WO2023283662A1

WO2023283662A1 - Method for operating a high-bay racking system, as well as high-bay racking system, carriage, and lifting unit therefor

Info

Publication number: WO2023283662A1
Application number: PCT/AT2022/060220
Authority: WO
Inventors: Manuel PERSTLING; Florian BRUNMAYR; Herbert Aschauer
Original assignee: Perstling Manuel; Brunmayr Florian; Herbert Aschauer
Priority date: 2021-07-16
Filing date: 2022-06-26
Publication date: 2023-01-19
Also published as: AT525328B1; AT525328A1

Abstract

The invention relates to a lifting unit, a traversing carriage, a high-bay racking system, and a method for operating a high-bay racking system (1), in which method a plurality of storage means (3, 3a, 3b, 3c) and/or products (30), in particular containers, are stacked one on top of the other in at least one rack system (4, 4a-4h) formed from at least two, in particular four, boundary elements (5), a storage means (3, 3a, 3b, 3c) being loaded or removed by a traversing carriage (2), in particular a base unit (9), from the underside of the rack system (4, 4a-4h). A plurality of storage locations (15) for the storage means (3, 3a, 3b, 3c) are defined and assigned to each rack system (4, 4a-4h), wherein a storage means (3, 3a, 3b, 3c) or a product (30) is stored in a vertically descending manner, in particular starting from the next free uppermost storage location (15) in a downward direction, by moving the traversing carriage vertically upwards and storing the storage means or a product (30) above the traversing carriage (2) in the rack system (4), in particular only by means of a vertical movement of the traversing carriage (2).

Description

Method for operating a shelf store, and a shelf store, carriage and lifting unit for this

The invention relates to a rack storage system and method for operating a rack storage system, as well as a rack storage system, trolley and auxiliary unit for this, as described in claims 1, 11, 13 and 16.

Previously known automatic shelving systems mostly have an aisle in which a storage and retrieval device, lifting beam device, or shuttle vehicle moves with its own load handling device in order to be able to store, retrieve and relocate conveyed goods in the shelving system. In addition, there is usually a central transfer and delivery point in such systems. The shelving systems are usually complex, expensive and must be coordinated in great detail with the goods to be conveyed during the project planning phase. In the previously known systems, a not inconsiderable amount of space is required between the individual containers in order to create free space for the load handling device, which is transported by means of a telescope, finger technology, or carriage, the receiving device or the goods from the shelf to the driving lane. This can then be transported to a loading and/or unloading station.

Every warehouse logistics manufacturer is always looking for new solutions to increase storage density and performance and reduce manufacturing costs. Especially for small storage systems, the desired storage density in relation to the storage size cannot be satisfactorily mapped with the existing solutions. Some manufacturers of automatic storage systems have brought solutions onto the market in recent years that are aimed at smaller storage systems in order to meet the increasing demand in the area of e-commerce and decentralized warehouse management (microfulfillment solutions).

However, these solutions are mostly based on existing technologies (stacker crane / shuttle / walking beam devices) and are often not economical for smaller systems and take up too much space. Particularly noteworthy is the company Hatteland, which with the autostore system, in particular known from WO2016198565A1, WO2015193278A1, WO2015124610A1, WO2014090684A1, WO2017037095A1, WO2016120075A1, took up the idea of storage compression years ago and implemented a specially developed container over the other to be able to store on a shelving system. The containers are stacked directly on top of each other with a robot moving on the shelf. The required free space between the containers was thus eliminated. The disadvantage is that the performance depends heavily on the number of robots used, which in turn only have access to the containers from above, which means that moving the containers takes a lot of time. In addition, special containers with fixed height divisions must be used. The concept for troubleshooting must also be viewed critically. Another significant disadvantage is that the top level on which the robots move must not have a height jump so that the robots can move freely.

The limitation of the shelf height, on the one hand due to disproportionately long storage, retrieval and relocation times, which correlate to the shelf height and on the other hand due to the maximum possible stacking load of the lowest container, is a major disadvantage.

A storage system for containers is known from DE102016125786A1 and WO2016020397A1, in which a large number of containers can be stacked one on top of the other in the form of a stack of containers and a large number of stacks of containers can be arranged next to one another. The rack storage system comprises a number of vertical shafts, with a shaft or rack system being formed from four delimiting elements. A container is stored and removed from the underside of the container stack via a carriage, the carriage being equipped with a lifting device and lifting the container into a first position in which the container stack is held by means of aids.

The disadvantage here is that when a container is stored, all of the containers in the shelf system have to be lifted up, since all of the containers are on top of one another within a shelf system. The lifting device in the transfer carriage must therefore be able to lift a great deal, so that the lifting mechanism in such a shelving system must be designed for the load of the entire stack. The tool used to hold the containers must also be dimensioned accordingly.

Furthermore, from EP3609814A1 a shelf storage system or picking system is known, in which two pairs of posts, which are each connected to two different shelves, delimit a traffic route. A trolley with automatic guidance can take an object or container of an order from at least one of the shelving systems, the trolley being equipped with climbing means capable of moving upwards along the limiting means. A roller chain is attached to each limiting device so that a toothed wheel, the climbing device, engages with the roller chain and the carriage can thus be moved vertically. Storage, retrieval and rearrangement is carried out by the trolley in a horizontal direction in the shelving system.

Dematic's patent DE102019111709B4 describes a complex solution for storing stored goods on a shelf, with at least 2 lifting units in the free space of the shelf uprights being synchronized with one another and having to work together in parallel in order to be able to store, remove or relocate a load on the shelf . The number of drives required and the complexity of the control technology severely limits the cost-effectiveness. An intermediate carrier or a specially developed storage device, such as the Autostore solution, is required for storing goods.

The object of the invention is to create a method for operating a rack storage system, as well as a rack storage system, trolley and auxiliary unit for this purpose, in which the disadvantages mentioned above are eliminated on the one hand and the focus is placed on the economy and performance of the storage system on the other.

Among other things, the goal is to develop a storage system that reduces the free space in the rack to a minimum, keeps the degrees of freedom in the construction of the rack system as free as possible in all dimensions and eliminates the limitation of the height of the rack system. In addition, the height of the shelving systems should be independent of each other and may have jumps in height in order to be able to adapt seamlessly to the building geometry. Next should the Performance can be kept flexible and scalable and there is the possibility of further increasing the system performance by rearranging at any height within the shelving system. Another feature of the invention is the use of universal storage means, which remain largely unrestricted in terms of length, width and height.

This object is solved by the invention. Advantageous measures and training are described in the dependent claims.

The task is solved by a rack storage system or a method for operating a rack storage system, in which each rack system (4.4a-4h) defines and assigns several storage locations (15) for the storage means (3, 30, 3b, 3c), the Storage of a means of storage (3, 30, 3b, 3c) or goods is carried out in a vertically descending manner, in particular downwards from the next free top storage location (15), by the carriage moving vertically upwards and the storage means or goods above the carriage is stored in the shelving system, in particular only by a vertical movement of the transfer carriage

It is advantageous here that the basic unit itself is coupled into the shelving system in order to store the storage means or goods vertically. It is only necessary for the transfer carriage to stop in the vertical movement at a predetermined storage location and for the storage means or the goods to be deposited at the storage location by means of a vertical downward movement. Another advantage is that the height of the storage locations can be freely divided, so that different storage media or goods can be stored. Pre-assembled holding means, in particular holding flaps, can preferably be freely defined for different conveyed goods heights, with a storage means or goods also being able to extend over one or more holding means arranged one above the other. The storage locations can be automatically recognized by the transfer carriage, in that the holding means can be recognized and correspondingly read out or evaluated, for example via magnets, sensors or RFID chips. A design is also advantageous in which the carriage is formed from a basic unit and a lifting unit, the freely movable carriage (2) having the lifting unit (10) positioned below the shelving system (4.4a-4h) with the storage means ( 3, 30, 3b, 3c) into a coupling location (7a), whereupon the lifting unit (10) autonomously transports and deposits the storage means (3, 30, 3b, 3c) to the next free top storage location (15). This makes it possible for the carriage to be separated into two autonomously working units, in particular a base unit and a lifting unit, which, on the one hand, makes it possible to significantly reduce the mass to be moved and the resulting drive technology and energy storage, in line with more sustainable logistics , and on the other hand, the number of vehicles required for the system performance can be minimized through intelligent logic, since a basic unit can move several lifting units or pick up loads from several lifting units, i.e. in the rack warehouse, for example, more lifting units that take over the vertical movement in the system, are used as basic units that collect or deliver the storage means or goods from a station, in particular a loading and/or unloading system.

Advantageous are the measures in which the lifting unit with its drive elements, in particular gear wheels, latches or is coupled into corresponding aids in the delimiting elements in the coupling station. This means that the lifting units can engage in the racking system in a form-fitting manner, which is why no external path measuring systems have to be used, which in turn contributes significantly to increasing the cost-effectiveness of the entire system. Furthermore, the positive drive unit increases the safety of the system because the lifting unit cannot fall to the ground, as could be the case with a drive using friction or clamping force.

However, measures are also advantageous in which each storage location is assigned at least one, preferably four, holding means on the delimiting elements, which are activated by the lifting unit when a storage means is positioned. This ensures that the storage means do not have to be stacked on top of each other, but can be placed directly in the shelving system. This enables very high overall heights as the Loads are diverted into the shelving system and not concentrated on the lowest container. In addition, this measure lowers the requirement for the evenness of the ground on which the system is erected, since inclinations are not added up and therefore do not lead to situations in which container stacks become unstable and tip over in the shaft. The possible maximum height is not limited by the floor or container and a multiple of the maximum height of the AutoStore system can be achieved. Furthermore, the storage of the storage means by means of holding means attached to the shelf allows that almost any storage means used in the industry can be stored in the system and does not have to resort to specially developed containers, as is the case with AutoStore. The customer can thus continue to use his existing means of storage and is not dependent on a single supplier since means of transport belong to general commodities in the industry and are widely available.

It should also be emphasized that the vertical division of the containers can be designed as desired by the type of storage using the holding means on the shelf. The software can carry out intelligent storage management for the different heights of the storage means, so that even the lowest and highest containers can be stored in a space-saving way in a rack system.

Advantageous are the measures in which the transfer carriage, in particular the basic unit, picks up another lifting unit in another racking system after the lifting unit has been positioned and set down in one racking system, or waits for the lifted unit that has been set down, or a newly loaded lifting unit from a loading and/or loading station collection station and picks it up or takes over a storage medium directly from the lifting unit. This makes it possible to achieve very high system performance and to minimize the necessary number of trips and vehicles of both types, and anchors redundancy and self-healing capability in the architecture of the entire system. Among other things, this makes a significant contribution to the economic efficiency of small and large warehouses, since not every single free space in the rack has to be equipped with vehicles, as is the case with patent DE102019111709B4 from Dematic. In addition, downtimes are reduced by an intelligent logic, all vehicles are constant and utilized to the same extent as well as responding to any disturbances with alternatives due to the inherent ability to heal itself.

The measures in which the storage means to be relocated to free rack systems in the lowest free storage levels of one or more rack systems are temporarily stored in order to relocate storage means for removing or rearranging a storage means stored above the shelving system are advantageous. As a result, it is possible to change the container sequence easily. Sorting the containers according to the FIFO (first in first out) principle can thus be mapped quickly and easily. In addition, this concept enables the lower free rack systems to be used for the consolidation or sequencing of customer orders, which in turn replaces classic consolidation buffers such as flow beam devices, fever or similar, or large conveyor technology loops.

Customer orders can be pre-picked quickly and without loss of space - since this process takes place within the warehouse - and transferred to connected conveyor technology or workstations in the correct order. There is no extra sorting process.

In the case of measures in which a storage medium picked up by one lifting unit is or can be transferred to another lifting unit in the adjacent shelving system on two lifting units positioned next to one another, it is advantageous that the system performance can be increased by transferring the containers to adjacent lifting units in any Height on the shelf can be increased dramatically. Especially with goods that are referred to as high runners, constant relocation is no longer necessary, since next to such storage locations, deliberately no or only the top storage locations can be occupied in order to very quickly transport containers from the top levels down via free spaces next to the shelving system .

But there are also the measures of advantage in which the transfer carriage, in particular a control of the base unit, the lifting unit and the determination of the storage space of a storage medium to be stored and for removing a storage medium from a defined storage space of a Storage software takes place or is managed. This ensures that the goods are organized based on the frequency of their stock movements within the warehouse in order to be able to provide quick access to frequently used goods. Furthermore, the entire warehouse structure is to be continuously monitored by an AI (artificial intelligence) in order to adapt the warehouse structure precisely to the needs of the customer, to make predictions and to reorganize the warehouse in advance or to plan goods that have a near best-before date for picking in advance.

Furthermore, in the event of a fault in a traversing or lifting unit, the storage software can fully automatically open a maintenance aisle with the remaining functional traversing and lifting units in order to create an aisle so that the fault can be corrected manually.

Measures are advantageous in which, in order to remove a storage means, the storage means is lifted by the lifting unit or carriage, as a result of which the holding means return to the resting position, in particular are folded in, whereupon the storage means is then transported downwards by the lifting unit or the carriage . This ensures that there are no interfering contours within the shelving system and the lifting unit can move within the shelving system without any problems. In addition, the resetting ensures that the transfer of containers from one lifting unit to a lifting unit waiting in the adjacent rack system is possible at any position.

Also advantageous, however, are the measures in which the transfer carriage, in particular the base unit, moves freely between the rack systems below the coupling location, in particular can switch from one rack system to a rack system arranged next to it. This makes it possible for each shelving system to be reached from a basic unit either with or without a lifting unit, so that each basic unit in each shelving system can put a lifting unit on and off, and each basic unit has direct access to the lowest container or can take containers from a lifting unit. Furthermore, the object of the invention is achieved by a rack storage system, comprising at least one or a large number of rack systems arranged next to one another, with a rack system being formed from at least two, preferably four, boundary elements, in which a plurality of storage means can be stacked one on top of the other, with the storage and removal of a storage means of on the underside of the shelving system, whereby the storage means can be stacked one on top of the other within the shelving system, in which defined storage locations are arranged one above the other within a shelving system, with each storage location being assigned at least one, preferably four, holding means which are transported by the storage means or goods Mechanics, in particular the lifting unit, can be activated in order to be moved from a rest position to a receiving position so that the storage means or goods can be stored.

The advantage here is that the storage means are not directly on top of each other and the lowermost storage means consequently does not have to carry the entire load of all storage means and their contents. The overall height of the shelving system is therefore no longer restricted due to the maximum permissible load of the lowest storage means. A further advantage lies in the fact that the holding means for storing a storage means can be activated by a lifting unit that can be moved independently in the shelving system. This ensures that no fixed shelf divisions are provided in the shelving system, but rather the holding means for storing the storage means can be selected dynamically on the basis of the load height to be stored. This means that an extremely high storage density is achieved because the space between two storage items on the shelf is always kept to a minimum.

However, the object of the invention is also achieved by a traversing carriage for use in rack storage and for carrying out the method for operating rack storage, comprising at least one base unit for transporting a storage medium, the base unit having a lifting device, in particular an initial lifting unit, for receiving a storage medium or goods , And is supplied with electrical energy from an integrated energy source, in particular a rechargeable battery, for the ferry operation, with software, in particular control software, for moving the basic unit in a controller is integrated, in which another independently working and detachable lifting unit for receiving the storage means is arranged on the base unit, wherein the lifting unit can be set down via an initial lifting unit below a shelf storage at a coupling point for a vertical movement within the shelf system or the base unit for coupling is designed with a shelf store, in particular a shelf system, for vertically descending filling with storage means or goods within a shelf system. The advantage here is that the separation of the traversing carriage into two independently operating systems, in particular a base unit and a lifting unit, means that these can be produced inexpensively. Another important advantage is that an unequal number of lifting units and basic units can be used in a rack storage system. In particular, more lifting units are used than basic units in order to significantly speed up storage and removal.

A configuration is advantageous in which the base unit is designed for the preferably contact-free charging of the lifting unit with electrical energy when the lifting unit is being transported. The result of this is that wear-sensitive charging contacts can be saved. Separate charging of the lifting unit and the base unit also makes sense for higher performances in the system.

However, the object of the invention is also achieved by a lifting unit for use with a traversing carriage, in particular a base unit, and for use in rack storage and for carrying out the method for operating a rack storage system, in which the lifting unit has at least one base body with at least one, preferably comprises four drive elements for a vertical direction of movement and an energy source integrated in the base body for supplying the drive elements and a controller for autonomous movement is arranged within a shelving system, with the base body on one side for receiving a storage medium and on the opposite side for transport with a base unit a carriage is formed.

The advantage here is that the integrated energy stores through the drive elements when relocating or vertical travel down again Recuperation charged and thus the time between charging processes can be extended. This contributes significantly to the energy efficiency of the overall system.

Finally, an embodiment is advantageous in which a conveying means for transferring a storage means to another lifting unit is arranged on the base body for receiving the storage means. This ensures that the storage means is transferred within the shelf from a lifting unit to a waiting lifting unit in the delimiting shelf system at any point. This results in a dramatic increase in performance when many storage items need to be moved to other shelving systems in order to remove a top-level storage item from the system.

The invention is explained in more detail with reference to an exemplary embodiment illustrated in the drawings, the invention not being restricted to this exemplary embodiment.

Show it:

1 shows a diagrammatic representation of a shelf storage system with transfer carriages and loading and/or unloading stations, in a simplified, schematic representation;

2 shows a further diagrammatic representation of the shelf storage system with a plurality of transfer carriages and a self-sufficiently moving lifting unit, in a simplified, schematic representation;

3 shows a side view of the rack storage facility with differently stored containers, in a simplified, schematic representation;

4 shows a detailed representation of the transfer carriage with a container, in a simplified, schematic representation;

5 shows a diagrammatic representation of the holding means for attachment to the delimiting elements with the cover cap lifted off, in a simplified, schematic representation.

As an introduction, it should be noted that in the different embodiments the same parts are provided with the same reference numbers or the same component designations, the same being contained in the entire description Disclosures can be transferred mutatis mutandis to the same parts with the same reference numbers or the same component designations. The position information selected in the description, such as top, bottom, side, etc., also refers to the figure described and, if the position changes, must be transferred to the new position. Individual features or combinations of features from the exemplary embodiments shown and described can also represent independent inventive solutions.

Figs. 1 to 5 show a storage rack 1 with a transfer carriage 2 for storing and/or removing storage means 3, in which a wide variety of goods 30 can be stored, with which a storage rack system or method for operating the storage rack 1 is carried out.

The racking system 1 is formed from at least one racking system 4, with a large number of racking systems 4 normally being arranged next to one another. A shelving system 4 is formed from a plurality of at least two but preferably four delimiting elements 5, with the storage means 3 being positioned within these delimiting elements 5, i.e. each shelving system 4 has at least 2 but preferably four delimiting elements 5 spaced apart from one another, with one or several delimiting elements 5 can be used by several shelving systems 4 at the same time. For example, the first shelving system 4 is formed from four delimiting elements 5 which are set up and fastened from one another in such a way that a preferably rectangular or square storage means 3 can be arranged and stored within the four delimiting elements 5 . For a further shelving system 4, which is directly connected to the first shelving system 4, only two further delimiting elements 5 are then required, since two delimiting elements 5 from the first shelving system 4 can be used. The delimiting elements 5 can be fastened to the floor and/or to a ceiling of a room or warehouse, with struts also being able to be used for stabilization and/or reinforcement. For the sake of completeness, it is mentioned that such a storage rack 1 can easily be expanded and also built around obstacles such as pillars, with no free spaces or aisles being required. A shelving system 4 preferably has three sectors, in particular at least one driving sector 6, a receiving or removal sector 7 and a storage sector 8, as shown schematically in FIG. The first sector is therefore the driving sector 6, in which the transfer carriage 2 can move back and forth horizontally between the rack system 4, i.e. the transfer carriage 2 can change from one rack system 4 to another rack system 4, as is the case, for example, in Fig. 3 is shown. The driving sector 6 must be dimensioned in such a way that it can accommodate the traversing carriage 2 , which is or is formed from a base unit 9 and a lifting unit 10 , and a storage means 3 with a maximum storage height 11 .

The next subsequent receiving or removal sector 7, in particular the so-called coupling station 7a, is designed for coupling the lifting unit 10, so that the lifting unit 10 is separated from the base unit 9 for the storage of a storage medium 3 or the lifting unit 10 from the base unit 9 for the removal of a storage medium 3 of the base unit 9 is received. For this purpose, at least two, preferably four, delimiting elements 5 assigned to the shelving systems 4 are equipped with aids 12, in particular gearing (not shown), so that at the coupling point 7a the lifting unit 10 with its drive elements 13, in particular gear wheels 130, can be engaged in the corresponding aids 12, e.g can be coupled into the toothing of the toothed rack 2a. In addition, to increase safety, corresponding sensors (not shown) can be arranged, via which the presence and position of the lifting unit 10 is detected.

The next storage sector 8 of a shelving system 4 extends over the remaining height 14 of the delimiting means 5, in which several storage means 3 are kept or stored one above the other. In the shelf storage 1, in particular on the delimiting elements 5, at least two, preferably four holding means 16, as shown in detail in Fig. 5, are assigned to the delimiting elements 5 for each storage location 15 of containers 3 or storage means 3, ie the storage means 3 by the holding means 16 in the shelving system 4, in particular at the storage location 15, between the Limiting elements 5 are held. The storage locations 15 are designed in such a way that there is a small free space 17 between two storage means 3 arranged one above the other, i.e. the storage means 3 are not placed one on top of the other, as is the case in the prior art, but each storage means 3 has its own storage space 15, so that a storage means 3 can be raised slightly without moving a storage means 3 positioned above it.

According to the invention, a storage rack 1 is provided that comprises at least one or a plurality of rack systems 4 arranged next to one another, with a rack system 4 being formed from at least two, preferably four, boundary elements 5, in which a plurality of storage means 3 or containers 3 can be stacked one on top of the other. A storage means 3 is stored and removed from the underside of the shelving system 4 , with the storage means 3 being stackable on top of one another within the shelving system 4 . Defined storage locations 15 are arranged within a shelving system 4 so that a corresponding storage location 15 can be assigned to each storage means 3 .

A significant difference in the shelf storage system according to the invention compared to the prior art is that the storage means 3 are stored within a shelf system 4 from top to bottom, with the filling or removal of the shelf system 4 taking place from below via the transfer carriage 2, i.e. that for full utilization of the storage capacity of each shelf system 4 from the top storage space 15 down to the coupling space 7a, which can also be used as a storage space 15, as shown in Fig. 3 in the shelf system 4f.

The transfer carriage 2 has a base unit 9 with an initial lifting unit 18 and can carry out an initial lift in order to place the lifting unit 10 in the rack system 4, in particular to lift it into the receiving or removal sector 7 or coupling station 7a, or to pick it up from the rack storage 1, in particular from To lift recording or decrease sector 7 or coupling space 7a.

In the pick-up or removal sector 7 or coupling station 7a, the lifting unit 10 engages in the aid 12 and from this point in time is decoupled from the traveling carriage 2, in particular the base unit 9. After setting down the lifting unit 10, the traversing carriage 2, in particular the base unit 9, can wait for the lifting unit 10 that has just been set down to be picked up again or move freely in the first travel sector 6 in order to pick up another lifting unit 10. The traversing carriages 2 can move in both horizontal directions, in particular between the delimiting elements 5, in the lower area of the rack, ie in the driving sector 6. The lifting unit 10, on the other hand, can move independently to any storage position or storage location 15 on the shelf, in particular within a shelf system 4, in the vertical direction, i.e. the lifting unit or units 10 are not rigidly bound to the carriage 2, but can work independently. As a result, for example, more lifting units 10 than carriages 2, in particular basic units 9, can be used in the system, as a result of which the performance of the storage, retrieval and rearrangement of the storage means 3 can be designed very flexibly.

If the lifting unit 10 has reached a storage location 15 in which a storage means 3 is to be stored, the lifting unit 10 places the storage means 3, in particular the container 3, on the shelf 1, in particular the control system 4, by placing the storage means 3, for example, on preferably 4 pieces Retaining means 16, which are preferably stored mechanically via spring-loaded, preferably torsion springs, retaining flaps 19. The retaining flaps 19 are preferably actuated on the actuating mechanism 20 located on the lifting unit 10, which pushes against the retaining flaps 19 when raised and thus simultaneously press the retaining flaps 19 in the direction of the lifting unit 10, as is shown schematically in FIG. If the lifting unit 10 stops in the area of the retaining flaps 19 pressed in the direction of the lifting unit 10 and then moves downwards in the direction of the receiving or removal sector 7, the retaining flaps 19 are loaded by the storage means 3, in particular the bottom of the container 3, before they can move again can fold back into the rest position, so that the holding flaps 19 are automatically pressed further down by gravity, in particular the weight of the storage means 3, and the storage means 3 is thus securely deposited on the holding means 16. The actuating mechanism 20 is thereby moved by the lifting unit 10 just before the corresponding storage position 15, i.e. before the corresponding holding means 16, extended so that it can press against the retaining flaps 19, whereas if the actuating mechanism 20 is not extended, the lifting unit 10 can move past the retaining means 16 without actuating the retaining flaps 19, i.e. the retaining means 16, in particular the retaining flaps 19, in Direction lifting unit 10 are moved.

When retrieving a container 3, in particular a storage means 3, the lifting unit 10 moves from below to the storage means 3 with the actuating mechanism 20 retracted, i.e. deactivated, and then lifts the storage means 3 only slightly. The spring-actuated retaining flaps 19 of the retaining means 16 move through the unfolded state biased spring back to its rest position, as can be seen from Fig. 5, so that the lifting unit 10 can then move freely up or down. The retaining flaps 19 are arranged in such a way that, in the rest position, they are in the shadow of the shelf uprights, in particular the delimiting elements 5, and the lifting unit 10 with the storage means 3 accommodated can be moved past

In the event of a technical defect in the system or in the storage rack 1 or if a storage medium 3 or container 3 cannot be properly stored, removed or relocated, the existing transfer carriages can "shovel out" 2 maintenance rounds in all dimensions, i.e. that In principle, access to each individual shelving system 4 is possible from below, whereby in the event of problems in a shelving warehouse 4, a shelving warehouse 4 next to it is cleared so that the maintenance personnel can access all storage locations one above the other via this cleared shelving warehouse. This means that no maintenance vehicle is required.

In particular, FIG. 1 shows an entire shelf storage system 1 with, for example, three loading and/or removal stations 21 at which the carriages 2 pick up or drop off the storage means 3 . The transfer carriages 2 bring or fetch the storage means from the storage rack 1, with these being able to move freely horizontally below the stored containers 3 or storage means 3. The traversing carriage 2 is preferably assigned the corresponding shelf system 4 (4a to 4a) via software, in particular shelf management software 4h) and the storage space 15 contained therein for the storage means 3 to be stored, so that the carriage 2 moves autonomously to the corresponding shelf system 4. Then, via the initial lifting unit 18, the lifting unit 10, together with the storage means 3 located thereon, is lifted into the coupling space 7a, as shown, for example, in the shelf system 4a. The lifting unit 10 couples into the auxiliary device 12 on the delimiting elements 5 and then conveys the storage means 3 vertically into the correspondingly allocated storage space 15. When the carriage 2 has uncoupled the lifting unit 10, it can be used again for loading and/or unloading. Drive to station 21, a free lifting unit 10 being picked up on the way there, in order to then re-store a new storage device 3, or a lifting unit 10 with a storage device 3 being picked up by a shelf system 4 and this being attached to the loading and/or unloading Station 21 delivered. It is also possible for several lifting units 10 to be used as a reserve in a rack system 4, so that further lifting units 10 can be used at any time, or if there are too many, they can be handed over.

In principle, more lifting units 10 are used in the shelf storage system according to the invention than there are carriages 2, in particular basic units 9, since the lifting units 10 can work and remain independently within a control system 4 vertically. Of course, it is possible that with a special design of the lifting unit 10, it can also change from one shelf system 4a to another shelf system 4b, if this is desired.

If a storage container 30 is to be removed, for example, from the top storage location 15, as shown, for example, in the shelving system 4b in FIG. 3c are removed first. For this purpose, a lifting unit 10 is positioned below the shelf system 4 and transported to the coupling point 7a. Then the lifting unit 10 can accommodate a storage means 3 . There are now several ways in which rearrangement can be carried out. On the one hand, the lifting unit 10 can bring the container 3c or storage means 3c to be relocated back to the coupling point 7a, where the lifting unit 10 together with the storage means 3 is picked up by a base unit 9 and temporarily stored in another free storage space 15 of another shelving system 4c. This can be carried out as often as necessary until access to the required storage means 30 is possible, so that these can then be transported to the loading and/or unloading station 21 . The rearranged storage means 3b, 3c can then be conveyed back to their original storage location 15 in the shelving system 4v, or they remain in the rearranged storage location 15 of the shelving system 4c.

To speed up the transfer, it is possible for the lifting units 10 to be equipped with a transverse conveyor 22, so that a storage medium 3c is transferred from one lifting unit 10 to another lifting unit 10, which is located at the same height in the adjacent shelving system 4b and 4c , as shown schematically. This allows two lifting units 10, which work independently next to each other in two shelving systems 4, for example shelving systems 4b and 4c, to relocate the entire storage means 3c and 3b without a basic unit 9 being required. For the sake of completeness, it is mentioned that with three lifting units 10 arranged next to one another in three adjacent shelving systems 4, the storage means 3 can be moved over all of them, i.e. the lifting units 10 have, among other things, a transverse drive, in particular a transverse conveyor unit 22, which enables the storage unit 3 (at any height) to carry to a nearest lifting unit 10. Thus, the lifting unit 10 does not always have to move all the way down to a transfer carriage 2 for a relocation process. The time required for a rearrangement can thus be significantly reduced. In order to further shorten the storage and retrieval time, the carriage 2 is designed in such a way that the lowest container 3 or storage means 3 can be reached directly with the carriage. This is a major and significant advantage of the shelf storage system 1 that the use of several independently working lifting units 10 can accelerate the removal and storage and relocation since the lifting units 10 work independently in a shelf system 4 and can remain. According to the invention, it is provided that a storage means 3 is usually stored from the next free uppermost storage location 15 downwards, i.e. the uppermost storage location 15 in a shelving system 4 is preferably filled first, after which the next underlying storage location 14 in the same shelving system 4 is occupied.

However, it is also possible for any storage location 15 to be defined for a storage means 3, as is shown, for example, in FIG. 3 in the shelf system 4a, so that the subsequent storage means 3 are arranged underneath. However, the storage location 15 above the first storage means 3 is then lost. If, for example, storage means 3 are stocked with goods 30 that protrude beyond the edge of storage means 3, as shown schematically in Fig. 3, shelving system 4e, it is usually necessary for storage space 15 above to remain free, with these being detected by sensors and the storage software can, in turn, intelligently and space-saving store the means of storage together with the protruding load in a height-optimized free storage space.

It is also possible that, as shown in Fig. 3, a wide variety of storage means 3, in particular containers 3, with different container heights 23, for example container heights 230, 23b and 23c, can be stored, for which purpose the holding means 16 in the individual shelving systems 4 are adapted accordingly have to be.

In particular, FIG. 4 shows the traversing carriage 2 with the initial lifting unit 18 extended in the form of an exploded view. It can be seen that the initial lifting unit 18 has a receiving unit 24 which is suitable for receiving a storage means 3 from the lowest storage location 15, in particular the coupling location 7a, for which purpose the receiving unit 24 has the actuating mechanism 20, for example a lifting magnet plunger. When the actuating mechanism 20 and the receiving unit 24 are activated, this can be extended via the initial lifting unit 18 to such an extent that the container 3 or receiving means 3 stored in the lowest storage location 15 is lifted slightly, so that the holding means 16, in particular the holding flaps 19, pivot back into the rest position. The initial lifting unit 18 can then be retracted and the receiving means 3 can be placed in another shelving system 4, in particular in the lowest storage location 15 or coupling location 7a. It is thus possible for the base unit 9 to be able to hold and set down a storage means 3 even without a lifting unit 10

A further advantageous embodiment of the receiving unit 24 is when it is also equipped with a transverse conveying unit 22 . This makes it possible, on the one hand, for the base unit 9 to be able to receive storage means 3 or stored goods 30 directly from the lowest storage or coupling location 15, 7a and to transfer this storage means 3 or goods 30 to the loading and/or unloading station 21 can bring, since the picked up part, in particular the storage means 3 or goods 30, can be transferred to the station 21 via the transverse conveyor unit 22 or can also be taken over by it. On the other hand, this makes it possible for a picked-up storage means 3 or goods 30 to be transferred directly from a base unit 9 to a further base unit 9 via the transverse conveyor unit 22 . For the sake of completeness, it is mentioned that it is of course possible for the base unit 9, in particular via its transverse conveyor unit 22, to transfer a storage means 3 or goods 30 together with the lifting unit 10 from one base unit 9 to another base unit 9, or that the transfer to another carriage 2, in particular base unit 9, takes place directly via the lifting units 10.

In principle, it is also possible for the receiving unit 24, like the lifting unit 10, to be equipped with drive elements 13 designed for vertical movement, in particular gear wheels 130, so that, for example, the base unit 9 can be moved into the shelving system 4, in particular into the coupling space 7a, when the drive units 13 are activated, in particular when they are extended, and can then be moved in the vertical direction within the shelving system 4 . As a result, the base unit 9 can store and also pick up a storage means 3 without a lifting unit 10 being required. It can therefore be said that the receiving unit is designed in the same way as the lifting unit 10 and can therefore carry out a vertical as well as a horizontal travel movement. With such a configuration of the transfer carriage 2, in particular the base unit 9, it is possible for a rack storage system to be equipped only with base units 9, or also one Mixture of basic units 9 and lifting units 10 is possible, with either both or only the lifting units 10 running the vertical movement.

What is essential in the solution according to the invention is that the rack storage system or rack storage method for operating a rack storage 1, in which a large number of storage means 3, 30, 3b, 3c and/or goods 30, in particular containers, are stacked in at least one of at least two , In particular four delimiting elements 5 formed shelf system 4.4a-4h are stacked, with the storage or removal of a storage means 3, 30, 3b, 3c from a carriage 2, in particular a base unit 9, from the underside of the shelf system 4.4a-4h takes place, with each shelving system 4.4a-4h being defined and assigned several storage locations 15 for the storage means 3, 30, 3b, 3c, with the storage of a storage means 3, 30, 3b, 3c or a product 30 descending vertically, in particular from the next free top storage space 15 down, is carried out by the carriage and / or a lifting unit 10 moves vertically upwards and the storage m means 3 or a product 30 is stored above the carriage and/or lifting unit 10 in the shelf system, in particular only by a vertical movement of the carriage 2 and/or the lifting unit 10.

The advantage of the solution according to the invention is:

• Height division via the pre-assembled holding means 16, in particular holding flaps, freely selectable for different conveyed heights

• Space-optimized storage of different container heights 23 dynamically possible, no air as with existing storage systems

• No machine aisles necessary, since the carriages 2 are located under or in the shelf 1.

• No need for an upper driving level that is on one level

• Shelf shape (height, width, length) can be used very flexibly, also possible with intermediate jumps, so that existing spatial conditions can be used 100% in the storage density.

• Very high performance, since the containers 3 can also be relocated on the shelf 1 and do not always have to go all the way down.

• Very high storage density possible since only a small amount of free space 17 between the containers 3 is necessary

• No conveyor technology required, since the traversing carriages 2 come directly to the work station 21 on the ground.

• No floor flatness requirements • System can also be used for pallets, as these can be placed on the retaining flaps 19.

It is also possible that in some versions of the system it may be expedient for the lifting unit 10 itself to be designed in such a way that it can leave the shelf system 4 without a base unit 9 and can also move in a horizontal direction in a travel sector 6, for which purpose corresponding drive elements (Not shown) are arranged on the lifting unit 10. The lifting unit 10 is preferably designed in such a way that it must be lifted into or out of the coupling station 7a, but the aid 12 is designed to reach the bottom of the shelf system 4 so that it can couple itself.

Optimum use of the available space is achieved if the delimiting elements 5 in the area of the travel sector 6 have an undercut to reduce the horizontal cross-section of the delimiting element 5 in order to allow the base unit 9, lifting unit 10 or transfer carriage 2 to pass by with or without storage means 3 loaded , to allow in the horizontal direction. As a result, a wider alley is created below the storage locations 15.

It is also advantageous if, for the purpose of supplying energy, the energy store of the base unit 9 or lifting unit 10 is recharged at designated positions within the rack storage system 1, i.e. there are corresponding charging positions at which the base unit 9 and/or the lifting unit 10 preferably uses contactless energy can record. Of course, it is also possible that one or more charging stations (not shown) are provided outside of the shelf storage system 1, to which the base unit 9 alone or with a lifting unit 10 can be connected if the amount of energy is too low, which is continuously or at certain intervals during operation is checked, visits the charging station. It is possible that carriage 2 is always present in the loading station or stations, so that it leaves the loading station when another carriage 2 comes to load, so that one or fully loaded carriage 2 is always integrated into the system when another carriage 2 is to loading is coming. Another advantageous solution of the system is that shelving systems 4 or specially designed shelving systems 4 can accommodate lifting units 10 or traversing carriages 2 for the purpose of interim storage, if necessary, in order to increase the performance of the system if necessary, to charge the energy storage or for reasons of efficiency or energy saving Reduce the number of units moved in rack storage 1.

Furthermore, it is possible that a higher-level control is used, which allows the dynamics of the system to be adapted to the performance. For example, if a base unit 9 is to pick up a lift unit 10 from a remote shelving system 4 and this lift unit 10 takes longer to complete the current task than the base unit 9 to get to the position of the lift unit 10, the acceleration and/or speed of the base unit 9 can be reduced to the extent that it arrives approximately at the shelf system 4 of the lifting unit 10 when the lifting unit 10 has completed the task and is waiting for collection at the coupling point 7a.

A further advantage of the system is that the holding means 16 are designed in such a way that they are activated by the mechanism transporting the storage means 3, in particular a lifting unit 10, i.e. from a rest position to a receiving position, as is shown schematically in Fig. 5 for the holding flaps 19 shown, offset, so that the storage means 3 can be stored in the shelving system 4. For the sake of completeness, it should be mentioned that the holding means 16 can be activated mechanically, for example via a plunger, electrically, in particular by lifting magnets or electromagnets, pneumatically or hydraulically. It is particularly advantageous if the holding means (16) is reset automatically by a function integrated in the holding means, in particular a spring or by utilizing the force of gravity.

It is also possible, for example, for the holding means 16 to be equipped with appropriate elements, in particular identification plates, RFID chips, magnets, etc., so that the lifting unit 10 or the carriage 2 can detect, evaluate and assign the storage locations 15 during a vertical movement . For this purpose, the lifting unit 10 or travel paths 2, accordingly corresponding sensors or detection means. This ensures that each stored storage means 3 or product 30 is actually stored or parked in the designated storage location 15, which is allocated, for example, by storage software.

For the sake of order, it is pointed out that the invention is not limited to the illustrated embodiment variants, but can also include other configurations. In particular, the design variants or individual features of the design variants can also be combined with one another.

Claims

Patent Claims:

1. Method for operating a shelf storage system (1), in which a large number of storage means (3, 3a, 3b, 3c) and/or goods (30), in particular containers, are stacked in at least one of at least two, in particular four, delimiting elements (5 ) formed shelving system (4.4a-4h) are stacked, wherein the storage or removal of a storage means (3, 3a, 3b, 3c) from a carriage (2), in particular a base unit (9), from the underside of the shelving system ( 4.4a-4h), characterized in that each shelving system (4.4a-4h) has several storage locations (15) for the storage means

(3, 3a, 3b, 3c) are defined and assigned, with the storage of a storage means (3, 3a, 3b, 3c) or a product (30) being vertically descending, in particular from the next free top storage location (15) downwards by the carriage (2) moving vertically upwards and the storage means or a product (30) being stored above the carriage (2) in the shelving system (4), in particular only by a vertical movement of the carriage (2).

2. The method according to claim 1, characterized in that the carriage is formed from a base unit and a lifting unit, the freely movable carriage (2) having the lifting unit (10) positioned below the shelving system (4.4a-4h) and the storage means positioned thereon (3, 3a, 3b, 3c) into a coupling location (7a), whereupon the lifting unit (10) independently transports and deposits the storage means (3, 3a, 3b, 3c) to the next free top storage location (15).

3. The method according to claim 1, characterized in that in the coupling station (7a) the lifting unit (10) with its drive elements (13), in particular gear wheels (13a), engages in corresponding aids (12) in the delimiting elements (5) or be coupled.

4. The method according to claim 1 or 2, characterized in that each storage location (15) is assigned at least one, preferably four, holding means (16) on the delimiting elements (5), which are used by the lifting unit (10) when positioning a storage means (3, 3a, 3b, 3c) are activated.

5. The method according to any one of the preceding claims, characterized in that the transfer carriage (2), in particular the base unit

(9), after the positioning and placement of the lifting unit (10) in a shelving system (4.4a-4h), another lifting unit (10) in another shelving system (4.4a-4h) receives or on the deposed lifting unit (10) waits or collects and picks up a newly loaded lifting unit (10) from a loading and/or removal station (21) or takes over a storage means (3, 3a, 3b, 3c) directly from the lifting unit (10).

6. The method according to any one of the preceding claims, characterized in that for the rearrangement of storage means

(3, 3a, 3b, 3c) for the removal or resorting of a storage means (3, 3a, 3b, 3c) stored above the shelving system (4,4a-4h) the storage means (3, 3a, 3b, 3c) to be relocated into free Shelving systems (4.4a-4h) are temporarily stored in the lowest free storage levels of one or more shelving systems (4.4a-4h).

7. The method according to any one of the preceding claims, characterized in that on two adjacently positioned lifting units

(10) a storage device (3, 3a, 3b, 3c) picked up by a lifting unit (10) is transferred or can be transferred to a further lifting unit (10) in the adjacent shelving system (4,4a-4h) at any vertical height .

8. The method according to any one of the preceding claims, characterized in that the transfer carriage (2), in particular a control of the base unit (9), the lifting unit (10) and the fixing of the Storage location (15) of a storage means (3, 3a, 3b, 3c) to be stored and for removal of a receiving means (3, 3a, 3b, 3c) from a defined storage location (15) takes place or is managed by storage software.

9. The method according to any one of the preceding claims, characterized in that for removing a storage means

(3, 3a, 3b, 3c) the storage means (3, 3a, 3b, 3c) is lifted by the lifting unit (10) or carriage (2), as a result of which the holding means (16) return to the rest position, in particular being folded in , whereupon the storage means (3, 3a, 3b, 3c) is transported downwards by the lifting unit (10) or carriage 2.

10. The method according to any one of the preceding claims, characterized in that the carriage (2), in particular the base unit (9), moves freely below the coupling station (7a) between the shelf system (4.4a-4h), in particular from a shelf system (4.4a-4h) can change to an adjacent shelving system (4.4a-4h).

11. Shelving (1), comprising at least one or a plurality of adjacently arranged shelving systems (4.4a-4h), wherein a shelving system (4.4a-4h) of at least two, preferably four boundary elements (5) is formed, in which several Storage means (3, 3a, 3b, 3c) can be stacked one on top of the other, with storage and removal of a storage means (3, 3a, 3b, 3c) taking place from the underside of the shelving system (4, 4a-4h), with the storage means (3 , 3a, 3b, 3c) within the shelving system (4.4a-4h) can be stacked one on top of the other, characterized in that within a shelving system (4.4a-4h) defined storage locations (15) are arranged one above the other, with each storage location

(15) at least one, preferably four, holding means (16) are assigned, which can be activated by the mechanism transporting the storage means (3, 3a, 3b, 3c) or goods (30), in particular the lifting unit (10), in order to added to a rest position in a receiving position be so that the storage means (3, 3a, 3b, 3c) or goods (30) can be stored.

12. Shelf store according to claim 11, characterized in that the shelf store is designed for applying the method of one of claims 1 to 10.

13. Traversing carriage (2) for use in the storage rack (1) and for carrying out the method for operating a storage rack (1), comprising at least one base unit (9) for transporting a storage medium

(3, 3a, 3b, 3c), wherein the base unit (9) has a lifting device, in particular an initial lifting unit (18), for receiving a storage medium or goods (30), and with electrical energy from an integrated energy source, in particular a rechargeable battery, for the ferry operation is supplied, with software, in particular control software, for moving the base unit (9) being integrated in a controller, characterized in that a further independently operating and detachable lifting unit (10) for receiving the storage means ( 3, 3a, 3b, 3c), wherein the lifting unit (10) can be set down via an initial lifting unit (18) below a rack storage (1) at a coupling point (7a) for a vertical movement within the rack system, or the base unit for coupling with a shelf store (1), in particular a shelf system (4.4a-4h), for vertically descending filling with storage means or goods (30) within a Shelving system (4.4a- 4h) is formed.

14. Traversing carriage according to claim 13, characterized in that the traversing carriage is designed for use in one of claims 1 to 10 and/or for use in a shelf storage system according to claim 11.

15. Traversing carriage (2) according to claim 14, characterized in that the base unit (9) is designed for the transport of the lifting unit (10) for preferably contact-free charging of the lifting unit (10) with electrical energy.

16. Lifting unit (10) for use with a transfer carriage (2), in particular a base unit (9), and for use in the rack storage (1) and for carrying out the method for operating a rack storage (1), characterized in that the Lifting unit (10) comprises at least one base body with at least two, preferably four drive elements (13) for a vertical direction of movement and an energy source integrated in the base body for supplying the drive elements (13) and a controller for autonomous movement within a shelf system (4,4a- 4h), the base body being designed on one side to accommodate storage means (3, 3a, 3b, 3c) and on the opposite side for transport with a base unit (9) of a carriage (2).

17. Lifting unit (10) according to claim 16, characterized in that a conveyor for transferring a storage means (3, 3a, 3b, 3c) to another lifting unit (10 ) is arranged.