Storage and retrieval device, shelving system and method for assembling a shelving system

Abstract

With a view to improved access to parts of a shelving system (1) using structurally simple means, a storage and retrieval device (5) for the shelving system (1), in particular for a storage and retrieval system, is specified. The storage and retrieval device (5) has at least one mast (10) extending in the vertical direction (y) and a lifting unit (19) movably arranged on the mast (10). The storage and retrieval device (5) is designed and developed such that the mast (10) is arranged directly on a shelf upright (20) of the shelving system (1) and / or is integrated into the shelf upright. A specified shelving system (1) is designed accordingly. A method for assembling the shelving system (1) is specified.

Description

The invention relates to a storage and retrieval device for a storage system, in particular for a storage and removal system, wherein the storage and retrieval device has at least one mast extending in the vertical direction and a lifting unit arranged movably on the mast.The invention further relates to a racking system, in particular a storage and removal system, having a rack storage with at least one storage rack, wherein the at least one storage rack has one or more compartments for a storage item in a rack plane or in a plurality of rack planes lying one above the other, and having at least one racking and servicing device, in particular having a racking and servicing device according to one of Claims 1 to 5.Furthermore, the invention relates to a method for assembling a racking system, in particular a racking system according to one of claims 6 to 9.Storage and retrieval devices or lifts of the type in question have been known from practice for years and serve for the operation of the goods in a storage system, in particular in a storage and removal system in the manner of a high-rack store.Known storage and retrieval devices are located in front of the respective storage rack or in a rack aisle formed between two storage racks. What is crucial here is the arrangement of the storage and retrieval devices in order to achieve the necessary throughput of goods in the storage system. In front of / next to / between the storage shelves, the shelf operating devices are arranged at a distance from the storage shelves.Such storage and retrieval devices have at least one mast extending in the vertical direction and a lifting unit arranged movably on the mast for transporting storage goods. The storage and retrieval device can thus transport storage goods with the lifting unit in the vertical direction and store them in storage systems or remove them from storage systems. Suitable load carriers for the storage goods or transport goods are all types of pallets, containers, shelves and cartons. This also includes all charge carriers which are used, for example, in the supermarket, that is to say, for example, a composite with six bottles of grill sauce which has a cardboard "tray" only on the underside and is wrapped / shrunk with film. Envelopes and / or poly bags-for example with textile goods-are also suitable as storage goods.In known storage and retrieval devices, however, secure access is problematic in the event of a fault, since the mast blocks access to the lifting unit to a certain extent.The object of the present invention is therefore to configure and further develop a storage and retrieval device and a corresponding storage system in such a way that better access to the parts of the storage system is ensured with structurally simple means. A space-saving, favorable and access-optimized alternative is to be provided. Furthermore, an efficient and simplified method for assembling the shelving system is to be specified, which ensures a fast, cost-effective and simple assembly of the shelving operating device.According to the invention, the above object is achieved by the features of claim 1. According to this, the rack serving device in question is characterized in that the mast is arranged directly on a rack post of the rack system and / or is integrated into the rack post.In a manner according to the invention, it has been recognized that the underlying object can be achieved by a skillful configuration of the mast or of the poles. Specifically, the poles are arranged directly on the rack uprights and / or "replace" the rack uprights when integrated and are thus integrated into the storage rack. In this case, the mast can be attached and / or fastened directly or indirectly to the shelf poster or can be formed integrally with the shelf poster or replace the shelf poster.As a result, the poles are not "in the way" or in the rack lanes, as in known storage and retrieval devices. The poles significantly less obstruct access to the individual storage and retrieval devices or lifts.A rack serving device is thus proposed which ensures better access to the parts of the rack system with structurally simple means. The storage and retrieval device offers a space-saving, favorable and access-optimized alternative.The mast has a profile in cross section which enables it to fulfil the task of a rack poster and at the same time that of a lifting mast. A surface moment of inertia increased in comparison with a known rack poster prevents overloading (stability failure, failure due to excessively high voltages) under load with moments by the lifting unit or static loads due to storage goods in the rack. Unlike known rack-and-shelf supports, poles are suitable for the introduction of a torque at any position of a lifting unit over the entire pole length and are optimized for this purpose. Rack controllers, in contrast, are optimized only for compressive loads-in the vertical direction-and are less well suited for the introduction of moments which occur during operation of the rack serving device with the lifting unit. The poles may for example be made of aluminium and / or of an aluminium alloy, but have a high moment of area and a much larger cross-section and therefore a larger moment of resistance than a rack post even if the rack post is made of steel. Also known rack controllers with a mast designed as a guide rail or in other words with a lift rail which is screwed to or onto the rack controller or is attached in front of or on the rack controller may not have a sufficient area moment of inertia, depending on the embodiment, although additional assembly effort is present. Therefore, known rack-and-shelf holders cannot be used or can only be used to a limited extent as a mast. Dimensional tolerances in the storage rack change too much when using known rack controllers during loading and / or already during assembly, so that settings carried out cannot be reproduced. Alternatively, the poles can also comprise steel and / or be designed as tubes.FEM 9.831 is a standard for the use of storage and retrieval devices in high-bay storage. For adjacent uprights on the same storage shelf, FEM 9.831 allows a tolerance of + / - 15 mm in the horizontal x-direction along the storage shelf. However, a tolerance of + / - 0.8-1.0 mm is preferred. For the individual field length, FEM 9.831 permits a tolerance of + / - 3 mm in the x direction. Thus, tolerances which are permissible on the one hand due to standards for the storage rack and tolerances which are technically necessary for the functioning of the lifting unit must be taken into account on the other hand. Known racking systems allow a tolerance at the rack poster of approximately + / - 5 mm.If the poles are mounted in front of the rack poster or are arranged directly on the rack poster, the fastening on the rack poster is adjustable, so that the setting of the poles becomes independent of the rack tolerances. However, separate shelf stands are required.If the poles "replace" the rack uprights and are integrated into the rack uprights or the storage shelf, no separate rack upright is required. An expensive and complicated separate mast construction with connecting brackets of the poles is also dispensed with. The poles are aligned with the storage shelf and thus additional alignment of the pole construction relative to the storage shelf is omitted. The number of components in the overall system decreases and assembly time can be saved. In addition, the space requirement is reduced.With regard to a particularly simple construction and advantageous kinematics of the storage and retrieval device, each lifting unit can be arranged on two poles in each case so as to be movable in the vertical direction.In this case, according to one embodiment, each lifting unit can be assigned two separate poles which are preferably located laterally in an x direction in each case to the left and right of the lifting unit, in other words from the perspective of a viewer standing frontally in front of the storage rack to the left and right. In this case, a right mast of a first, left-hand lifting unit can be arranged directly next to a left mast of a second, right-hand lifting unit. Thus, each lifting unit has its own two mast profiles, so that each storage and retrieval device is modular and individually adjustable. However, a larger number of poles is required and the space requirement is increased.Preferably, two lifting units arranged on the left and right side by side share the mast arranged between them. The mast is thus used by lifting units / lifting baskets on both sides. This reduces the number of poles and the space requirement overall. Assembly time can also be saved.According to one embodiment of the storage and retrieval device, a drive device can move the lifting unit on the mast via at least one support means extending in the vertical direction, preferably in the vertical direction upwards and / or downwards. The support means can be designed, for example, as a belt.In this case, the drive device can be arranged, for example, centrally below the lifting unit. In this case, the space requirement of the drive or of a motor of the drive device is minimized in the z-direction-i.e. in the horizontal direction into the storage rack or out of the storage rack into the rack aisle. The drive is easily accessible with respect to maintenance and settings. A shaft of the motor can be disconnected from an adjacent storage and retrieval device and / or disconnected from the energy supply for safety reasons. In addition, the safety of operation can be increased by two support means being located on the left and right of the drive, respectively. However, in this variant, a relatively large lower approach dimension results. The lower approach dimension is the lowermost position in the vertical y direction, which the lifting unit of the storage and retrieval device can reach, as a result of the design. Since the drive device occupies the installation space at the foot of the mast, the lifting unit cannot be moved down completely to the ground. A disadvantage of a comparatively large lower approach dimension is that the storage capacity decreases because overall less installation space is available for rack levels, for example in the storage building.As a variant, the drive device can be located in the z direction out of the storage rack-that is, optionally in the rack aisle. In other words, the drive device is located behind the lifting unit. As a result, the drive device with all its components is particularly easily accessible and the lower starting dimension falls considerably. The shaft is removable from the front in terms of safety. In addition, the safety of operation can be increased by two support means being located on the left and right of the drive, respectively. However, the space requirement in the z direction for the drive device and the motor increases. The components are located "in the way" or in the rack corridor.As a further variant, the drive device can be arranged in the z-direction in the storage rack or, in other words, in front of the lifting unit or under the storage rack. This results in a small space requirement in the z direction and a moderate lower approach dimension for the lifting unit. The safety of operation can be increased by having two support means on the left and right of the drive, respectively. In any event, the drive device under the storage shelf is less readily accessible.According to a particularly advantageous development, the drive device can be designed as a drive console, with a view to particularly good accessibility, which can be pulled like a drawer into the rack aisle or in the direction of an access region. A particularly rigid construction is advantageous in this case.As a further variant, the drive device can be located laterally next to the lifting unit in the x direction. In this variant, there is advantageous accessibility of the drive unit and an advantageous space requirement. The drive unit has only one belt thickness / width in the x-direction, while in the variants described above, twice the belt width is required. With regard to the safety of operation, the one lateral drive device can also drive only a single lateral support means. The size of the engine is limited.According to a further embodiment, two drive devices can also be provided per lifting unit, which are located on both sides next to the lifting unit in the x direction, i.e. to the left and right of the lifting unit. This embodiment is advantageous with regard to safety because the lifting unit can be equipped with two support means and / or brakes. The brakes can also be assigned directly or indirectly to the drive device. However, a greater starting dimension results if motors are partially arranged below the lifting unit. In addition, an electronic synchronous running of the two drive devices must be ensured.As a further variant, the drive device can also be arranged at the top of the mast head.In view of a stable construction, the lifting unit can be fixed to the mast with a degree of freedom in the vertical direction. Since the mast is located directly on the storage rack, the pivot point of the lifting unit is also located directly on the storage rack, so that the torque about the x-axis caused by the lifting unit and / or storage goods is reduced. This enables a lightweight construction of the mechanics and smaller drives in the drive devices.With regard to the usability of smaller motors or drive devices, a counterweight designed for the lifting unit can also be provided and, if necessary, brought into engagement with the support means, for example, if the drive device / s is / are located laterally next to the lifting unit.The lifting unit can have a lifting basket with guide elements for connection to the mast. The guide elements can define the degree of freedom in the vertical direction and can be designed, for example, as rollers. According to another embodiment, the guide elements can be designed as linear rails. The lifting basket can have aluminium profiles with regard to favorable production and weight reduction. Alternatively or additionally, a construction with thin metal sheets, preferably metal sheets, or composite materials would be considered for the lifting basket.The lifting unit can furthermore carry at least one load-receiving means which can be moved in the horizontal direction in the lifting unit. In particular, the load-receiving means can be movable in the lifting basket. The load-receiving means can be designed as a module including the push-out drive and guide rails. Optionally, the push-out drive can be designed such that it can be plugged at the rear-i.e. away from the storage rack in the z-direction-so that the push-out drive can be replaced quickly without removing the load-receiving means.The load-receiving means can be mounted in a floating manner and can be centered on the rack if necessary with an extension movement.The load-receiving means can have prongs which allow the load-receiving means to grip many different conveying and / or storage goods from below. This may be advantageous in particular for goods with very heterogeneous packaging, for example for supermarket goods.With a view to an advantageous centralisation of the electrical components, the load-receiving means can contain sensors for a horizontal axis and / or a vertical axis. If, as described above, two lifting units arranged next to one another on the left and right share the mast arranged between them, both lifting units or both storage and retrieval devices can only be set in combination. In this case, the load-receiving means can preferably be individually adjustable relative to the lifting basket by means of adjusting screws-specifically independently of the lifting mechanisms / poles. In other words, the load-receiving means is set as far as possible instead of the poles.The electrical / electronic system can preferably also be centralized with regard to improved assembly possibilities, since there is hardly any space on the mast for sensor systems and cabling. This eliminates the complicated cabling on the mast. Preferably, the entire electronics can be exchanged with the load-receiving means. A possible advantage is also that an energy chain is fastened to the load-receiving means and to the rack, and not to the load-receiving means and to the mast / lift. This prevents any damage to the electronics on the mast by the shelf builder.According to a particular embodiment, the storage and retrieval device can have two drive devices for two lifting units, each with a load-receiving means. As a result, the throughput in the racking system is significantly increased. The two drive devices can be arranged, for example, by combining two different drive positions-in the z direction "behind", "under", and / or "in front of" the lifting unit with the respective load-receiving means. For each drive, two belts can be located laterally of the lifting baskets.According to a first alternative, both load-receiving means can be permanently allocated to a defined area of the storage rack. This simplifies the control. It is excluded that the two load-receiving means come into the transverse direction. In addition, an "emergency mode" can be set up in which-for example by switching over in the control system-a load-receiving means can, except for this, serve the area of the storage rack which is actually permanently allocated to the other load-receiving means and reserved. In the emergency mode, the throughput is then lower.According to a second alternative, dynamic allocation of areas of the storage rack to the load-receiving means is also possible. In this case, both load-receiving means move to all positions which they can reach geometrically. The lower load-receiving means can naturally not move completely down and the upper load-receiving means cannot move completely up, since the respective other load-receiving means is in the way. In the case of dynamic allocation, an even higher throughput is possible on account of the continuous redundancy. However, the control and regulation is more complex, and in the event of a fault, in the worst case in the event of a crash of the two load-receiving means, a high damage arises.According to a further particular embodiment, the storage and retrieval device can have two load-receiving means in the same lifting unit or in the same lifting basket. The load-receiving means can preferably be arranged above one another in the same lifting basket. A single drive device may be sufficient. Due to the higher weight of the lifting unit with the two load-receiving means, this drive device is, however, larger. This can have effects on the rack grid in the x direction and / or on the lower approach dimension of the lifting unit.A height grid of the load-receiving means can preferably correspond to a height grid of the storage rack, so that simultaneous operation, i.e. feeding / dispensing of conveying / storage goods, is made possible in two rack planes lying one above the other. This measure also increases the throughput in the shelving system.Furthermore, it is possible to telescope the two load-receiving means individually and independently of one another, which can likewise increase the throughput. For example, this could be accomplished by providing separate horizontal axes.With respect to the improved shelving system, the object mentioned at the beginning is achieved by the features of claim 6. The at least one storage rack has one or more compartments for conveying / storage goods in a rack plane or in a plurality of rack planes lying one above the other. The shelving system has at least one storage and retrieval device according to the invention.With regard to increased dimensional stability and durability of lower tolerances and increased dimensional stability, at least two poles can be connected in the rack system by at least one transverse strut extending in the horizontal direction. In other words, the cross strut extends in the x direction.The two poles need not necessarily be two poles which, as described above, are assigned to the same lifting unit. The cross strut or struts can also connect and reinforce more than two poles. In this case, the poles can preferably - not necessarily - have the same division in the x direction as compartments of the storage rack and / or - if the poles do not replace the rack posts - have the same division as the rack posts. According to one embodiment, the cross strut can also connect two rack uprights of the rack system, on each of which a mast is arranged directly.Preferably, the cross strut can simultaneously carry one or more compartment supports for one or more compartments of the rack system. The deformation of the storage shelf during operation is, as explained at the beginning, dependent on the load. It is therefore advantageous to technically limit the deformation at interfaces between automation and storage rack. One possible measure for this is the fastening of the compartment supports to the lift mast or to the mast of the storage and retrieval device via cross braces. As a result, the shelf supports can only slightly deform / shift relative to the storage and retrieval device.The prongs of the load-receiving means can preferably fit into the compartment supports, wherein a tolerance of + / - 1.5 mm should be maintained here.The cross braces for the shelf supports are fastened to or in front of the poles in this example. As a result, the storage and retrieval devices form a composite structure. In addition, the poles may be buried and undercut at the ground to improve stiffening and to avoid a "parallelogram effect". Because the cross braces for the shelf supports are fastened to the poles, the alignment of the position of the load-receiving means with respect to the shelf support for the storage or transport goods can be positioned in a fixed manner in relation to one another in the storage shelf.According to a possible embodiment, a plurality of cross braces arranged one above the other can define the said plurality of rack planes arranged one above the other.A further stiffening of the storage rack can be achieved if the poles-insofar as they do not replace the rack uprights-are in the same grid as the rack uprights in the x-direction.A simple alignment of the lift towers is also possible if the towers are part of the storage rack. By means of the cross braces and, if appropriate, by means of the profiles of the support brackets, the poles become a composite structure.The cross braces can connect the poles to the poles of the other-preferably adjacent-cells or storage racks. Alternatively or additionally, the reinforcement can also be improved by buildings, other shelf elements, stages and / or other auxiliary structures. This makes it possible to stiffen the storage rack and storage and retrieval device.Due to the improved mast position, the towers are arranged directly on the storage rack and are not in the way. The storage and retrieval devices are thus easily accessible. Further, advanced camera and / or sensor systems are enabled to be used. This is because cameras need a large field of view in order to replace the sensor system that has been customary hitherto. A camera must be able to be placed so that it can see all relevant areas. With a corresponding field of view, a camera can recognize conveyed items / stored items and / or free spaces and / or defects.According to a preferred development, the mast heads of two adjacent poles can be connected to one another by a transverse strut. Such a cross strut can also be called a cross strut. The cross bar also serves for stiffening. The cross bar can preferably be formed from bent sheet metal.In this case, the upper mast piece can be adapted overall to the shelf height in the y direction. The shelf height is frequently building-dependent.In the variant described above, in which the drive device is arranged at the top of the mast head, the cross beam can simultaneously be a cladding for the drive device.With a view to a further improved stiffening, the rack store can have two storage racks lying opposite one another, wherein a rack aisle is formed between the storage racks, wherein in each case two towers of the two storage racks lying opposite one another via the rack aisle are connected to one another by means of at least one stiffening. In other words, the stiffening extends in the z-direction.According to an optimized arrangement, at least three or more storage and retrieval devices are provided per storage rack in order to be able to use the rack assembly in an optimum manner and to install the storage and retrieval devices in an optimum manner.With respect to the method for mounting the rack system, the object mentioned at the beginning is achieved by the features of claim 10. The method then comprises the following method steps: a) mounting the at least one mast when constructing the rack storage with at least one storage rack, b) checking the dimensional accuracy and / or compliance with the tolerances, c) mounting the lifting unit / s of the rack system and preferably the drive device / s and / or load-receiving means and d) wiring and preferably installation of sensor systems.In known methods for mounting shelving systems, lifts or storage and retrieval devices including two poles are supplied in one piece, for example, ten meters in height. This results in a large space requirement, both during assembly and for intermediate storage. During the raising of the lift, it is not possible to maintain it in the immediate vicinity for safety reasons for safety reasons, because the lift could fall.According to the method according to the invention, the lifting basket can therefore preferably be installed and adjusted manually - without auxiliary means - or with a hand tool / light device on the mast or between the poles after the poles have been provided during shelf assembly - for example as part of the storage shelf. Preferably, the support means can be threaded via conductors which can be attached to the reinforcement, for example. In the context of the cabling, an energy chain can be attached-likewise by way of example-to the reinforcements, it also being possible here to allow access via the conductors. An advantage here is that the energy chain is detached from the mast / lift, so that no energy chain guidance is required. The ladders could also be arranged on the end face of the mast.Within the scope of the construction of the rack storage in step a), the mast head can also be installed with the cross beam and / or the reinforcement as described, as well as other components which are required for dimensionally accurate assembly.In the context of the mechanical mounting of the lifting unit in step c), further assemblies can be installed in addition to the lifting unit, optionally with the load-receiving means. Thus, improved sequences on the construction sites are possible, since the lifts no longer have to be transported as a whole and subsequent works can thus also start their activities earlier. The parts to be moved are smaller and less critical with regard to working safety. It is also possible to mount maintenance platforms or conveying technology in front of the rack and only then to introduce the remaining components.This provides an efficient and simplified method for assembling the shelving system, which ensures rapid, cost-effective and simple assembly of the shelving operating device.There are now various possibilities for advantageously embodying and developing the teaching of the present invention. For this purpose, reference is made on the one hand to the claims subordinate to claim 1 and on the other hand to the following explanation of preferred exemplary embodiments of the invention on the basis of the drawing. In conjunction with the explanation of the preferred exemplary embodiments of the invention on the basis of the drawing, preferred embodiments and refinements of the teaching are also generally explained. The drawing shows FIG. 1 is a top view of a racking system with racking and retrieval devices according to the prior art, FIG. 2 shows a perspective illustration of an embodiment of the storage and retrieval device according to the invention and of the storage system with integrated poles, FIG. 3 is a sectional top view of a conventional storage rack and mast, FIG. 4 is a perspective view of the conventional storage rack and mast from FIG. 3 , FIG. 5 shows in a further perspective illustration the embodiment of the storage and retrieval device according to the invention and of the shelving system from FIG. 2, FIG. 6 shows a perspective illustration of a storage rack according to the embodiment from FIG. 2, FIG. 7 shows a perspective illustration of a storage rack according to another embodiment, FIG. 8 is a top view of a mast with a divided profile between two lifting units, FIG. 9 shows a perspective illustration of a drive device which is arranged behind the lifting unit according to the embodiment from FIG. 2, FIG. 10 is a perspective view of a drive device according to another embodiment, which is arranged in front of the lifting unit FIG. 11 is a perspective view of a drive device according to another embodiment, which is arranged below the lifting unit, FIG. 12 is a top view of another embodiment of the racking system with a drive unit arranged laterally next to the lifting unit, FIG. 13 is a top view of another embodiment of the racking system with two drive units arranged laterally next to the lifting unit, FIG. 14 shows a side view of a lifting unit of a storage and retrieval device according to the prior art, FIG. 15 shows a side view of a lifting unit of the storage and retrieval device according to the invention, FIG. 16 shows a perspective illustration of two embodiments of lifting baskets for lifting units of the storage and retrieval device according to the invention, FIG. 17 shows a perspective illustration of a load-receiving means with a push-out drive which can be plugged at the rear, FIG. 18 shows a perspective illustration of a load-receiving means as a module, FIG. 19 is a perspective view of a maintenance situation of the rack system; and FIG. 20 shows a simplified block diagram of the method according to the invention.FIG. 1 shows a known shelving system 1 in a top view. The racking system 1 comprises a rack storage with two storage racks 2. in front of or next to the storage racks 2 there are illustrated, by way of example, in two rows 4 a total of ten racking and retrieval devices 5 spaced apart from the storage rack 2. Indicated at the bottom in FIG. 1 is further supplying / discharging conveying technology or shelf structures 6.FIG. 2 shows an embodiment of the storage and retrieval device 5 according to the invention and of the shelving system 1 with poles 10 which are integrated into the outer shelving struts of the shelving system 1. The poles 10 replace the uprights and are covered on the ground with concrete foundations 11. Alternatively, the poles could stand, for example, on preferably height-adjustable feet.The storage rack 2 shown has cross braces 12 which are fastened to or in front of the mast 10 Shelf supports 14 are arranged on the cross braces 12. Prongs-not shown in FIG. 2-of a load-receiving means 15 fit between the compartment supports, which enable the load-receiving means 15 to grip many different conveying and / or storage goods 16-shown as a rectangular block in FIG. 2-from below. The load-receiving means 15 is part of the lifting unit 19 exactly like the lifting basket 18.In FIG. 3, a conventional rack poster 20 is depicted on the left and a mast 10 is depicted on the right in cross section. The shelf post 10 is made of thin steel sheet. The mast has a larger and reinforced cross section, so that the mast 20 has a considerably larger area moment of inertia.In FIG. 4-on the left, the conventional shelf post 20 can be seen again and on the right the mast 10, it is shown that the shelf post 20 is optimized for compressive loads 22 from above, while the mast 10 resists bending loads and loads due to torques 23 about the vertical y-axis significantly better than the shelf post 20, even if the mast 10 comprises aluminum.FIG. 5 shows the storage and retrieval device 5 according to the invention and the storage rack 2 of the rack system 1 from FIG. 2 Drive devices 25 are arranged at the bottom of the poles 10. The lifting unit 19 with its lifting basket 18 and the load-receiving means 15 can be seen. At the top of the poles 10, cross-members in the form of cross-members 26 are arranged. The cross-pieces 26 connect the mast heads and further reinforce the storage rack 2.In FIG. 6, in particular in comparison with FIGS. 3 and 4, it can be seen that the outer rack uprights are replaced by poles 10, while conventional rack uprights 20 are used on the inside of the storage rack 2.In contrast, FIG. 7 shows another embodiment. Here, the poles 10 are arranged directly on the conventional outer rack uprights 20 of the rack system 1. In addition, reinforcements 28 can be seen in FIG. 7. The reinforcements 28 each connect a mast 10 of the storage rack 2 illustrated to a mast of a second storage rack-not visible in FIG. 7-which is situated opposite the storage rack 2, and thus increase the stability and dimensional stability of the rack system 1.FIG. 8 shows from above two storage and retrieval devices 5 each with a lifting unit 19 with a lifting basket 18 and load-receiving means 15. the two load-receiving means 15 each carry a storage item 16. It can be seen particularly well in FIG. 8 that in this exemplary embodiment the two lifting units 19 arranged on the left and right side by side share the mast 10 arranged between them. The mast is thus used by lifting units 19 with the lifting baskets 18 on both sides.FIGS. 9 to 13 illustrate different variants and arrangements of drive devices 25 for the lifting unit 19. In other words, the drive device is located "behind" the lifting unit-not shown in FIG. 9. The drive devices 25 move lifting units up and down on the poles 10 via two support means 33 each extending in the vertical direction. The support means 33 are designed as belts. For this purpose, the support means 10 run via deflections 34, which are arranged substantially below the lifting unit.FIG. 10 shows a variant according to which the drive device 25 is arranged in the z direction in the storage rack 2 or, in other words, in front of the lifting unit or under the storage rack. Thus, although the drive device 25 is less easily accessible, the rack channel 7 remains free for this.In the variant according to FIG. 11, the drive device 25 is located centrally below the lifting unit. Deflections are omitted, but the lower approach dimension increases, since the lifting unit can no longer travel completely downward.FIG. 12 shows a variant with a drive device 25 located laterally next to the lifting unit in the x direction. In the embodiment according to FIG. 13, two drive devices 25 per lifting unit 19 are located next to the lifting unit 19 in the x direction. FIGS. 12 and 13 also show the described optimized arrangement with at least three storage and retrieval devices per storage rack in order to be able to optimally use the rack assembly as well as to be able to optimally install the storage and retrieval device.FIG. 14 shows a load-receiving means 15 according to the prior art. The load-receiving means 15 is in an extended state and carries a storage item 16. in this state, the load-receiving means 15 can overcome a large distance in the z direction, so that the storage item 16 can be brought into a storage rack or removed there, which is located at a distance from the mast-not shown in FIG. 14-on which the lifting basket 18 with its rollers 36 can be moved up and down. The pivot point line 37 drawn in thus defines pivot points of the torques which act on the mast by the lifting unit 19.In contrast, FIG. 15 shows a load-receiving means 15 for the storage and retrieval device according to the invention, likewise in an extended state.The load-receiving means 15 carries a storage item 16. The pivot point line 37 shown or the mast, not shown, on which the lifting basket 18 with its rollers 36 can be moved up and down, are located approximately centrally in relation to the lifting unit 19 in the z direction. Therefore, the torques acting on the mast through the lifting unit 19 are significantly reduced, so that a lightweight construction of the mechanism becomes possible. The travel path in the z direction is in principle not less than in the case of the load-receiving means according to FIG. 14, but the pivot point is located at a different point in the case of the load-receiving means according to FIG. 15. As a result, the distance between the pivot point and the center of gravity of the load in the z-direction in the extended state decreases.FIG. 16 shows two embodiments of lifting baskets 18 for lifting units of the storage and retrieval device according to the invention. On the left, the lifting basket 18 of the lifting unit according to FIG. 15 can be seen. The left lifting basket 18 has four rollers 36 per side, which determine a single degree of freedom for the lifting unit on one mast, namely in the vertical direction y. The four rollers 36 are each arranged in pairs on two rockers 39, which are used at high loads in order to compensate bending loads and / or bending deformations.In the case of the right-hand lifting basket 18, not only the horizontal struts--running in the x-direction--are formed from aluminium profiles, but also the vertical parts running in the y-direction. This enables a weight reduction of up to 30%. In addition, the right-hand lifting basket 18 has no rockers and is designed for use with lower loads.The lifting baskets 18 can be provided with sensors for horizontal axis as well as vertical axis. In addition, a buffer for the transfer can be provided at the top / bottom of the load-receiving means-alternatively or additionally this is also possible on the mast head or floor.FIG. 17 shows a load-receiving means 15 in a retracted state in a lifting basket 18.FIG. 18 shows a modular load-receiving means 15 with an integrated push-out drive. The prongs 30 enable the load-receiving means 15 to grip different conveying and storage goods, in particular from below.The load-receiving means 15 has a tine receptacle 42. According to a preferred embodiment, the lifting basket and load-receiving means 15 are designed in modular fashion such that there are different separation points. Cable connections for sensor system, push-out drive, IO modules and / or energy chain can thus be designed to be pluggable. The individual assemblies can thus be separated, maintained and / or exchanged not only mechanically but also electrically in a simple manner if necessary. A component or module can be installed quickly in this way and the repair of defective parts can take place outside the operative shelving system. The plant shutdown is thus minimized. This is especially important when, during access for maintenance purposes, all rack and retrieval devices of at least the relevant row or the relevant storage rack must be at a standstill for safety reasons. Depending on the need, smaller assemblies-for example the tine receptacle 42-or larger assemblies-for example the load-receiving means 15 including the tine receptacle 42-can be dismantled or exchanged at once. The replacement of the assembly is considerably less time-consuming than a repair on site. The removed assembly can be repaired outside the safety area while the shelving system continues operation.When the tine receptacle 42 is exchanged, the separation point preferably extends above the carriage of the linear guide of the load-receiving means 15. Electrical isolation is not required because no electrical components are attached to the tine receptacle 42.When the entire load-receiving means 15 including the tine receptacle 42 is exchanged, the separating point is located between the lifting basket and the load-receiving means 15. Alternatively, it is also conceivable to remove the assembly from the rear without a maintenance cart.When the entire lifting basket including or excluding load-receiving means 15 is exchanged, the separating point between the supporting means and the lifting basket can be provided. The assembly to be replaced can be disassembled by releasing the support means and releasing the fastening of the lifting basket to the support means. The rollers of the lifting basket are unscrewed, and the lifting basket can then be removed.It is possible to remove the lifting basket with or without load-receiving means 15. The removal without load-receiving means 15 requires more steps, but the removed lifting basket alone has a lower weight and is less bulky and therefore easier to handle.Sensor system and IO modules can be fastened to the lifting basket and / or to the load-receiving means 15.If the sensor system is located on the load-receiving means 15, then any mechatronics on the lifting basket can be dispensed with. Parts such as the push-out drive, the sensor system, the IO module and the energy chain connection can be assigned to the load-receiving means. In the event of a defect, the entire load-receiving means 15, including all the electrical system, can be replaced. This can be a universal troublesshoting solution for all cases of malfunction, which can be carried out by operating personnel even without electrical knowledge, because there are no electrical connections between the lifting basket and the load-receiving means 15. The exchange of the load-receiving means 15 is faster and easier than an exchange of the lifting basket. However, there is little space on the load-receiving means 15 for mounting the sensor system. In addition, the load-receiving means 15 is relatively expensive as a result, which has a particular effect if additional load-receiving means 15 have to be stored as spare parts.If the sensor system is located on the lifting basket, the arrangement of sensor systems on the load-receiving means 15 can be avoided. As a result, when the load-receiving means 15 is exchanged, only the cable of the push-out drive or of the load-receiving means motor has to be released, provided that an IO module should also not be fastened to the load-receiving means 15 but at most to the lifting basket. The sensor system of the vertical axis can be positioned particularly easily on the lifting basket. In addition, the load-receiving means 15 becomes more favorable, in particular as a replacement part.In the case of defective electrical components on the load-receiving means 15, however, the entire lifting basket must be replaced. This is relatively complicated. Alternatively, a specific sensor can be changed in a targeted manner. However, this is a more complex troubleshotic procedure for appropriately qualified operating personnel. The selective exchange of individual sensors usually requires a disconnection of cable connections.A combination is also conceivable in which, for example, sensor system for the vertical axis is fastened to the lifting basket and sensor system for the horizontal axis is fastened to the load-receiving means 15.The push-out drive or the load-receiving means motor can alternatively also not be located on the load-receiving means 15. In this case, the load-receiving means 15 can be moved externally by a motor on the lifting basket.FIG. 19 shows a maintenance situation in which a maintenance carriage 44 is introduced into the rack aisle 7. The load-receiving means 15 can be removed from the lifting basket 18. The freedom from floor of the rack aisle 7 gained by the present invention allows the use of the maintenance trolley 44 as an auxiliary means with which the defective load-receiving means 15 can be accommodated and a new load-receiving means can be introduced. As a result, the load-receiving means can be replaced more safely, simply and thus also more quickly than in known shelving systems. Preferably, two service carriages 44 are present in a racking system. The defective load-receiving means 15 can then be pushed onto the first carriage, while the second carriage is already ready for replacement with the intact load-receiving means. As a result, the standstill is further minimized overall.FIG. 20 shows a simplified block diagram of the method according to the invention. According to step a), the at least one mast is first mounted together with at least one storage rack during the construction of the rack storage. In other words, the rack builder also installs the poles of the rack and retrieval devices directly during rack construction. Preferably, the mast head and further parts can also be installed.In step b), the shelf builder can check dimensional accuracy. According to step c), the lifting unit of the racking system and preferably the drive devices and / or load-receiving means are mounted. The drive unit and the deflection can also be mounted, provided that not both form a module.Finally, in step d), the wiring and preferably the installation of sensor systems follows. In this case, the cabling can be simplified if individual elements are already cabled as far as possible in advance.In the case of the wiring arrangement, an energy chain can preferably be arranged laterally next to the load-receiving means.According to one embodiment, the energy chain can have a fixed point on the storage rack or on a stiffening of the mast profiles, in particular at half the mast height. This results in a short energy chain with a short supply line.Alternatively, a fixed point can be provided at the top of the mast head. The supply lines then no longer have to be led upward on each individual mast. The energy chain supply line can instead be guided centrally upward at a location of the storage rack and then distributed upward to the individual fixed points. Power chain guidance is not required because there is sufficient space. A omission of the energy chain guidance is also advantageous for space reasons and reduces the costs.Alternatively, a busbar or a leaky waveguide or another method for energy and / or data transmission, for example optically, by radio, etc., can also be used for "cabling".When the sensors are placed, the lifting sensor system-vertical axis-can be stationary and the sensor system of the load-receiving means-horizontal axis-can be configured to travel with it. As a result, no indexing plates are required on the storage and retrieval unit. However, there is little installation space on the mast for this purpose, because fastening possibilities for sensor systems, cable duct, IO modules, etc. are required.Alternatively, the entire sensor system can be configured to travel with it. This results in a clear separation between storage rack-mechanical and automation-mechatronics. Mechanical modules such as the poles and pole heads are associated with the storage shelf and are already mounted with the storage shelf. There is a low risk of damage during "rough" assembly by the shelf builder, since the number of modules is reduced to a minimum. Essentially only profiles and deflections need to be installed.Mechatronic modules such as drive devices, push-out drives, lifting basket and load-receiving means belong to the automation. They are small and compact compared to a mast. Thus, even in the case of narrow space conditions, they can still be introduced after completion of the shelf and mounted within the shortest time. The mechatronic modules are thus independent of the mast for assembly purposes. The energy chain is likewise released or mounted independently of the mast.The entire sensor system can be configured to travel with it if the sensor system is arranged centrally on the lifting basket and / or on the load-receiving means, including the sensor system for the vertical axis. In this case, the sensor system, cable and cable guide on the mast are completely or at least largely omitted. This is especially important when both broad sides of the mast profile are occupied by lifting baskets and thus only the narrow front side and possibly the rear side of the mast profile could be used. Only when using a stationary maintenance support are electrical components on the mast required. The stationary maintenance support can be designed as an angle which can be extended by motor for automatic securing of the lifting unit-in particular of the load-receiving means. The sensor system is better protected on the load-receiving means, because damage is avoided when the mast is set up. An accidental "departure" of the sensor system at leg height by the operating personnel is also ruled out.All sensors can be captured on the lifting basket / load-receiving means using a few IO modules or passive distributors, including the push-out drive if required. As a result, the sensor lines are also very short, for example only one meter instead of ten meters, and independent of the mast height. The lines from the IO module can be transmitted to a programmable logic controller via a power chain or the aforementioned alternative data transmission paths.Defective electrics can be easily exchanged by moving the load-receiving means at working height. Thus, the operating personnel do not have to climb into the storage rack in order to exchange a sensor. In addition, in the case of a defective cable, only very short cables have to be exchanged, that is to say the length of the cable guide decreases. However, switching plates on the mast / storage rack are required. In the case of a stationary maintenance support, electrical components on the mast are furthermore required.After the end of the assembly process, the startup can follow.With regard to further advantageous embodiments of the device according to the invention, reference is made to the general part of the description and to the appended claims in order to avoid repetitions.Finally, it should be expressly pointed out that the above-described exemplary embodiments of the device according to the invention serve merely for the discussion of the claimed teaching, but do not restrict it to the exemplary embodiments.List of reference characters1 Rack system 2 Storage rack 4 Rows 5 Rack operating device 6 Rack structures 7 Rack aisle 10 Mast 11 Concrete foundation 12 Cross struts 14 Shelf support 15 Load receiving means 16 Storage goods 18 Lifting basket 19 Lifting unit 20 Conventional rack poster 22 Pressure load 23 Torque about the vertical y-axis 25 Drive device 26 Cross beam on the mast head 28 Reinforcement 30 Prongs 33 Carrying means 34 Deflections 36 Roller 37 Pivot point line 39 Rocker 40 Push-out drive 42 Prong receptacle 44 Maintenance trolley a), b), c), d) Steps x, y, z Directions in the coordinate system

Claims

Storage and retrieval device (5) for a storage system (1), in particular for a storage and removal system, wherein the storage and retrieval device (5) has at least one mast (10) extending in the vertical direction (y) and a lifting unit (19) arranged movably on the mast (10), characterized in that the mast (10) is arranged directly on a rack post (20) of the storage system (1) and / or is integrated into the rack post.Storage and retrieval device (5) according to claim 1, characterised in that each lifting unit (19) is arranged on respectively two poles (10) so as to be movable in the vertical direction (y).Storage and retrieval device (5) according to claim 1 or claim 2, characterised in that a drive device (25) of the storage and retrieval device (5) moves the lifting unit (19) on the mast (10) via at least one support means (33) extending in the vertical direction (y).Storage and retrieval device (5) according to one of claims 1 to 3, characterised in that the lifting unit (19) is fixed to the mast (10) with a degree of freedom in the vertical direction (y).Storage and retrieval device (5) according to one of claims 1 to 4, characterised in that the lifting unit (19) carries at least one load-receiving means (15) which can be moved in the lifting unit (19) in the horizontal direction (z).Storage system (1), in particular storage and removal system, having a storage rack having at least one storage rack (2), wherein the at least one storage rack (2) has one or more compartments for a storage item (16) in a storage plane or in a plurality of storage planes lying one above the other, and at least one storage and retrieval device according to one of Claims 1 to 5.The racking system (1) according to claim 6, characterized in that at least two poles (10) are connected by at least one cross strut (12) extending in the horizontal direction (x), wherein the cross strut (12) preferably simultaneously supports one or more compartment supports (14) for one or more compartments of the racking system (1).Shelving system (1) according to claim 6 or 7, characterised in that the mast heads of two adjacent poles (10) are connected to one another by a cross strut (12, 26).Racking system (1) according to one of Claims 6 to 8, characterized in that the rack storage facility has two storage racks (2) lying opposite one another, wherein a rack aisle (7) is formed between the storage racks (2), wherein in each case two poles (10), lying opposite one another via the rack aisle (7), of the two storage racks (2) are connected to one another by means of at least one stiffening means (28).Method for mounting a rack system (1) according to one of claims 6 to 9, comprising the following method steps: a) mounting the at least one mast (10) during the construction of the rack storage with at least one storage rack (2), b) checking the dimensional accuracy and / or compliance with the tolerances, c) mounting the lifting unit / s (19) of the rack system (1) and preferably the drive device / s and / or load-receiving means (15) and d) cabling and preferably installation of a sensor system.

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