Method for storing or retrieving storage auxiliary devices
By using shuttles coupled with rack supports in automated warehousing systems, path selection and coordinated movement are optimized, solving the problem of low efficiency in storing and retrieving goods in existing technologies, and achieving higher throughput and storage speed.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- KNAPP AG
- Filing Date
- 2022-06-30
- Publication Date
- 2026-06-30
AI Technical Summary
In existing automated warehousing systems, racking equipment needs to move along a pre-defined path when storing or retrieving goods, which leads to increased waiting time and potential congestion, affecting throughput and efficiency.
A shuttle travels beneath the shelving and couples with adjacent shelving supports, using friction wheels to achieve vertical lifting and lowering. Combined with load handling and guiding devices, the route selection is optimized and the shuttle movement is coordinated to improve storage and retrieval efficiency.
It significantly improved cargo throughput and retrieval speed, reduced waiting time, enhanced system flexibility and routing options, and improved the overall efficiency of the warehousing system.
Smart Images
Figure CN117730040B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a method for storing or retrieving a storage auxiliary device as described in the preamble of claim 1. Background Technology
[0002] Automated warehousing systems are known in the field of warehousing and logistics, used to automate the storage and retrieval of goods from warehouses. These systems and methods are used in modern logistics to enable the rapid, efficient, and individual fulfillment of pre-orders. To this end, warehousing systems typically include picking equipment to handle pre-orders comprising a large number of different products. However, such systems are also used as warehouses, for example, in the automotive industry, where a large number of different parts are stored in a shared warehouse and must be readily available.
[0003] Storage systems implemented in the form of rack warehouses are known in the prior art. In these rack warehouses, goods are stored in storage locations formed by racks. Such storage systems typically include so-called rack operating equipment, which performs the storage of goods to and from storage locations.
[0004] The drawbacks of known warehousing systems and storage methods stem from the fact that racking equipment for storing and retrieving goods moves along pre-defined paths within the warehousing system. This results in waiting times when storing and retrieving goods, particularly when the racking equipment must first process another order. Furthermore, congestion can occur, for example, when receiving or transferring goods between the warehousing system and conveyor belts. Summary of the Invention
[0005] Therefore, the technical problem to be solved by the present invention is to provide a method for storing or retrieving storage auxiliary devices in a shelf of an automated warehousing system using a shuttle, the method of storing or retrieving storage auxiliary devices enabling rapid and flexible handling of goods and increasing cargo throughput.
[0006] This is achieved by the features of the method according to the invention for storing or retrieving a storage auxiliary device, having the features of claim 1.
[0007] The method according to the invention is designed for storing or retrieving storage auxiliary devices in an automated warehousing system using a shuttle. Here, the rack has multiple rack supports erected on the ground and multiple storage layers arranged vertically, each storage layer having storage positions arranged between the rack supports. The width of the storage positions on the rack, bounded by adjacent rack supports, has a clear span on the ground that is less than the length of the shuttle on its longitudinal axis and greater than the width of the shuttle on its transverse axis. The steps described below are performed in the method according to the invention. The shuttle travels on the ground below the rack and couples itself to adjacent rack supports. The shuttle vertically climbs to the height of the storage layer of the storage position, at which point the storage auxiliary device is to be stored in or retrieved from the storage position. Subsequently, the storage auxiliary device is either stored in the storage position from the shuttle or retrieved from the storage position and placed onto the shuttle. Furthermore, the method according to the invention includes: vertically lowering the shuttle to the ground using adjacent shelf supports. Furthermore, according to the invention, the method has the steps of: the shuttle driving out and / or into the shelf below the shelf on the ground in a direction of travel along the shuttle's longitudinal axis; and the shuttle rotating 90 degrees. Furthermore, the method has the step of coupling the shuttle to only two of the adjacent shelf supports by approaching, wherein the longitudinal axis of the shuttle is positioned substantially parallel to the front of the shelf. By having the shuttle drive out and / or into the shelf below the shelf on the ground in a direction of travel along the shuttle's longitudinal axis, rotating the shuttle 90 degrees outside the shelf, and coupling the shuttle to only two of the adjacent shelf supports by approaching, the advantages are achieved as follows: less space is required for the coupling process and path from or to the two shelf supports. Therefore, the shuttle can always reach the shelf supports on the ground within the storage system using the shortest path, and thus reach the desired storage location, thereby significantly improving storage and retrieval speeds. Furthermore, the throughput of goods in the warehousing system is significantly increased by the method according to the invention, because a large number of possible travel paths are provided for each shuttle, so that the shuttle can easily avoid other shuttles without waiting for them to pass by.
[0008] In the method according to the invention, it is preferable to position the shuttle in front of the two adjacent rack supports by approaching them in the direction of travel along the transverse axis of the shuttle before coupling with them. This achieves the advantage that the shuttle can travel directly to the rack supports and can be coupled with the two adjacent rack supports by a simple mechanism.
[0009] According to a preferred embodiment of the method according to the invention, after the shuttle is rotated and before it is coupled to only two adjacent rack supports, the shuttle is positioned by traveling in the direction of travel along its longitudinal axis. This also allows the rack aisles to be used for shuttle travel.
[0010] Preferably, after traveling on the ground beneath the shelving, the shuttle moves within a two-way traffic area with other shuttles having a direction of travel substantially opposite to that of the shuttle. This allows the directions of travel of the various shuttles to be coordinated with each other, and each shuttle can move autonomously within the storage system.
[0011] According to a preferred embodiment of the method according to the invention, the vertical lifting and / or descent of the shuttle is achieved by friction wheel coupling using only two adjacent shelf supports. This ensures a particularly rapid coupling and decoupling process using a structurally simple and robust coupling mechanism.
[0012] Preferably, the shuttle includes a load-carrying device for accommodating storage auxiliary devices. When storing the storage auxiliary devices from the shuttle into a storage location, a guide device for the load-carrying device, located on the shuttle, transfers the load-carrying device and the storage auxiliary devices contained therein to a guide device for the load-carrying device located at the storage location. When removing the storage auxiliary devices from the storage location and placing them onto the shuttle, the load-carrying device accommodates the storage auxiliary devices, and preferably, a guide device for the load-carrying device, located at the storage location, transfers the load-carrying device and the accommodated storage auxiliary devices to a guide device for the load-carrying device located on the shuttle. This ensures the safe storage and retrieval of the storage auxiliary devices. Furthermore, it is preferable that a control unit controls the load-carrying device based on the shuttle's position within the storage system. This improves the coordination between the load-carrying device, the storage auxiliary devices, and the shuttle.
[0013] The automated warehousing system according to the invention, used in the method according to the invention, includes at least one rack having multiple rack supports erected on the ground. The rack has multiple storage layers arranged vertically, each storage layer including at least one storage location. Furthermore, the warehousing system has multiple storage auxiliary devices capable of being stored in the storage locations. These storage auxiliary devices include, for example, storage containers, storage trays, pallets, cardboard boxes, and similar devices known in the logistics field for containing goods. Additionally, the warehousing system includes at least one shuttle having a drive unit, wherein the shuttle is movable on the ground by means of the drive unit, and the shuttle is designed to accommodate storage auxiliary devices, deliver storage auxiliary devices to one of the storage locations, and retrieve them from one of the storage locations. Furthermore, the warehousing system according to the invention includes at least one load handling device designed to store storage auxiliary devices from the shuttle into storage locations and retrieve them from storage locations onto the shuttle. A transfer area is provided between the ground and the lowest storage layer of the rack, wherein the height of the transfer area corresponds at least to the height of the shuttle and the storage auxiliary devices accommodated by the shuttle. The shuttle is able to move independently along at least one of the shelf supports by means of a drive unit.
[0014] The design of the automated warehousing system according to the invention provides an additional transfer area located below the lowest storage layer. Therefore, the shuttle can also preferably travel on the ground below the lowest storage layer. This results in a significantly greater flexibility in the possible paths of the shuttle compared to that achievable using existing warehousing systems. Due to the increased number of possible paths available to the shuttle during the delivery or retrieval of storage aids to or from storage locations, the throughput and speed of the warehousing system according to the invention can be significantly improved compared to existing technologies. The shuttle's ability to move along at least one of the rack supports allows it to transfer storage aids from the transfer area to one of the storage layers.
[0015] Preferably, the rack supports have a coupling area within the conveying area for accommodating the shuttle. This achieves the advantage that the shuttle can move independently of the rack supports on the ground within the conveying area while simultaneously being coupled to the rack supports.
[0016] According to a preferred embodiment of the storage system according to the invention, each storage location has a guiding device for guiding the load-carrying device. Thus, the load-carrying device can be engaged with the guiding device, and the storage auxiliary device can be positioned at the storage location or removed from the storage location and transferred to the shuttle. Preferably, the load-carrying device is designed to be independent of the shuttle. Alternatively, the load-carrying device may also be mechanically and / or electrically coupled to the shuttle.
[0017] The shuttle's drive unit preferably has at least two drive wheels, which propel the shuttle across the ground. This allows the shuttle to perform rotational motion and directional changes in a curved pattern on the ground.
[0018] According to a preferred embodiment of the storage system according to the invention, the shuttle drive unit has a rack support coupling unit, wherein the rack support coupling unit is designed to couple the shuttle to the rack support. This enables a simple, robust, and releasable connection between the shuttle and the rack support. Preferably, the rack support coupling unit is designed to form a friction connection with the rack support. This allows for the use of easily manufactured and inexpensive tubular or rolled profiles for the rack support. Attached Figure Description
[0019] The following describes in detail, with reference to the accompanying drawings, an advantageous design of the method for storing or retrieving storage auxiliary devices in a shelf of an automated warehousing system according to the present invention, as well as alternative implementations of the method and the warehousing system.
[0020] Figure 1 An automated warehousing system, using the method according to the invention, is shown in a perspective view with shelves and multiple shuttles.
[0021] Figure 2 The following is shown: a design with two shelves Figure 1 The storage aisles of the shelving system are separated by the storage aisles.
[0022] Figures 3a to 3e The shuttle of the automated warehousing system is shown in different views.
[0023] Figures 4a to 4c A section of a shelving system is shown, which has multiple storage locations and guiding devices, with load-handling devices housed within the guiding devices.
[0024] Figures 5a to 5e Different views of several shuttles are shown, each of which is coupled to a curved support via a shelf support coupling unit.
[0025] Figure 6a and Figure 6b Different configurations of the coupling arm of the shuttle in the warehousing system are shown.
[0026] Figure 7 An automated warehousing system with multiple work positions is shown in a top view. Detailed Implementation
[0027] exist Figure 1 An exemplary embodiment of an automated storage system 1 used in the method according to the invention is shown below. The automated storage system 1 according to the invention includes at least one rack 2, the rack 2 having a plurality of rack supports 3 erected on the ground and extending vertically at least segmentally. (See also...) Figure 2 As can be seen in the figures, the preferred storage system 1 according to the invention includes a plurality of shelves. The shelves 2 have a plurality of storage layers 4 arranged vertically, wherein each storage layer 4 includes at least one storage location 5. Furthermore, the storage system 1 according to the invention includes a plurality of storage auxiliary devices 6, which can be stored in the storage locations 5. The storage system 1 includes at least one shuttle 7, which has a drive unit, wherein the shuttle 7 can move on the ground by means of the drive unit. Furthermore, the drive unit preferably includes at least one electric motor. Additionally, as can be seen in the figures, the drive unit preferably includes two drive wheels 8 for moving the shuttle 7 on the ground. The shelf supports 3 are preferably manufactured using a continuous rolling or pressing process. Generally, alternative variations of the shelf supports 3 are known to those skilled in the art. The shuttle 7 is designed to accommodate the storage auxiliary devices 6, deliver the storage auxiliary devices 6 to one of the storage locations 5, and remove the storage auxiliary devices 6 from that storage location 5. For this purpose, the shuttle 7 preferably has a loading area. Figure 1 and Figure 3a The loading area can be seen in the image. Alternatively, the shuttle 7 may also have a receiving space for the storage auxiliary device 6, which is designed to accommodate the storage auxiliary device 6. Furthermore, the storage system 1 includes a load handling device 9, which is designed to move the storage auxiliary device 6 from the shuttle 7 into the storage location 5 and to remove the storage auxiliary device 6 from the storage location 5 onto the shuttle 7. The load handling device 9 will be described in further detail below.
[0028] According to the invention, a transfer area 10 is provided between the ground and the lowest storage layer 4 of the shelf. The height of the transfer area 10 corresponds at least to the height of the shuttle 7 and the storage auxiliary device 6 housed by the shuttle. Thus, the shuttle 7 can move below the lowest storage layer 4 and through the shelf 2. Furthermore, the shuttle 7 can move along at least one of the shelf supports 3 by means of a drive unit. Thus, the shuttle 7 can reach any storage layer 4. Preferably, the distance between two adjacent shelf supports 3 is selected such that the shuttle 7 can move through both adjacent shelf supports 3. According to a variation of the embodiment shown in the figures, this distance is selected such that the axle of the drive wheel 8 of the shuttle 7 is oriented parallel to the distance between the two shelf supports 3 bounded by a storage position 5 when the shuttle 7 moves below the lowest storage layer 4. During the coupling of the shuttle 7 to the shelf support 3, the shuttle 7 makes a substantially 90-degree turn such that the axle of the drive wheel 8 is oriented substantially parallel to the direction of the shelf, for example, generally pointing towards the shelf aisle.
[0029] According to a preferred embodiment of the storage system 1 according to the invention, the shelf support 3 has a coupling region 11 in the region of the conveying area 10 for accommodating the shuttle 7. The coupling region 11 is located in... Figure 1 China and in Figure 2 As can be seen, the preferred coupling region 11 is designed as a recess of the profile of the shelf support 3 in the conveying region 10. The preferred drive unit of the shuttle 7 has a shelf support coupling unit 12, wherein the shelf support coupling unit 12 is designed for coupling the shuttle to the shelf support 3. The shelf support coupling unit 12 is also... Figure 1 It can be seen at the shuttle. Additionally, the rack support coupling unit 12 is located in... Figures 3a to 3e This can be seen in the text and will be described in further detail below.
[0030] The shuttle 7 can be engaged in the coupling area 11, for example, by means of the rack support coupling unit 12, thereby coupling the shuttle 7 to the corresponding rack support 3. Preferably, the rack support 3 of the storage system 1 according to the invention does not have a separate mechanism or device for enabling the shuttle 7 to move on the rack support 3. According to this embodiment, the rack support coupling unit 12 is designed to form a frictional connection with the corresponding rack support to enable power transmission.
[0031] The storage system 1 according to the present invention includes a load handling device 9, which, in a preferred embodiment, is... Figure 4b and Figure 4c As can be seen in [the image / video]. Figures 4a to 4cThe storage locations 5 shown preferably include guide devices 13 for guiding the load transport device 9. According to a variation of the implementation shown in the figures, these guide devices 13 are designed as pairs of tracks in which the load transport device 9 runs. Furthermore, as in... Figure 3a As can be seen, the shuttle 7 also has a guide device 13, which is designed as a pair of tracks and can guide the load-carrying device 9 into the guide device 13. The load-carrying device 9 preferably has two pairs of running wheels 14, which run in the tracks of the guide device 13. Therefore, the load-carrying device 9 can be easily transferred from the guide device 13 in the storage location 5 to the guide device 13 of the shuttle 7. The load-carrying device 9 is preferably mechanically and / or electrically connected to the shuttle. Here, the load-carrying device 9 may include, for example, an electric motor as a drive device, wherein the shuttle 7 supplies power to the load-carrying device 9 via a line connection. Alternatively, the load-carrying device 9 may have its own battery. In addition, the load-carrying device 9 may include a control unit. The control unit is designed to control the load-carrying device 9 according to the position of the shuttle in the storage system 1. According to another alternative embodiment, the load-carrying device 9 may be connected to the shuttle 7 by means of a mechanical transmission connection. The mechanical transmission connection may include, for example, a crankshaft, a scissor drive, a chain drive, or a similar device. From this exemplary enumeration, those skilled in the art can derive other mechanical transmission connections. Furthermore, the load handling device 9 preferably includes a support area for at least one storage auxiliary device 6. If the storage auxiliary device 6 is delivered from the shuttle 7 to the storage location 5, it is transferred from the shuttle 7 to the corresponding storage location 5 by means of the load handling device, or it is transferred from the storage location 5 to the shuttle 7 upon retrieval. For this purpose, the load handling device 9 includes a lifting mechanism or a lifting pneumatic mechanism capable of lifting the storage auxiliary device 6, such that the storage auxiliary device 6 is applied to the support area and can be transferred by means of the load handling device 9. Alternatively, the load handling device 9 may also include a gripping mechanism for manipulating the storage auxiliary device 6. In another alternative embodiment of the load handling device 9, the load handling device 9 includes a chain conveyor that accommodates the storage auxiliary device 6 when the load handling device 9 is pushed below it. Figure 4b Two storage locations 5 are shown stacked vertically, with storage auxiliary devices 6 stored in each location 5. A load-handling device 9 is located below each storage auxiliary device 6. For retrieval, as in... Figure 4cAs shown, the corresponding storage auxiliary device 6 is lifted by means of the lifting mechanism of the load handling device 9, thereby enabling the storage auxiliary device 6 to be transferred, for example, to a shuttle 7 (not shown). Generally, other usable lifting mechanisms are known to those skilled in the art. The load handling device 9 may also include, for example, one or more chain drive devices and / or one or more belt drive devices for moving the storage auxiliary device 6. The chain of the chain drive device and / or the belt of the belt drive device may also form a support area. Figure 4a The guide device 13 at storage location 5 is shown in detail. Figure 4a It can also be seen that any storage depth can be achieved in the storage layer 4 of the shelf 2 by means of the load handling device 9. The load handling device 9 can move the storage auxiliary device 6 into the shelf 2 along the guide device 13, thereby allowing multiple storage auxiliary devices 6 to be stored sequentially in the shelf 2. Furthermore, this configuration allows the load handling device 9 to traverse the entire shelf 2 along the guide device 13. In a preferred embodiment of the storage system 1 according to the invention, the load handling device 9 is designed to move independently of the shuttle 7 and can move within the storage layer 4 independently of the position of a specific shuttle 7. According to variations of this embodiment, such as in... Figure 1 As shown, the load handling device 9 can also remain in the shelf 2, while the shuttle 7 delivers and / or removes the storage auxiliary device 6 to and / or from the storage layer 4. Alternatively, the load handling device 9 can be transferred from the guide device of the shelf 2 to the guide device 13 of the shuttle 7 so that the load handling device 9 can be delivered, for example, to another storage layer 4 by means of the shuttle 7.
[0032] The shuttle 7 and, in particular, the rack support coupling unit 12 for coupling the shuttle 7 to the rack support 3 are described below. Figure 1 and Figure 2 As can be seen, the shuttle 7 of the storage system 1 includes at least one shelf support coupling unit 12, which couples the shuttle 7 to or onto the shelf support 3. This allows the shuttle 7 to climb the shelf support 3, and the storage auxiliary device 6 and / or load handling device 9 can be transported to a specific storage layer 4. The connection between the shelf support coupling unit 12 and the shelf support 3 is preferably established by friction connection, whereby the shelf support 3 can be designed as a simple profile, preferably a rolled profile, and does not require additional mechanical components to be mounted on the shelf support 3 to transport the shuttle 7 along the shelf support 3.
[0033] exist Figures 3a to 3eThe diagram details a shuttle 7 with shelf support coupling units 12. In a variant of the shuttle 7 shown, the shelf support coupling units 12 include coupling arms 15 on opposite sides of the shuttle 7. Each coupling arm 15 is pivotally connected to the shuttle 7 at a pivot point 16. This allows the coupling arms 15 to rotate on the shuttle 7 while maintaining the shuttle 7 and any storage auxiliary devices 6 that may be accommodated by the shuttle 7 in an upright orientation. A servo motor 24, acting at the pivot point 16, can also be provided for positional balancing of the shuttle 7.
[0034] Each coupling arm 15 includes a plurality of rollers, wherein at least some of these rollers are applied to the rack support 3 in a state where the shuttle is coupled to one of the rack supports 3. Figure 3a An exemplary embodiment of the shuttle 7 in a decoupled state is shown, and Figure 3b and Figure 3c The shuttle 7 is shown either coupled to the shelf support 3 or in the process of coupling. Figure 3b A cross-section through the shelf support is shown, and Figure 3c The shelf support 3 is shown in an external view.
[0035] In a variation of the rack support coupling unit 12 shown in the accompanying drawings, the coupling arm 15 includes two drive rollers 17 and one guide roller 18. Here, the two drive rollers 17 at least partially clamp the rack support 3 during coupling and are preferably driven by a chain drive or belt drive. The chain drive or belt drive is preferably connected to the drive unit of the shuttle 7. Furthermore, the coupling arm 15 preferably includes a guide roller 18, which is arranged on the coupling arm 15 spaced apart from the two drive rollers 17. Here, at least one of the drive rollers 17 is designed to be narrower than the guide roller 18. If the shuttle 7 approaches the rack support 3, the coupling region 11 of the rack support 3 allows one of the drive rollers 17 to engage with the internal region of the rack support 3, which is designed as a hollow profile. For this purpose, the coupling region 11 is designed as an opening in the side wall of the rack support 3. Additionally, the rack support 3 includes a slot 19 that extends substantially along the entire height of the rack support 3. The gap 19 is designed to be narrower than the opening in the coupling region 11, but allows the belt of the belt drive or the chain of the chain drive to enter the inner region from the outer region of the shelf support 3. If the guide roller 18 is applied to the shelf support 3, the coupling arm 15 pivots, such that one of the drive rollers 17 is positioned in the inner region of the shelf support 3, and the other of the drive rollers 17 is applied to the shelf support 3 from the outside. This state... Figure 3bAs can be seen, because the weight of the shuttle 7 and the possible storage auxiliary device 6 is essentially applied to one end of the coupling arm 15 opposite to the drive roller 17, a clamping force is applied to the shelf support 3, or a large normal force is applied to the drive roller 17, thereby generating a large frictional force between the drive roller 17 and the shelf support 3. This frictional force is used to propel the shuttle 7 along the shelf support 3.
[0036] Furthermore, the design of the shuttle 7 with the shelf support coupling unit 12 according to the present invention enables the shuttle 7 to be guided to move along the curve or arc of the support 21. The support 21 is preferably designed in construction to be identical to the shelf support 3 described above, wherein the support 21 additionally includes an arc or curve. This is in Figures 5a to 5e As can be seen, because the shuttle 7 is pivotally connected to the coupling arm 15, the shelf support coupling unit 12 can compensate for the position of the shuttle 7 relative to the orientation of the support 21 when moving through the arc. This allows the support to be guided along the curve, where the shuttle 7 and the storage auxiliary device 6 housed by the shuttle 7 are independently compensated for position. Thus, the shuttle 7 maintains an upright orientation independent of the orientation of the support 21. For position compensation, a servo motor 24 can also be provided, acting at the rotation point 16 between the shuttle 7 and the coupling arm 15, and the shuttle 7 actively pivots relative to the coupling arm 15. Figure 5c and Figure 5d The diagram illustrates the pivoting of shuttle 7 as it moves along the arc of support 21. Furthermore, as in... Figure 5d As can be seen, the servo motor 24 also enables the shuttle 7 to change position on the section of the support column 21 that extends substantially vertically. This allows for easy ergonomic removal of goods from or placement of goods into the storage aid 6.
[0037] As the movement traverses the arc of support 21, the loads on drive roller 17 and guide roller 18 change due to gravity and the orientation of coupling arm 15. To ensure a large and uniform clamping force on drive roller 17 on support 21, it is advantageous to maintain a large normal force acting on drive roller 17 even during movement through the arc. This is achieved by… Figure 5dThe internal roller guide 22 and external roller guide 23, visible in the diagram, are connected to the support column 21 and are designed to guide the guide roller 18. As the shuttle 7 enters the arc, the internal roller guide 22 forces the guide roller 18 toward the curve, which has a larger radius than the area clamped by the driven roller 17 of the support column 21. Furthermore, during the passage through the arc, the guide roller 18 engages with the external roller guide 23, which is at least segmentally opposite the internal roller guide 22 along the arc. This ensures that the guide roller 18 does not detach from the internal roller guide 22. The guide roller 18 thus travels at least segmentally along the arc of the support column 21 between the internal roller guide 22 and the external roller guide 23. This ensures that the drive roller 17 applies a clamping force to the support column substantially throughout the entire passage through the arc of the support column 21, the clamping force being oriented either normally to or perpendicular to the support column 21. This maintains a large frictional force between the support column 21 and the drive roller 17, thereby preventing the drive roller 17 from slipping on the support column 21.
[0038] According to Figure 6a and Figure 6b The schematically illustrated embodiment of the coupling arm 15 includes a joint 27 between the drive roller 17 and the pivot point 16, as well as a first sub-arm 25 and a second sub-arm 26. This achieves the advantage that the distance between the drive roller 17 and the pivot point 16 of the coupling arm 15 can be preferably changed continuously by means of the joint 27. By adjusting the joint 27, the geometry of the coupling arm 15 can be changed, and the curve 28 along which the engagement point 29 of the drive roller 17 tracks relative to the pivot point 16 can be altered. Figure 6a and Figure 6b Two different exemplary curves 29 that can be traced at the joint point 29 according to this implementation variation are shown. This achieves the advantage that the position of the joint point 29 can be selected such that the joint point 29 does not collide with the shuttle 7 or other components of the storage system 1 when the shuttle 7 is coupled to the support column 21 and when the shuttle 7 is decoupled from the support column 21. This ensures a simple, rapid, reliable, and smooth coupling and decoupling process.
[0039] Figure 5e A support column 21 with multiple arcs is shown. In this embodiment variation, the support column 21 preferably includes multiple arcs as described above, which make the support column 21 curved, such that the support column 21 extends parallel to the ground at least in some sections or at some points. The ground is... Figure 5e The dashed line indicates this. Furthermore, the support column 21 may include the coupling region 11 in a section parallel to the ground, or as shown in... Figure 5eAs shown, it ends at a point parallel to the ground. This achieves the advantage that the shuttle 7 can be easily coupled to the support column 21 in the coupling region 11 oriented parallel to the ground, and can be decoupled from the support column 21. Alternatively, as in Figure 5e As shown, the shuttle can be easily coupled to and decoupled from the support column 21 at a point parallel to the ground. The support column 21 can also be designed with multiple arcs to achieve different heights on the ground. Furthermore, this allows for the transfer of the shuttle 7 between multiple different surfaces at different height levels. This is particularly meaningful when the storage system 1 according to the invention extends through multiple halls with different zero levels, or reaches work positions 20 at different levels.
[0040] Figure 7 A schematic top view of an automated warehousing system 1 according to the present invention, having multiple work positions 20, is shown. Furthermore, in Figure 7 Multiple shuttles 7 can be seen in the image. Here, the shuttles 7 transport storage auxiliary devices 6 between the working position 20 of the storage system 1 and the rack 2.
[0041] In order to deliver and retrieve the storage auxiliary device 6 from the working position 20, in the storage system 1 according to the invention, it is preferable to provide at least one storage auxiliary device 6 at each working position 20. Figures 5a to 5e The curved support 21.
[0042] Now, for reference Figure 1 The present invention describes a method for storing or retrieving a storage auxiliary device 6 in a rack 2 of an automated storage system 1 using a shuttle 7. As already described, the rack 2 has a plurality of rack supports 3 erected on the ground and a plurality of storage layers 4 arranged vertically, each storage layer 4 having storage positions 5 arranged between the rack supports 3. According to the present invention, the width of the storage positions 5 of the rack 2, bounded by adjacent rack supports 3, has a net span on the ground that is less than the length of the shuttle 7 on its longitudinal axis and greater than the width of the shuttle 7 on its transverse axis.
[0043] In the method according to the invention, the shuttle 7 moves on the ground below the shelf 2. This... Figure 1 As can be seen, in Figure 1 In the middle, the second shuttle 7, starting from the left, moves below the shelf 2. Furthermore, the method according to the invention includes coupling the shuttle 7 to an adjacent shelf support 3. Figure 1The foreground shows the first shuttle 7 in the coupling process. Furthermore, the method according to the invention includes: vertically lifting the shuttle 7 along the adjacent shelf support 3 to the height of the storage layer 4 of the storage location 5, at which height the storage auxiliary device 6 is to be stored in or retrieved from the storage location 5. Figure 1 In Figure 1 The left side shows the shuttle 7 being vertically lifted. Furthermore, the method according to the invention includes: storing the storage auxiliary device 6 from the shuttle 7 into the storage position 5 or removing the storage auxiliary device 6 from the storage position 5 and placing it onto the shuttle 7, and vertically lowering the shuttle 7 to the ground along the adjacent shelf support 3. Furthermore, the method according to the invention includes: the shuttle 7 driving out of and / or into the shelf 2 below the shelf 2 on the ground in a travel direction along the longitudinal axis of the shuttle 7. This also applies to... Figure 1 As shown in, Figure 1 In the middle, the second shuttle 7, starting from the left, travels along its longitudinal axis below the shelf 2. Furthermore, the method according to the invention includes: the shuttle 7 rotating 90 degrees outside the shelf 2. This can be seen from the fact that... Figure 1 In the foreground, the third and fourth shuttles 7, starting from the left, are rotated 90 degrees compared to the second shuttle 7, also starting from the left. Furthermore, the method according to the invention includes: coupling the shuttle 7 to only two of the adjacent shelf supports 3 by approaching, wherein the longitudinal axis of the shuttle 7 is positioned substantially parallel to the shelf front of the shelf 2. (As in...) Figure 1 As can be seen in the foreground, the first shuttle 7, starting from the right, approaches the two shelf supports 3.
[0044] In the method according to the invention, preferably, before coupling with only two adjacent shelf supports 3, the shuttle 7 is positioned in front of only two adjacent shelf supports 3 by approaching them in the travel direction along the transverse axis of the shuttle 7. This achieves the advantage that the shuttle can approach the shelf supports directly and can be coupled with two adjacent shelf supports by a simple mechanism.
[0045] According to a preferred embodiment of the method according to the invention, after rotation and before coupling with only two adjacent shelf supports 3, the shuttle 7 is positioned in front of only two adjacent shelf supports 3 in the direction of travel along the longitudinal axis of the shuttle 7. Thus, the shelf aisle can also be used for the travel of the shuttle 7. Furthermore, the shuttles 7 can thus avoid or pass each other within the shelf aisle.
[0046] Preferably, after traveling on the ground below the shelf 2, the shuttle 7 moves in a two-way traffic area with other shuttles 7 having a travel direction that is substantially opposite to that of the shuttle 7. This allows the travel directions of the individual shuttles 7 to be coordinated with each other, and allows each shuttle 7 to move autonomously within the storage system 1.
[0047] According to a preferred embodiment of the method according to the invention, the vertical lifting and / or vertical lowering of the shuttle 7 is achieved by friction wheel coupling using only two adjacent shelf supports 3. Thus, a particularly rapid coupling and decoupling process is ensured by utilizing a structurally simple and robust coupling mechanism.
[0048] Preferably, the shuttle 7 has a load-carrying device 9 for accommodating the storage auxiliary device 6. When the storage auxiliary device 6 is stored from the shuttle 7 into the storage position 5, a guide device 13 for the load-carrying device 9, located on the shuttle 7, transfers the load-carrying device 9 and the storage auxiliary device 6 contained therein to the guide device 13 for the load-carrying device 9, located on the storage position 5. When the storage auxiliary device 6 is removed from the storage position 5 and placed onto the shuttle 7, the load-carrying device 9 accommodates the storage auxiliary device 6, and preferably, the guide device 13 for the load-carrying device 9, located on the storage position 5, transfers the load-carrying device 9 and the accommodated storage auxiliary device 6 to the guide device 13 for the load-carrying device 9, located on the shuttle 7. This ensures the safe storage and retrieval of the storage auxiliary device 6. Furthermore, it is preferable that the load-carrying device 9 is controlled by a control unit based on the position of the shuttle 7 in the storage system 1. This improves the coordination between the load-carrying device 9, the storage auxiliary device 6, and the shuttle 7.
Claims
1. A method for storing in or out a storage aid (6) with a shuttle (7) in a rack (2) of an automated warehousing system (1), wherein, The shelf (2) has a plurality of shelf supports (3) erected on the ground and a plurality of storage layers (4) arranged vertically and horizontally. The storage layers (4) have storage positions (5) arranged between the shelf supports (3). The width of the storage positions (5) of the shelf (2) bounded by adjacent shelf supports (3) has a net span on the ground that is less than the length of the shuttle (7) on the longitudinal axis and greater than the width of the shuttle (7) on the transverse axis. The method includes the following steps: The shuttle (7) travels on the ground below the shelf (2); Couple the shuttle (7) to the adjacent shelf support (3); The shuttle (7) is vertically raised to the height of the storage layer (4) of the storage position (5) by means of the adjacent shelf support (3), at which the storage auxiliary device (6) is to be stored in the storage position (5) or to be retrieved from the storage position (5). The storage auxiliary device (6) is stored from the shuttle (7) into the storage location (5), or the storage auxiliary device (6) is taken out from the storage location (5) and placed on the shuttle (7); The shuttle (7) is lowered vertically to the ground using the adjacent shelf supports (3); The method is characterized by comprising the following additional steps: The shuttle (7) travels out of and / or into the shelf (2) below the shelf (2) in a direction of travel along the longitudinal axis of the shuttle (7). The shuttle (7) rotates 90 degrees outside the shelf (2); By approaching, the shuttle (7) is coupled to only two of the adjacent shelf supports (3), wherein the longitudinal axis of the shuttle (7) is positioned substantially parallel to the front of the shelf (2).
2. The method according to claim 1, characterized in that, Before coupling with only two adjacent shelf supports (3), the shuttle (7) is positioned by approaching the only two adjacent shelf supports (3) in the direction of travel along the transverse axis of the shuttle (7).
3. The method according to claim 1 or 2, characterized in that, After the shuttle is rotated and before it is coupled with only two adjacent shelf supports (3), the shuttle (7) is positioned in front of the only two adjacent shelf supports (3) by traveling in the direction of travel along the longitudinal axis of the shuttle (7).
4. The method according to claim 1 or 2, characterized in that, After traveling on the ground below the shelf (2), the shuttle (7) moves in a two-way traffic area with other shuttles (7) having a travel direction that is substantially opposite to that of the shuttle (7).
5. The method according to claim 1 or 2, characterized in that, The vertical lifting and / or vertical lowering of the shuttle (7) is achieved by friction wheel coupling using only two adjacent shelf supports (3).
6. The method according to claim 1 or 2, characterized in that, The shuttle (7) has a load transport device (9) for accommodating the storage auxiliary device (6), wherein when the storage auxiliary device (6) is stored from the shuttle (7) into the storage location (5), the load transport device (9) and the storage auxiliary device (6) contained by the load transport device (9) are transferred by a guide device (13) provided on the shuttle (7) to the guide device (13) provided on the storage location (5).
7. The method according to claim 1 or 2, characterized in that, The shuttle (7) has a load handling device (9) for accommodating the storage auxiliary device (6), wherein when the storage auxiliary device (6) is taken out from the storage position (5) and placed on the shuttle (7), the load handling device (9) accommodates the storage auxiliary device (6), and the load handling device (9) and the accommodated storage auxiliary device (6) are transferred to the guide device (13) for the load handling device (9) provided on the storage position (5).
8. The method according to claim 6, characterized in that, The load handling device (9) is controlled by the control unit based on the position of the shuttle (7) in the storage system (1).
9. The method according to claim 7, characterized in that, The load handling device (9) is controlled by the control unit based on the position of the shuttle (7) in the storage system (1).