Elevator-free storage facility

Abstract

A storage installation (1) having a plurality of storage racks (R) and storage rack levels (3) for storing load units (T), with a tunnel (2) between two storage racks (R), each storage rack level having running tracks on opposite faces of the storage racks (R), at least one storage and retrieval device (5) being able to travel along the length of the lanes (2) on said running track, for each lane (2) at least two pairs of vertical climbing tracks (15) being located on opposite faces of the storage racks (R) adjacent to the respective lane (2); according to the invention, the storage and retrieval device (5) has a carrying region for at least one load unit (T), which carrying region is located between load handling means which can extend into the storage rack (R) in a direction perpendicular to the length of the channel (2), a plurality of storage and retrieval devices (5) for placing or retrieving load units (T) into or from the storage racks (R), each storage and retrieval device (5) having a first set of four traveling wheels for traveling along a running track extending horizontally along a respective storage rack level (3) of the aisle (2); the storage and retrieval devices (5) each have two wheels on each side, one or both wheels on each side being driven on a combined drive shaft, and wherein each storage and retrieval device (5) has climbing means for vertical movement, in particular along a vertical climbing track, in order to achieve a three-dimensional movement of the storage and retrieval device.

Description

[0001] The invention relates to a storage facility according to the preamble of claim 1 .

[0002] When picking or compiling orders from ready-to-pick transport units (e.g. articles or containers), it is necessary to provide the transport units associated with the common order in a targeted or sorted manner. For this purpose, it is common to temporarily store (buffer) the transport units of an order until all the transport units required for the order are available. These transport units are then transferred centrally to a collection section, which guides them, for example, to a palletizing area, a picking station, a goods release department, a dispatcher, etc.

[0003] A (high) rack storage facility comprises an infeed or inbound area, via which goods are delivered and from which rack service units collect the goods for inbound storage, the so-called front area. Similarly, an outbound area is required, after which the rack service units drop off the goods, which are also assigned to the front area. In the case of automated picking warehouses, picking points are usually arranged in the front area. The front area is also where the goods are identified by the inventory management system or the logistics computer.

[0004] EP 1 964 792 B1 of the applicant discloses a method for providing transport units from a storage facility in a desired sequence on at least one collection section. Shelf service units are controlled in each storage shelf aisle, outbound elevator and outbound infeed section to coordinate with each other and are loaded with goods so that the goods are finally sorted on the collection section or are delivered from the collection section.

[0005] Control and coordination are therefore complex and obviously require technical measures in the so-called front area, ie the area outside the actual shelves.

[0006] US 9,452,886 B2 discloses the direct exchange of transport units between adjacent storage racks from one channel to a specific channel via a transverse transfer position in the rack itself, wherein a storage and retrieval vehicle includes a shuttle at each level of the rack, wherein the direct exchange includes: the shuttle acts on the transport unit to shift the transport unit from one adjacent rack to another adjacent rack by contacting the shuttle in the transverse transfer position, including using the transverse position to transfer the product transport unit to a specific channel.

[0007] However, compared to shuttles, lifts are the bottleneck of such systems.

[0008] DE 20 2004 012 021 U1 discloses a storage system having at least one conveyor with a horizontal transport unit and performing a vertical movement or a vertical and horizontal movement between two shelf columns installed one behind the other. The storage system has at least one row of two or more shelf columns, which are placed one behind the other and separated from each other by corresponding feed shafts equipped with conveyors. Although each conveyor can move on both sides of each shelf column, all compartments of these shelf columns can be directly loaded or emptied.

[0009] EP3609814B1 discloses an order picking system comprising a self-guided carrier that runs along the warehouse floor and is also able to climb the surface of the shelf. To this end, the carrier has at least two rollers and an electric climbing device formed by a gear rack that can interact with two pairs of pillars to allow the carrier to move upward along the pillars. A roller chain is attached to each pillar and extends parallel to the longitudinal axis of the pillar to which it is attached, for receiving a gear that cooperates with the pillar to which it is attached, and each movable support has a device for rigidly connecting to one of the four pillars to maintain a predetermined distance between the axis of the gear and the chain. Since the chain may move, the system is complicated.

[0010] In contrast, it is an object of the present invention to provide a storage facility which is able to alleviate the bottlenecks created by elevators while enabling efficient manipulation of storage units in racks.

[0011] This object is achieved by a storage facility as described in claim 1. Preferred embodiments are described in the dependent claims.

[0012] According to the present invention, it has been recognized that if each storage and retrieval device has a climbing device for vertical movement (especially along a vertical climbing track), a high storage density and a good access rate can be achieved without the need for a dedicated lift. In addition, the present invention provides scalability and flexibility, because the number of storage and retrieval devices (e.g., shuttles) can be easily adjusted according to throughput requirements and / or storage size.

[0013] Even existing systems can be upgraded at a later stage, allowing existing storage facilities to be retrofitted by adding vertical movement devices and, for example, vertical climbing rails in the end areas of conventional racks. This can be achieved by replacing the lift with climbing rails or installing climbing rails on existing lifts.

[0014] For example, vertical climbing rails can be installed to replace or supplement existing lifts. Obviously, there can be more than one climbing rail section in the rack. These can be arranged at the end sections of the aisles, but can also be arranged in the middle sections, which has throughput advantages for longer aisles.

[0015] The system can handle a wide variety of load carriers such as totes, pallets or cartons.

[0016] A further advantage is that orders can be consolidated within the storage racks, thereby simplifying floor or conveyor traffic outside the racks, as the storage and retrieval equipment does not need to leave the aisles to change storage levels.

[0017] Thus, sequencing and buffering of load carrying devices is possible at various levels.

[0018] The present invention realizes the principle of easy roaming without the need for additional equipment and without any altitude restrictions.

[0019] The system according to the invention has few single points of failure. It does require the presence of dedicated lifts to transport suitcases etc., robots, shuttles or the like.

[0020] In a preferred embodiment, the climbing device of the storage and retrieval device comprises a set of four climbing wheels for interacting with a vertical climbing track, the four climbing wheels having a movement axis perpendicular to the four running wheels, and the four climbing wheels being retractable between an extended engagement position for interacting with the vertical climbing track and a retracted non-engagement position for horizontal walking along a running track extending horizontally along the corresponding storage rack level. Such climbing wheels can be retrofitted into known storage and retrieval devices.

[0021] Each storage and retrieval device can have a second set of four or more retractable running wheels for traveling along a reversing track, which extends horizontally along the corresponding storage shelf levels of the channel in the vertical climbing track area; there are two wheels on each side of the storage and retrieval device, and one wheel or two wheels on each side are driven, for example, on a joint drive shaft, for use in changing the moving direction of the storage and retrieval device from vertical movement along the vertical climbing track to horizontal movement along the running track of the corresponding storage shelf levels of the channel.

[0022] The four running wheels for traveling along the reversing track are preferably retractable wheels, and the reversing track extends horizontally along the corresponding storage shelf level of the channel in the vertical track area and is controlled to be extended or stretched to the use position when the storage and retrieval device is traveling along the reversing track. Their position on the storage and retrieval device is such that their distance and position allow interaction with the reversing track when changing the travel direction.

[0023] The reversing track can be arranged between the vertical climbing tracks on each level with the running track, and then the running track of the corresponding storage rack level of the channel can have a gap with the reversing track extending horizontally along the corresponding storage rack level of the channel in the area of ​​the corresponding vertical track. This allows easy and smooth reversal from vertical movement to horizontal movement (or vice versa).

[0024] Thus, in essence, the storage and retrieval device will climb up the vertical climbing track with its extended climbing wheels. Once it reaches its destination level, the running wheels for walking along the reversing track will be extended to engage the reversing track. The climbing wheels can then be retracted. The storage and retrieval device will walk horizontally along these tracks (only a few centimeters) until the first set of four running wheels for walking along the running track horizontally engage the horizontal channel running track, and the auxiliary running wheels for walking along the reversing track lose traction and can be retracted.

[0025] Advantageously, the running track and the reversing track are aligned with each other. Preferably, they both have a C-shaped cross section, the top surface of the C-shaped cross section forming a support for the first set of running wheels, and the inner lower surface forming a support for the second set of running wheels.

[0026] In addition, transverse channel running tracks can be implemented to form a bridge perpendicular to the channel direction for the movement of each storage and retrieval device between channels, preferably the movement is driven by a set of four climbing wheels. Then, the storage and retrieval device can even change channels without leaving the shelf.

[0027] In one possible embodiment, the climbing wheel is a gear (pinion), and the vertical track and / or the transverse channel running track have corresponding linear gears (racks) or chains, which actively interact with them.

[0028] In one embodiment, the gear (pinion) can be implemented to be self-locking (e.g., by the deadweight of the storage and retrieval device) in order to stop the storage and retrieval device in the event of a (power) failure due to uncontrolled vertical travel or a collision. To this end, the gear can be attached to the frame of the storage and retrieval device by a pivoting arm, thus achieving a function similar to that of a wedge. In addition, the gear can be equipped with a mechanical fail-safe brake that will keep the storage and retrieval device in its current position even if power or control is lost, as long as the pinion is locked.

[0029] Obviously, different climbing devices can also be used. For example, the climbing wheels can also be implemented as wheels that press against the vertical track with sufficient force to generate a sufficiently high friction force so that they will not slide downwards even when the load-bearing area is loaded.

[0030] The storage facility may include a direct horizontal exchange of load units from one aisle to an adjacent aisle via an exchange position within the storage rack, wherein the storage and retrieval device itself actively moves the transport units horizontally in the exchange position using unit (or load) handling means, preferably a telescopic arm with engageable unit (or load) contact means, i.e. rotatable or linearly movable fingers. In this way, load units can be transferred from one aisle to an adjacent aisle over the shortest path without them leaving the aisle or the storage and retrieval device leaving the aisle.

[0031] Preferably, the shelf has an interface connected to the front area or conveyor of the front area of ​​the fulfillment area, for connecting to a picking station located anywhere between the lowest level and the highest level, preferably each channel has at least one picking station. Each channel can also have more than one picking station. Obviously, it is also possible but not limited to have more than one fulfillment area, for example, on different levels, two fulfillment areas are connected to the shelf in the described manner.

[0032] In a preferred embodiment, the storage rack may have: at least one interface that allows the unit load to be handed over to an AMR (autonomous mobile robot) for further ground transport. This allows a very flexible way to hand over the unit load for transport outside the rack, since the AMR is not constrained by tracks or predetermined routes. Such an interface may be present in at least one aisle, but also in several aisles or in each aisle.

[0033] The storage facility may also include ground transport AMRs (AMR shuttle movers) that allow storage and retrieval equipment to be transported within the storage facility (preferably between aisles). This will allow for flexible use of storage and retrieval equipment throughout the racks, such as handling unbalanced outbound volumes in each aisle and adjusting the number of storage and retrieval equipment based on customer throughput needs. For example, one could start with a few storage and retrieval equipment that are not dedicated to an aisle and use the present invention to change aisles. Later, when throughput demands increase, more storage and retrieval equipment may be installed and fewer aisle changes may be required.

[0034] In order to increase storage capacity and density, the storage facility may include a storage and retrieval device (stacking shuttle) equipped with a stacking device for stacking and unstacking unit loads (preferably containers or totes) on top of each other on their carrying area. This allows the stacked load units to be stored and possibly transported.

[0035] In addition, conventional elevators may also be included, at least one of which may be included in the system. This will allow conventional storage and retrieval equipment to be used side by side with the bidirectional travel storage and retrieval equipment of the present invention and / or increase the vertical throughput of the system.

[0036] Multiple storage and retrieval devices can be introduced into a single level of a storage rack aisle to increase throughput. Preferably, the number of storage and retrieval devices is preferably related to the length of the aisle. Typically, two storage and retrieval devices are sufficient. The storage and retrieval devices will then have sensors and controllers to negotiate walking areas between storage and retrieval devices on the same level.

[0037] The present invention allows a rescue operation of a malfunctioning storage and retrieval device. As long as the malfunctioning storage and retrieval device does not have its unit handling device in a position extended into the storage rack, it can be rescued by using another storage and retrieval device to push the malfunctioning storage and retrieval device (e.g., a shuttle) to the rear end of the rack aisle.

[0038] The rescue operation will be facilitated if at least two of the set of climbing wheels have buffers facing in the direction of movement along the passage (for contacting a corresponding pair of climbing wheels of the second storage and retrieval device, thereby allowing a pushing operation). Alternatively or additionally, the front and / or rear surface of the housing may be equipped with buffers.

[0039] Preferably, each aisle has at least four pairs of vertical climbing rails on opposite sides of the storage racks adjacent to the respective aisle so that the system can be placed to allow access from both sides of the aisle. It is also possible to use one set for upward movement and another set for downward movement. This increases throughput and redundancy.

[0040] To perform on-board picking, at least one storage and retrieval device may have an on-board robotic picking device. This may be used to pick items from a load unit without leaving the shelf. The robotic picking device may include a vision system to identify the items and allow directional control of the gripping device of the robotic picking device.

[0041] The storage facility may also include: mobile racks located at at least one storage rack level.

[0042] It is known that on-board power supply means, i.e. rechargeable batteries or high-capacity capacitors, can be implemented. The storage and retrieval equipment can be charged while climbing if at least one of the vertical rails comprises a charging line adapted to be connected to a charging receiving device on the storage and retrieval equipment to allow charging of the on-board batteries or capacitors of the storage and retrieval equipment. These devices can also be charged using on-board recovery means connected to the climbing wheels to recover energy while moving downwards.

[0043] The storage facility according to the invention may also comprise a removable maintenance platform adapted to be placed in position to access the area between the vertical climbing tracks. This allows access to the storage level when necessary, even in the area of ​​the vertical climbing tracks.

[0044] In addition, the storage facility of the present invention can include triple-depth storage racks, thereby reducing rack costs by 25% and increasing storage density by 25%. Stacked load units can also be used, thereby reducing rack storage costs by 25% and increasing density by 25%.

[0045] One beneficial use of the invention is in the field of vertical farming, where storage facilities are used to store live plants (https: / / en.wikipedia.org / wiki / Vertical_farming).

[0046] The storage and retrieval device can store and retrieve containers containing plants. These special containers (such as suitcases) of this embodiment can be equipped with an insertion frame with plant soil or other objects. Therefore, the storage and retrieval device will be beneficial for splash-proofing.

[0047] Such embodiments may additionally include modular and mobile plant treatment systems for value-added services such as irrigation, pest control treatment, fertilization, etc.

[0048] With this modular, mobile plant treatment system, which includes an application head and a pump-operated water supply tank, targeted fine dosing is possible and the irrigation heads can be moved to reach only the corresponding plants, thereby minimizing water usage, among other things.

[0049] Such tanks may be filled manually or automatically at the lowest level, for example at a dedicated refueling station, which would be implemented as an alternative or supplement to a GTP station.

[0050] A mixed operation of storage and retrieval equipment loaded with plants and storage and retrieval equipment loaded with modular and mobile plant handling systems can be achieved.

[0051] Further features and details of the invention will be apparent from the following description of the accompanying drawings, in which:

[0052] Figure 1 A schematic perspective view showing a storage rack according to a first embodiment of the present invention; and

[0053] FIG. 2A to FIG. 2D Shows Figure 1 Details of the shuttle bus;

[0054] Figure 3A , Figure 3B Details of the vertical climbing tracks in the rack are shown;

[0055] Figure 4A , Figure 4B An alternative to the embodiment of FIG. 3 is shown;

[0056] Figure 5 A to Figure 5 E shows the details of the change of walking direction;

[0057] Figure 6 A schematic embodiment of a shuttle with a "wedge arm" is shown;

[0058] Figures 7 to 13 shows different rack configurations used in the present invention;

[0059] Fig.14 One possible storage configuration is shown, with two storage areas connected by a shuttle bridge;

[0060] Fig.15 One possible storage configuration is shown, using racks with staggered heights;

[0061] FIG. 16A to FIG. 16E An embodiment of using AMRs to transfer shuttles between aisles and for ground transport between virtual GTP stations and storage racks is shown;

[0062] Fig.17 An embodiment using conventional conveyors for container transport and physical GTP stations is shown;

[0063] Fig.18A , Fig.18B An embodiment using mobile racks is shown;

[0064] Fig.19 The rescue operation of the shuttle is shown;

[0065] Fig. 20 An embodiment with a transport shuttle and a robotic picking shuttle and running tracks with transverse aisles forming a bridge is shown;

[0066] Fig.21 An embodiment of a removable maintenance platform is shown, and

[0067] Figure 22 to Figure 24 An embodiment of the use of the invention in vertical farming is shown.

[0068] Figure 1 3 show a storage facility 1 having a plurality of storage racks R and storage rack levels 3 for storing load units T, wherein the storage racks R have aisles 2 in between on one side and are placed back to back on the other side.

[0069] The load unit T may be a pallet, tote, container, etc. and is of storage type S, where products are stored to be picked when fulfilling an order. The load unit T may also be of order type O, where products are placed or placed according to an order to at least partially fulfill the order.

[0070] Each storage rack level has running tracks 4 on opposite sides of the storage rack R, on which at least one storage and retrieval device 5 can travel along the length of the aisle 2.

[0071] In this embodiment, the load units T are stored in the storage rack R in a double depth configuration.

[0072] The storage rack has a load rail 11 (or crossbeam) on which the load unit T is placed and which is supported between the running rail 4 (on one side) and the longitudinal support rail 12 (on the other side). The crossbeam 11 is arranged perpendicular to the longitudinal extension direction of the rack R (or aisle 2). Two (or more) crossbeams 11 support each load unit T (e.g., a pallet) from below. The crossbeam 11 is arranged along the storage space of each rack R and level 3.

[0073] The running rails 4 and the longitudinal support rails 12 are attached to uprights 13. The uprights 13 are either facing the aisle 2 or are located between racks R arranged back to back.

[0074] Maintenance platforms 14 are arranged in the aisles 2 every five (5) floors so that maintenance personnel can enter the aisles, shelves, shuttles, etc. when necessary.

[0075] In this embodiment, the storage and retrieval device 5 is a so-called shuttle 5, which has a carrying area 6 for at least one load unit T, which is located between load handling devices 7, which can extend into the storage rack R in a direction perpendicular to the length of the channel 2 for placing the load unit T into the storage rack R or retrieving the load unit T from the storage rack R.

[0076] The load handling device 7 comprises telescopic rails 8 which can extend to both sides of the load area 6 and has a contact element 9 which can be rotated between an upright non-use position and a horizontal use position, wherein the contact element 9 will contact the surface of the load unit T when the load unit T is pushed into the shelf R or pulled out of the shelf R or pulled onto the load area 6 in a known manner.

[0077] Each shuttle 5 has a first set of four running wheels 10 for running along a running track 4 extending horizontally along the corresponding storage shelf level 3 of the channel 2. The storage and retrieval device 5 has two wheels on each side, one wheel or two wheels on each side are driven by a motor through a joint drive shaft.

[0078] For each aisle 2, there are at least two pairs of vertical climbing rails 15 (a set of vertical climbing rails) on opposite faces of the storage racks R adjacent to the corresponding aisle 2. Preferably, they will be arranged at the ends of the aisle.

[0079] These vertical climbing rails are implemented as columns. The vertical climbing rails 15 can also be attached to the columns 13 at appropriate locations.

[0080] Each shuttle 5 has a climbing device 16 for vertically moving along the vertical climbing track 15 by engaging the vertical climbing track 15 .

[0081] The climbing device 16 of each shuttle 5 comprises: a set of four climbing wheels 16 for interacting with the vertical climbing track 15. The four climbing wheels 16 have a movement axis perpendicular to the four running wheels 10. The four climbing wheels 16 can be in an extended engagement position (see FIG. 1 ) for interacting with the vertical climbing track 15 while horizontally traveling along the running track 4 (which extends horizontally along the corresponding storage shelf level 3). Figure 2C ) and retracted non-engaged position (see Figure 2B ) between them.

[0082] The climbing wheels 16 are each arranged in a position similar to the running wheels 10 on the shuttle 5 so as not to change the center of gravity, etc. As shown in Figure 2, they are each arranged slightly above the running wheels so as not to interfere with the horizontal movement or the center of gravity.

[0083] In the present embodiment, the climbing wheel 16 is a gear (pinion), and the vertical climbing track 15 has a corresponding linear gear (rack) or chain.

[0084] The retraction mechanism is preferably a lever arm 20 (see, e.g., Figure 6 ), the lever arm is articulated so that the climbing wheel 16 is pressed into the linear gear or climbing track 15 by the deadweight of the shuttle 5, thereby achieving positive interaction and climbing by driving the climbing wheel set (as if they were running wheels). To this end, the retraction mechanism connects the climbing wheel 16 to the drive motor of the running wheel 10 when in the extended position.

[0085] like Figure 6 As schematically shown in FIG. 1 , preferably, the lever arm 20 of the retraction mechanism is articulated and driven so as to realize the self-locking principle by the deadweight of the shuttle 5, thereby stopping the shuttle 5 in the event of a (power) failure to prevent uncontrolled vertical travel or collision. To this end, the climbing wheel 16 is attached to the frame of the shuttle 5 via the lever arm 20 so that it realizes a function similar to that of a wedge, since the hinge is higher than the wheel 16. This allows the shuttle 5 to move slowly and passively downwards.

[0086] Additionally or alternatively, the climbing wheel 16 is equipped with a mechanical fail-safe brake which can be activated to completely stop the shuttle 5 .

[0087] This allows the shuttle 5 to move up and down along the climbing track 15, such as Figure 3A shown.

[0088] As from Figure 3A As can also be seen in the figure, the horizontal running track 4 needs to leave gaps or spaces 19 on both sides of the reversing track 17 that coincides with the vertical climbing track 15, so that the shuttle 5 can enter each level 3.

[0089] Each shuttle 5 has a second set of four retractable running wheels 18 for horizontal running along a reversing track 17 extending along the corresponding storage rack level 3 of the aisle 2 in the region of the vertical climbing track 15. The space or gap 19 is wide enough to allow the running wheels 10 to "pass through".

[0090] Each shuttle 5 has two retractable wheels 18 on each side; one or both wheels on each side are driven by a joint drive shaft and are used when changing the direction of movement of the shuttle 5 from vertical movement along the vertical climbing track 15 to horizontal movement along the running track 4 of the corresponding shelf level 3 of the channel 2. Therefore, the retractable wheels 18 are located inward and downward than the "normal" wheels 10.

[0091] Similar to the climbing wheel 16, the four retractable running wheels 18 are retractable wheels and are controlled to extend when the shuttle 5 travels along the reversing track 17. In the extended position, the running wheels 18 are engaged with the drive of the running wheels 10.

[0092] In general, this allows the following moves. Figure 2B As shown, the shuttle 5 uses running wheels 10 to horizontally travel along the running track 4 in each corresponding level 3 in the channel 2. For vertical travel, as shown in FIG. Figure 2D As shown, the shuttle 5 uses the climbing wheels 16 to walk vertically along the climbing track 15 to the corresponding level. Figure 2D As shown, the shuttle 5 uses running wheels 18 to run along the reversing track 17 .

[0093] Figure 5 A to Figure 5 E shows this process in detail.

[0094] First, the shuttle 5 contacts the vertical climbing track 15 through the climbing gear 16 driven by it, thereby climbing to the corresponding level 3 (see Figure 5 A). Then, the four running wheels 18 extend from the retracted position to the extended position so as to engage with the reversing track 17 (see Figure 5 B).

[0095] Then, the climbing gear 16 is retracted, and the shuttle 5 uses the "second" auxiliary running wheel 18 to walk horizontally along the reversing track 17 (see Figure 5 C). These auxiliary running wheels engage with the inner flanges of the rails 4 and 17, both of which have the same C-shaped cross-section and are aligned. Once the gap 19 is overcome, the further separated running wheels 10 engage with the running rail 4 on the top flange, allowing the shuttle 5 to travel on the running rail 4 while using the auxiliary running wheels 18. In other words, the shuttle 5 is supported by the running wheels 10 on the top flange forming the running rail 4 and / or by the auxiliary running wheels 18 on the lower inner flange forming the reversing rail 17 (see FIG. Figure 5 D). By further walking, the shuttle leaves the area of ​​the climbing track 15 and is allowed to walk using only the running wheels 10 engaged with the running track 4 (see Figure 5 E). The auxiliary travel wheels 18 can then be retracted.

[0096] There are many implementation methods of the retracting mechanism. The auxiliary walking wheel 18 can be moved in place by a cylinder mechanism, a gear rack mechanism or a driven rod connecting rod mechanism. It can also be driven by a servo motor.

[0097] Alternatively, the auxiliary wheels 18 can be moved horizontally to be positioned in a vertical line below (or above) the wheels 10 so that when the shuttles 5 move vertically, they can also benefit from the gap 19. After reaching the destination level, the auxiliary wheels 18 can be moved horizontally to an engaged position.

[0098] like Figure 4A , Figure 4B As shown, each channel 2 can implement more than one set of climbing tracks 15. In the embodiment shown, there are two sets of climbing tracks 15A, 15B adjacent to each other in the channel.

[0099] This allows one set to be dedicated to walking up and the other set to walking down, as indicated by the arrows, thereby increasing throughput. Obviously, a second pair of two climbing tracks can be located at the other end of the passage.

[0100] This also achieves redundancy, as a shuttle 5 stuck in one set can be bypassed using the other set of climbing rails 15 (as shown in dashed lines).

[0101] Figures 7 to 15 Various possibilities for implementation of racks and storage facilities are shown.

[0102] exist Figure 7 In the case of a load cell T (a tote or container), the racking allows for single-depth storage of load cells T (a tote or container), whereas in Figure 8 In the case of a double depth storage load cell T, a double depth storage load cell T is achieved. Fig. 9In the double depth storage there are stacked load cells T. Fig.10 In turn, an embodiment of triple-depth storage of load cells T is shown, which are stored in Fig.11 are stacked. Fig.12 As shown, the load unit T can be a pallet, as shown in the figure for triple-depth storage. It is even possible to completely avoid the use of auxiliary tools for the load unit T, such as Fig.13 As shown, direct placement or storage of boxes without the need for pallets, totes or the like is shown.

[0103] In order to be able to handle stacked load units T, the corresponding shuttle 5 can be equipped with a mechanism for selectively gripping and lifting the load units so that the load units can be stacked and unstackered within the rack without leaving the aisle. For example, such a mechanism can grip the side wall with a certain pressure with the jaws, or apply it laterally and lift the load unit.

[0104] Fig.14 and Fig.15 Different embodiments of the storage facility itself are shown.

[0105] exist Fig.14 In the embodiment, two storage areas (a smaller storage area 1A and a larger storage area 1B) are connected by an elevated shuttle bridge 22 (by extending the running track 4), which connects the passages 2 of the two areas 1A, 1B, thereby allowing the shuttle 5 to travel between the areas 1A, 1B. This allows ground travel under the bridge 22.

[0106] exist Fig.15 In the embodiment, the racks R have three different heights 23A, 23B, 23C along the extension direction of the passage 2, allowing, for example, the storage facility 1 to be placed on the side of a hill.

[0107] Figure 16 to Fig.17 Various embodiments of storage facilities associated with order fulfillment are shown.

[0108] exist FIG. 16A to FIG. 16E 2 shows an embodiment of using AMR24 to transfer shuttle vehicles 5 between channels 2 and / or to perform ground transportation of load units T between virtual GTP stations 25 and storage racks R.

[0109] exist Fig.16A In the embodiment, the shuttle 5 unloads the goods from the lowest level 3 of the channel 2 onto the unloading conveyor 26, which is placed in the extension of one side of the shelf R of the channel. A corresponding storage conveyor 27 is placed on the opposite side.

[0110] Thus, the shuttle 5 can unload the load unit T onto the unloading conveyor 26 or retrieve the load unit T from the storage conveyor 27 .

[0111] The conveyors 26 , 27 are supplied or maintained by a ground AMR 24 having a carrying platform for the load unit T.

[0112] AMR 24 travels back and forth between conveyors 26, 27 and virtual GTP station 25, which is formed instantly by AMR 24 carrying load units T, which can be order load units (to be picked into) or product load units (to be picked from) at the area where the picker P is located. The area can be a fixed area or a variable area.

[0113] Additionally, the AMR 24 can swap load cells T between channels.

[0114] exist FIG. 16B to FIG. 16E In an alternative version, the shuttle 5 can also leave the channel 2 and change the channel 2 by using the second version of the AMR 28 (with a carrying platform 29 for the shuttle 5). In order to change the channel 2, the AMR 28 can position itself under the climbing track 15 by driving into the corresponding channel (see Fig. 16C Then, the shuttle 5 lowers itself onto the platform 29 and retracts the climbing wheels 16 ( Figure 5 D). Then, AMR28 will leave the channel 2 carrying the shuttle 5 and walk to its destination. Such a destination can also be a service and maintenance station.

[0115] Fig.17 A similar embodiment to FIG. 16 a is shown, but a conventional conveyor 30 is used to transport the load unit T in the front area and to transport it to the physical GTP station 31 .

[0116] A direct horizontal exchange of a load unit T from one aisle 2 to an adjacent aisle 2 ′ is possible via an exchange position Q in the storage rack R, wherein the shuttle 5 itself actively moves the unit T horizontally in the exchange position Q using a telescopic arm.

[0117] In addition to the climbing shuttle 5, according to Fig.17 The storage facility 1 also has an elevator 32 which is present in at least one storage rack in each aisle 2 and which is able to accelerate vertical transfers.

[0118] The elevator 32 interfaces with the conveyor 30 of the front area via a discharge conveyor 33 and a storage conveyor 34. The elevator 32 has a conveyor platform 35 that can be raised and lowered and interfaces with a buffer conveyor 36 of each level.

[0119] Fig.18A , Fig.18BAn embodiment is shown in which a mobile rack is used as a GTP 37 along the outer length of the corresponding storage facility. The shuttle 5 can supply the mobile rack with goods from the aisle 2 behind it by pushing the load unit through the mobile rack, similar to the operation of the exchange position Q above. The GTP 37 has two rows of inclined display spaces 38, which are provided by the mobile rack and are stacked on top of each other. Below them is a discharge conveyor 39 for transporting the picked load units to the packaging area.

[0120] As shown by the arrows, logistics can be "circular", using a climbing track 15 on one side of the storage facility or channel 2 for upward travel, using a climbing track 15 on the other side of the storage facility or channel 2 for downward travel, and the higher level 3 is used to travel from the upward climbing track to the downward climbing track, while the lower level is used for travel in the opposite direction.

[0121] Fig.19 A rescue operation is shown for a shuttle 5B that has failed in the passage 2 (somewhere on the running track 4). The rescue can be performed by the second shuttle 5A, which can be controlled to push the shuttle 5B to the end of the passage 2, where the shuttle 5B can be more easily approached.

[0122] To this end, the shuttle 5A includes: a set of buffers 40, which face the movement direction along the channel 2 and are used to contact the surface 41 of the corresponding rear shell of the front of the shuttle 5B, or alternatively, the second shuttle 5B includes a corresponding pair of buffers 40, thereby allowing a pushing operation.

[0123] The buffer 40 may be located on the surface 41 of the front respective rear housing of the shuttle 5A, 5B, or alternatively on the climbing wheel 16', depending on their placement.

[0124] Fig. 20 An embodiment is shown having a shuttle 5 (as described above) and a robot picking shuttle 42, and having a transverse channel running track 43, which forms a bridge perpendicular to the direction of the channel 2 for propelling the shuttle 5 to move between channels 2 by a set of climbing wheels 16.

[0125] The robotic picking shuttle 42 will have all the functions of the climbing shuttle 5 and in addition will have a robotic picking device 44 and a vision system 45 for identifying the respective items to be picked. The robotic picking shuttle 42 will carry the order load units into which they are picked using the robotic picking device 44 and the vision system 45 without leaving the rack R. The product load units will be placed in the aisle by the climbing shuttle 5.

[0126] Fig.21 An embodiment of a removable maintenance platform 14 is shown ( Fig.21 A), a removable maintenance platform 14 is adapted to be put into position to access the area between the vertical climbing tracks 15. Obviously, a fixed maintenance platform cannot continuously access this area.

[0127] The figure shows two alternatives of the maintenance platform 14. Both alternatives have an extendable grid platform 14A that can be extended by a slidable or rotatable extension platform 14B (see Fig.21 B) to achieve extension to the area between the vertical climbing rails 15.

[0128] Figure 22 to Figure 24 An embodiment of the invention is shown for use in vertical farming. In this context, a storage facility similar to Fig.16A The difference is that the load unit is a special tray 46 for carrying plants (see Fig.23 A, B, C), and the shuttle 5 carries a special plant maintenance load unit 47.

[0129] The rack R supports a tray 46, similar to a common load unit T, and will be equipped with a light source, etc., for plant growth. The tray 46 may contain: a box-like open insert 46A, which is used to directly contain soil or a growing medium; an insert 46B, which has openings 48A arranged in a grid, for accommodating a planting pot 48B; or a compartmented insert 46C, which provides a plurality of compartments, each compartment directly accommodating a plant.

[0130] like Fig.24 As shown in detail in FIG, a special plant maintenance load unit 47 may also be transported in a pallet 46. The plant maintenance load unit 47 will contain: a water tank 47A, a pump 47B, two water dispensers 47C (one on each side, for watering the plants on both sides of the channel), a power source 47D (battery, capacitor, etc.), and a controller 47E, etc. The water dispenser 47C may be implemented to be adjustable, just like a robotic arm.

[0131] In this way, the shuttle 5 can transport the plant care load unit 47 through the rack R and water the plants. The water may contain fertilizers, pesticides, etc.

[0132] The shuttle 5 can also reposition, unload or store the pallets 46 with plants as needed.

[0133] In all embodiments, at least one of the vertical tracks 15 may include a charging line adapted to connect to a charging port on the shuttle 5 to allow charging of the onboard battery or capacitor. In addition, the shuttle 5 may include a recovery device connected to the climbing wheel to recover energy when moving downward.

Claims

1. A storage facility (1) having a plurality of storage racks (R) and storage rack levels (3) for storing load units (T), wherein: There is a passage (2) between two storage racks (R); Each storage rack level has running tracks on opposite sides of the storage rack (R), on which at least one storage and retrieval device (5) is able to travel along the length of the channel (2), For each channel (2), at least two pairs of vertical climbing rails (15) are located on opposite sides of the storage rack (R) adjacent to the corresponding channel (2); The storage and retrieval device (5) has a loading area for at least one load unit (T), the loading area being located between load handling devices, the load handling devices being able to extend into the storage rack (R) in a direction perpendicular to the length of the passage (2) for placing a load unit (T) into the storage rack (R) or retrieving a load unit (T) from the storage rack (R), Each storage and retrieval device (5) has a first set of four running wheels for running along the running track, which runs horizontally along the corresponding storage shelf level (3) of the channel (2); each side of the storage and retrieval device (5) has two wheels, one wheel or two wheels on each side are driven on a joint drive shaft, Features Each storage and retrieval device (5) has a climbing device for vertical movement, in particular movement along the vertical climbing track.

2. The storage facility (1) according to claim 1, characterized in that The climbing device of each storage and retrieval device (5) includes a set of four climbing wheels (16) for interacting with the vertical climbing track (15), the four climbing wheels (16) having a movement axis perpendicular to the four running wheels, and the four climbing wheels (16) are capable of extending and retracting between an extended engagement position and a retracted non-engagement position for interacting with the vertical climbing track, while walking horizontally along the running track, and the running track extends horizontally along the corresponding storage shelf level (3).

3. The storage facility (1) according to claim 1 or 2, characterized in that Each storage and retrieval device (5) has a second set of four running wheels for running along a reversing track, and the running wheels are preferably retractable running wheels. The reversing track extends horizontally along the corresponding storage shelf level (3) of the channel (2) in the area of ​​the vertical track. The storage and retrieval device (5) has two wheels on each side, and one wheel or two wheels on each side are driven on a joint drive shaft for use in changing the moving direction of the storage and retrieval device (5) from vertical movement along the vertical climbing track to horizontal movement along the running track of the corresponding storage shelf level (3) of the channel (2).

4. The storage facility (1) according to claim 3, characterized in that The four running wheels for traveling along the reversing tracks extending horizontally along the corresponding storage shelf levels (3) of the aisle (2) in the area of ​​the vertical tracks are retractable wheels and are controlled to be extended when the storage and retrieval device (5) is traveling along the reversing tracks.

5. Storage facility (1) according to the preceding claim, characterized in that The reversing track is arranged between the vertical climbing tracks on each level (3) having the running track, and the running track of the corresponding storage shelf level (3) of the channel (2) has a gap with the reversing track extending horizontally along the corresponding storage shelf level (3) of the channel (2) in the area of ​​the corresponding vertical track.

6. Storage facility (1) according to the preceding claim, characterized in that The transverse channel running rails form a bridge perpendicular to the channel direction for the movement of each storage and retrieval device (5) between channels (2), preferably propelled by a set of four climbing wheels.

7. Storage facility (1) according to the preceding claim, characterized in that The climbing wheel is a gear (pinion), and the vertical track and / or the transverse channel running track have corresponding linear gears (racks) or chains.

8. Storage facility (1) according to the preceding claim, characterized in that A direct horizontal exchange of a load unit (T) from one channel (2) to an adjacent channel (2') is carried out via an exchange position (Q) within the storage rack (R), wherein the storage and retrieval device (5) itself actively moves the transport unit (T) horizontally in the exchange position (Q) using the load handling device, which is preferably a telescopic arm with an engageable load contact device.

9. Storage facility (1) according to the preceding claim, characterized in that The shelf has an interface connected to a conveyor in the front area or front area of ​​the fulfillment area for connecting to a picking station located anywhere between the lowest level to the highest level. Preferably, each channel has at least one picking station.

10. Storage facility (1) according to the preceding claim, characterized in that The storage rack has at least one interface which allows the handover of the load unit to an AMR, referring to an autonomous mobile robot, for further ground transport.

11. Storage facility (1) according to the preceding claim, characterized in that The storage facility comprises a ground transport AMR which is implemented to allow transport of storage and retrieval devices (5) within the storage facility, preferably between aisles (2).

12. Storage facility (1) according to the preceding claim, characterized in that The storage facility comprises a storage and retrieval device (5) which is embodied with a stacking device for stacking or unstacking load units, preferably containers or suitcases, on top of one another on their carrying areas.

13. Storage facility (1) according to the preceding claim, characterized in that There is a lift in at least one storage rack in each channel (2).

14. Storage facility (1) according to the preceding claim, characterized in that More than one storage and retrieval device (5) can be introduced into a single level.

15. Storage facility (1) according to the preceding claim, characterized in that The storage and retrieval device (5) comprises a set of buffers facing in the direction of movement along the channel, the buffers being adapted to contact a corresponding pair of buffers of a second storage and retrieval device (5) to allow a pushing operation.

16. Storage facility (1) according to any one of claims 2 to 15, characterized in that The retraction mechanism of the climbing wheels (16) incorporates a self-locking principle, in particular by means of a lever arm (20) which is articulated so that the climbing wheels (16) are pressed into the climbing track (15) by the deadweight of the storage and retrieval device (5), thereby allowing positive interaction and climbing by driving the climbing wheel sets as if they were running wheels.

17. Storage facility (1) according to claim 16, characterized in that The lever arm (20) of the retraction mechanism is preferably articulated and driven in order to stop the storage and retrieval device (5) in the event of a (power) failure due to uncontrolled vertical travel or a collision, optionally the climbing wheel (16) is attached to the frame of the storage and retrieval device (5) via the lever arm (20) so that it performs a function similar to a wedge.

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