WO2018122289A1 - Appareil de desserte mobile et système de desserte - Google Patents

Appareil de desserte mobile et système de desserte Download PDF

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Publication number
WO2018122289A1
WO2018122289A1 PCT/EP2017/084688 EP2017084688W WO2018122289A1 WO 2018122289 A1 WO2018122289 A1 WO 2018122289A1 EP 2017084688 W EP2017084688 W EP 2017084688W WO 2018122289 A1 WO2018122289 A1 WO 2018122289A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage
retrieval device
retrieval
wheels
main direction
Prior art date
Application number
PCT/EP2017/084688
Other languages
German (de)
English (en)
Inventor
Jörn Von der Lippe
Original Assignee
Extor Gmbh
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 Extor Gmbh filed Critical Extor Gmbh
Priority to EP17823172.6A priority Critical patent/EP3562761A1/fr
Publication of WO2018122289A1 publication Critical patent/WO2018122289A1/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
    • B65G1/0471—Storage devices mechanical with access from beneath
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations

Definitions

  • the invention relates to a mobile storage and retrieval unit for storing a ⁇ and retrieving goods in a high stock, wherein the storage and retrieval unit has a plurality of wheels on which the store control device is moved ⁇ .
  • the invention also relates to a storage and retrieval system with such a storage and retrieval device.
  • the warehouse control system is used to perform operations of the storage system, i. for storing and retrieving goods in the storage system.
  • the storage control system on one or more storage and retrieval equipment, which can reciprocate in a driving range.
  • the storage system is designed as a high-level storage, in this case in an embodiment in which individual containers are stacked on top of each other and onto these
  • the stack of containers formed from the stacked containers are held by holding devices at a distance from the ground that can move below the stack of containers, the storage operator and store individual containers in the container stack or remove from the container stack and with a single container can move underneath.
  • the invention has for its object to make the method of the storage and retrieval device relative to the container stacks more efficient and accurate.
  • a mobile storage and retrieval device for storing and retrieving goods in a high-level warehouse, wherein the storage and retrieval device has a plurality of wheels on which the La ⁇ gerbedien réelle is movable, the wheels or at least a subset of the wheels of a longitudinal direction of the Laederbedien réelles in a transverse direction of the storage and retrieval device and vice versa are adjustable, wherein the transverse travel direction is substantially perpendicular to the longitudinal direction of travel, so that the storage and retrieval device is movable in the longitudinal direction or in the transverse direction of travel.
  • the bearing control unit can quickly change direction between the longitudinal direction of travel and the transverse travel direction, without having to move large masses to change the direction of travel.
  • the relatively lightweight wheels of the storage and retrieval device can be adjusted in terms of their direction of travel, so that the storage and retrieval device can be moved quickly in one of zueinan ⁇ the substantially orthogonal directions of travel.
  • Another advantage of the invention is that the wheels do not have to be adjustable in any position, for example in an intermediate position between the transverse direction of travel and the longitudinal direction of travel. Instead, it is sufficient if the wheels are adjustable only in the said two discrete positions for the transverse direction of travel and the longitudinal direction of travel. This allows precise navigation of the warehouse operating räts in the desired mutually orthogonal directions of travel, which corresponds to the matrix-like arrangement of the container stack in the high camp.
  • the store control device also may comprise white ⁇ tere wheels, which are not of a L Lucassfahrrich- processing of the store control device in a cross direction of travel of the store control device and vice versa, adjustable, for example, fixed ⁇ arranged wheels. It is advantageous if at least 3 or 4 wheels are adjustable from a longitudinal direction of travel of the storage and retrieval device in a transverse travel direction of the storage and retrieval device and vice versa ⁇ bar.
  • the high-level bearing may be designed as a high-level bearing of the type mentioned in the opening paragraph, as known from EP 2 982 624 A1, i. as a matrix-shaped arrangement of stacked containers. Each container stack or receiving shaft for a container stack then forms a storage cell of the high-level storage.
  • the sizes of the storage cells in the high camp can be uniform over the entire camp. This also simplifies the positioning of the storage and retrieval device.
  • the high-level storage may also be designed as another type of high-level storage, e.g. as a high-bay warehouse.
  • the bearing operating device can also be designed as a storage and retrieval unit.
  • the wheels can be adjusted from the longitudinal direction of travel to the transverse travel direction and vice versa when the storage and retrieval device is stationary. This allows a very precise
  • the storage and retrieval device has a ground clearance sensor, by which the distance between at least one component of the storage and retrieval device to the ground or to a running surface on which the storage and retrieval device is movable, can be detected.
  • Distance sensor of the floor allows therefore that the store control device detects be ⁇ sondere marks in the floor area automatically.
  • the storage and retrieval device can thus perform an absolute position determination in its travel range with high precision.
  • the position marking can be, for example, a defined geometric body with a certain height profile, for example in the form of cones.
  • the absolute position determination of the storage and retrieval device has the advantage that creeping deviations that can occur in a relative positioning, for example via a rotation detection of wheels, can be compensated.
  • the storage and retrieval device can determine its exact position at any time and can even after a restart locate itself precisely and pass this on to a higher-level control.
  • the storage and retrieval device has an RFID reader for He ⁇ summarize arranged in the driving range of the storage and retrieval device RFID transponders.
  • angeord ⁇ designated RFID transponder as alternative or additional co can at defined positions tel are used to determine the absolute position of the storage and retrieval device in the driving range. Recognizes the Lagerbe ⁇ serving device via its RFID reader the presence of a ⁇ be voted RFID transponder whose position is known to the store control device can determine in this way its own absolute Po ⁇ sition.
  • memory cell-specific data can be stored in the RFID transponder, so that the storage and retrieval device via its RFID reader such Speicherzel ⁇ len-specific data can read, such as the information that the memory cell is currently not allowed to be loaded.
  • the storage and retrieval device has at least one rotary sensor for detecting the rotational movement of at least one wheel of La ⁇ gerbedien réelles.
  • a rotation sensor can be detected in the process of the storage and retrieval unit whose position change in the driving range, thus a relative Po ⁇ sitionsinformation.
  • the rotation sensor for detecting the rotational movement of a non-driven wheel may be formed.
  • the store control device comprises a drive motor for moving the store control device, wherein the Lagerbe ⁇ serving unit at least one sensor means for detecting the engine of the drive motor and / or the vehicle motion caused by the drive motor has.
  • an additional non-slipping motion-affected ⁇ signal of the store control device from which a ⁇ In formation about the relative position or the change in the Relative position of the storage and retrieval device in the driving range can be determined.
  • each of the two aforementioned sensors i. the rotation sensor and the sensor device for detecting the motor movement of the drive motor and / or caused by the drive motor vehicle movement
  • optional elements of the storage and retrieval device are.
  • the storage and retrieval device may in particular be equipped with only one of these sensors, or without such sensors.
  • the storage and retrieval device has at least two motor-driven wheels arranged on diagonally opposite frame regions of the storage and retrieval device.
  • the storage and retrieval unit has at least one Lichttas ⁇ ter for recording in the drive range of the store control device Toggle subsidiary light markers, in particular two arranged on diago ⁇ nal opposing frame regions of the store control device light sensor.
  • additional positioning marks can be realized in the travel range of the storage and retrieval device.
  • a further possibility for determining the absolute position of the storage and retrieval device in the driving range is given.
  • an at least approximate determination of the. Can already be made during the driving movement of the storage and retrieval device Absolute position to be performed.
  • the signal can be added taken from the ground distance sensor additionally.
  • the ground distance sensor therefore represents an advantageous expan ⁇ esterification of the invention, but is not necessarily required.
  • the exact determination of the absolute position of the storage and retrieval device can also be done via other positioning marks and the light scanner.
  • the storage and retrieval device is adapted to detect the absolute position of the storage and retrieval device in a travel range of the storage and retrieval device by one or more sensors of the storage and retrieval device. By determining the abso ⁇ lutposition of the storage and retrieval device this is always ready ⁇ set, even after a restart, eg in a power out ⁇ case. A manual learning procedure of the absolute position is therefore not required.
  • the store control device is adapted to determine to hand ⁇ its sensors a measure of the wheel wear at one, several or all wheels of the store control device.
  • detecting the measure of the wheel wear can be initiated automatically, for example, too high wear maintenance.
  • a storage and retrieval unit with excessive Ver ⁇ wear can be decommissioned, and instead another store control device be activated.
  • it is possible to improve the determination of the re ⁇ lativen position of the store control device based on the signal of the rotation sensor on the basis of the measure for the wheel wear by variations generated by the wheel wear will be automatically compensated.
  • the measure for the wheel wear can be determined, for example, by comparing the determined via the rotation sensor for detecting the rotational movement of a wheel relative position of the storage and retrieval device with a relative to the sensor device for detecting the motor movement of the drive motor determined relative position.
  • the quotient of these variables can be used, for example, as a measure of the wheel wear.
  • a further possibility for Bestim ⁇ mung of the wheel wear is to compare the relative position detected by the rotary sensor with a certain over other sensors absolute position of the store control device, and use the quotient formed therefrom as a measure of wheel wear.
  • the storage and retrieval unit ⁇ La is formed as a rail-bound gerbedienêt that for running on a
  • Rail system is arranged, which has substantially parallel rails in a first main direction and substantially parallel rails in a second main direction, wherein the second main direction is substantially perpendicular to the first main direction, and the Schienensys ⁇ system a plurality of intersections between the rails the first main direction and the rails of the second main direction.
  • the storage and retrieval device is adapted to the To set wheels in the longitudinal direction when the storage and retrieval device is to be moved in the first main direction, and to put the wheels in the transverse direction when the storage and retrieval device is to be moved in the second main direction.
  • cornering of the storage and retrieval device are avoided for a change of direction. Change of direction is therefore possible on the rail system very quickly and without significant changes in position of the storage and retrieval device.
  • the aforementioned object is further achieved by a La ⁇ gerbediensystem, comprising at least one storage and retrieval unit according to one of the preceding claims and a rail system on which the at least one storage and retrieval unit is movable. This also allows the advantages explained above to be realized.
  • the storage and retrieval system may also include a plurality of storage and retrieval devices that simultaneously operated on the ⁇ .
  • the rail system is substantially parallel
  • the highest operating efficiency especially if several Storage operators are operated simultaneously, but is achieved with a complete matrix arrangement of rails with n * m crossings.
  • a particularly low access time can be realized during storage and retrieval operations of the high-level warehouse.
  • each storage and retrieval device can approach each storage cell of the high-level storage.
  • the storage and Ausla ⁇ gerungsvorêt can be accelerated in the high camp.
  • a certain redundancy is created with regard to the storage and retrieval devices.
  • the storage and retrieval system is still operable in case of failure of one or more storage and retrieval devices, albeit at a lower operating speed.
  • the Lagerbedienge ⁇ advises it can be designed in terms of its dimensions to the size of a memory cell of the high-bay, ie be the same size or slightly smaller than a memory cell.
  • Kgs ⁇ NEN adjacent memory cells are operated simultaneously independently vonei ⁇ Nander of different storage control devices.
  • the rail system has at least one positioning mark in the travel range of the storage and retrieval device for determining the absolute position of the storage and retrieval device.
  • the positioning mark can be, for example, the named marker for the light scanner and / or the positioning mark located on the ground.
  • a plurality of memory cells of the high-level bearing has such a positioning mark or that all the memory cells of the high-level bearing have such a positioning mark. In this way, the position of the
  • Lagerbedien réelles be supported at many points of the rail system by the possibility of absolute positioning. If a movement command is transmitted to the storage and retrieval unit , this is determined by the position of the wheels and the desired direction of travel to be provided wheel revolutions to achieve a desired position. Since the driven wheels can underlay some slip and block even during deceleration processes, the monitoring of the position of the storage and retrieval device by detecting magnitudes on the drive and the driven wheels is faulty. In the storage and retrieval device according to the invention, the relative position on the rotation sensor can be determined, which is located on a non-driven wheel and thus does not lie under the slip ⁇ . This can achieve a significantly higher accuracy of the re ⁇ lativen positioning.
  • a positioning mark can still be arranged in each memory cell at which the bearing control device can orient itself absolutely in the memory cell.
  • the storage and retrieval device in a plantestufi ⁇ gene process, namely first with a relatively quickly Weg- positionable relative positioning over the detected wheel revolutions and then via a slightly slower but more precise absolute positioning via a positioning mark, positioned in a memory cell and continue with further operations of the high-level bearing.
  • the wheels particularly the drive wheels, a certain wear subject, an average value of wheel rotations per memory cell, for example, after each trip formed and thus corrects the wheel revolutions per memory cell ⁇ the to the wear on the wheels with respect to the determination of the relative position of the store control device to compensate.
  • the absolute memory cell position is determined by a positioning tag that may be mounted in each memory cell, allowing the storage operator to determine its absolute position in each state. This means that no personnel need the storage system alssu ⁇ chen and make the store control device to a starting point at a restart and loss of position.
  • Figure 1 shows a storage system in side view
  • Figure 2 is a detail view of a shaft of La ⁇ gersystems in side view
  • Figure 4 is a part of the storage system in plan view
  • Figure 5 is a three-side view of a container and Figures 6, 7 are schematic representations of a Lagerbedi ⁇ bestimmrelis and
  • FIG. 8 a detail of a rail system
  • FIG. 10 the bearing system with the rail system in FIG
  • FIG. 13 shows a section of a rail system and FIG. 14 shows a storage and retrieval device on the rail system in front view and FIG
  • Figure 15 shows another embodiment of the Lagersys ⁇ system with the rail system in plan view.
  • FIG. 1 shows a side view of a storage system 100 according to the invention.
  • the storage system 100 includes a plurality of vertical shafts or memory cells 101 for receiving a respective container stack 200 having a plurality of Befflel ⁇ tern 201, whereby in addition to the visible in Figure 1, adjacent arrayed in the longitudinal direction of shafts 101 additional wells in the transverse direction are provided perpendicular to the sheet plane. In the plan view, the shafts 101 thus form a rectangular arrangement.
  • Each shaft 101 has a lower opening 102, in the region of holding devices 1 are provided for holding the container stack 200 located in the tray 101.
  • the bottom container 201 of the container stack 200 is supported on the Hal ⁇ tevoriquesen. 1
  • the lower opening 102 and the holding devices 1 provided there are arranged at a height, so that 200 storage warehouses 300 - even if loaded with a container 201 - can be moved in the direction of the sheet level but also perpendicular thereto below the container stack 200 located in the shafts 101.
  • the holding devices 1 on the lower opening 102 are arranged on respective opposite sides of the shaft 101, wherein on each side of the shaft 101 in each case two, perpendicular to the leaf level spaced holding devices 1 are provided. In the region of the lower opening 102 of each shaft 100 thus four holding devices 1 are provided.
  • the holding devices 1 will be explained in detail in connection with the following figures.
  • Each tray 101 further has an upper opening 103, so that a picked-up container stack 200 can project upwardly on the tray 101 when its height exceeds the height of the tray 101.
  • Each well 101 is bounded laterally by frame elements ⁇ 104th
  • the storage and retrieval devices 300 are - as mentioned - in Rich ⁇ tion of the leaf level but also perpendicular to it. In addition, they have a container receptacle 301, which can be moved via a lifting mechanism 302 in the vertical direction.
  • Figure 2 is a schematic section through the lower loading reaching a shaft 101 of the storage system 100 of Figure 1.
  • the shaft 101 defining the frame elements 104 are only partially ⁇ as shown. The same applies to the container stack 200 with the lowest container 201 resting on the holding devices 1.
  • the holding devices 1 each comprise a holding hook 2 with a support arm 3 and a release arm 4, wherein the retaining hook 2 is formed as a V-shaped double lever with two legs of equal length, in which one leg forms the support arm 3, the other leg the release arm 4.
  • the retaining hook 2 is rotatably mounted about an axis of rotation 5, which is arranged between the support arm 3 and 4 Ausl Harborarm.
  • the support arm 3 can be pivoted between the holding position shown in FIG. 3 a and the removal position shown in FIG. 3 b, an equilibrium equilibrium position being provided between these two positions.
  • the Labil Eisenitessposition is indicated in Figure 2 by the position shown in dashed lines of the support arm 3 of a holding device 1.
  • the holding devices 1 furthermore each comprise one
  • Tension spring 6 ausgestaltetes return element 7.
  • the one spring ⁇ end 8 of the tension spring 6 is fixed to the retaining hook 2, the other spring end 9 to the shaft 101 laterally delimiting frame members 104.
  • the other spring end 9 is fixed stationary relative to the axis of rotation 5 of the holding hook 2.
  • connection of a spring end 8 on the retaining hook 2 is further selected so that the support arm 3 of the holding hook 2 at a pivoting of the support arm 3 in a region between the holding position shown in Figure 2 and the indicated
  • Labilquilibrium position is urged in the direction of the holding position.
  • the support arm 3 In a pivoting of the support arm 3 in one Area between the indicated in Figure 1 Labilquilwhosposition and the removal position shown in Figure 3b, the support arm 3 is urged by the return element 7 in the direction of the removal position.
  • the retaining hook 2 is thus bistable, ie it is held in two positions, the holding position and the removal position, by the return element 7 in a stable position.
  • FIGS. 3a and 3b a holding device 1 according to Figure 2 is shown, wherein the support arm 3 of the holding hook 2 is in the Hal ⁇ teposition.
  • the spring force F F of the spring 6 acts in such a way that the support arm 3 is held in the holding position or pushed into the holding position with a certain pivoting.
  • the spring force F F causes a corresponding Mo ⁇ ment.
  • this torque acts in the clock ⁇ clockwise direction about the rotation axis 5 of the holding hook. 2
  • the Labil Eisenge- weight position is provided, in which the support arm 3 is basically urged to none of the two said positions (ie, is in the moment equilibrium).
  • a tripping level 10 is defi ⁇ ned.
  • the triggering plane 10 is parallel to thedoinerstre ⁇ ckung of the container stack 200, which is indicated by the double arrow 202, thus essentially a vertical plane.
  • the release plane 10 intersects the support arm 3 in the holding position shown in Figures 2 and 3a, while the release plane 10 is not cut from the release arm 4 in this position of the support arm 3. In the removal position of the support arm 3, however, the release plane 10 is cut by the release arm 4, as can be seen from FIG. 3b. In the load equilibrium position, both the support arm 3 and the release arm 4 intersect the release plane 10.
  • the holding device 1 will be explained below in ⁇ hand exemplary storage and retrieval operations of a container 201 into or out of a container stack 200th
  • the container 201 to be stored is moved from below by a storage operating device 300 with the container receptacle 301 from below to the original lowermost container 201 of the container stack 200 and then lifted so that the entire container stack 200 is lifted.
  • the putaway container 201 is already in the new lowermost container 201 of the Benzol ⁇ terstapels 200.
  • the entire container stack 200 continue to be ⁇ lifted so that the support arms 3 of the retaining hook 2 of the holding devices 1 in such a pivot upward, that they laterally slide along the Conslagernden or bottom container 201.
  • the support arms 3 are pivoted only in a position between their respective holding position and Labilretesposition so that the restoring elements 7 urge the support arms 3 back to the holding position.
  • the container stack 200 If the container stack 200 is raised sufficiently far, the support arms 3 of the holding hooks 2 of the individual holding devices 1 can reach beneath the container 201 to be stored or lowered, wherein they are pivoted into the holding position due to the return elements 7. If the container receptacle 301 of the storage and retrieval device 300 then moves downwards again, the container stack 200 lowers onto the support arms 3 of the holding hooks 2 and is then held by the holding devices 1. After the storage process completed so that the Jardinnde or bottom container 201 of the container stack 200 on the support arms 3 of the retaining hooks 2 and the container receptacle 301 of the storage and retrieval device 300 can be moved away. The storage process is completed.
  • a removal operation of a container 201 from a container stack 200 will now be described.
  • the stack is Be fiscalerauf- would take 301 of the store control device 300 to those same container 201, which rests on the supporting arms 3 of the retaining hook 2 of the individual holding devices 1 moved up.
  • the entire container stack 200 is lifted by the storage control unit 300.
  • the container receptacle 301 on the amount that is required for the storing of a container 201, method addition, the container receptacle 301 is formed from ⁇ that they laterally to be taken on the item or on stands bottom container 201 and into the trip levels 10 the individual holder devices 1 protrudes.
  • the laterally projecting areas of the container receptacle 301 form triggers 303 for the holding devices. If the container receptacle 301 sufficiently high process kom ⁇ men the supporting arms 3, with the triggers 303 in contact, and who ⁇ pivoted into the region between labile equilibrium position and removal position into it. Thereupon the restoring members 7, the support arms 3 loading due to the removal position, whereby the trigger arms 4 of the holding hook 2 project into the Auslö ⁇ seebene 10th In the removal position, the support arms 3 no longer hinder the removal of the lowermost container 201 downwards.
  • the From ⁇ release arms 4 join with the triggers 303 in contact and are pivoted such that the trigger arms 4 rotatably verbun ⁇ which support arms 3 of the retaining hook 2 in a range between labile equilibrium position and holding position are pivoted, whereby the support arms 3 are urged by the return elements 7 back to the holding position.
  • the support arms 3 Upon further lowering of the container receptacle 301 of the Lagerbedi- device 300, the support arms 3 then slide first along the Sei ⁇ tenlustern the container to be removed 201 along before they intervene between the container to be removed 201 and the overlying container 201. If the container receptacle 301 of the store control device 300 still further lowered, pivot the support arms 3 in the holding Posi ⁇ tion, the former above the container 201 to be removed lying container rests directly on the support arms 3 of the holding devices 1 and thus now forms the lowermost container 201 of the container stack 200. The container to be removed 201 rests on the container receptacle 301 of the storage and retrieval device 300 and can be transported on.
  • FIG. 4 four shafts 101 of the storage system 100 are shown, which are also referred to as memory cells or simply "cells.” Recognizable in particular, the staggered arrangement of the retaining hook 1 of adjacent cells 101. The staggered retaining hooks are so close together quantitative ⁇ engaged, that they overlap in the illustrated x-direction.
  • FIG. 5 shows a container 201 suitable for such a holding hook arrangement.
  • the container has a container bottom 206 and respective side walls 202, 203, 204, 205 on the four container sides.
  • the container is open in its upper side 216.
  • On the opposite side walls 203, 205 each have a vertically extending groove 209 is present, which extends to the top 216 of the container 201.
  • the groove 209 is interrupted in the lower section, near the container bottom 206, by ei ⁇ NEN horizontally extending web 208th
  • the underside of the web 208 in each case forms a holding edge 207, on which the container can be stored on the support arm 3 of a holding hook 1. Below the retaining edge 207, the groove 209 still extends in a region 210 to the container bottom side.
  • the retaining edge 207 and, accordingly, the grooves 209 of opposite sides of the container are arranged offset to one another, corresponding to the arrangement of the retaining hooks 1, as shown in FIG.
  • Each of the holding edges 207 is extends in the longitudinal direction only over a portion of a container side and is bounded laterally left and right of holding ⁇ edge boundary surfaces 217.
  • the retaining edge interfaces 217 are aligned with the side walls of the respective groove 209 so that a retaining edge 207 extends across the width of the groove 209.
  • the support arm 3 runs egg ⁇ nes holding hook 1 initially in the upper region of the groove 209 along until the top of the web 208 is reached.
  • the web 208 of the retaining hook is deflected over the contact to the support arm 3, but not so far that he folds down in its removal ⁇ position.
  • the retaining hook 1 works in its holding position.
  • the sawn container 201 can now flow through the container receptacle 301 again from ⁇ lowered and is held by the support arms 3 of the retaining hook 1 in that the retaining edges 207 rest on the support arms.
  • the Lagerbe ⁇ serving device 300 has four wheels 304, which are arranged on or in the vicinity of respective corner portions of a substantially rectangular frame 303 of the store control device.
  • the wheels 304 may have a motorized adjustment of a longitudinal direction of travel L of the store control device, in which they are aligned in Figure 6, approximately 90 degrees ge be ⁇ rotates, so that they are aligned in a transverse traveling direction Q of the store control device. This is shown in FIG. 7.
  • the storage and retrieval device is operable in the respective longitudinal direction of travel or transverse travel direction in both directions of travel, ie, forwards and backwards.
  • the storage and retrieval unit is for operation is set up on a rail system with rails arranged substantially at right angles to each other, in such an embodiment, no other steering movements, for example, to make a turn required. Therefore, it is sufficient for such an operation of the storage and retrieval device, if the wheels can be adjusted only in the two discrete positions for the longitudinal direction of travel and the transverse direction of travel.
  • the storage and retrieval device 300 has one or more Bodenab- position sensors 309, which may be attached to the bottom of Lagerbedienge ⁇ device or at least in the direction of the ground on which the storage and retrieval device is operated to ei ⁇ nen distance to the ground can sense. In particular, the distance can be measured vertically downwards.
  • the storage and retrieval device 300 has an RFID reader 305.
  • the RFID reader 305 the storage and retrieval device 300 can perform a communication with arranged in the environment RFID transponders. If the RFID transponder is distributed such in the drive range of the store control device that can receive a communication Lagerbe ⁇ serving utensil only at a certain transponder or a particular group of transponders, this can be for determining the absolute position of the store control device in the drive range be used.
  • the storage and retrieval device 300 also has at least one
  • Rotary sensor 311 on.
  • the rotation ⁇ movement of a wheel 304 which is associated with the rotation sensor 311, are detected. In this way, over the from the
  • the storage and retrieval device has a drive motor 308, which serves to drive the storage and retrieval device, ie the method.
  • the storage and retrieval device may also include a plurality of motors, for example one motor for each wheel group (front, rear, diagonal) or a respective motor per wheel 304.
  • the drive motor 308 may be provided with one or more sensors 316, around the engine revolutions of the drive motor 308 to capture and in this way to gain additional information about the travel movement of the storage and retrieval device 303.
  • the wheels of the storage and retrieval device 304 may be fully driven by motor ⁇ .
  • only some of the wheels 304 are motor-driven, for example two diagonally opposite wheels.
  • the storage and retrieval device also has non-driven wheels, so that via the rotation sensor 311, a slip-freeecuringserfas ⁇ sung a wheel 304 is possible.
  • the drive motor 308 or optionally further drive motors can be designed in particular as electric motors.
  • the Lagerbe ⁇ dien réelle can be moved by an electric motor in this way.
  • the store control device has further electrical Components ⁇ ten on, for example an electric hoist motor to extend the lift mechanism 302 to the container receiver 301 or gosch-.
  • the storage and retrieval unit two independent Ener ⁇ giettlen on, namely a rechargeable electric power ⁇ storage device 306 in the form of a battery and current collector 307.
  • On the current collector 307 may the storage and retrieval unit electrical energy from an external electrical energy supply device, eg a power supply be fed.
  • the storage and retrieval unit still has a power supply management, which is not shown separately.
  • the power supply management can be integrated in an electronic control device of the Lagerbedienge ⁇ device.
  • the storage and retrieval unit further comprises at diagonally facultylie ⁇ constricting portions of the frame 303 on light sensor 310 for detecting arranged in the traveling range of the store control device light markers.
  • the light sensors can be designed as fast light sensors, in particular with at least 10 kHz scarf ⁇ tende light scanner.
  • the cutout of which is shown in Figure 8 Schienensys ⁇ system 400 is vorgese ⁇ hen for the operation of the store control device 300th It has rails 401 extending in a first main direction and rails 402 extending substantially perpendicular thereto in a second main direction.
  • the rails 401 intersect with the rails 402 at intersections 403.
  • the four intersections 403 and the pieces of the rails 401, 402 connecting the intersection points define a region which is arranged precisely underneath a storage cell of the high-level warehouse, ie under a container stack 200.
  • the storage operating device 300 can be dimensioned with regard to its dimensions be designed a memory cell of the high-bay, ie be equal to or slightly smaller than a memory cell. Then, adjacent memory cells can be simultaneously operated independently of each other by different storage devices.
  • a positioning mark 405 may be formed, for example, as an RFID transponder.
  • the RFID transponder 405 cooperates with the RFID reader 305 of the storage and retrieval device.
  • the store control device 300 can determine under which memory cell it is located, and thus at least determine its Abso ⁇ lutposition approximately.
  • memory cell-specific data can also be stored in the RFID transponder, so that the storage and retrieval device can read in such memory cell-specific data via its RFID reader, such as the information that the memory cell may not currently be loaded.
  • Another positioning mark 404 may be formed as a positioning mass or height profile, for example in the form of a cone.
  • the Po ⁇ sitioniermarke 404 cooperates with the ground clearance sensor
  • FIG. 9 shows the arrangement of corresponding markers 407 which can be detected via the light sensors 310.
  • the markers 407 may be arranged, for example, on pillars 406 of the rail system or the high-level warehouse.
  • the bearing control device can still position itself during the driving movement or align itself precisely with the markers 407. This allows a high travel speed of the storage and retrieval device.
  • the markers 407 may be formed, for example, as sheets or other reflective Ele ⁇ ments.
  • the light sensors 310 can be designed, for example, as print mark sensors or as contrast sensors.
  • FIG. 10 shows a rail system with a matrix-type arrangement of 4x4 memory cells of the high-level bearing. As can be seen, each memory cell is populated with the positioning marks 404, 405.
  • FIG. 11 shows a further embodiment of Lagerbedi ⁇ enquettes 300, which can also be combined with the already explained above For ⁇ guide die.
  • an adjustment motor 311 is provided on the storage and retrieval device 300, which is connected to all wheels 304 via a belt drive 312.
  • the wheels 304 have pulleys 313 around which the belt drive 312 is laid.
  • all wheels 304 can be set either in the longitudinal direction or the transverse direction of travel.
  • an adjusting device 314 for adjusting the current collector 307 on the storage and retrieval device 300 is present.
  • the current collectors can be extended or retracted downwards by the bearing operating device.
  • the current collectors 307 can receive electrical energy from power supply rails arranged in the rail system and supply them to the storage and retrieval device as an electrical energy supply.
  • the adjusting device 314 can be designed, for example, as an electrically driven cylinder or other linear actuator.
  • 12 shows an alternative to the adjustment of the current collector 307.
  • a pulley 315 is also present in the region of the current collector 307 to which the Rie ⁇ menantrieb 312 is also wrapped.
  • the current collector can be optionally placed down or up, the adjustment in this case is mechanically directly dependent on the adjustment of the wheels 304.
  • Figure 13 shows a similar section of the
  • Rail system 400 as Figures 8 and 9, wherein in the figure 13, the arrangement of power supply rails 408 is shown. As seen, extend the power supply ⁇ rails 408 parallel to the rails 402 of the second main direction. Accordingly, only in the process in the second main direction, ie, the lateral travel direction, the storage and retrieval device 300 can be continuously supplied with electric power via the power supply rails 408. Therefore, a shut down of the current collector 307 is effected via the adjusting device 314 when the store control device is moved in the transverse moving ⁇ direction, hence along the power supply ⁇ rails 408. When the store control device moved in longitudinal direction of travel, the current collectors 307 are lifted, and the electrical Power is supplied from the rechargeable electric energy storage device 306.
  • the intersections between the power supply rails 408 and the rails 401 of the first main direction may be formed, for example, such that the top of the power supply rails is at the same height as the running surface of the rails 401 of the first main direction.
  • the rails 401 of the first main direction Have interruptions through which the power supply rails 408 are passed.
  • the storage and retrieval device 300 with its wheels 304 can drive substantially obstacle-free via the intersections between the power supply rails 408 and the rails 401 of the first main direction.
  • the wheels are temporarily not guided or less precisely than in other areas of the rails 401 of the first main direction.
  • the power supply rails can be designed, for example, as solid metal rails, for example with a square profile, for example as copper rails.
  • FIG. 14 schematically shows the storage and retrieval device 300 on the rail system 400.
  • the connection of the downwardly extended current collectors 307 to the power supply rails 408 is also recognizable.
  • FIG. 15 shows the rail system 400 in a similar representation to FIG. 10.
  • FIG. 15 shows the arrangement of the power supply rails 408 in the form of four parallel power supply rails running side by side in different rows of the storage cells.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un appareil de desserte mobile (300) servant à la mise en stock et au déstockage de marchandises dans un magasin de grande hauteur (100), l'appareil de desserte (300) présentant plusieurs roues (304) sur lesquelles l'appareil de desserte (300) peut être déplacé. L'invention concerne en outre un système de desserte muni d'un tel appareil de desserte (300).
PCT/EP2017/084688 2016-12-28 2017-12-28 Appareil de desserte mobile et système de desserte WO2018122289A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17823172.6A EP3562761A1 (fr) 2016-12-28 2017-12-28 Appareil de desserte mobile et système de desserte

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016125787.7A DE102016125787A1 (de) 2016-12-28 2016-12-28 Fahrbares Lagerbediengerät sowie Lagerbediensystem
DE102016125787.7 2016-12-28

Publications (1)

Publication Number Publication Date
WO2018122289A1 true WO2018122289A1 (fr) 2018-07-05

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DE (1) DE102016125787A1 (fr)
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DE102016125787A1 (de) 2018-06-28

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