WO2023061626A1 - Système de stockage à étagères comprenant un entrepôt à étagères en trois dimensions et au moins un véhicule permettant de mettre en stockage des supports de chargement et de les sortir du stockage - Google Patents

Système de stockage à étagères comprenant un entrepôt à étagères en trois dimensions et au moins un véhicule permettant de mettre en stockage des supports de chargement et de les sortir du stockage Download PDF

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Publication number
WO2023061626A1
WO2023061626A1 PCT/EP2022/051223 EP2022051223W WO2023061626A1 WO 2023061626 A1 WO2023061626 A1 WO 2023061626A1 EP 2022051223 W EP2022051223 W EP 2022051223W WO 2023061626 A1 WO2023061626 A1 WO 2023061626A1
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WO
WIPO (PCT)
Prior art keywords
support
load carrier
support arms
lifting device
load
Prior art date
Application number
PCT/EP2022/051223
Other languages
German (de)
English (en)
Inventor
Andreas Philipp
Original Assignee
Stöcklin Logistik Ag
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 Stöcklin Logistik Ag filed Critical Stöcklin Logistik Ag
Publication of WO2023061626A1 publication Critical patent/WO2023061626A1/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
    • B65G1/0464—Storage devices mechanical with access from above

Definitions

  • Shelf storage system with a three-dimensional shelf store and at least one vehicle for storing and retrieving load carriers
  • the present invention relates to a shelf storage system with a three-dimensional shelf store and at least one vehicle for storing and retrieving load carriers into and out of the shelf store according to the preamble of claim 1.
  • the invention also relates to a method for storing and removing load carriers into and out of a Shelf store according to the preamble of claim 13.
  • Such a shelf storage system has a three-dimensional shelf warehouse or high-bay warehouse and usually has several vehicles that are designed for storing and retrieving load carriers with goods or conveyed goods arranged on them in the shelf warehouse and out of the shelf warehouse.
  • Such a shelf storage system can be used to store heavy conveyed goods vertically one above the other in a space-saving manner in the high-bay warehouse.
  • Shelf storage systems have already become known which have a metal structure as a high-bay store and are designed for storing and retrieving the conveyed goods on or in the load carriers. With the cargo such as pallets or Euro pallets and also receptacles, which can be stored in the high-bay warehouse and removed from it again.
  • EP 2 962 962 B1 An example of such a shelf storage system is known from EP 2 962 962 B1, which has vehicles in the form of robots that can be moved on rails provided on the upper side of the shelf storage, specifically in directions perpendicular to one another.
  • the robots or vehicles have two sets of wheels with which they can be moved in a first direction and in a second direction at right angles or perpendicular to the first direction in the rails or rails.
  • the robot which has become known from the well-known shelf storage system, also has a load carrier lifting device, by means of which load carriers in the form of containers or boxes can be lowered into receiving shafts of the shelf store, so that there are several containers or boxes arranged one above the other in a receiving shaft, each with goods therein or conveyed goods.
  • the containers or boxes have standardized dimensions such that all of the containers or boxes to be accommodated in the respective receiving shaft have the same base area and also have the same height extension, ie are cuboid or cube-shaped.
  • the storage space or usable space available in the vertical direction of the receiving shaft for the goods to be conveyed on or in the load carriers depends on the base area of the load carrier and the height or dimensions of the load carrier measured in the vertical direction of the receiving shaft.
  • the object of the present invention is to provide a rack storage system which increases the degree of utilization in the rack storage and therefore enables a significantly more efficient utilization of the storage space or usable space or storage space available in the rack storage.
  • a method for storing and retrieving load carriers into and out of the shelf storage facility is also to be provided, with payloads or goods or conveyed goods of only a small height being able to be located on the load carriers.
  • the invention has the features specified in claim 1. Advantageous configurations of this are described in the further claims. In addition, the invention has the features specified in claim 13 with regard to the method to be created.
  • the invention provides a shelf storage system with a three-dimensional shelf storage and at least one vehicle for storing and retrieving load carriers in and out of the shelf store, the shelf store having a three-dimensional receiving structure for the load carriers and a multiplicity of spaced apart and which has support profiles arranged in a right-angled arrangement, which are designed to support the load carriers, receiving shafts for the load carriers being formed between the support profiles and first running rails in a first direction and second running rails in a second direction perpendicular to the first direction Direction are arranged according to a two-dimensional grid and the rails are designed to accommodate the at least one vehicle and the vehicle has a first set of wheels for movement in the first direction and a second set of wheels for movement in the second direction and a load carrier lifting device, wherein the load carrier lifting device has first pivotable support arms and the load carrier lifting device has second pivotable support arms, which are pivotable independently of the first support arms.
  • the invention thus creates a rack storage system with a three-dimensional rack storage or high-rack storage, the rack storage system having at least one vehicle for storing load carriers in the rack storage and also out of the rack storage.
  • the load carriers can have different dimensions with goods or conveyed goods or payloads measured perpendicular to the surface of the load carrier, so that goods or conveyed goods or payloads with height dimensions that vary greatly from one load carrier to another can be located on the load carriers.
  • the shelf storage system generally has a three-dimensional receiving structure for the load carriers and has a multiplicity of support profiles which are arranged at a distance from one another and in a right-angled arrangement and on which supports for the load carriers are formed. Receiving shafts for the load carriers are thus formed between the support profiles arranged in this way, so that the load carriers can be lowered into the receiving shafts and a plurality of load carriers can be arranged one above the other in one receiving shaft.
  • the load carriers can, as has already been explained above, with very different goods or goods to be conveyed or payloads with very different vertical axis directions of the respective receiving shaft can be provided with different height dimensions, i.e. they are arranged on the load carriers.
  • first rails in a first direction On the upper side of the three-dimensional receiving structure there are first rails in a first direction and second rails in a second direction perpendicular to the first direction, so the rails form a two-dimensional grid and are designed to hold the at least one vehicle already mentioned above.
  • the vehicle may have a first set of road wheels for movement in the first direction and a second set of road wheels for movement in the second direction.
  • a first set of wheels for moving the vehicle in the first direction of the grid or the running rails is located on two opposite sides of the vehicle and is located on the other two opposite sides of the vehicle each second set of running wheels are arranged for moving the vehicle in the direction orthogonal to the first direction.
  • the respective first sets of running wheels and the respective second sets of running wheels can therefore be lowered either onto the respective running rails or into the respective running rails at right angles thereto, so that the vehicle can be moved using the first two sets of running wheels - and the second running wheels raised at the same time - to the first Direction can move and the vehicle by means of the two second sets of wheels - can move in the second direction - and thereby raised first wheels.
  • the vehicle can also have a load carrier lifting device with which the vehicle can lower the respective load carrier with goods or conveyed goods or payloads arranged on it into the respective receiving shaft and can also lift the respective load carrier out of the receiving shaft again.
  • the load carrier lifting device has first pivotable support arms and also second pivotable support arms, which are pivotable independently of the first support arms.
  • the first pivotable support arms can, for example, be brought into releasable engagement with a respective underside of the corresponding load carrier, so that the load carrier can be lowered into the respective receiving shaft when the load carrier is arranged on the first pivotable support arms of the load carrier lifting device.
  • the load carrier lifting device also provides pivotable second support arms, which can be pivoted independently of the first support arms relative to the load carrier lifting device and also relative to the first pivotable support arms.
  • first pivotable support arms can also be pivoted relative to the load carrier lifting device and also relative to the load carrier, independently of the second pivotable support arms.
  • the first support arms can be pivoted relative to the load carrier if the second support arms are not wasted, and the second pivotable support arms can also be pivoted relative to the load carrier if the first support arms are not wasted.
  • the second support arms can be independent of the first support arms relative to the load carrier and also relative to the load carrier lifting device and also relative to the receiving shaft and pivot on relative to the respective support profile of the receiving shaft.
  • this configuration makes it possible for support profiles to be shifted relative to the load carriers into an area within the receiving shaft by means of the second pivotable support arms, so that the respective load carrier can be placed or set down on the support profile or the support profiles .
  • the charge carrier can thus by means of the first support arms, on which the load carrier is arranged and supported by the first support arms, can be transported into the respective receiving shaft and the support profiles can be raised at a height that is suitable for storing the load carrier in the longitudinal direction or vertical axis direction of the respective receiving shaft by means of the pivotable second support arms in be pivoted or moved in an area below the underside of the load carrier or moved relative to the underside of the load carrier or in general relative to the load carrier, so that the load carrier can be set down on the support profile or the support profiles and the first support arms can be moved from the releasable engagement position, for example at the Underside of the load carrier can be solved.
  • the load carrier is then located on the support profile or the support profiles, which have been moved into the detection area below the underside of the load carrier by means of the second support arms, and rests, for example, on the support profile or on the support profiles.
  • the first support arms are transported into the area below the underside of the load carrier and pivoted relative to the underside of the load carrier in such a way that the load carrier is lifted from the support profile or the Support profiles can be detached, i.e. can be lifted by them, so that the support profile or the support profiles can then be transported out of the receiving shaft again by means of the second pivotable support arms, i.e. can be transported in the direction to the side, for example relative to the longitudinal axis or vertical axis of the receiving shaft and thus the receiving shaft is ready again for storing the next load carrier.
  • the first and second support arms are each arranged on the load carrier lifting device such that they can pivot about a common axis and can be actuated to pivot about the axis by means of a device provided on the vehicle or on the load carrier lifting device.
  • a configuration is therefore possible, for example, according to which a first support arm is assigned a second support arm and both support arms can be pivoted about a common, for example vertical, axis and independently of one another, so that the two support arms can be wasted on the common axis, but independently can be wasted on each other.
  • the second support arm can be squandered relative to the first support arm while this is arranged, for example, on an underside of a load carrier in order to support or carry it from below.
  • first and second support arms assigned to one another can be provided on the load carrier lifting device, for example four pairs of support arms, which are each arranged on the load carrier lifting device in such a way that the first support arms can support the load carrier from below in an area such that the load carrier with the goods or goods to be conveyed or payloads arranged on it can be held and supported securely and stably by the first support arms.
  • the first support arms are designed for the releasable engagement position with load carriers and/or load carrier-receiving support means, the support means having holding elements which can be pivoted by the second support arms and are arranged with support beams running largely transversely to the support profiles of the receiving structure are designed so that they can be brought into releasable engagement.
  • first support arms on the load carriers can be brought directly into a releasable engagement position with them or with pallet carriers or the like, which in turn support load carriers.
  • the support means in the form of pallet carriers or the like can in turn have holding elements in the form of, for example, raisable holding supports second support arms can be pivoted and brought into releasable engagement with support brackets arranged on the receiving structure.
  • the second support arms can bring the holding carriers into detachable engagement with the supporting brackets, for example so that the load carriers can be moved vertically in the receiving shaft without colliding with the holding carriers and then when the load carrier has reached a height in the receiving shaft, which corresponds to the intended height or position or placement in the receiving shaft, the support beams can be detached from the support beams by the second pivotable support arms or moved relative to the support beams into a position that allows the load carriers to then be attached to the support beams can be sold by means of the first support arms.
  • the holding supports can be arranged at any location or position of the receiving shaft relative to the extension of the receiving shafts in the vertical axis direction in the vertical axis direction or vertical direction of the receiving shafts and can be positioned by the second pivotable support arms in such a way that the load carrier then can be set down on the holding straps.
  • the storage capacity of the respective storage shaft can be divided as finely as desired, viewed in the direction of the vertical axis, so that the empty space or dead space found in the known configuration of the shelf storage system is minimized above the load carrier that is positioned accordingly in the storage shaft, since with the configuration according to the invention, the holding carrier can be moved into the area above the positioned load carrier or positioned load carrier with goods or payloads arranged on it, namely by means of the second pivotable support arms and on these holding carriers, which are then shifted in this way, a next load carrier with goods arranged on it can be positioned in the receiving shaft, and the gap between the underside of the next Charge carrier and the previously positioned charge carrier arranged directly below it is minimized and thus the charge carrier density in the receiving shaft can be increased can and thus the degree of utilization of the receiving shaft and thus the degree of utilization of the entire rack storage system can be increased considerably.
  • the invention solves this problem, since the unused empty space above a load carrier can be minimized with the variable utilization or change in the distance between load carriers arranged one above the other in the vertical axis direction of the receiving shaft.
  • the degree of utilization of the respective receiving shaft can be further increased.
  • the division can be higher in a first receiving shaft than in the adjacent second receiving shaft, so that in the first receiving shaft viewed in its vertical axis direction there can be more displaceable holding supports or holding elements than in the adjacent second receiving shaft.
  • Load carriers are then mainly stored in the first receiving shaft, which, viewed in the vertical axis direction of the receiving shaft, hold different goods with a low height, while load carriers are stored in the adjacent second receiving shaft, which carry different goods with a greater height.
  • the support profiles are arranged to run in a vertical axis direction of the rack storage system and support profile support arms are arranged transversely to the support profiles, with a respective support profile being arranged between opposing support profile support arms on both sides of the support profile. profile is arranged, which is arranged relative to the support profile support arms on these by means of the second support arms slidably and the load carrier on the support profile can be deducted.
  • the storage rack therefore has support profiles which are arranged in the vertical axis direction of the storage rack and, for example, a receiving shaft for the load carriers is formed within an arrangement of four support profiles arranged at right angles to one another.
  • Support profile support arms extend transversely to the support profiles and support profile support arms can be arranged on both sides of a respective support profile.
  • Support profiles in the form of, for example, displaceable crossbeams can be arranged on the support profile support arms.
  • the support beams mentioned above can constitute such cross beams.
  • the support profiles can be displaced by means of the second pivotable support arms in such a way that the support profiles arranged displaceably on the support profile support arms are displaced by means of the second support arms, which are designed to be pivotable independently of the first pivotable support arms.
  • the second support arms can be lowered relative to the support profiles by means of the load carrier lifting device and then pivoted under the support profiles, brought into detachable engagement with them and then by means of a pivoting movement of the second pivotable support arms, the support profiles can be displaced on the support profile support arms, namely up to in an area below the load carrier, so that the load carrier can then be set down on the support profiles by means of the first pivotable support arms, which then support the load carrier on the support profile support arms, which in turn are supported on the support profiles and the set-down load carrier is thus arranged in the receiving shaft , For example, above another charge carrier arranged underneath, which is located at a minimum vertical distance in the vertical axis direction of the receiving shaft from the charge carrier then arranged above it. In this way, several load carriers can be arranged one above the other in the receiving shaft, with a minimum distance between the underside of the upper load carrier and the top of the lower load carrier or the goods or conveyed goods or payloads arranged on it.
  • the support profile has an elongated configuration with a rectangular support and at the end regions of the support a profile which at least partially positively overlaps or surrounds the respective support profile support arm is provided, on which the support profile is supported on the support profile support arm.
  • the support profiles on the support profile support arms can be moved by means of the second pivotable support arms, i.e. they can be moved out of the receiving shaft transversely to the receiving shaft, so that a load carrier can be lowered into the receiving shaft and also moved into it transversely to the receiving shaft, so that a Load carriers can be sold to the support profiles, as explained above.
  • the load carrier lifting device is provided with an actuating means which is non-positively coupled to the first and/or second support arms and the actuating means is designed for actuation by drive means provided on the vehicle or on the load carrier lifting device.
  • drive means in the form of an electric motor or the like can drive the actuating means, which can be a toothed belt drive, for example, which in turn can drive the respective first and/or second support arm to pivot.
  • the first and/or second support arms can each be actuated to pivot independently of one another, for example in such a way that said electric motor drives a first toothed belt drive which is coupled to a power transmission device for transmitting driving force to the first support arms.
  • the electric motor can also drive a second toothed belt drive, with which the second pivotable support arm is then pivoted independently of the first pivotable support arm.
  • the load carrier lifting device is designed for vertical movement relative to the receiving shaft and has a base frame on which the first and/or second support arms are arranged pivotably relative to the base frame and has a cover frame spaced apart from the base frame, wherein Guide rollers are arranged on the base frame and cover frame, which can be brought into contact with the support profiles, the support arms being arranged in particular in the corner area of the base frame.
  • the base frame can be designed to complement the cross-sectional shape of the receiving shaft, for example, be rectangular in shape and have a pair of first and/or second support arms in each of the corner regions, which are designed to be pivotable independently of one another and are designed to be pivotable independently of one another relative to the base frame.
  • the load carrier lifting device can have a cover frame arranged at a distance from the base frame, which is also designed to complement the cross-sectional shape of the receiving shaft, and the base frame and the cover frame can be connected to one another via tension rods or other profiles.
  • the cover frame can be connected to the vehicle via pull ropes or the toothed belt, for example, so that the cover frame and thus the load carrier lifting device can be lowered into the receiving shaft by means of the vehicle and moved relative to it in the vertical axis direction of the receiving shaft. In this way, the base frame is also moved relative to the receiving shaft in the direction of the vertical axis, as is a load carrier, which rests, for example, on the first pivoting support arms.
  • the load carrier lifting device is guided in the receiving shaft by means of guide rollers arranged on the base frame and on the cover frame, which can roll on the support profiles, ie can be brought into contact with the support rollers.
  • the vehicle has a modular structure and has a travel module with a box-shaped base frame with the first and the second set of running wheels, which can be raised on the base frame and lowered onto the rails and can be driven by a drive motor and the vehicle has a lifting module with drivable traction means in the form of, for example, lifting toothed belts, by means of which the load carrier lifting device can be raised and lowered.
  • the vehicle provided for movement on the travel rails on the upper side of the receiving structure of the shelf storage system therefore has a travel module with a base frame, which can be box-shaped.
  • a first set of running wheels can be arranged on each of two opposite longitudinal sides of the base frame and a second set of running wheels can be arranged on each of the two other, opposite longitudinal sides. Those wheels are then always lowered onto the rails on which the vehicle is to move in the respective direction.
  • the vehicle can also have a lifting module, which is designed to accommodate drivable lifting toothed belts or other lifting means, so that the load carrier lifting device can be moved with the lifting means or toothed belt relative to the receiving shaft, i.e. it can be lowered into the receiving shaft or raised in the receiving shaft .
  • a lifting module which is designed to accommodate drivable lifting toothed belts or other lifting means, so that the load carrier lifting device can be moved with the lifting means or toothed belt relative to the receiving shaft, i.e. it can be lowered into the receiving shaft or raised in the receiving shaft .
  • the lifting module can also have a box-shaped base frame, on the underside of which, for example, the box-shaped base frame of the driving module can be attached. is ordered.
  • the invention also provides for the toothed lifting belts or other lifting means to be accommodated in a storage module which, for example, has rollers for looping accommodation of the lifting means or toothed lifting belts, so that the lifting means or toothed lifting belts, depending on the length thereof, are used to lower the load carrier lifting device into the receiving shaft is needed to be wound up or unwound on the rolls.
  • the storage module can also have a box-shaped base frame and be located above the travel module and below the lifting module.
  • the respective box-shaped base frame also ensures that the vehicle has a receiving space within the inner dimensions of the box-shaped base frame, into which the load carrier lifting device can be lifted, so that the vehicle can move on the rails with the load carrier lifting device arranged within the respective base frame.
  • the vehicle has the storage module just explained, which is designed to accommodate the toothed lifting belt and has rollers around which the toothed lifting belt is wrapped in such a way that the length of the toothed lifting belt provided in the direction of the depth of the receiving shafts is changeable.
  • the toothed lifting belt traction means or ropes or the like can also be used to raise and/or lower the load carrier lifting device in the respective receiving shaft.
  • a drive device is provided on the load carrier lifting device for the pivoting actuation of the first and/or second support arms, which takes place independently of one another, and the drive device drives a rotary-actuated coaxial shaft assigned to a respective pair of first and second support arms.
  • the coaxial shaft can have two shafts or tubes that can be actuated in rotation and are arranged one inside the other, so that, for example, the first support arm can be pivoted via a rotary actuation of the inner shaft or the inner tube while the second support arm can be wasted via rotary operation of the outer shaft or tube coaxial with the inner shaft or tube.
  • the drive device can be, for example, a respective electric motor that is arranged on the lifting module and, via a respective toothed belt, drives the respective roller of the storage module for rotary actuation, on which a lifting toothed belt or other lifting means is arranged, with which the load carrier lifting device is raised or lowered .
  • first support arms are designed to be pivotable through an angle of largely 90 degrees and the second support arms are designed to be pivotable through an angle of largely 135 degrees.
  • first support arms Via a pivoting actuation of the first support arms, these can be pivoted relative to the load carrier, that is, for example, pivoted in such a way that the load carrier rests on the respective upper side of the first support arms.
  • the first support arms can be pivoted through 90 degrees relative to the load carrier, so that the load carrier lifting device can be raised.
  • the second pivotable support arms can still be pivoted when the load carrier is arranged soaring on the first support arms, for example to below the support profiles or crossbeams.
  • a lifting movement of the load carrier lifting device by a predetermined distance in the vertical axis direction of the receiving shaft then causes the second support arms to come into detachable engagement with the support profiles or crossbeams and can be pushed or pulled into the area below the load carrier by a pivoting movement of the second support arms, so that then one Lowering movement of the load carrier lifting device with the load carrier arranged thereon causes the load carrier to come to rest on the upper side of the support profiles or the cross member and thereby detach from the upper side of the first pivotable support arms.
  • the first support arms and also the second support arms are then pivoted out of the area below the load carrier, so that a lifting movement of the load carrier lifting device in the receiving shaft means that it can be lifted in an upward direction with wasted first and second support arms, while the load carrier is attached to the Support profiles or crossbeams remains in the receiving shaft.
  • the load carrier lifting device is designed for the simultaneous conveyance of at least two load carriers arranged one above the other.
  • the load carrier lifting device can therefore transport two or more load carriers arranged one above the other with goods or conveyed goods or payloads located on one or both or more load carriers into the receiving shaft or in turn transport them out of the receiving shaft.
  • the lower load carrier seen in the vertical axis direction of the receiving shaft, can rest on the first pivotable support arms and a second load carrier arranged above it can, for example by means of spacers, rest on the load carrier arranged underneath on its upper side and a third load carrier arranged above the second load carrier, etc., can be above Spacers rest on the second charge carrier on its upper side, so that the charge carrier lifting device can lower the stack of charge carriers formed in this way into the receiving shaft and can lift it out of the receiving shaft again.
  • the load carrier stack is lowered into the receiving shaft with the lower load carrier resting on the first pivotable support arms and the load carrier stack can then be lowered on two crossbeams or support profiles, which are supported by the second pivotable support arms have been pushed or pulled into the receiving slot, as above was explained in detail.
  • the load carrier stack then lies on the crossbeams or support profiles and above the load carrier stack another load carrier stack or even a single load carrier can then be lowered into the receiving shaft and placed on two further crossbeams or support profiles.
  • the lifting module has a drive motor assigned to the respective toothed lifting belt and has a control device which is designed for synchronous control of the process of raising and/or lowering the load carrier or the load carrier stack.
  • a drive motor can therefore be assigned to each lifting toothed belt or traction means or lifting means, so that the load carrier lifting device can be lowered into the receiving shaft guided on the guide rollers, specifically together with the first and/or second support arms arranged on the load carrier lifting device and the actuating device for the pivoting actuation of the support arms, a load carrier or a load carrier stack can also be arranged on the load carrier lifting device, as has been explained in detail above.
  • the invention also provides a method for storing and retrieving load carriers in and out of a storage rack, which has a three-dimensional receiving structure for the load carriers and a large number of support profiles which are spaced apart from one another and arranged at right angles and are designed to support the load carriers , wherein receiving shafts for the load carriers are formed between the support profiles and first running rails are arranged in a first direction and second running rails are arranged in a second direction at right angles to the first direction in accordance with a two-dimensional grid on an upper side of the receiving structure and the running rails are designed to accommodate the at least one vehicle and the vehicle has a first set of road wheels for movement in the first direction and a second set of road wheels for movement in the second direction and a cargo carrier lifting device, whereby by means of the load carrier lifting device a load carrier supported by first support arms arranged on the load carrier lifting device is lowered into a receiving shaft and by means of second support arms arranged on the load carrier and displaceable relative to the first support arms, support profiles that can be displaced
  • a method is also provided according to which load carriers can be stored and retrieved in a three-dimensional receiving structure of a rack storage facility, specifically by means of a load carrier lifting device.
  • the load carrier lifting device has first support arms on which the load carrier can be supported and lowered by means of the load carrier lifting device into the receiving shaft of the three-dimensional rack storage and also lifted out of the receiving shaft or transported out.
  • the load carrier is arranged on the first support arms of the load carrier lifting device and is supported by them, and second support arms are also pivotably arranged on the load carrier lifting device, which can be pivoted independently of the first pivotably arranged support arms in such a way that these second support arms are relative to the support profiles the three-dimensional receiving structure displaceable support profiles or cross members can move relative to an underside of the load carrier lifting device and then the load carrier can be arranged on the support profiles or lowered.
  • both the first pivotable support arms and the second pivotable support arms are pivoted relative to the load carrier in such a way that the load carrier lifting device can be lifted and the first and second support arms during be guided past the outer dimensions of the load carrier during the lifting process and are thus ready to receive the next load carrier.
  • FIG. 1 shows a schematic perspective view of a section of a rack storage facility with a three-dimensional receiving structure for load carriers with first and second rails arranged on the receiving structure;
  • FIG. 2 shows a schematic perspective representation of the rails of the representations according to FIG. 1 with a vehicle arranged thereon for storing and retrieving load carriers;
  • FIG. 3 shows a perspective view of a three-dimensional rack storage system with a load carrier stored therein as an example
  • FIG. 4 shows a perspective representation of the vehicle from FIG. 2 in an enlarged representation
  • FIG. 5 shows a perspective representation of a load carrier lifting device
  • FIG. 6 three illustrations to explain the handling of the load carrier lifting device by the vehicle
  • FIG. 7 shows a further perspective illustration of the load carrier lifting device with load carriers arranged thereon, in a view obliquely from above;
  • FIG. 8 shows a perspective representation of the underside of the load carrier lifting device according to FIG. 7 in a view obliquely from below;
  • FIG. 9 shows an enlarged view of a section of FIG. 7 to explain the guide rollers
  • FIG. 10 shows a perspective representation of section A according to FIG. 8 of the drawing in a view obliquely from above, omitting the load carrier, specifically in a position with retracted first and second support arms;
  • FIG. 11 is a view similar to that of FIG. 10 with brackets used to support the load carrier;
  • FIG. 12 is a view similar to that of FIG. 11 with second brackets used to move the cross members;
  • FIG. 13 shows the position of the first and second support arms in the retracted state corresponding to FIG. 10;
  • FIG. 14 shows the position of the first and second support arms in a position suitable for carrying the load carrier, corresponding to FIG. 11;
  • Fig. 15 is a position view similar to that of Fig. 12 for explaining the second brackets used to move the cross members;
  • 16 is an illustration of a top view of the first and second brackets showing the position of the second brackets in preparation for displacement of the cross members;
  • FIG. 17 shows a view similar to that according to FIG. 16 in a view from below;
  • FIG. 18 shows a perspective representation of a section of a rack storage system with a load carrier lifting device positioned in the receiving shaft;
  • FIG. 19 shows an enlarged representation of detail B according to FIG. 18;
  • 20 is a perspective view of a vehicle according to an embodiment; 21 shows a perspective representation of the load carrier lifting device;
  • FIG. 22 shows an enlarged representation of a detail C according to FIG. 21 with a position of the first and second support arms for carrying a load carrier;
  • FIG. 23 shows an enlarged representation of a detail D according to FIG. 21 ;
  • Fig. 24 is a perspective view similar to that of Fig. 1.
  • Fig. 1 of the drawing shows a schematic perspective representation of a section of a rack storage system 2 with a three-dimensional receiving structure 3 with first travel rails 4 and second travel rails 5 arranged on the receiving structure 3, these being components or parts of a rack storage system 1, as shown in detail in Fig. 2 of the drawing.
  • the shelf storage 2 is designed to accommodate load carriers 6, of which a load carrier 6 can be seen in FIG. 3 of the drawing.
  • the shelf storage 2 is shown in FIG.
  • a shelf storage system 1 with a vehicle 7 as can be seen from Fig. 2 of the drawing, the plurality of first rails 4 and second rails 5 are located on the upper side 8 of the receiving structure 3, as can be seen from the detail in Fig. 1 can be seen.
  • 1 of the drawing shows two support profiles 14 which extend downwards from the top 8 of the three-dimensional receiving structure 3 of the shelf storage system 1 in the direction of the arrow 15 and are fixed on the bottom, for example, to a hall floor 16 or the like.
  • a plurality of support profiles 14 are provided in a rectangular arrangement to form the three-dimensional storage rack 2 and between the support profiles 14 support profile support arms 17 are provided on each side of a respective support profile.
  • a second vehicle 7 which is not shown in FIG. 2 of the drawing but is shown for example in FIG. 24, can therefore drive past the vehicle 7 shown in the drawing according to FIG also in the second direction according to the arrow 10 without colliding with the vehicle 7 shown.
  • the respective rails 4 and 5 are each designed so wide, ie each have such a wide driving profile, that the two vehicles, ie the vehicle 7 and the vehicle shown in FIG. 24, can drive past one another without touching.
  • This configuration ensures that the degree of utilization of the shelf storage system 1 can be significantly increased, since the vehicles can drive or move within the framework of a so-called swarm intelligent system on the upper side 8 of the shelf storage 2 and thus several receiving shafts 19, of which in Fig. 1 the explanation only one is shown for the sake of being able to be operated at the same time, ie for example a load carrier 6 can be stored in a first receiving shaft 19 and at the same time a load carrier 6 can be stored in a second receiving shaft 19 or can also be removed from this can, wherein the receiving shafts 19 can also be directly adjacent to each other.
  • a respective receiving shaft 19 is assigned to each of the fields 18 visible in Fig. 2 of the drawing, so the respective field 18 delimits a respective receiving shaft 19 on the upper side 8 of the storage rack 2 and the receiving shaft 19 extends in the direction of the arrow 15 according to Fig. 1 for example up to hall floor 16.
  • the load carrier lifting device can be seen, for example, with reference to FIG. 5 of the drawing.
  • this has a rectangular base frame 21 and has a cover frame at a distance from the base frame 21, as can also be seen from FIG. 5 of the drawing.
  • the cover frame is connected to the base frame 21 with supports or spacers 23 .
  • FIG. 6 of the drawing which shows the vehicle 7 in the illustration on the left, the load carrier lifting device 20 is located entirely in the interior 24 of the vehicle 7 .
  • the middle representation of FIG. 6 shows that the load carrier lifting device 20 has already been lowered somewhat out of the interior space 24 in order to be lowered into a receiving shaft 19 of the shelf storage system 2 .
  • the illustration on the right of FIG. 6 shows that the load carrier lifting device 20 has already been completely lowered out of the interior space 24 .
  • Fig. 4 of the drawing shows the load carrier lifting device 20 completely in the interior 24 of the vehicle 7, this corresponds to the position in which the vehicle 7 with the load carrier lifting device 20 in the interior 24 on the first and second rails 4, 5 on the top 8 of the rack storage 2 can be done.
  • FIG. 8 of the drawing shows a perspective view of the underside of the load carrier lifting device 20 in a view obliquely from below.
  • the base frame 21 has a first pivotable support arm 26 and a second pivotable support arm 27 in all four corner regions.
  • the first supporting arms 26 can be pivoted independently of the second supporting arms 27 and the second supporting arms 27 can be pivoted independently of the first supporting arms 26.
  • the respective pair of support arms 26, 27 is pivotally mounted on a common axis 28 on the base frame 21, i. H. the respective first support arm 26 and the respective second support arm 27 can be pivoted on the respective axis 28, as will be explained in more detail below, with each first support arm 26 of a respective support arm pair 29 consisting of the first support arm 26 and second support arm 27 being pivoted independently of the second Support arm 27 of the pair of support arms 29 can be pivoted. Likewise, each second support arm 27 can be pivoted on the axis 28 independently of the respective support arm 26 .
  • FIG. 10 of the drawing shows a perspective representation of section A according to FIG. 8 of the drawing, namely in a view obliquely from above, with the load carrier 6 illustrated in FIG. 8 of the drawing in the form of the pallet 30 visible there being omitted.
  • Fig. 10 shows a part of the base frame 21 and the first support arm 26 and the second support arm 27 arranged on the common axis 28 and in one retracted position, in which the support arms 26, 27 are pivoted in the base frame 21, so that the load carrier lifting device 20 with the base frame 21 can be lifted past a pallet 30, i.e. it can be lowered over the pallet 30 coming from above, for example, and thus the pallet 30 is then arranged within the interior space 24 of the load carrier lifting device 20 .
  • FIG. 13 of the drawing shows an illustration of the position of the two support arms 26, 27 in the retracted state corresponding to FIG. 10 in an illustration from above, i.e. a plan view.
  • the pallet 30 can be accommodated in the space 31 between the pairs of support arms 29 with the support arms 26, 27, the pallet 30 can be accommodated. If the load carrier lifting device 20 is arranged relative to the pallet 30 or the load carrier 6 in such a way that the load carrier 6 or the pallet 30 is accommodated in the intermediate space 31, then the support arms 26, 27 can be in the position shown in FIG. 11 of the drawing be pivoted, in which both the support arms 26 and the support arms 27 are arranged in a 90 degree relative to the position shown in Fig. 10 wasted position, as can also be seen in more detail with reference to Fig. 14 of the drawings.
  • Fig. 12 and Fig. 15 show a representation of the position of the support arms 26, 27 with the displacement of support profiles or cross members 34 shown only schematically in Figures 11 and 12.
  • Fig. 18 shows a perspective view of a section of a shelf storage system 2 with a load carrier lifting device 20 positioned in the receiving shaft 19, on which a load carrier 6 in the form of a pallet 30 is arranged, i. H. the pallet 30 is supported or carried with its underside 33 by the top 32 of the respective first pivotable support arms 26 .
  • the support profiles 34 or crossbeams 34 which can be seen in Fig. 19 of the drawing, which shows an enlarged view of the detail B of Fig. 18 of the drawing, can be displaced or displaced in the direction of the double arrow 35 by means of the pivotable second support arms 27 namely on the supporting profile support arms 17, as can be seen from FIG. 19 of the drawing.
  • Fig. 3 shows a large number of support profiles 34 or crossbeams 34 in rack storage 2 and makes it clear that each support profile 34 or each crossbeam 34 can be pushed or relocated on the support profile support arms 17 of rack storage 2, specifically in the direction of double arrow 35, which is shown in Fig 3 is also shown.
  • the second pivotable support arms 27 are pivoted outwards from the positions shown in FIGS. 11 and 14 of the drawing to the positions shown in FIGS. 12 and 15 of the drawing.
  • the load carrier lifting device 20 with the pallet 30 resting on the support arms 26 is moved counter to the direction of arrow 15 in FIG. 1 by a predetermined distance or Hub lifted in the upward direction and this lifting movement of the load carrier lifting device 20 causes the second pivotable support arms 27 to come into releasable engagement with the respective cross member or support profile 34 .
  • a pin 37 (see FIG. 15) can be arranged on the end region 36 of the second support arms 27, which is opposite the common axis of rotation 28 in each case.
  • the second support arm 27 comes into releasable engagement with the respective engagement end 38 on which the pin or pin 37 is arranged with the support profile 34 or cross member 34; the pin or pin 37 can therefore, for example, be connected to an underside of the U-shaped support profile or cross member 34 come into releasable engagement.
  • a pivoting movement of the second pivotable support arms 27, while these are still in the releasable engagement position with the support profile or the cross member 34 results in the cross members 34 being relocated or displaced under the underside 33 of the load carrier 6 or the pallet 30 or to be pulled.
  • the load carrier lifting device 20 with the pallet 30 or the load carrier 6 arranged on it is then lowered by a predetermined distance in the direction of the arrow 15 according to FIG. 1, then the underside 33 comes to the upper side 39 (see FIG. 19) of the respective cross beam or support profile 34 to rest and is held by the cross members or support profiles 34.
  • the load carrier lifting device 20 with the position 10 and 13 of the drawing are lowered in the direction of arrow 15 in FIG. 1 in the receiving shaft 19 until the upper side 32 of the first supporting arms 26 is below the underside 33 of the pallet 30 or the load carrier 6 is arranged.
  • the support arms 26 are then pivoted into the position shown in FIG. 11 of the drawing or FIG Support profiles or cross members 34 lifted. During this lifting movement, the second support arms 27 with the engaging end 38 and the pins 37 arranged thereon come into releasable engagement with the underside 40 (see FIG.
  • the second pivotable support arms 27 can then be pivoted outwards from the position shown in FIG. 14 of the drawing into the position shown in FIG Support profile support arms 17 back outwards, so that the crossbeams or support profiles 34 are pushed or relocated outwards from the receiving shaft 19 of the storage rack 2 and thus the receiving shaft 19 is free for the lifting movement of the load carrier lifting device 20.
  • Fig. 16 of the drawing shows a view from above of the first and second support arms 26, 27 with the position of the second support arms 27 in preparation for the displacement of the cross beams or support profiles 34.
  • first support arms 26 are at an angle of approximately 90 degrees on the common axis 28 of the two support arms 26, 27. pivotable between the stowed position shown in Figure 10 of the drawings and the stowed position shown in Figure 11 or 14 of the drawings for carrying the pallet 30 or load carrier 6.
  • the second support arms 27 can be pivoted through a pivoting angle or pivoting range of approximately 135 degrees, namely on the axis 28, namely between the retracted position according to FIG. 10 or FIG .12 or 15 of the drawing.
  • the second support arms 27 are therefore used to shift the support profiles or crossbeams 34 into the overturned position according to Fig. 12 or 15, which can also be seen in Fig. 16 of the drawing, and the lifting movement of the load carrier lifting device 20 causes the respective engagement end 38 of the second displaceable or pivotable support arms 27 comes into releasable engagement with the underside 40 of the respective support profile or cross member 34 .
  • a displacement or pivoting movement of the second support arms 27 by about 45 degrees in the direction of arrow 41 according to Fig. 16 of the drawing results in the cross beams or support profiles 34 being displaced inwards into the receiving shaft 19 and thus the load carrier lifting device 20 with the attached arranged pallet 30 or the load carrier 6 arranged thereon can be lowered in the direction of arrow 14 according to FIG.
  • the bottom 33 of the pallet 30 or the load carrier 6 is then detached from the top 32 of the respective first support arm 26 and the pallet 30 or the load carrier 6 rests on the support profile 34 or the cross member.
  • the two support arms 26, 27 can then be pivoted from the position shown, for example, in FIG. 14 of the drawing, into the retracted position shown in FIG Pallet 30 remains on the cross members or support profiles 34 arranged.
  • FIG. 17 of the drawing shows a view similar to that of FIG. 16 of the drawing, viewed from below.
  • the support arms 26 and 27 are in position shown, in which the pallet 30 or the load carrier 6 rests on the support arms 26, i.e. is supported by the support arms 26 and the support arms 27 have been pivoted into the position in which they move the support profiles 34 or crossbeams 34 into the support position according to Fig. 14 of the drawing can shift or have already shifted the support profiles 34 or cross members 34 out of the receiving shaft 19 again.
  • FIG. 20 of the drawing shows a perspective representation of an embodiment of a vehicle 7 of the shelf storage system according to the invention.
  • the vehicle 7 has a modular structure and has a travel module 42 with a box-shaped base frame 43 on which two first sets 11 of running wheels and two second sets 12 of running wheels are provided, which are mounted on the respective running rails 4 and 5 can be lowered so that the vehicle can be moved in the first direction 9 or back and in the second direction 10 or back, specifically on the upper side of the three-dimensional support structure 3 along the first and second rails 4, 5, specifically in the interior space 24 of the vehicle 7 recorded load carrier lifting device 20, on which a load carrier 6 or a pallet 30 can be arranged or the load carrier lifting device 20 has no load carrier during the traversing movement.
  • the vehicle also has a lifting module for 44 with drive motors 45 arranged thereon, which have toothed lifting belts 46 at their disposal.
  • the drive motors 45 are activated by means of a controller 62 provided on the lifting module 44 for synchronous actuation.
  • the toothed lifting belts 46 or drive belts can be used to drive rollers 47 of a storage module 48 arranged between the travel module 42 and the lifting module 44, on which lifting means can be rolled up and down, by means of which the load carrier lifting device 20 is lowered into the receiving shaft 19 and lifted out of the receiving shaft 19 can be.
  • Independent lifting means can therefore be arranged on the rollers 47 or the toothed lifting belts or drive belts 46 driven by the drive motors 45 can be rolled up and unrolled, the storage module 48 is therefore provided to accommodate the length of the traction means or lifting means required for the lifting movement of the load carrier lifting device 20 along the entire height of the receiving shaft 19 .
  • FIG. 21 of the drawing shows a perspective view of the load carrier lifting device 20 with a drive device 49 for pivoting the first 26 and second 27 support arms, which takes place independently of one another.
  • the drive device 49 has a rotary actuating device 50, which can be seen in more detail in FIG Coaxial shaft 53 are formed.
  • a drive belt 54 can be actuated, which drives the outer wave profile 55 of the coaxial shaft 53, which is provided for the pivoting actuation of the first support arms 26.
  • a rotary actuation of the pulley 51 thus leads to a rotary actuation of the outer wave profile 55 of the coaxial shaft 53, by means of which the first support arms 26 can be pivoted.
  • a rotary actuation of the belt pulley 52 leads to a rotary actuation of the inner corrugated profile 56 of the coaxial shaft 53, by means of which actuation the second pivotable support arms 27 can be pivoted, a rotary actuation of the second corrugated profile 56 therefore leads to a pivoting actuation of the second support arms 27 and ultimately to a displacement movement of the support profiles or crossbeams 34 relative to the receiving shaft 19.
  • Fig. 22 shows an enlarged representation of a detail C according to Fig. 21 of the drawing and serves to explain the configuration of the two support arms 26 and 27.
  • the two support arms 26, 27 can be pivoted independently of one another on the common axis of rotation 28 be pivoted, i.e. pivoted independently of one another, and the second support arm 27 has a wall 57 with which the second support arm 27 comes to rest on the end face 58 of the first support arm 26 when the second support arm 27 from the view shown in Fig. 15 of the drawing Position is pivoted into the position shown in Fig. 14 of the drawing.
  • This configuration serves to limit the angle of rotation of the pivoting range of the respective second support arm 27.
  • the pallet 30 lies against the Support arm 26 and the limitation of the pivoting angle ensures that the displaced cross member 34 automatically comes to rest below the underside 33 of the pallet 30 and thus the pallet 30 can be lowered to the cross members 34 .
  • Fig. 24 of the drawing shows a schematic perspective view of a section of a rack storage system 2 with a three-dimensional receiving structure 3 with first running rails 4 and second running rails 5 arranged on the receiving structure 3, similar to that according to FIG Vehicles 7 are arranged on the top 8 of the storage rack 2.
  • Only one receiving shaft 19 is shown in FIG. 24 of the drawing for the sake of simplifying the illustration.
  • each field 18 can be assigned a receiving shaft 19, so that the racking system 2 has a large number of receiving shafts 19 and the large number of vehicles 7 moving on the top 8 can also serve a large number of receiving shafts simultaneously.
  • the degree of utilization of a three-dimensional shelf storage is increased considerably.
  • a displacement of the crossbeams or support profiles can take place at different heights, so that the problem of unused empty spaces in the receiving shaft is solved.
  • the degree of utilization of the inventive the shelf storage system according to the invention is significantly higher than the degree of utilization of the known shelf storage system.

Abstract

L'invention concerne un système de stockage à étagères (1) ayant un entrepôt à étagères en trois dimensions (2) et au moins un véhicule (7) pour placer des supports de chargement (6, 30) dans l'entrepôt à étagères (2) et les sortir de l'entrepôt à étagères. L'entrepôt à étagères (2) a une structure de réception tridimensionnelle (3) pour les supports de chargement (6, 30) et une multiplicité de profilés de support (14) qui se trouvent à une distance les uns des autres, sont disposés dans un agencement orthogonal, et sont conçus pour supporter les supports de chargement (6, 30). Des arbres de réception (19) pour les supports de chargement (6, 30) sont formés entre les profilés de support (14), et, sur une face supérieure (8) de la structure de réception (3), des premiers rails (4) sont agencés dans une première direction (9) et des seconds rails (5) sont agencés dans une seconde direction (10), qui est orthogonale à la première direction, correspondant à une grille bidimensionnelle (13), et les rails (4, 5) sont conçus pour recevoir ledit au moins un véhicule (7), et le véhicule (7) comporte un premier ensemble de roues (11) pour se déplacer dans la première direction (9) et un second ensemble de roues (12) pour se déplacer dans la seconde direction (10) ainsi qu'un dispositif de levage de supports de chargement (20), le dispositif de levage de supports de charge (20) ayant des premiers bras de support pivotants (26), et le dispositif de levage de supports de charge (20) comporte des seconds bras de support pivotants (27) qui peuvent pivoter indépendamment des premiers bras de support (26).
PCT/EP2022/051223 2021-10-13 2022-01-20 Système de stockage à étagères comprenant un entrepôt à étagères en trois dimensions et au moins un véhicule permettant de mettre en stockage des supports de chargement et de les sortir du stockage WO2023061626A1 (fr)

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DE102021126500.2 2021-10-13
DE102021126500.2A DE102021126500B3 (de) 2021-10-13 2021-10-13 Regallagersystem mit einem dreidimensionalen Regallager und mindestens einem Fahrzeug zur Einlagerung und Auslagerung von Ladungsträgern

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WO2023061626A1 true WO2023061626A1 (fr) 2023-04-20

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Citations (6)

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US20130291332A1 (en) * 2012-04-09 2013-11-07 Daifuku Co., Ltd. Cleaning Apparatus
WO2017153583A1 (fr) * 2016-03-10 2017-09-14 Ocado Innovation Limited Procédé et appareil pour extraire des unités d'un système de stockage
CN107428468A (zh) * 2015-04-14 2017-12-01 洛格沃公司 多层储物装置和方法
EP2962962B1 (fr) 2012-12-10 2018-04-25 Autostore Technology AS Robot de transport de bacs de stockage
EP3431418A1 (fr) * 2017-07-20 2019-01-23 Mikhail Voloskov Navette pour utilisation dans un système d'entrepôt en trois dimensions
US20200231384A1 (en) * 2019-01-17 2020-07-23 Target Brands, Inc. Material storage and sortation system

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DE102009017241B4 (de) 2009-04-09 2016-12-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Lagersystem
EP2847105B1 (fr) 2012-05-11 2021-06-23 Ocado Innovation Limited Systèmes et procédés de stockage pour récupérer des unités à partir d'un système de stockage
DE102019111709B4 (de) 2019-05-06 2021-04-01 Dematic Gmbh Lagersystem zum Lagern von Waren in einem dreidimensionalen Lager

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130291332A1 (en) * 2012-04-09 2013-11-07 Daifuku Co., Ltd. Cleaning Apparatus
EP2962962B1 (fr) 2012-12-10 2018-04-25 Autostore Technology AS Robot de transport de bacs de stockage
CN107428468A (zh) * 2015-04-14 2017-12-01 洛格沃公司 多层储物装置和方法
WO2017153583A1 (fr) * 2016-03-10 2017-09-14 Ocado Innovation Limited Procédé et appareil pour extraire des unités d'un système de stockage
EP3431418A1 (fr) * 2017-07-20 2019-01-23 Mikhail Voloskov Navette pour utilisation dans un système d'entrepôt en trois dimensions
US20200231384A1 (en) * 2019-01-17 2020-07-23 Target Brands, Inc. Material storage and sortation system

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