many replacement positions along the stored material conveyor 32. The arrangement of the stored goods conveyor 32 in, on or below the shelf 12 is extensively and in detail described in the German patent application DE 10 2010 010 433, to which reference is made in its entirety and which was filed on 26 February 2010 , In Fig. 1, the stored goods conveying techniques 32-1 and 32-2 approximately replace one rack line 34-1 and 34-2, respectively.

Fig. 2 shows a plan view of the bearing 10 of FIG. 1. The shelves 12 are coupled via the stored goods conveyor 32 to a conveyor system 40. The conveyor system 40 may further include connection conveyor techniques 42 and cross conveyor techniques 44. The warehouse 10 can be connected, for example, to a goods receipt, goods issue, dispatch area and / or order picking stations via one of the connection conveyor techniques 42 shown by way of example. The bearing 10 can be supplied via the stored goods conveyor 32-1 with new storage goods 32, which are to be stored. The bearing 10 can outsource storage goods 30 via the stored goods conveyor system 32-2 or dispose of empty load carriers or the like. The RBG 14 may exchange stored goods 30 in both Z directions with the stored goods conveying techniques 32-1 and 32-2 as indicated by two double arrows in the Z direction.

Furthermore, FIG. 2 shows a (travel) rail 46 of the rail-guided RBG 14 here, which ends in each case outside a shelf region 48 and extends essentially along one longitudinal side of the shelves 12. The RBG then moves only in the shelf area 48.

Of course, the rail 46 can also be made longer. Preferably, however, it essentially extends only in the rack area 48, so that the RGB 14 stores goods 30 only in the rack area 48 with the stored goods conveyor systems 32-1 and 32-2 exchanged. It is understood that even one of the stored goods conveyor techniques 32-1 and 32-2 would be sufficient to supply both storage shelves 12, which are shown in FIG. 2, with storage goods 30 or to dispose of storage goods 30. A conveying direction is indicated in FIG. 2 by dark arrows on the conveyor components. It is understood that the conveying directions can also be reversed. The stored product conveyor 32 is designed to operate in both directions (forward and reverse). In the rack area 48, the stored goods conveyor 32 is preferably clocked or partially operated discontinuously, namely where an exchange (recording or delivery) of a stored material 30 with the RBG 14 takes place.

The shelf area 48 extends over a length 50 of each shelf 12 in the longitudinal direction X. In accordance with the present invention, stock items 30 are not exchanged between the RBG 14 and the stored product conveyor 32 outside of the shelf area 48, i. in particular not on the front sides of the shelves 12, which lie outside the shelf area 48.

In the shelf 12 shown in Fig. 2 above seven shelf spaces 38 are each occupied by a stored product 30, as is indicated in each case by a cross. The other shelf spaces 38 are free, i. not occupied (no cross). Occupied shelf spaces 38 are also referred to as paging spaces 52 below. Unoccupied free shelf spaces 38 are also referred to below as storage spaces 54. From a paging space 52, the RGB 14 can outsource one or more stored goods 30. In a storage place 54, the RGB 14 can store one or more stored goods 30 (one behind the other). It is understood that the stored goods 30 need not all be the same size. The stored goods 30 may be different sizes, heavy and / or procured. Frequently, however, uniform charge carriers, such as containers, trays, cartons or the like are used.

Referring to Fig. 3, a conventional (stored product) replacement cycle 60, also referred to as "5-point travel", is illustrated.

Fig. 3 shows a schematic side view of a shelf 12, which is connected conventionally frontally to a conveyor and is supplied via a so-called pre-zone with stored goods 30. The RGB, not shown in FIG. 3 has a LAM, which is adapted for simultaneous recording and delivery of two storage goods 30. The stored goods 30 are changed in the pre-zone, ie outside the shelf area 48, ie recorded and delivered at the same time. A transfer thus takes place at location 62, where the end face of the shelf 12 is arranged. The RBG 14 then moves, as indicated by an arrow 64, to a first storage location 66, which is also designated in Fig. 3 with E1. There is one of the previously recorded storage goods 30, for example, the stored goods 30-1, stored. Thereafter, the RBG 14 travels to a first paging space 70 (see A1), as indicated by an arrow 68. While the RBG 14 is traveling in the longitudinal direction X, the LAM 28 moves in the vertical Y direction by means of the lifting unit 22. The horizontal and vertical movements are superimposed on a skewed movement of the load receiving means 28 to the first paging space 70. At the first paging space 70, a first outsourced storage material 30 is outsourced, which is not designated and shown in Fig. 3. Thereafter, the RBG 14 or its LAM 28 moves in the vertical and horizontal directions to a second storage location 74 (E2), as indicated by an arrow 72. At the second storage place 74, the second stored at the front end storage 30-2 is stored. Thus, on the LAM 28 again room for a new stored product 30. The RBG 14 and its LAM 28 is moved in a horizontal and vertical direction to a second paging space 78 (A2), as indicated by an arrow 76. At the second removal site 78, a further, second stored storage product 30 is received by the load receiving means 28. Subsequently, the RBG 14 and its LAM 28 is moved back to the front side of the shelf 12, as indicated by an arrow 80. At location 62 of the front side, the stored goods 30 are then delivered to the conveyor in the pre-zone. Thereafter, cycle 60 may begin again.

From the length of the arrows 64, 68, 72, 76 and 80, the travel of the LAM 28 can be derived in the horizontal and vertical directions. The total route is very long.

In the present invention, as it will be described in more detail by way of example in connection with FIG. 4, two features that stand out from the prior art, which is described in FIG. 3, stand out in particular. On the one hand, the stored goods conveyor system 34 extends over a total length 50 of the shelf 12. The exchange of stored goods 30 is no longer the front side, but within the shelf area 48. On the other hand, the LAM 28 is designed so that a paging space 52 can be converted immediately into a storage space 54 without moving the RBG 14 in the longitudinal direction X, wherein the movement required for this is caused solely by the LAM 28 itself, that in the longitudinal direction X is movably mounted on the lift truck 26, in turn correspondingly long dimensioned.

Referring to Fig. 4, a so-called "2-point travel" 90, i. an exchange cycle, described according to the invention.

At a first transfer point 92, which is located on the storage product conveyor 34, a stored in the shelf 12 storage goods 30 is provided for receiving the RBG 14. The RBG 14 is moved to a location in the rack aisle 16, which is opposite to the first transfer point 92, which is indicated in Fig. 4 by a box 92 shown with a dashed line. The LAM 28 is moved to a height (in the Y direction) that corresponds to a height of the stored goods conveyor 34. The LAM 28 has at least two (handling) places, which are each suitable for receiving a stored product 30. The places are longitudinally offset from each other.

The stored goods 30 is then received by the LAM 28 from the transfer point 92. Subsequently, the RBG 14 and its LAM 28 is moved to the first paging space 70. A stored from there storage goods 30 is outsourced to one of the handling stations, ie moved in the Z direction on the handling space. Subsequently, only the LAM 28 is moved in the longitudinal direction X without the RBG 14 being moved in the longitudinal direction X or the lifting unit 22 being actuated. The paging space 70 is then no longer occupied and thus represents a potential storage location 54 or the first storage space 66. The stored goods to be stored 30, which was received at the transfer point 92, is stored in this - now free - storage space 66. Thereafter, the RBG 14 can be moved or moved with its load-receiving means 28 to a second transfer point 96 on the stored goods conveyor 34, as indicated by an arrow 94. There, the outsourced storage product 30 is delivered to the storage product conveyor system 32 and ideally a new stored goods 30 stored, so that the replacement cycle just described can begin again. It is understood that the transfer points 92 and 96 at best coincide and in addition in the longitudinal direction X "at the height" of the dumping and embedding place 66 and 70, ie all X coordinates are the same. In this case, the RBG 14 does not have to be traversed in the longitudinal direction X at all, and the travels 64 and 94 are traveled by the lifting unit 22 alone in the vertical direction Y.

Referring to Fig. 5, a so-called "4-point travel" 100 according to the invention is illustrated.

In the exchange cycle of FIG. 5, two stored goods 30 are picked up and delivered simultaneously at the transfer points 92 and 96. After the journey 64 to the first emplacement point 66 (E1), one of the storage goods 30 to be stored is stored. Thereafter, the RBG 14 is moved to the first unloading station 70 (A1), where a first stored product 30 to be outsourced, that is picked up by the load receiving means 28. In the thus vacant shelf space 38, the second storage goods 30 to be stored is stored. The thus freed storage space 38 represents the second storage place 74 (E2). Thereafter, the RBG 14 is moved to the second storage space 78 (A2) (travel 76), where the second stored storage material 30 is removed from the shelf 12. After a further travel 94 to the second transfer point 96, the two storage goods 30 to be outsourced are delivered to the stored goods conveyor system 34 and two new storage goods 30 to be stored can be picked up from there.

Three steps of a storage and retrieval sequence on the same shelf space 38 are illustrated in perspective in FIGS. 6A to 6C.

In FIG. 6A, a storage product 30-1 to be outsourced is removed from the first storage location 70 onto the LAM 28. A retrieval movement 1 10 is indicated by an arrow. The LAM 28 has, for example, two handling stations 1 12 and 1 14. The outsourced storage product 30-1 is outsourced from the second handling place 1 14 and received by the second handling place 1 14. The LAM 28 with its two handling stations 1 12 and 1 14 is movable in the longitudinal direction X. a guide bar 1 16 stored, as indicated by an arrow 1 18. The guide bar 1 16 is fixedly connected to the lift truck 26. The lift truck 26 can be moved vertically on the masts 18-1 and 18-2 parallel to the Y direction. It is understood that only one mast 18 or more masts 18 may be provided.

After a successful inclusion of the outsourced storage product 30-1 on the second handling space 1 14 both handling stations 1 12 and 1 14 are displaced together in the longitudinal direction X, as indicated by an arrow 122 in Fig. 6B. The longitudinal offset is chosen so that the other handling space 1 12, on which in the present example a storage goods 30-2 to be stored is stored, is positioned in front of the formerly functioning as a storage space 70 shelf space 38, as shown in Fig. 6C.

When the second handling station 1 14 has reached this position in front of the shelf 12, the storage goods 30-2 to be stored can be stored in the transverse direction Z in the shelf space 38 which has become free as storage space 66, as indicated by an arrow 130 ,

In FIGS. 6A and 6B, the handling stations 1 12 and 1 14 each have a roller conveyor 124 with which stored goods 30 to be stored or retrieved can be moved in the transverse direction Z. The handling stations 1 12 and 1 14 are each preferably as wide as a shelf space 38 or a larger shelf space 38, and at least as long (Z direction) that a longest stored goods 30 can be easily picked up and delivered. Preferably, several storage goods 30 can be placed one behind the other on the handling stations 1 12 and 1 14.

It is understood that at least two or more handling stations 1 12 and 1 14 can be provided. The handling stations 1 12 and 1 14 can in the longitudinal direction X together (see arrow 122 in Fig. 6B) or individually, ie separately, be moved. The handling stations 1 12 and 1 14 may include a conveyor such as a roller conveyor 124. But you do not have a sponsor exhibit. As an alternative to the roller conveyor 124, a belt conveyor 132 or the like may also be provided, as shown by way of example in FIG. 6C.

A width (in the X-direction) of a handling station 1 12 or 1 14 is denoted by 134 in FIG. 6C. The width 134 is oriented parallel to the longitudinal direction X. The handling stations 1 12 and 1 13 are preferably identical and dimensioned identically. But they can also be different in size.

The handling stations 1 12 and 1 14 have in FIGS. 6A to 6C by way of example each lateral infeed jaws 126, which are preferably variably adjustable in the longitudinal direction X, in order to be able to adapt to different storage product dimensions. It can be seen in FIGS. 6A to 6C that the storage product 30-1 to be outsourced is narrower than the stored product 30-2 to be stored. The feed jaws 126 of each handling station 1 12 and 1 14 can be adjusted in the longitudinal direction X so that they can easily accommodate the stored goods 30-1 and 30-2 between them. The infeed jaws 126 may include telescoping arms 128 that are extended and retracted in the transverse direction Z to engage the shelf locations 38. At the outer ends of the telescoping arms 128, e.g. hook-like elements may be provided which are not shown in Figs. 6A to 6C. These hook-like elements may be rotatably mounted about the Z-axis in the telescoping arms 128 to be pivoted from a position parallel to the Y-axis in a position parallel to the X-axis. In this way, the stored goods can be 30-1 and 30-2 either pulled from a shelf space 38 by the telescopic arms 128 are retracted, or the stored goods 30-1 and 30-2 can be pushed into the shelf space 38 by the telescopic arms 128th be extended.

It is understood that there are other gripping devices that allow the same functionality. Furthermore, it is understood that the telescopic arms 128 are preferably retractable and retractable in both Z-directions.

Referring to Figs. 7A and 7B, a double-deep storage operation is illustrated. In Fig. 7A, an exchange cycle 150 according to the present invention is shown in which a simple double game (that is, a storage and a removal) is performed by way of example.

At a first storage location 66, the previously stored storage product 30 is stored in the rack 12. Subsequently, the RBG 14 moves to a paging space 70 (A1), wherein the actually outsourced from the shelf 12 storage goods 30 is disposed on a rear shelf space 184 and a non-required storage product 30 is disposed on a front shelf space 152, as shown in FIG. 7B is shown in a first step of five steps. In the first step, the front stored material 152 is received by the LAM 28. Thereafter, preferably only the LAM 28 is displaced in the X direction to subsequently receive the rear storage product 154, as illustrated in the third step. Subsequently, the front stored goods 152 can be stored again in the front shelf space 38, as indicated in steps 4 and 5 of Fig. 7B.

Thereafter, the RBG 14 can be moved to the second transfer point 96 (see FIG. 7A) in order to deliver the (rear) stored product 154 to the stored goods conveyor 34.

In Fig. 8, a graph 170 is shown in which a number of (double plays) are plotted against time. The graph 170 serves to compare performances of different scenarios 1 to 3.

Under a double game is a process understood in which a stored material is stored during a cycle and another stored material is outsourced. In a double double game, two stored goods 30 are stored and retrieved.

The curve 172 of the scenario 1 shows an average power of an RBG 14, which conventionally exchanges stored goods 30 endwise with a conveyor system, which is arranged in a pre-zone of the shelf 12 (see Fig. 3). The curve 174 of scenario 2 shows the same RBG 14, with the stored material conveyor 32 extending the full length 50 of the shelf 12 extends so that transfer points 92 and 96 are possible. The LAM 28 of Scenario 2 is conventional in nature, ie, not movable in the longitudinal direction X, without the RBG 14 being moved. Thus, it is also not possible in scenario 2 that, without a method of the RBG 14, a storage product 30 to be stored is stored in a shelf space 38 which was previously occupied by a storage product 30 to be outsourced. Scenario 3 is similar to Scenario 2, wherein the LAM 28 is designed according to the invention, as described for example in connection with FIGS. 6A-C.

The power curve 176 of scenario 3 reflects the average power according to the invention when, on the one hand, the product handling material 32 extends over an entire length 50 of the shelf 12 (center, top or bottom) and additionally the LAM 28 in the longitudinal direction X is movable without the RBG 14 has to be moved.

It can be seen clearly from the graph 170 of FIG. 8 that the scenario 3 has an exceptionally higher performance than the two scenarios 1 and 2 has. Traces 172 through 176 are the result of a computer simulation in which all parameters have been kept the same, with the exception of the above-mentioned differences (on-shelf goods handling equipment and longitudinally movable LAM).

Referring to Fig. 9, the invention will be explained again briefly and schematically by means of a method 200.

In a step 202, one or more stored goods 30 are transported via the stored goods conveyor 32 into the rack area 48 of the shelf 12. The delivery preferably takes place optimally, i. the transfer point 92 is in the longitudinal direction X as close as possible to a first storage or retrieval space 54 and 52 respectively.

If the RBG 14 is not yet positioned opposite the first transfer point 92, the RBG 14 is moved to the first transfer point 92 in a step 204. Under a method of the RBG 14 is hereinafter also a Movement of the LAM 28 in the vertical direction (Y-direction) understood when the LAM 28 is not yet on the (height) level of the stored material conveyor 32 is located.

As soon as the LAM 28 is positioned opposite to the first transfer point 92, the stored material 30 fed via the stored goods conveyor 32 can be picked up on one of the (empty) handling stations 12 or 14 (step 206).

In a step 208, the RBG 14 is then moved to a storage or retrieval space 66 or 70. In this case, the LAM 28 can also be moved in the vertical direction by means of the lifting unit 22.

Provided that at least one of the handling stations 1 12 and 1 14 is free, in a step 210, a storage product 30 to be removed from the shelf 12 is received by the free handling area 12 or 14 (step 210). If all handling stations 12 and 1 14 are occupied, first one of the storage goods 30 to be stored, which were previously taken up by the storage material conveyor 32, is stored in a storage space 66. In this case, the LAM 28, and preferably only the LAM 28, are moved in the longitudinal direction X relative to the lift truck 26 to the storage goods 30 to be stored in advance, preferably immediately adjacent to the actual paging space, in a storage space (preferably the same row of shelves ) store, so that then one of the handling areas is free.

However, if only one stored product 30 to be retrieved is stored, as described in step 210, then only the LAM 28 can be moved in the longitudinal direction X (step 212) to store a stored product 30 which has previously been stored by the storage product conveyor 32 was taken to deliver to the now vacant shelf space 38, as described in step 214. In other words, this means that the steps 210 and 214 can also be reversed in the order (cf.

Broken arrows). In a step 216, the RBG 14 is moved to the second transfer point and the outsourced storage product 30 is delivered to the stored goods conveyor 32.

In a query 218 can be checked whether additional storage goods 30 must be stored. If no further storage goods 30 have to be stored (decision 222), the method ends in step 224. Otherwise, further storage goods 30 are to be stored (decision 226). This is then followed by a query 228. In the query 228, it is checked whether a storage product 30 to be stored is already provided by the stored goods conveyor 32 at the second transfer point 96.

If the stored goods to be stored 30 is not yet provided (decision 230), it is logically located in a different location. This other location may again represent a new first delivery point 92. Therefore, in a step 232, it may be queried whether the RBG 14 should be moved to this new first handover point. If so (decision 234), the RBG 14 travels in the longitudinal direction X to the first transfer point and begins a new exchange cycle with step 204. If the RBG is not to be moved (decision 236), the stored product conveyor 32 may be moved be that the stored goods to be stored 30 is moved to the second transfer point 96. In this case, a new replacement cycle begins with step 206.

If the query 228 indicates that the next stock to be stored 30 is already present at the transfer point 96 (decision 238), the next exchange cycle can also start directly with the step 206.

It is understood that FIG. 9 merely describes by way of example a LAM 28 with two handling stations 1 12 and 1 14 for an exemplary simple double game. Of course, the LAM 28 may also have more handling stations 1 12, 1 14. In this case, the flowchart of FIG. 9 would only be more complex.

The stored goods conveying system 32 can be operated with a so-called "windowing technology." In windowing technology, the conveyor technology becomes virtual Recording and / or delivery window defines where stored goods 30 can be added or released. These virtual delivery windows may become the above-mentioned transfer points 92 or 96 if the higher-level control 39 makes a corresponding decision due to, for example, path-optimized material flow algorithms.

In addition, it is understood that everything previously explained in connection with a RBG 14 also analogously to a lifting bar with appropriate rotation of the system is applicable by 90 °. A lifting beam is also a kind of storage and retrieval unit, the lifting beam is more a lift character. A walking beam has two stationary masts, between which a height-movable bar is arranged, on which a longitudinally movable load-receiving means is arranged.

Furthermore, in the context of the invention, the term "shelf" also encompasses storage space arrangements which are arranged substantially horizontally, and not vertically, like traditional shelves.The RBG can in this case be moved longitudinally and transversely on and / or under the shelf and warehouse goods vertically with the shelf exchange, the stored goods conveyor technology is arranged longitudinally or transversely in or laterally next to the shelf.

In the above description of the figures, in the choice of the orientation of the coordinate system was generally kept to the usual in the warehouse logistics designations, so that the (horizontal) length 50 along one longitudinal side of the shelf 12 with X, the depth of a shelf 12th Z and the (vertical) height of a shelf 12 has been designated Y.

Furthermore, like parts and features have been given the same reference numerals. The disclosures contained in the description are mutatis mutandis to the same parts and features with the same reference numerals. While location and orientation indications (e.g., "top," "bottom," "side," "longitudinal," "transverse," "horizontal," "vertical," and the like) are relative to the instantly described figure. In the event of a change in position or orientation, however, these details must be transferred analogously to the new position or orientation.

Claims

Method (200) for storing and retrieving a storage product (30) in and out of a rack (12) with a load-receiving means (28) of a storage and retrieval device movable in the longitudinal direction (X) of the shelf (12) in a rack aisle (16) ( 14), wherein the load receiving means (28) by means of a lifting unit (22) of the stacker crane (14) is vertically movable, wherein the load receiving means (28) for the exchange of stored goods (30) with shelves (38) is arranged, wherein the load receiving means (28 ) has at least two longitudinally arranged handling stations (1 12, 1 14), wherein each shelf space (38) can be used as a storage space (66, 74) or as a paging space (70, 78) and wherein a stored goods conveyor (32) within, extends above or below the shelf (12) over a length (50) of the shelf (12), comprising the steps of:

Feeding a stock to be stored (30-2) to a first transfer point (92) on the product handling equipment (32), the first transfer point (92) being within a shelf area (48);

Moving the load-receiving means (28) by means of processes of the stacker crane (14) in a horizontal and / or vertical direction (XY) to the first transfer point (92);

Moving the supplied stored goods (30) to a first handling place (1 12) of the load receiving means (28);

Moving the load-receiving means (28) by means of processes of the storage and retrieval device (14) in the horizontal and / or vertical direction (XY) to a paging space (70, 78) on the shelf, and moving (1 10) a stored goods auszulagernden from the shelf (12) (30-1) from the paging space (70, 78) on a second handling space (1 14) of the load receiving means (28);

Moving only the load receiving means (28) in the longitudinal direction (X), so that the first handling place (1 12) of the load receiving means (28) facing the Auslagerungsplatz (70, 78);

Moving the stored stock (30-2) from the first handling place (12) of the load receiving means (28) to the unloading place (70, 78);

Moving the load-receiving means (28) by means of the method of the stacker crane (14) in the horizontal and / or vertical direction (XY) to a second transfer point (96) on the storage product conveyor (32), wherein the second transfer point (96) within the shelf area (48) is located; and

Moving the outsourced storage product (30-1) from the second handling station (1 14) of the load receiving means (28) to the second transfer station (96).

The method of claim 1, wherein in each storage product exchange cycle (100) at least two stored goods (34) are received and delivered simultaneously, wherein the at least two stored goods stored (30) in particular at the same time from the storage product conveyor (32) and the at least two outsourced storage goods (30) are delivered simultaneously to the stored goods conveyor (32).

The method of claim 2, wherein after receiving the at least two goods to be stored (34) first one of the stored goods to be dumped (30) to a first storage space (66), then the load receiving means (28) by means of the storage and retrieval device (14) to another Rack space (70, 74) is moved to perform the replacement of another einzulagernden cargo (30), wherein at the other shelf space (70, 74) is first outsourced and then stored, with only the load-receiving means (28) in the longitudinal direction ( X) is moved.

Method according to one of the preceding claims, wherein the shelf (12) is operated with a double-deep storage and wherein for exchanging a stored rear warehouse goods (154) first a stored forward stored goods (152), which in the rule (12) in front of the rear stored Storage goods (154) is on the first or second handling space (1 12, 1 14) of the load receiving means (28) is outsourced to be stored after a longitudinal offset cycle only the load receiving means (28) in its original front shelf space. The method of claim 4, wherein the load receiving means (28) should be no longer a handling space (1 12, 1 14) of the load receiving means (28) after a storage of the front stored material (152) by means of the storage and retrieval device (14) to the remote shelf space (38), preferably by moving only the load handler (28) to relocate the front load (152) to the removed shelf (38), and then moved back to receive the rear load (154).

The method of claim 4, wherein the load receiving means (28), should be free before receiving the front stored material (152) at least two handling places (1 12, 1 14), the front stored goods (152) receives on one of the free handling places, then only the load receiving means (28) in the longitudinal direction (X) moves so that another, free handling space (1 12, 1 14) opposite the rear stored goods (154) and the rear stored goods (154).

Method according to one of the preceding claims, wherein at the second transfer station (96) a new stored goods (30) from the storage product conveyor (32) on the first handling space (1 12) is moved while the outsourced storage product (34) from the second handling place (1 14) on the stored goods conveyor (32) is moved.

Method according to one of the preceding claims, wherein storage goods (30) to be stored are conveyed on the stored goods conveyor (32) such that the load receiving means (28) are moved by means of the stacker crane (14) from a respective first transfer station (92) to an associated storage location ( 66) is moved only in the vertical direction (Y).

Method according to one of the preceding claims, wherein on the storage product conveyor (32) virtual dispensing windows are defined such that the load receiving means by means of the storage and retrieval device (14) from a respective paging space (70, 78) to an associated second transfer station (96) only in the vertical direction (Y) is moved to a respective stored goods to be outsourced (30- 1) from the respective second handling station (1 14) in one of the dispensing window, which then coincides with the associated second transfer station (96).

10. storage system (10) with a shelf (12), a storage material conveyor (32) and a stacker crane (14), wherein the stored material conveyor (32) within, above or below the shelf (12) over a length ( 50) of the shelf (12) extends parallel to a rack aisle (16), wherein the storage and retrieval unit (14) in the rack aisle (16) is horizontally movable, a vertically movable lifting unit (22) and a load receiving means (28) with at least two handling stations ( 1 12, 1 14) for the exchange of goods (30) in a transverse direction (Z) with shelves (38), wherein the load-receiving means (28) is mounted in the longitudinal direction (X) movable to the lifting unit (22) and wherein each shelf space (38) is usable as a storage (66,74) and Auslagerungsplatz (70, 78), and wherein the system (10) comprises a controller (39), preferably for carrying out the method (200) according to one of claims 1 to 6 is set up.

1 1. Bearing according to claim 10, wherein each handling station (1 12, 1 14) of the load receiving means (28) with in the longitudinal direction (X) adjustable Zustellbacken (126) is provided, which in the transverse direction (Z) retractable and extendable.

12. Bearing according to claim 10 or 1 1, wherein the handling places (1 12, 1 14) of the load-receiving means (28) in the longitudinal direction (X) directly adjoin one another.

13. Bearing according to one of claims 10 to 1 1, wherein each handling place (1 12, 1 14) of the load receiving means (28) comprises a conveyor (124, 132) which is operable in the transverse direction (Z).

14. Bearing according to one of claims 10 to 13, wherein the lifting unit (22) has a hoist (24) and a to the hoist (24) coupled to the lift truck (26), wherein the load receiving means (28) on the lift truck (26) in the Longitudinal (X) is movably mounted, wherein the load-receiving means (28) has a guide bar (1 16) having in the longitudinal direction (X) a length which is at least, and preferably exactly, longer than the length (134) of a single handling station (1 12, 1 14), than handling stations (1 12, 1 14) are provided.