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WO2021214079A1 - Agencement de deux cadres de guidage et de support et d'un véhicule d'ascenseur - Google Patents

Agencement de deux cadres de guidage et de support et d'un véhicule d'ascenseur Download PDF

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Publication number
WO2021214079A1
WO2021214079A1 PCT/EP2021/060270 EP2021060270W WO2021214079A1 WO 2021214079 A1 WO2021214079 A1 WO 2021214079A1 EP 2021060270 W EP2021060270 W EP 2021060270W WO 2021214079 A1 WO2021214079 A1 WO 2021214079A1
Authority
WO
WIPO (PCT)
Prior art keywords
guide
storage
support frame
lift vehicle
shelf
Prior art date
Application number
PCT/EP2021/060270
Other languages
German (de)
English (en)
Inventor
Max Winkler
Traian GLIGOR
Original Assignee
Dematic 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 Dematic Gmbh filed Critical Dematic Gmbh
Publication of WO2021214079A1 publication Critical patent/WO2021214079A1/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
    • B65G1/0485—Check-in, check-out devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the invention relates to an arrangement of two stationary guide and support frames and a vertically movable lift vehicle.
  • a shelf storage system with a lift is known from WO 2016/007 330 A1, in which a lifting platform can be moved vertically.
  • a lifting platform can only serve the shelf levels one after the other and therefore represents a bottleneck in this shelf storage system.
  • a large number of lifts per storage aisle
  • Each additional lift also means high costs.
  • Another disadvantage is that if the lifting platform fails, storage or retrieval is not possible until the functionality of the lifting platform is restored.
  • a motorized transport vehicle for transporting specially designed load carriers in a warehouse is known.
  • the transport vehicle can be moved freely on the floor of the warehouse in lanes formed between storage racks.
  • the transport vehicle can be moved vertically in that a device of the transport vehicle grips into rails that are attached to opposite storage racks, and the transport vehicle “climbs” upwards on the rack.
  • a Load carriers are delivered to or picked up by a shelf.
  • a rack storage system with a rail system arranged in the aisle between two storage racks is known.
  • transport vehicles can be moved from a loading system to a storage location or vice versa, the transport vehicle covering the entire distance required for storage or retrieval.
  • switches arranged in the rail system the vehicle can be lowered from a horizontally running rail to a vertically running rail or vice versa.
  • US 2018/0037410 A1 describes a similar system.
  • a transport system with curved rails and a vehicle which is guided over the rails is known.
  • the vehicle can change direction horizontally by means of correspondingly arranged curved rails or switch from a horizontal direction of travel to a vertical direction of travel.
  • a shelf storage system with two vertical lifts spaced apart by an alley is known.
  • the vertical lifts each include two vertically endlessly circulating and synchronously drivable traction means.
  • the traction means are arranged at a distance from one another and each have a multiplicity of oppositely attached holding elements which define a corresponding multiplicity of lift storage locations on which special loading aids can be transported in the vertical direction.
  • the loading aids can be exchanged between the storage rack and the vertical lift by means of a storage machine that can be moved in the longitudinal direction of the storage rack.
  • the vertical lifts of the rack storage system are also based on the paternoster principle, which, however, has disadvantages for use as vertical transport in an automatic storage facility. Either a paternoster has to stop with every load carrier transfer or it has to be very slow or with large vertical ones Drive at intervals, which both lead to a very low performance, since the entire paternoster is always affected.
  • the object of the present invention is to provide a purely vertical transport system which, due to its higher performance, enables a higher throughput of goods in shelf storage systems.
  • the vertical transport system should also be scalable in terms of performance and throughput and be as simple and robust as possible.
  • an arrangement of two stationary guide and support frames and a vertically variably movable lift vehicle is created in that the lift vehicle can be moved upwards in a first guide and support frame and in a second guide and support frame arranged next to the first guide and support frame Support frame is downwardly movable, and the guide and support frames are designed such that the lift vehicle at an upper end of the guide and support frame from the first guide and support frame into the second guide and support frame and at a lower end of the guide and support frame Support frame changes from the second guide and support frame to the first guide and support frame, so that the lift vehicle can be moved in the manner of a paternoster.
  • the at least one lift vehicle that can only be moved vertically variably drives into the guide and support frame and not along the aisle like a normal storage and retrieval unit. It is only used for vertical transport purposes. It does not leave the guide and support frame.
  • a separate transport vehicle which can only be moved horizontally outside of the guide and support frames in the alley, is provided in reverse.
  • Two sections each for a vertical movement and for a horizontal movement enable the lift vehicle to be moved continuously “in a circle” within the guide and support frames. It is not provided that the lift vehicle can be moved downwards in the first guide and support frame and upwards in the second guide and support frame. In other words, a direction of travel of the lift vehicle is specified.
  • a stationary guide and support frame is understood to mean an arrangement of frames that extend essentially vertically and are set up at a distance from one another.
  • the guide and support frame comprises at least two, preferably four, frames.
  • the frames can be connected via further elements, in particular cross struts, in order to stiffen the guide and support frame.
  • the frames are arranged in such a way that there is a free space between them, referred to as a shaft, in particular with a rectangular clearance profile, in which the lift vehicle can be moved.
  • the two guide and support frames preferably have the same arrangement of frames and thus the same clearance profile.
  • the guide and support frames are not arranged in the aisle and only enable the lift function.
  • the guide and support frames are preferably designed like a shaft.
  • the guide and support frames are arranged next to one another in such a way that an equally long side of the respective clearance profile is arranged in parallel and in the same concludes parallel vertical planes.
  • the guide and support frames are arranged close together and can also touch.
  • the guide and support frames have essentially the same height.
  • a connecting structure is formed at the lower and upper end of the guide and support frames so that the lift vehicle can move transversely between the guide and support frames.
  • the connection structure is preferably designed in the shape of a frame.
  • the connecting structure is preferably formed by two elements that correspond to one another, one of which is arranged on each guide and support frame.
  • the lift vehicle is therefore used for essentially vertical transport of a load.
  • cargo is understood to mean an individual article or a bundle of articles, each self-supporting or with a loading aid, for example a container, cardboard box or tray.
  • the load can also include several articles, bundles, containers, etc.
  • the lift vehicle is preferably of simple design and comprises a load receptacle which supports a load from below and / or from the side while it is being transported on the lift vehicle.
  • the lift vehicle comprises at least two wheels, preferably four wheels.
  • the lift vehicle is preferably supported and guided on one of the guide and support frames by means of at least one of the wheels in a vertical movement and is supported and guided on the connecting structure in a horizontal movement.
  • the lift vehicle can comprise a conveyor, which is preferably designed as a roller conveyor. It is also possible that the conveyor is designed as a belt conveyor. An apron conveyor arrangement can also be used.
  • the conveyor can be arranged on the load receptacle so that the load can be stored and conveyed on the conveyor. It is also conceivable that the conveyor is arranged to the side of the load receptacle so that the load can be stored on the load receptacle and can be conveyed by means of the conveyor.
  • the conveyor can also form the load receptacle itself.
  • the conveyor can be driven, whereby by means of a driven conveyor a load arranged on the load receptacle can be delivered to at least one side of the lift vehicle and a load can be picked up from at least one side.
  • a load arranged on the load receptacle can be delivered to one side of the lift vehicle and a load can be picked up from another side of the lift vehicle.
  • a load arranged on the load receptacle can be delivered to two sides of the lift vehicle and a load can be picked up from these two sides.
  • the load receptacle is designed as a table or passive support surface without a conveyor.
  • All lift vehicles move in the guide and support frame in the manner of a paternoster.
  • the lift vehicles can each be moved independently of one another. It is conceivable, for example, that only one lift vehicle is traveling and the other lift vehicles are stationary, or that only one lift vehicle is stationary and the other lift vehicles are moving. In this way, however, the basic disadvantages of a paternoster explained above are eliminated.
  • Several vertical transports take place in parallel, but these are decoupled and can therefore vary their distances from one another, for example while a lift vehicle stops briefly to transfer load carriers.
  • lift vehicles preferably travel in the same direction in normal operation. So it is not intended that lift vehicles with normal function in just one guide and support frames can be moved both upwards and downwards. However, in the event of maintenance or troubleshooting, individual or several lift vehicles can change direction in a targeted manner, for example to be removed.
  • a variably adjustable distance is to be understood as meaning that the distance can be changed over time. Different distances are possible between two adjacent or one above the other lift vehicles.
  • the speed can be set and changed individually for each of the lift vehicles.
  • the speed of the lift vehicle is preferably only changed in order to reduce or increase a distance or to stop the lift vehicle for picking up or delivering a load and then to accelerate it.
  • the speed of all lift vehicles traveling in the guide and support frame is preferably largely coordinated with one another.
  • the number of lift vehicles in the two guide and support frames can be varied. It is conceivable that at a first point in time two lift vehicles are moved into the guide and support frame and at a second point in time different from the first point in time, four lift vehicles are moved into the guide and support frame.
  • the throughput of the arrangement also referred to as a lift
  • a lift can be scaled, with an increase in the number of lift vehicles in the arrangement causing an increase in the throughput.
  • At least one distance sensor is arranged on at least one of the lift vehicles and is designed to determine a distance to a further lift vehicle arranged above or below the lift vehicle and to send corresponding distance signals to the controller, in particular to detect a collision to avoid the further lift vehicle and to optimize the distance.
  • the distance sensor is, for example, a radar or lidar sensor.
  • a plurality of distance sensors can be provided on a lift vehicle so that a distance to a lift vehicle arranged above this lift vehicle and to a lift vehicle arranged below this lift vehicle can be determined.
  • a drive unit by means of which the lift vehicle can be moved vertically (and possibly horizontally), is arranged on the lift vehicle and a connection between the drive unit of the lift vehicle and the guide and support frame, in particular a drive element of the guide and support frame , is preferably formed positively.
  • the drive unit comprises an electrically operated motor, which is preferably controlled by means of the controller, and a drive component.
  • the motor is connected to the drive component, directly or indirectly, in particular by means of a transmission connected in between.
  • the drive component can be the wheels of the lift vehicle or a separate component.
  • the form-fitting connection can take place, for example, by means of a drive component in the form of a toothed wheel and a drive element in the form of a rack or a tightly tensioned chain.
  • connection between the drive unit of the lift vehicle and the guide and support frame or the drive element of the guide and support frame is designed to be non-positive.
  • a shelf storage system with a first pair of storage racks arranged in parallel and an alley running between the two storage racks, each storage rack comprising several shelf levels, is created in that the rack storage system comprises at least one arrangement, the arrangement in each case is arranged at the front on a storage rack or in a storage rack.
  • the guide and support frames preferably have a height that corresponds at least to the height of the storage rack, so that the upper end of the guide and support frames end with the top shelf level of the storage rack or the upper end of the guide and support frame above the top shelf level of the Storage rack is arranged.
  • the shelf storage system according to the invention can be used in a warehouse in addition to other storage and sorting devices.
  • the throughput of the arrangement can be adapted to the desired throughput of the shelf storage system or to the possible throughput of other facilities in the warehouse.
  • the arrangement is exclusively assigned to a storage rack and the lift vehicle can be moved to each of the shelf levels of the storage rack, so that by means of the lift vehicle a load can be picked up from the respective shelf level in front of which the lift vehicle is positioned and to the respective one Shelf level, in front of which the lift vehicle is positioned, can be delivered.
  • each of the lift vehicles used in the arrangement can be moved upwards in the first guide and support frame of the arrangement and can be positioned in front of any shelf level.
  • each of the lift vehicles used in the arrangement can be moved downwards in the second guide and support frame and positioned in front of any shelf level.
  • a second pair of storage racks arranged in parallel is arranged parallel to the first pair and an aisle runs between the storage racks of a pair, the arrangement being associated with two back-to-back storage racks of the first and second pair and the lift vehicle can be moved to each of the shelf levels of a first storage rack arranged in the first pair, so that by means of the lift vehicle a load can be picked up from the respective shelf level of the first storage rack in front of which the lift vehicle is positioned and to each of the shelf levels of a second one arranged in the second pair
  • Storage rack is movable, so that by means of the lift vehicle, a load can be delivered to the respective shelf level of the second storage rack in front of which the lift vehicle is positioned.
  • each lift vehicle used in the arrangement can be moved upwards in the first guide and support frame of the arrangement and can be positioned in front of any shelf level of the first storage rack.
  • each lift vehicle used in the arrangement can be moved downwards in the second guide and support frame and can be positioned in front of any shelf level of the second storage shelf.
  • This embodiment therefore makes it possible to deliver cargo to a storage rack assigned to a first aisle and to pick it up from a further storage rack assigned to a second aisle.
  • this embodiment enables cargo to be conveyed transversely from one lane to an adjacent lane.
  • two lift vehicles are each positioned in the first and the second guide and support frame at the same height.
  • a load can be transported vertically from the first aisle to the second aisle by means of the lift vehicles.
  • the rack levels of the first storage rack are preferably at the same height as the rack levels of the second storage rack.
  • a plurality of arrangements according to the second embodiment can be arranged in a storage rack or at the end of a storage rack.
  • a further arrangement is assigned to overlapping the two storage racks of the first and the second pair, which are arranged back to back, and the lift vehicle to each of the Shelf levels of a second storage rack arranged in the second pair can be moved, so that by means of the lift vehicle, a load can be picked up from the respective shelf level of the second storage rack in front of which the lift vehicle is positioned and can be moved to each of the shelf levels of a first storage rack arranged in the first pair, so that by means of the lift vehicle, a load can be delivered to the respective shelf level of the first storage rack in front of which the lift vehicle is positioned.
  • a storage rack comprises, in addition to a first, overlapping arrangement, a further overlapping arrangement, so that cargo can be delivered to this storage rack and can be picked up by this storage rack.
  • one or more arrangements according to the first embodiment and one or more arrangements according to the second embodiment are arranged in a storage rack and / or on the end of a storage rack.
  • an arrangement according to the first embodiment is arranged on the front side of two storage racks arranged back-to-back and assigned to them and an arrangement according to the second embodiment is arranged across and assigned to the storage racks arranged back-to-back.
  • a storage section preferably a roller conveyor
  • a retrieval section preferably a roller conveyor
  • the lift vehicle can be moved to the storage section so that a load of the storage section can be received, and can be moved to the retrieval section, so that a load can be delivered to the retrieval section.
  • An end face of the storage section and an end face of the retrieval section are preferably arranged at a distance from one another as a result of the arrangement. It is also possible for the storage section to be arranged next to the retrieval section, in particular when the horizontal movement of the lift vehicle takes place transversely to the conveying direction.
  • the guide and support frames preferably each extend below a lowermost shelf level of the storage rack in order to be connected to one below the lowermost To enable storage line and / or retrieval line (conveyor technology level) arranged on the shelf level.
  • the corresponding conveyor technology level can also be arranged above.
  • the storage section and / or retrieval section is preferably connected to a conveyor system with which cargo can be conveyed to a plurality of storage racks and / or can be conveyed away from a plurality of storage racks. It forms the interface to the rest of the warehouse or system.
  • the storage line and / or retrieval line or the conveyor system can be connected to a picking station.
  • a single-level shelf operating device is arranged in each of the shelf levels, which can only be moved horizontally along the aisle and by means of which a load delivered by the lift vehicle can be picked up and stored at one of the storage locations of the corresponding shelf level and a load can be removed from one of the storage locations on the corresponding shelf level and can be delivered to the lift vehicle.
  • This horizontal transport vehicle can therefore only be moved outside of the guide and support frame. It is completely separated from the vertically movable lift vehicles.
  • each shelf level has a transfer point to which a load, in particular from the lift vehicle and the single-level shelf operator, can be delivered or from which a load, in particular from the lift vehicle and the single-level shelf operator, can be picked up.
  • the transfer point preferably comprises a conveyor which is designed as a roller conveyor. It is also possible to use a conveyor designed as a belt conveyor.
  • the conveyor can be driven, whereby by means of the driven conveyor a load arranged on the transfer point can be delivered to at least one side and a load can be picked up from at least one side.
  • a load arranged on the transfer point can be delivered to one side and a load can be picked up from another side.
  • a load arranged on the transfer point can be delivered on two sides and a load can be picked up from these two sides.
  • the load can preferably be stored and conveyed on the conveyor. It is also possible that the load can be conveyed by means of a conveyor arranged laterally at the transfer point.
  • the transfer point is designed as a table.
  • a load can be delivered from a single-level rack servicing device in the first aisle to the transfer point in the first aisle, then conveyed to a transfer point in the second aisle by means of the two lift vehicles positioned at the same height and then by a single-level rack servicing device the second alley.
  • a method for storing a load in a storage rack and / or retrieving a load from a storage rack is created in that a lift vehicle picks up a load from a storage route, then in a first guide and support frame to a predetermined one, preferably by means of a control , Delivery shelf level moves up and there the load on the delivery shelf level, preferably a transfer point of the delivery shelf level, delivers, then moves horizontally at an upper end of the first guide and support frame in a second guide and support frame, then in the moves the second guide and support frame down to a receiving shelf level, preferably predetermined by means of a controller, picks up a load there and then continues down to the retrieval section, there releases the load to the retrieval section and then at a lower end of the second guide - And support frame moves horizontally into the first guide and support frame, whereby the lift vehicle does not leave the guide and support frame, and at least one transport vehicle that can only be moved horizontally outside of the stationary guide and support frame carries the
  • a lift vehicle equipped with a load changes from one guide and support frame to the other guide and support frame (moves horizontally), for example when the delivery shelf level, in particular its transfer point, is due to a disturbance in the corresponding shelf level is occupied and the load cannot be returned.
  • the lift vehicle can then continue to move until the rack level or its transfer point is ready again or the load can be delivered to another location.
  • this does not mean horizontal transport in the actual sense.
  • a movement of the lift vehicle is only provided in the guide and support frame and thus differs from other known lift vehicles, in particular those which can be moved horizontally in shelf levels and, if necessary, can also be moved vertically.
  • the lift vehicle travels essentially continuously in the manner of a paternoster.
  • FIG. 1a to 1d a schematic vertical sectional view of an arrangement with a lift vehicle at different points in time
  • Fig. 1e is a schematic horizontal sectional view of the guide and Support frame according to Figures 1a to 1d,
  • FIGS. 1a to 1d are schematic plan views of the guide and support frames according to FIGS. 1a to 1d,
  • FIG. 2 shows a schematic vertical sectional view of an arrangement with several lift vehicles
  • FIG. 3a shows a schematic top view of a pair of storage racks arranged in parallel, each with an arrangement according to FIG. 2, which is assigned exclusively to a storage rack and is arranged in the storage rack,
  • FIG. 3b shows a schematic sectional view of a storage rack according to FIG. 3a with an arrangement according to FIG. 2,
  • FIG. 4 shows a schematic top view of two pairs of storage racks arranged in parallel, each with an arrangement according to FIG. 2, which is assigned exclusively to one storage rack and is arranged in the storage rack,
  • FIG. 5 shows a schematic top view of a pair of storage racks arranged in parallel, each with an arrangement according to FIG. 2, which is assigned exclusively to one storage rack and is arranged on the front of the storage rack,
  • FIG. 6a shows a schematic plan view of two storage racks arranged back to back with an arrangement according to FIG.
  • FIG. 6b shows a schematic sectional view of the storage racks according to FIG. 6a with an arrangement according to FIG. 2,
  • FIG. 7 shows a schematic plan view of four pairs of storage racks arranged back to back, each with two arrangements according to FIG. 8 shows a schematic plan view of two pairs of storage racks arranged back to back with two arrangements according to FIG.
  • FIG. 9 shows a schematic top view of two storage racks arranged back-to-back with an arrangement according to FIG.
  • FIG. 10 shows a schematic sectional view of an arrangement with a plurality of
  • FIG. 11 shows a diagram of the results of a simulation with an arrangement which is exclusively assigned to a storage rack
  • Fig. 12 shows two arrangements which allow a double game when loading and unloading the lift vehicles.
  • FIGS. 1a to 1d show a vertical, schematic sectional view of an arrangement 1 with a lift vehicle 20 at different points in time.
  • the arrangement 1 comprises two stationary guide and support frames 10a, 10b.
  • Each of the guide and support frames 10a, 10b comprises four essentially vertically extending frames 11 set up at a distance from one another. Between the frames 11 there is a free space 13 called a shaft with a rectangular clearance profile (see also FIG. 1e).
  • the guide and support frames 10a, 10b touch.
  • the guide and support frames 10a, 10b have essentially the same height.
  • a connecting structure 12 is formed at the lower end UE and upper end OE of the guide and support frames 10a, 10b.
  • the lift vehicle 20 can be moved upwards in a first guide and support frame 10a or in its free space 13 (see FIG. 1a) and in a second guide and support frame 10b arranged next to the first guide and support frame 10a or downwards in its free space 13 movable (see Figure 1b).
  • the lift vehicle 20 is at an upper end OE of the guide and support frames 10a, 10b via the connecting structure 12 from the first guide and support frame 10a to the second guide and support frame 10b (see Figure 1c) and at a lower end UE of the guide - and support frame 10a,
  • the lift vehicle 20 can therefore be moved in the manner of a paternoster. It is not provided that the lift vehicle 20 can be moved downwards in the first guide and support frame 10a and upwards in the second guide and support frame 10b. In other words, a direction of travel of the lift vehicle 20 is specified.
  • the lift vehicle 20 comprises four wheels 22, the lift vehicle 20 being supported and guided on one of the frames 11 by means of one of the wheels 22 in a vertical movement and supported and guided on the connecting structure 12 in a horizontal movement.
  • the lift vehicle 20 comprises a drive unit by means of which the lift vehicle 20 can be moved vertically and horizontally.
  • the drive unit comprises an electrically operated motor and a drive component, which is formed, for example, by the wheels 22 of the lift vehicle 20.
  • the motor is here indirectly connected to the wheels 22 by means of a transmission connected in between.
  • a connection between the drive unit of the lift vehicle 20 and the guide and support frame 10a, 10b is, for example, designed in a form-fitting manner.
  • the positive connection is established by means of wheels 22 designed as gearwheels and a drive element designed as a toothed rack of the guide and support frames 10a, 10b.
  • the lift vehicle 20 comprises a load receptacle 21 which supports a load L from below during its transport on the lift vehicle 20.
  • the lift vehicle 20 comprises a roller conveyor 23 arranged on the load receptacle 21, by means of which the load L can be stored and conveyed on the lift vehicle.
  • the roller conveyor 23 can be driven in a conveying direction F, so that a load L arranged on the roller conveyor 23 can be delivered to one side of the lift vehicle 20 and a load L can be picked up from another side of the lift vehicle 20.
  • the horizontal movement of the lift vehicle 20 takes place at the upper end OE of the guide and support frames 10a, 10b against the conveying direction F of the roller conveyor 23 and at the lower end UE of the guide and support frames 10a, 10b against the conveying direction F of the roller conveyor 23.
  • FIG. 1e shows a schematic horizontal sectional view of the guide and support frames 10a, 10b according to FIGS. 1a to 1d.
  • the frames 11 of the guide and support frames 10a, 10b are set up at a distance from one another. Between the frames 11 there is in each case a free space 13, referred to as a shaft, with a rectangular clearance profile.
  • the guide and support frames 10a, 10b are arranged next to one another in such a way that an equally long side of the respective clearance profile of the free space 13 referred to as the shaft is arranged in parallel and terminates in the same parallel vertical planes.
  • FIG. 1 f shows a schematic plan view of the guide and support frames 10a, 10b according to FIGS. 1a to 1d.
  • the connection structure 12 formed at the upper end OE of the guide and support frames 10a, 10b can be seen.
  • the connection structure 12 is formed in the shape of a frame.
  • the connecting structure 12 is formed by two corresponding elements 12a, 12b, one of which is arranged on each guide and support frame 12.
  • FIG. 2 shows a schematic vertical sectional view of an arrangement 1 with a plurality of lift vehicles 20.
  • All lift vehicles 20 move in the guide and support frames 10a, 10b in the manner of a paternoster.
  • the lift vehicles 20 are simultaneously and each independently of one another in the first guide and support frame 10a upwards and in the second guide and support frame 10b can be moved downwards. It is conceivable, for example, that only one lift vehicle 20 is traveling and the other lift vehicles 20 are stationary, or that only one lift vehicle 20 is stationary and the other lift vehicles 20 are moving. However, it is not possible for lift vehicles 20 to be installed in only one guide and support frame 10a; 10b can be moved both upwards and downwards. All lift vehicles 20 travel in the same direction.
  • the number of lift vehicles 20 in the two guide and support frames 10a, 10b can be varied.
  • a distance between two, in particular neighboring, lift vehicles 20, here denoted by A1 and A2 by way of example, can be determined and variably adjusted by means of a control S.
  • the distance A1, A2 can be changed over time. Different distances A1, A2 between two adjacent lift vehicles 20 are possible.
  • a speed can be set and changed individually for each of the lift vehicles 20, the electrically operated motor of the drive unit being controlled by the control S.
  • the speed of the lift vehicle 20 is preferably only changed in order to reduce or increase the distance A1, A2 or to stop the lift vehicle 20 for picking up or delivering a load L and then to accelerate it.
  • the speed of all lift vehicles 20 traveling in the guide and support frames 10a, 10b is preferably largely coordinated with one another.
  • Distance sensors can be arranged on each of the lift vehicles 20.
  • the distance sensors are each designed to determine a distance A1, A2 from a further lift vehicle 20 arranged above or below the lift vehicle 20 and to send corresponding distance signals to the controller S. A collision between two lift vehicles 20 can hereby be avoided.
  • FIG. 3 a shows a schematic top view of a pair 100 of storage racks 50 arranged in parallel, each with an arrangement 1 according to FIG. 2, which is assigned exclusively to a storage rack 50 and is arranged in the storage rack 50.
  • Each shelf level RE has, as shown here for the top shelf level RE, two transfer locations 40.
  • a load L can be delivered from the lift vehicle 20.
  • a load L can be picked up in each case by the lift vehicle 20 from another of the transfer locations 40.
  • Each of the transfer stations 40 comprises a roller conveyor. The load can be stored and conveyed on the roller conveyor.
  • An aisle 60 runs between the two storage racks 50, which are arranged at a distance from one another.
  • a single-level rack operating device 80 is arranged in each of the rack levels RE, as shown here for the top rack level RE.
  • the single-level shelf operator 80 can only be moved horizontally along the aisle 60 on rails 61.
  • a load L delivered by a lift vehicle 20 to the transfer point 40 can be picked up and stored at one of the storage spaces of the corresponding shelf level RE.
  • a load L can be removed from one of the storage locations of the corresponding shelf level RE and transferred to the transfer point 40, from which a lift vehicle 20 can pick up the load L.
  • FIG. 3b shows a schematic sectional view of a storage rack 50 according to FIG. 3a with an arrangement 1 according to FIG. 2.
  • the storage rack 50 comprises several rack levels RE, which extend horizontally and are arranged vertically spaced from one another.
  • the shelf levels RE lie on both sides of the arrangement 1 arranged in the storage shelf 50 at the same level.
  • the guide and support frames 10a, 10b have a height that corresponds to the height of the storage rack 50, so that the guide and support frames 10a, 10b end at their upper end OE with the top shelf level RE of the storage rack 50.
  • Each of the lift vehicles 20 can be moved to each of the shelf levels RE of the storage rack 50, so that by means of each of the lift vehicles 20 a load L can be picked up from the respective shelf level RE, in front of which the respective lift vehicle 20 is positioned, and to the respective shelf level RE, in front of which the respective lift vehicle 20 is positioned, can be delivered.
  • each of the lift vehicles 20 can be moved upwards in the first guide and support frame 10a and can be positioned in front of any shelf level RE.
  • each of the lift vehicles 20 is in the second guide and Support frame 10b can be moved downwards and positioned in front of any shelf level RE.
  • a storage section 30 designed as a roller conveyor is connected to the first guide and support frame 10a.
  • the end of the lift vehicle 20 can be moved to the storage section 30, so that a load L can be picked up from the storage section 30.
  • a retrieval section 90 which is also designed as a roller conveyor, is connected to the second guide and support frame 10b.
  • the front end of the lift vehicle 20 can be moved to the retrieval path 90, so that a load L can be delivered to the retrieval path 90.
  • One end of the storage section 30 and one end of the removal section 90 are arranged opposite one another, spaced apart by the arrangement 1.
  • the guide and support frames 10a, 10b each extend below a lowermost rack level RE of the storage rack 50 in order to enable a connection to the storage section 30 and retrieval section 90 arranged below the lowermost rack level RE.
  • FIG. 4 shows a schematic plan view of two pairs 100 of storage racks 50 arranged in parallel, each with an arrangement 1 according to FIG. For the sake of clarity, only one shelf 50 of each pair 100 is shown.
  • FIG. 5 shows a schematic top view of a pair 100 of storage racks 50 arranged in parallel, each with an arrangement 1 according to FIG.
  • the rails 61 extend beyond the end face of the storage racks 50 so that the single-level rack operating device 80 can be moved to both transfer locations 40.
  • FIG. 6a shows a schematic top view of two storage racks 50a, 50b arranged back to back with an arrangement 1 according to FIG the storage racks 50a, 50b is arranged.
  • a first pair 100a of storage racks 50a, 50b arranged in parallel is arranged parallel to a second pair 100b of storage racks 50a, 50b arranged in parallel.
  • the arrangement 1 is assigned to the storage rack 50a of the first pair 100a and the storage rack 50b of the second pair 100b.
  • Each shelf level RE has, as shown here for the top shelf level RE, a respective transfer point 40.
  • a load L can be transferred from the lift vehicle 20 to one of the transfer locations 40 in the storage rack 50a.
  • a load L can be picked up by the lift vehicle 20 from another of the transfer locations 40 in the storage rack 50b.
  • Each of the transfer stations 40 comprises a roller conveyor. The load can be stored and conveyed on the roller conveyor.
  • a lane 60 runs between the two storage racks 50a, 50b of a pair 100a, 100b that are spaced apart from one another.
  • the single-level rack service device 80 can only be moved horizontally along the aisle 60 on rails 61.
  • a load L delivered by a lift vehicle 20 to the transfer point 40 can be picked up and stored at one of the storage locations of the corresponding shelf level RE.
  • a load L can be removed from one of the storage spaces of the corresponding shelf level RE and transferred to the transfer point 40, from which a lift vehicle 20 can pick up the load L.
  • a load L can be conveyed transversely from the lane 60 of the first pair 100a into the lane 60 of the second pair 100b.
  • two lift vehicles 20 are each positioned in the first guide and support frame 10a and the second guide and support frame 10b at the same height.
  • a load L can then be transported by means of the lift vehicles 20 from the transfer point 40 of the first pair 100a to the transfer point 40 of the second pair 100b.
  • the shelf is high, it may be appropriate not only to enable the lift vehicle 20 to travel transversely above and below, but also to provide connection structures 12 for abbreviation in intermediate levels (analogous to OE and UE) for the horizontal movement.
  • FIG. 6b shows a schematic sectional view of the storage racks 50a, 50b according to FIG. 6a with an arrangement 1 according to FIG. 2.
  • the guide and support frames 10a, 10b have a height that corresponds to the height of the storage racks 50a, 50b, so that the guide and support frames 10a, 10b each end at their upper end OE with the top shelf level RE of the storage racks 50a, 50b.
  • Each of the lift vehicles 20 can be moved to each of the rack levels RE of the first storage rack 50a arranged in the first pair 100a, so that by means of each of the lift vehicles 20 a load L can be picked up from the respective rack level RE of the first storage rack 50a, in front of which the respective lift vehicle 20 is positioned is.
  • each of the lift vehicles 20 can be moved to each of the rack levels RE of the second storage rack 50b arranged in the second pair 100b, so that, by means of each of the lift vehicles 20, a load L can be moved to the respective rack level RE of the second storage rack 50b, in front of which the respective lift vehicle 20 is positioned, is deliverable.
  • each of the lift vehicles 20 can be moved upwards in the first guide and support frame 10a and can be positioned in front of any shelf level RE of the first storage shelf 50a.
  • each of the lift vehicles 20 can be moved downwards in the second guide and support frame 10b and can be positioned in front of any shelf level RE of the second storage shelf 50b.
  • a storage section 30 designed as a roller conveyor is connected to the first guide and support frame 10a.
  • the end of the lift vehicle 20 can be moved to the storage section 30, so that a load L can be picked up from the storage section 30.
  • a retrieval section 90 which is also designed as a roller conveyor, is connected to the second guide and support frame 10b.
  • the lift vehicle 20 is The front side can be moved to the retrieval section 90, so that a load L can be delivered to the retrieval section 90.
  • One end of the storage section 30 and one end of the removal section 90 are arranged opposite one another, spaced apart by the arrangement 1.
  • the guide and support frames 10a, 10b each extend below a lowermost rack level RE of the storage rack 50 in order to enable a connection to the storage section 30 and retrieval section 90 arranged below the lowermost rack level RE.
  • FIG. 7 shows a schematic top view of four pairs 100a, 100b with storage racks 50a, 50b arranged back to back, each with two arrangements 1 according to FIG are arranged.
  • FIG. 8 shows a schematic top view of two pairs 100a, 100b with storage racks 50a, 50b arranged back to back with two arrangements 1 according to FIG are.
  • the arrangements 1 are positioned in the storage racks 50a, 50b in such a way that they have an opposite conveying direction F, so that the load L on each storage rack 50a; 50b can be delivered and received by each storage rack 50a, 50b.
  • FIG. 9 shows a schematic top view of two storage racks 50a, 50b arranged back-to-back with an arrangement 1 according to FIG.
  • the rails 61 each extend beyond the end face of the storage racks 50a, 50b so that the single-level rack operating device 80 can be moved to the transfer point 40.
  • FIG. 10 shows a schematic sectional view of an arrangement 1 with several lift vehicles 20 which can be moved transversely to their conveying direction.
  • FIG. 11 shows a diagram of the results of a simulation with an arrangement 1 which is assigned exclusively to a storage rack 50.
  • the simulation the influence of the number of lift vehicles 20 used in the arrangement 1 on the goods throughput of the arrangement 1 and the transport time of a load L in the arrangement 1 was investigated.
  • the simulation is based on the dimensions of typical shelf arrangements and lift vehicles with a dynamic similar to typical horizontal shelf vehicles (shuttles).
  • the number of lift vehicles 20 in arrangement 1 was varied, an arrangement 1 having one, two, three, four, five, six, seven, eight, nine, ten, fifteen, twenty and twenty-five lift vehicles 20 being simulated.
  • the simulation has shown that the throughput of goods increases in principle when the number of lift vehicles 20 used is increased. From a number of eight lift vehicles 20, however, the throughput of goods reaches a plateau, that is to say an increase in the number of lift vehicles 20 no longer leads to a significant increase in the throughput of goods.
  • the simulation has also shown that the transport time increases linearly with the number of lift vehicles 20 in the arrangement 1.
  • FIGS. 12A and B show two arrangements which can be referred to simply as (A) buffer-shaft-buffer-shaft-buffer and as (B) double-shaft arrangement.
  • a further transfer point 40 is arranged between the guide and support frames 10a, b. Loads L can thus be picked up and released at the same time, so that a double game is possible. This can also be done with the additional abbreviations 12 can be combined in different levels.
  • cargo L can be conveyed transversely from a guide and support frame 10b into the adjacent guide and support frame 10a.
  • two lift vehicles 20 are each positioned in the first and second guide and support frames 10a, 10b at the same height (RE).
  • a load can thus be transported from the first aisle to the second aisle by means of the lift vehicles 20, for example, without having to drive around above or below.
  • the rack levels of the first storage rack are preferably at the same height as the rack levels of the second storage rack.
  • the guide and support frames 10a, 10b are then designed so that the transfer is possible.
  • the arrangements A, B can be used both in the longitudinal direction of the shelves / aisles and in the transverse direction.

Landscapes

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

Abstract

L'invention se rapporte à un agencement (1) constitué de deux cadres de guidage et de support fixes (10a, 10b) et d'au moins un véhicule d'ascenseur à déplacement vertical variable (20), le véhicule d'ascenseur à déplacement vertical variable (20) pouvant se déplacer uniquement vers le haut dans un premier cadre de guidage et de support (10a) et vers le bas dans un second cadre de guidage et de support (10b) qui est disposé à côté du premier cadre de guidage et de support (10a), et les cadres de guidage et de support (10a, 10b) étant conçus de telle sorte que le véhicule d'ascenseur à déplacement vertical (20) puisse se déplacer horizontalement au niveau d'une extrémité supérieure (OE) des cadres de guidage et de support (10a, 10b), à partir du premier cadre de guidage et de support (10a) dans le second cadre de guidage et de support (10b), et au niveau d'une extrémité inférieure (UE) des cadres de guidage et de support (10a, 10b), à partir du second cadre de guidage et de support (10b) dans le premier cadre de guidage et de support (10a) de telle sorte que le véhicule d'ascenseur (20) puisse se déplacer à la manière d'un ascenseur à marche continue. L'agencement se compose en outre d'au moins un véhicule de transport (80) qui peut se déplacer uniquement horizontalement à l'extérieur des cadres de guidage et de support fixes.
PCT/EP2021/060270 2020-04-22 2021-04-20 Agencement de deux cadres de guidage et de support et d'un véhicule d'ascenseur WO2021214079A1 (fr)

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DE102020111008.1A DE102020111008A1 (de) 2020-04-22 2020-04-22 Anordnung aus zwei Führungs- und Abstützungsrahmen und einem Liftfahrzeug
DE102020111008.1 2020-04-22

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WO2024226936A1 (fr) * 2023-04-27 2024-10-31 Berkshire Grey Operating Company, Inc. Systèmes et procédés pour fournir des systèmes de supports mobiles verticaux

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US7101139B1 (en) * 2003-05-06 2006-09-05 Benedict Charles E Automated material handling system with motorized transfer vehicles
JP2009120317A (ja) * 2007-11-14 2009-06-04 Itoki Corp 自動倉庫
US20100158648A1 (en) 2007-04-12 2010-06-24 Schaefer Gerhard Vertical elevator and method for operating a rack by means of the vertical elevator
WO2012155169A1 (fr) * 2011-05-17 2012-11-22 Tgw Mechanics Gmbh Système d'entrepôt à rayonnages
US20120328397A1 (en) * 2010-03-03 2012-12-27 Dematic Accounting Services Gmbh Multi-tier automatic warehouse
US20140257555A1 (en) 2013-03-08 2014-09-11 Bastian Solutions, Llc Robotic material handling system
WO2016007330A1 (fr) 2014-07-08 2016-01-14 Dematic Corp. Configuration de levage pour entrepôt à chariots
JP2016175711A (ja) * 2015-03-18 2016-10-06 村田機械株式会社 昇降搬送装置
US20180037410A1 (en) 2015-04-21 2018-02-08 Opex Corporation Method and apparatus for storing or retrieving items
US20180346247A1 (en) 2012-04-09 2018-12-06 Opex Corporation Method and apparatus for sorting or retreiving items
WO2019072432A1 (fr) 2017-10-12 2019-04-18 Exotec Solutions Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot

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Publication number Priority date Publication date Assignee Title
DE10157121A1 (de) * 2001-11-21 2003-05-28 Richard Balzer Dynamisches Lager- und Materialfluss-System
US7101139B1 (en) * 2003-05-06 2006-09-05 Benedict Charles E Automated material handling system with motorized transfer vehicles
US20100158648A1 (en) 2007-04-12 2010-06-24 Schaefer Gerhard Vertical elevator and method for operating a rack by means of the vertical elevator
JP2009120317A (ja) * 2007-11-14 2009-06-04 Itoki Corp 自動倉庫
US20120328397A1 (en) * 2010-03-03 2012-12-27 Dematic Accounting Services Gmbh Multi-tier automatic warehouse
WO2012155169A1 (fr) * 2011-05-17 2012-11-22 Tgw Mechanics Gmbh Système d'entrepôt à rayonnages
US20180346247A1 (en) 2012-04-09 2018-12-06 Opex Corporation Method and apparatus for sorting or retreiving items
US20140257555A1 (en) 2013-03-08 2014-09-11 Bastian Solutions, Llc Robotic material handling system
WO2016007330A1 (fr) 2014-07-08 2016-01-14 Dematic Corp. Configuration de levage pour entrepôt à chariots
JP2016175711A (ja) * 2015-03-18 2016-10-06 村田機械株式会社 昇降搬送装置
US20180037410A1 (en) 2015-04-21 2018-02-08 Opex Corporation Method and apparatus for storing or retrieving items
WO2019072432A1 (fr) 2017-10-12 2019-04-18 Exotec Solutions Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot

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