Shelving access equipment for high-bay warehouses and methods for grasping and moving standardized stored goods in high-bay warehouses using shelving access equipment.

Abstract

The present invention relates to a rack storage and retrieval device (1) for a high-bay warehouse (2), the rack storage and retrieval device comprising a lifting frame (3) and at least one lifting member (4) connected to the lifting frame (3), the lifting member being used to detachably connect standardized stored goods, preferably standard containers (5), by means of twist bolts connected to the lifting member (4), wherein the lifting member (4) preferably extends vertically along at least a portion of the lifting frame (3) and is connected to the lifting frame (3) via at least one suspension point (8) in a pivotally supported manner about a fulcrum (6), wherein an actuator (7) is provided, by means of which a predetermined pivoting movement of the lifting member (4) relative to the lifting frame (3) and about the fulcrum (6) can be realized.

Description

Technical Field

[0001] The present invention relates to a rack storage and retrieval device for an elevated warehouse, the rack storage and retrieval device comprising a lifting frame and at least one lifting member connected to the lifting frame, the lifting member being used to detachably connect standardized stored goods by means of a torsion bolt connected to the lifting member, the standardized stored goods being preferably standard containers. Prior Technology

[0002] High-bay warehouses typically consist of rows of side-by-side racks, each rack having multiple parallel shelving levels in both its longitudinal and vertical directions. Prior art knows of racking access equipment, particularly automated racking access equipment, for the entry and exit of stored goods from these racking levels and for the transfer of stored goods within the high-bay warehouse or by external transport. Such racking access equipment allows for the exchange of stored goods with external transport within a generally defined transfer area. External transport in this context may be, for example, trucks, transfer center trucks, autonomous vehicles, or rail transport.

[0003] When transferring stored goods using transport vehicles, the vehicles travel to a pre-defined transfer area for exchange, typically located inside an elevated warehouse. Racking equipment occupies a suitable position within the elevated warehouse, particularly within the warehouse aisles, and establishes a connection with the stored goods. This connection is usually implemented at three or more fastening points on the lifting components of the racking equipment and complementary fastening points on the stored goods. The stored goods are then delivered to their designated location within the elevated warehouse and stored there.

[0004] For example, a racking access device for an elevated warehouse is known from WO 2017 / 158034 A1. This racking access device is suitable for transporting and transferring stored goods within the elevated warehouse. Furthermore, this racking access device is also suitable for exchanging stored goods with external transport vehicles. For this purpose, the racking access device has a base frame that can move within the elevated warehouse aisles. A lifting frame is secured to the base frame by a rope suspension device, wherein a lifting component is also connected to the lifting frame. The lifting frame is arranged to be movable relative to the base frame in a vertical plane to realize the entry and exit of stored goods from the rack levels. Furthermore, to transfer stored goods to external transport vehicles, the lifting component can be lowered vertically. Horizontal movement is achieved through a telescopic structure of the lifting component, which establishes a connection between the lifting frame and the stored goods. Vertical movement is achieved between the base frame and the lifting frame through a rope drive device. The lifting component has fastening points for connecting with the stored goods. The fastening points of the lifting component and the stored goods form a fastening plane. To connect complementary fasteners together, the two planes must be aligned.

[0005] A drawback of the prior art device is that the racking access equipment cannot compensate for positional deviations between the fastening points of the lifting component and the fastening points of the stored goods caused by rotation of the fastening plane about at least one, preferably exactly one, of the three main axes. This rotation may occur, for example, when the storage area for trucks is not parallel to the storage plane of the elevated warehouse, or when the truck is tilted relative to the elevated warehouse in an aisle. When the deviation tolerance is exceeded, the lifting component can no longer be connected to the stored goods.

[0006] DD 10 2021 122748 A1 proposes a rack access device with angle compensation function to solve this problem. In this rack access device, a lifting member is connected to a lifting frame via connecting elements parallel to each side of the extension of the lifting frame. These connecting elements are connected to the lifting member itself and to a retainer arranged on the extension of the lifting frame. The connecting elements connect the retainer in such a way that the lifting member can pivot about a rest position within a predetermined angle range, thereby compensating for angular deviations. However, this requires connecting elements on each side of the lifting frame, and each connecting element is connected to a retainer arranged on the side of the lifting frame opposite to the lifting member. The connecting elements of the lifting member are fixed to the upper side of the lifting frame. Therefore, the availability of the upper side of the lifting frame for other structural components (such as suspension devices for load-bearing tools) is limited. Similarly, components mounted on the upper side of the lifting frame are only partially accessible or not at all during maintenance or troubleshooting operations.

[0007] Based on this design, precise angle adjustment is a complex control task, requiring the lifting arms of the connecting components to move synchronously. This necessitates a number of components in previous solutions, which increase the lifting load because these components are directly or indirectly fastened to the lifting frame and are inevitably raised along with it during vertical adjustment, thus slowing down the vertical movement. The provision and installation of these components also increase costs. Summary of the Invention

[0008] [Purpose of the Invention]

[0009] In view of this, the object of the present invention is to provide a solution for lifting in a high-bay warehouse using rack access equipment, which requires fewer components and occupies less structural space compared to solutions known in the prior art. Furthermore, the object of the present invention is to provide an apparatus that requires less control and can achieve the desired angular offset of the lifting component relative to the lifting frame with as few components as possible.

[0010] The present invention provides a shelf access device including the features of claim 1, and a method including the features of claim 11. Advantageous aspects of the present invention are given in the appended claims.

[0011] According to a first aspect of the present invention, a racking access device for a high-bay warehouse is provided. The racking access device includes a lifting frame and at least one lifting member connected to the lifting frame. The lifting member is used to detachably connect standardized stored goods, preferably standard containers. The lifting member preferably extends vertically along at least a portion of the lifting frame and is pivotally supported about a fulcrum, connected to the lifting frame via at least one suspension point. An actuator is provided to realize a predetermined pivoting movement of the lifting member relative to the lifting frame and about the fulcrum. According to a second aspect of the present invention, a method for grasping and moving standardized stored goods in a high-bay warehouse using a racking access device is also provided. This method is characterized by the following steps: placing the standardized stored goods in the entry area of ​​the warehouse access device, and moving the lifting frame of the racking access device onto the standardized stored goods until the lifting member is positioned above the standardized stored goods. If there is an angular misalignment between the standardized stored goods and the lifting member, according to the present invention, the lifting member is preferably pivoted about the fulcrum by driving an actuator until the lifting member is aligned with the standardized stored goods.

[0012] Therefore, the present invention provides an apparatus and a method capable of compensating for erroneous positions at transfer points toward and for containers being lifted through the racking system. According to the invention, erroneous positions are compensated at the transfer points by means of the racking system itself, particularly its lifting components. Within the scope of the invention, erroneous position refers to the distortion of standardized stored goods relative to the racking system and its lifting mechanism, a distortion predetermined by the warehouse aisle orientation. From a top view, this distortion is commonly referred to as a "skew." Therefore, the present invention enables skew compensation.

[0013] This invention reduces the complexity of angle compensation control technology in a simple manner, and reduces the number of components and lifting load, ultimately reducing costs to the minimum necessary. This invention provides a compact and space-saving solution that requires fewer components, thereby reducing lifting load.

[0014] According to an advantageous embodiment of the present invention, the lifting component is connected to the lifting frame in a plane below the lifting frame. This provides a rack access device that offers angle adjustment functionality for the lifting component without occupying the upper side of the lifting frame. Consequently, the upper side of the lifting frame is freely accessible and can be freely used for maintenance work or additional equipment without affecting the suspension of the lifting component on the lifting frame or its angular displacement.

[0015] Preferably, the actuator is connected to the lifting frame and is connected to the lifting member at a preset distance from the fulcrum by means of the actuator's actuating element. This provides a drive for adjusting the angle of the lifting member, which acts on the lifting member via a lever action, causing the lifting member to pivot about a defined fulcrum. This allows for angular offset to be implemented using minimal manipulation or actuating elements and is easy to achieve.

[0016] In another preferred embodiment of the invention, the side of the lifting frame away from the lifting member is neither occupied by a fulcrum nor by an actuator or suspension point. Preferably, the working plane formed by the actuator and the lifting member is arranged below the lifting frame. Thus, the effect described above can be simply summarized as follows: arranging the lifting member (including its suspension device and its angle offset device) below the lifting frame allows for complete free access to the upper side of the lifting frame, or its use for other purposes.

[0017] Preferably, the plane for angle adjustment and the working plane of the actuator are both in a horizontal plane, with a defined fulcrum in which angle adjustment is performed around the fulcrum.

[0018] Preferably, each lifting component has two suspension points, which are preferably arranged on the lifting frame at equidistant distances from both sides of the fulcrum. Preferably, at least one suspension point has a bearing, through which the lifting component is permanently connected to the lifting frame and the lifting component can pivot about the fulcrum. In this regard, preferably, the lifting component, particularly in the suspension point area, has mechanically limiting angular deviations on both sides of the suspension point.

[0019] In another preferred embodiment of the invention, the pivoting range of the lifting member about the fulcrum is 1° to 30°, preferably 1° to 20°, and even more preferably 1° to 10°. This creates skew compensation that is well adapted to the conditions required in practice. Thus, angular offset can be specifically and preferably pivoted back and forth about the fulcrum in a manner that drives the actuator, particularly the actuator element, preferably pivoting from the rest position in two directions.

[0020] Furthermore, preferably, the lifting component has at least one, and preferably at least two, booms that can extend retractably between a retracted state and an extended state. This provides a racking access device capable of automatically facilitating the entry of standardized stored goods, particularly standard containers, from the side of the warehouse aisle to the racking shelves by extending the booms, the racking access device being movable within such warehouse aisles. In this regard, it is particularly preferred that the entry and exit of standardized stored goods, particularly standard containers, is carried out "laterally" parallel to its end side and perpendicular to its longitudinal side. In this case, the warehouse aisle where the racking access device is movably arranged is approximately equivalent to the width of the end side of the standardized stored goods, preferably standard containers, which preferably reduces the overall structural space of the elevated warehouse. Furthermore, in this scenario, the telescopic capability of the lifting arm can also be designed to allow for "double-deep" entry and exit of standardized stored goods, preferably standard containers, within the racking shelves. This enables each racking access device to operate two sequentially arranged racking shelves on each side of the storage aisle. Preferably, the lifting component has a length in the retracted state of the arm, not exceeding the width of the lifting frame, allowing unrestricted movement of the racking access device within the warehouse aisle, where the width of the aisle is predetermined solely by the width of the racking access device. Similarly, preferably, the lifting component has a length in the extended state of the arm, equivalent to the width of the standardized stored goods, preferably at least twice the width of the standard container, and more preferably at least three times the width. When the boom is retracted or extended in a telescopic manner, the lifting component can traverse the distance required for standardized stored goods to enter and exit rack levels without restriction. When standardized stored goods are moved in and out of the warehouse in a "single-deep" manner, and then from one warehouse aisle into an adjacent rack level, the length of the boom of the racking access equipment is at least twice the width of the standardized stored goods, preferably a standard container. However, if the racking access equipment is also designed for "double-deep" entry and exit of empty containers in an elevated warehouse, the length of the boom, or the booms that are telescopically movable into each other, is preferably at least three times the width of the standardized stored goods, preferably a standard container.

[0021] Preferably, the fulcrum for the pivoting movement of the lifting component is fixed in one position by a bolt connected to the lifting frame. This provides a racking access device that allows the lifting component to pivot about a fixed fulcrum in a particularly simple manner. Preferably, the bolt connected to the lifting frame only guides the pivoting movement of the lifting component, while the lifting component is only connected to the lifting frame in a load-bearing manner at its suspension point. However, it is also preferable that the bolt connected to the lifting frame and defining the fulcrum for the pivoting movement of the boom can also provide a holding or load-bearing function for the lifting component, for example, through a suitably designed bolt end that, from the perspective of the lifting frame, engages the lifting component from the rear.

[0022] According to another aspect of the invention, a method is provided for grasping and moving standardized stored goods, preferably standard containers, in an elevated warehouse using a racking access device according to a first aspect of the invention. In a first step, the standardized stored goods are placed in the entry area of ​​the racking access device, and then the lifting frame of the racking access device is moved onto the standardized stored goods until the lifting member is positioned above the standardized stored goods. If there is an angular misalignment between the standardized stored goods and the lifting member, according to the invention, the lifting member preferably pivots about the fulcrum in a manner that drives an actuator until the lifting member is aligned with the standardized stored goods. Within the scope of the invention, alignment means that the connector (such as a twist lock bolt) connected to the lifting member and acting in conjunction with the corner area of ​​the standard container is positioned directly or adjacent to the area of ​​the standardized stored goods, particularly the standard container, to be grasped, and, where applicable, also follows conventional and unavoidable tolerances.

[0023] In this regard, preferably, the length of the lifting member can be set according to the width of the standardized stored goods, and preferably by means of the telescopic movement of at least one boom of the lifting member. This provides a method that can be adapted particularly simply and variably to the different conditions commonly found in such elevated warehouses.

[0024] Furthermore, preferably, after the step of moving the lifting frame of the racking access equipment onto the standardized stored goods, or in the case of an angular offset between the lifting equipment and the standardized stored goods after the lifting component has pivoted around the fulcrum, the lifting component is connected to the standardized stored goods so that the racking access equipment can receive the standardized stored goods. Simple Explanation of the Diagram

[0025] The present invention will now be described in detail with reference to six figures, which illustrate preferred embodiments of the invention that are merely illustrative. [Figure 1] shows a side sectional view of the elevated warehouse. [Figure 2] shows a perspective view of a portion of the lifting frame and the lifting components connected to it. [Figure 3] shows a front view of the lifting frame and lifting components of the present invention. [Figure 4] shows a side view of the lifting frame of the present invention and the lifting components connected thereto. [Figure 5] shows a top sectional view of section AA in Figure 3 in the unpivoted state. [Figure 6] shows a top cross-sectional view of section AA in Figure 3 in a pivoted state. Implementation

[0026] Figure 1 illustrates an elevated warehouse 2 equipped with racking access equipment 1. The racking access equipment 1 can move stored goods 11, such as shipping containers, horizontally and vertically within racking aisles 12. One or more defined transfer areas are provided below the racking aisles 12 for exchanging stored goods 11 with external transport vehicles 13. To facilitate the entry and exit of stored goods 11 from racking levels 14, the racking access equipment 1 moves toward the corresponding racking level 14 and removes the stored goods 11, i.e., the container 5, from or places the container in the racking level 14. In this exemplary embodiment, the exchange of stored goods 11 with the transport vehicle 13 is carried out within a so-called transport plane 15 below the storage plane of the elevated warehouse 2. In other embodiments of the elevated warehouse 2, the transfer areas may also be located on the vertical outer surface of the elevated warehouse 2, depending on the circumstances.

[0027] Figure 2 shows a perspective top view of the lifting frame 3 and the lifting member 4 connected thereto. The lifting member is arranged below the lifting frame 3 such that it is held by two suspension points 8 and extends generally perpendicular to the extension of the lifting frame 3. A fulcrum 6 is defined between the suspension points 8, about which the lifting member 4 can pivot when the actuator 7 is operated, preferably by a linear actuator driven by an electric motor. Finally, the lifting member 4 has two telescopically retractable arms 9a, 9b, which are shown in a semi-extended state in Figure 2. During the movement of the (not shown) racking access equipment through the (also not shown) warehouse aisle, the arms 9a, 9b retract the lifting member 4, thereby ensuring that the width of the racking access equipment and the width of the warehouse aisle are minimized.

[0028] Figure 3 shows a front view of the lifting frame 3 and the lifting member 4 arranged below the lifting frame 3 of the rack access device of the present invention. The lifting member 4 is connected to the lifting frame 3 through a suspension point (not shown), such that the lifting member 4 extends substantially perpendicular to the horizontal extension of the lifting frame 3, and can pivot about a predetermined angle from the rest position about a fulcrum 6. The lifting member 4 is pivoted about the fulcrum 6 by an actuator 7, particularly by an actuator element 7a of the actuator 7 that is linearly movable onto the lifting member 4. Therefore, the working plane of the actuator 7 is completely below the lifting frame 3, so that the upper side of the lifting frame can remain exposed for inspection or installation of other units.

[0029] Figure 4 shows a side view of the lifting frame 3 in Figure 3 and the lifting member 4 arranged below the lifting frame 3. The lifting member 4 is connected to the lower side of the lifting frame 3 through suspension points 8, wherein the two suspension points 8 are connected equidistantly to a fulcrum 6, which extends from the lower side of the lifting frame 3 into the upper side of the lifting member 4. The lifting member 4 also has two booms 9a and 9b, which form part of the lifting member 4 in a telescopically movable relative manner.

[0030] Figure 5 shows a top view of the lifting member 4 as shown in section AA of Figure 3, which is connected to a lifting frame (not shown) via suspension points 8. Support points 6 are arranged equidistantly from each suspension point 8 within the lifting member 4, wherein the lifting member 4 is in its stationary position without pivoting as shown. The actuator 7, particularly its actuating element 7a, is not moved to the lifting member 4.

[0031] Finally, Figure 6 shows a top view of section AA in Figure 3 and illustrates the lifting member 4, which pivots about fulcrum 6 under the action of actuator 7, such that the mechanical stop 17 of the lifting member 4 abuts against the limiting member 18 at suspension point 8. Thus, the maximum degree of pivoting of the lifting member 4 about fulcrum 6 is mechanically defined by the limiting stop 17 and the limiting member 18 at suspension point 8.

[0032] 1: Shelf access equipment 2: Elevated warehouse 3: Lifting frame 4: Lifting components 5: Standard Container 6: Pivot 6a: Bolt 7: Actuator 7a: Actuator Actuating Element 8: Suspension Point 8a: Bearing 9a, 9b: Carrier arm 9: Plane of Action 10: Warehoused Goods 11: Shelving aisles 12: External transportation vehicles 13: Shelf shelves 14: Transport Plane 17: Mechanical stop 18: Limiting component

Claims

1. A rack storage and retrieval device (1) for a high-bay warehouse (2), the rack storage and retrieval device comprising a lifting frame (3) and at least one lifting member (4) connected to the lifting frame (3), the lifting member being used to detachably connect a standardized stored goods by means of a twist bolt connected to the lifting member (4), wherein the lifting member (4) is pivotally supported about a fulcrum (6) and connected to the lifting frame (3) via at least one suspension point (8), wherein an actuator (7) is provided, by means of which a preset pivoting movement of the lifting member (4) relative to the lifting frame (3) and about the fulcrum (6) can be realized.

2. The shelf access device (1) of claim 1, characterized in that the lifting component (4) is connected to the lifting frame (3) in a plane below the lifting frame (3).

3. The shelf access device (1) of claim 1 or 2 is characterized in that the actuator (7) is connected to the lifting frame and is connected to the lifting member (4) at a predetermined distance from the fulcrum (6) by an actuator actuation element (7a).

4. The shelf access device (1) of claim 1 or 2 is characterized in that the side of the lifting frame (3) away from the lifting member (4) is neither occupied by the fulcrum (6) nor by the actuator (7) or a suspension point (8).

5. The shelf access device (1) of claim 4, characterized in that at least one of the suspension points (8) has a bearing (8a) through which the lifting member (4) can be permanently connected to the lifting frame (3) on the one hand, and the lifting member (4) can be pivoted about the fulcrum (6) on the other hand.

6. The shelf access device (1) of claim 1 or 2 is characterized in that the pivoting range of the lifting member (4) about the fulcrum (6) is 1° to 30°.

7. The shelf access device (1) of claim 1 or 2 is characterized in that the lifting member (4) has at least one arm (9) that can extend in a telescopic manner between a retracted state and at least one extended state.

8. The shelf access device (1) of claim 7, characterized in that the lifting member (4) has a length in the retracted state of the arm (9) that does not exceed the width of the lifting frame (3).

9. The shelf access device (1) of claim 7, characterized in that the lifting member (4) has a length in the extended state that is equivalent to the standardized stored goods.

10. The shelf access device (1) of claim 1 or 2 is characterized in that the fulcrum (6) for the pivotal movement of the lifting member (4) is fixed in a position by a bolt (6a) connected to the lifting frame (3).

11. A method for grasping and moving standardized stored goods in an elevated warehouse (2) by means of a rack access device (1) as claimed in any of claims 1 to 10, characterized in that the steps are: (a) placing the standardized stored goods in an access area of ​​the rack access device (1), (b) moving the lifting frame (3) of the rack access device (1) onto the standardized stored goods until the lifting member (4) is positioned above the standardized stored goods, and (c) in the event of an angular offset between the standardized stored goods and the lifting member (4), pivoting the lifting member (4) about a fulcrum (6) until the lifting member (4) is aligned with the standardized stored goods.

12. The method of claim 11, characterized in that the length of the lifting component (4) is adjusted to the width of the standardized stored goods.

13. The method of any one of claims 11 or 12, characterized in that, after step (b) or after step (c), if there is an angular offset, the lifting member (4) is connected to the standardized stored goods.

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