Storage and retrieval device with angle compensation function for a high-bay warehouse

Abstract

The invention relates to a storage and retrieval device (1) for a high-bay warehouse (2), having a lifting frame (3) and at least one load receiving means (4), which is connected to the lifting frame (3), for releasably attaching a standardized storage item, preferably a standard container (5), by means of a twistlock bolt connected to the load receiving means (4), wherein the load receiving means (4) preferably extends perpendicularly from at least one part of the lifting frame (3), is pivotally mounted about a pivot point (6), and is connected to the lifting frame (3) via at least one suspension point (8), and an actuator (7) is provided via which the load-receiving means (4) can be pivoted in a defined manner relative to the lifting frame (3) and about the pivot point (6).

Description

[0001] Storage and retrieval machine with angle compensation for a high-bay warehouse II

[0002] 1. Field of the invention

[0003] The invention relates to a storage and retrieval machine for a high-bay warehouse, comprising a lifting frame and at least one load-handling device connected to the lifting frame for the detachable connection of a standardized storage item, preferably a standard container, by means of twistlock bolts connected to the load-handling device.

[0004] 2. State of the art

[0005] A high-bay warehouse typically consists of a row of adjacent racks, each with several adjacent rack compartments in its longitudinal and vertical direction. Storage and retrieval machines, particularly automated storage and retrieval machines, are known from the state of the art for storing and retrieving stored goods from one of these rack compartments, as well as for handling the stored goods from one of these rack compartments within the high-bay warehouse or with an external means of transport. At typically defined transfer areas, these storage and retrieval machines can exchange stored goods with an external means of transport. Examples of external means of transport include trucks, terminal trucks, autonomous vehicles, or rail-based vehicles.

[0006] When handling stored goods using a means of transport, the means of transport navigates to a predefined transfer area for the exchange, which is usually located within the high-bay warehouse. The storage and retrieval machine takes up a suitable position within the high-bay warehouse, particularly a storage aisle, and establishes a connection with the stored goods. This usually occurs at three or more attachment points of a load-handling device of the storage and retrieval machine with the complementary attachment points of the stored goods. The stored goods are then brought to their position in the high-bay warehouse and stored there.

[0007] For example, WO 2017 / 158034 A1 discloses a storage and retrieval machine for a high-bay warehouse. This storage and retrieval machine is suitable for transporting and handling stored goods within a high-bay warehouse. Furthermore, the storage and retrieval machine is also suitable for exchanging stored goods with an external means of transport. For this purpose, the storage and retrieval machine has a base frame that can move within a storage aisle of the high-bay warehouse. A lifting frame is attached to the base frame by means of a cable suspension, with a load-handling device also connected to the lifting frame. The lifting frame is arranged so that it can move vertically relative to the base frame for storing and retrieving stored goods from the shelf compartment. Furthermore, the load-handling device can be lowered vertically to transfer the stored goods to an external means of transport.The horizontal movements are enabled by a telescopic structure of the load handling device, which establishes the connection between the lifting frame and the stored goods. The vertical movement is achieved by a cable drive between the base frame and the lifting frame. The load handling device has attachment points for connecting to the stored goods. The attachment points of the load handling device and the stored goods form a fastening plane. To connect the complementary attachment points, the two planes must be aligned.

[0008] A disadvantage of this prior art device is that the storage and retrieval machine is unable to compensate for positional deviations between the attachment points of the load-handling device and those of the stored goods, which result from a rotation of the attachment plane about at least one, preferably exactly one of the three main axes. This rotation can occur, for example, if the storage area of ​​a truck is not parallel to the storage plane of the high-bay warehouse or if the truck is positioned at an angle in the aisle leading to the high-bay warehouse. If a tolerance for the deviation is exceeded, a connection of the load-handling device to the stored goods is no longer possible. DD 10 2021 122748 A1 proposes a storage and retrieval machine with angle compensation to solve this problem.In this storage and retrieval machine, a load-handling device is connected to the lifting frame via connecting links arranged parallel to one another on each side of an extension of the lifting frame, which are connected on the one hand to the load-handling device itself and on the other hand to a bracket arranged on an extension of the lifting frame. The connecting links are connected to the bracket in such a way that the load-handling device can be pivoted around a rest position within a predetermined angular range in order to compensate for any angular misalignment. However, this requires connecting links to be provided on each side of the lifting frame, each of which is connected to a bracket located on the side of the lifting frame facing away from the load-handling device. The connecting elements to the load-handling device are attached to the top of the lifting frame.This limits the usability of the top of the lifting frame for other structural components, such as the suspension of the load-bearing elements. Likewise, components mounted on the top of the lifting frame are only partially accessible or even impossible during maintenance or troubleshooting work.

[0009] Due to the design, precise angular adjustment represents a complex control task, requiring the lifting arms of the connecting links to move synchronously with each other. Due to its design, the state-of-the-art solution requires a number of components, which leads to an increase in the lifting load. These components are directly or indirectly attached to the lifting frame and must be lifted during vertical adjustment of the lifting frame and decelerated during the vertical movement. The provision and assembly of these components also leads to increased costs.

[0010] 3. Object of the Invention It was therefore an object of the invention to create a solution for load handling using storage and retrieval machines within a high-bay warehouse that requires fewer components and takes up less space than the solutions known from the prior art. Furthermore, an object of the invention is to provide a device that requires less control and can achieve the technical effect of the desired angular offset of the load handling device in relation to the lifting frame with the smallest possible number of elements.

[0011] This object is achieved according to the invention by means of a storage and retrieval machine comprising the features of claim 1 and a method comprising the features of claim 11. Advantageous embodiments of the invention are set forth in the dependent claims.

[0012] 4. Summary of the invention

[0013] According to a first aspect of the invention, a storage and retrieval machine for a high-bay warehouse is provided, comprising a lifting frame and at least one load-handling device connected to the lifting frame for releasably attaching a standardized storage item, preferably a standard container. The load-handling device preferably extends vertically from at least part of the lifting frame and is pivotally mounted about a pivot point and connected to the lifting frame via at least one suspension point. According to the invention, an actuator is provided, via which a predetermined pivoting movement of the load-handling device can be effected with respect to the lifting frame and around the pivot point.According to a second aspect of the invention, a method for detecting and moving a standardized item of storage using a storage and retrieval machine in a high-bay warehouse is also provided. This method is characterized by the steps of placing a standardized item of storage within the access range of a storage and retrieval machine and moving the lifting frame of the storage and retrieval machine toward the standardized item of storage until the load-handling device is arranged above the standardized item of storage. As soon as and if an angular offset exists between the standardized item of storage and the load-handling device, the load-handling device is pivoted about the pivot point, preferably by actuating the actuator, until the load-handling device is aligned with the standardized item of storage.

[0014] The invention thus provides a device and a method that compensates for the misalignment of a presented container at the transfer point to the storage and retrieval machine and for load transfer by the storage and retrieval machine. According to the invention, the misalignment is compensated for at the transfer point by the storage and retrieval machine itself, specifically its load-handling device. In the sense of the invention, misalignment is understood to mean the rotation of the standardized stored goods with respect to the position of the storage and retrieval machine and its lifting frame, as determined by the warehouse aisle alignment. The common technical term for such a rotation, viewed from above, is "skew." Accordingly, the invention allows for skew compensation.

[0015] The invention is capable of reducing the control complexity of angle compensation using simple means, as well as reducing the number of components and the lifting load, and ultimately the costs, to the necessary minimum. It provides a compact, space-saving solution that requires few components and thus reduces the lifting load.

[0016] According to an advantageous embodiment of the invention, the load-handling device is connected to the lifting frame at a level below the latter. This creates a storage and retrieval machine that allows the angular adjustment of the load-handling device without occupying the top of the lifting frame. This makes the top of the lifting frame freely accessible and can be used either for maintenance work or for additional units without affecting the suspension of the load-handling device on the lifting frame or its angular offset.

[0017] It is particularly preferred if an actuator is connected to the lifting frame and an actuator / control element is connected to the load-handling device at a predetermined distance from the pivot point. This provides a drive for the angular adjustment of the load-handling device, which acts on the load-handling device via a lever effect and pivots it around the defined pivot point. The angular offset is thus achieved using a minimum of actuators or control elements and remains simple to achieve.

[0018] In a further preferred embodiment of the invention, the side of the lifting frame facing away from the load-handling device is occupied neither by the pivot point nor by the actuator or a suspension point. Preferably, the plane of action formed by the actuator and the load-handling device is arranged below the lifting frame. This combines the effects described above with simple means by arranging the load-handling device, including its suspension, and the device for its angular offset, below the lifting frame, leaving the top of the lifting frame completely freely accessible or usable for other purposes.

[0019] It is particularly preferred that the plane of the angle adjustment and the effective plane of the actuators both lie horizontally, with a defined pivot point being specified around which the angle adjustment takes place.

[0020] The preferred arrangement is two suspension points for each load-handling device, which are preferably arranged at equal distances on both sides of the pivot point on the lifting frame. It is preferred if the at least one suspension point has bearings, via which, on the one hand, the load-handling device is permanently connected to the lifting frame and, on the other hand, pivoting of the load-handling device around the pivot point is possible. In this context, it is particularly preferred if the load-handling device has limits or stops in the area of ​​the suspension points on both sides of the suspension point, which mechanically restrict the extent of the angular offset.

[0021] In a further preferred embodiment of the invention, the load-handling device pivots around the pivot point within a pivot range of 1° to 30°, preferably 1° to 20°, particularly preferably 1° to 10°. This creates a skew compensation that is sufficiently adapted to the conditions required in practice. The angular offset can thus be pivoted back and forth around the pivot point, preferably from the rest position, in both directions, and preferably by actuating the actuator, in particular an actuator control element.

[0022] It is further preferred if the load-handling device has at least one, preferably at least two, support arms that can be telescopically extended between a retracted state and an extended state. This provides a storage and retrieval machine that is capable of independently storing standardized goods, in particular standard containers, in designated shelf compartments lateral to the storage aisles in which the storage and retrieval machine can be moved by extending the support arms. In this context, it is particularly preferred if the storage and retrieval of the standardized goods, in particular standard containers, takes place "transversely" parallel to their end faces and perpendicular to their long sides.Under these circumstances, the storage aisle in which the storage and retrieval machine is movably arranged can essentially correspond to the width of the end face of a standardized storage item, preferably a standard container, which preferably reduces the overall installation space of the high-bay warehouse. Furthermore, under these circumstances, the telescopic nature of the load-handling device's support arms can also be designed such that the storage and retrieval of the standardized storage item, preferably the standard container, into and out of the shelf compartments can be effected "double-deep," so that each storage and retrieval machine can serve two consecutive shelf compartments from its storage aisle on either side of the aisle.In this context, it is preferred if the load-handling device, in the retracted state of the support arm(s), has a length that does not exceed the width of the lifting frame, so that the mobility of the storage and retrieval machine within the storage aisle is not restricted and the width of the storage aisle is determined solely by the width of the storage and retrieval machine. It is also preferred if the load-handling device, in the extended state of the support arm(s), has a length that corresponds to at least two widths, preferably at least three widths, of the standardized stored goods, preferably the standard container.With telescopic extension and retraction of the support arms, the load handling device can thus bridge the distance required for storing and retrieving standardized stored goods into and from the shelf compartments without restriction. When storing and retrieving standardized stored goods "single-deep", i.e. from a storage aisle into the directly adjacent shelf compartments, a length of the support arms of the load handling device that corresponds to at least two widths of the standardized stored goods, preferably the standard container, is sufficient. However, if the storage and retrieval machine is (also) designed to store and retrieve an empty container into the high-bay warehouse and "double-deep", a length of the support arm or the telescopically movable support arms that corresponds to at least three widths of a standardized stored item, preferably a standard container, is preferred.

[0023] It is particularly preferred if the pivot point for the pivoting movement of the load-handling device is fixed in place by a pin connected to the lifting frame. This creates a storage and retrieval machine that can pivot the load-handling device around a fixed pivot point using particularly simple means. It is particularly preferred if the load-handling device is only guided in its pivoting movement by the pin connected to the lifting frame, while the load-handling device is only connected to the lifting frame in a supporting manner at its suspension points. However, it can also be preferred if the pin connected to the lifting frame, which defines the pivot point for the pivoting movement of the support arm, also provides a holding or supporting function for the load-handling device, for example via a correspondingly designed end of the pin that engages behind the load-handling device as seen from the lifting frame.

[0024] According to a further aspect of the invention, a method for detecting and moving a standardized item of storage, preferably a standard container, using a storage and retrieval machine in a high-bay warehouse by means of a storage and retrieval machine according to the first aspect of the invention is provided. In a first step, a standardized item of storage is placed in the access area of ​​a storage and retrieval machine, whereupon the lifting frame of the storage and retrieval machine moves towards the standardized item until the load-handling device is arranged above the standardized item. If and when there is an angular offset between the standardized item and the load-handling device, the load-handling device is pivoted around the pivot point according to the invention, preferably by actuating the actuator, until the load-handling device is aligned with the standardized item.Alignment in the sense of the invention is understood to mean that the connecting pieces connected to the load-handling device, for example twistlock bolts, which can interact with the corner areas of standard containers, are arranged directly and immediately above the areas of the standardized stored goods to be gripped, in particular the standard containers, if necessary while observing customary and unavoidable tolerances.

[0025] In this context, it is also preferred if the length of the load-handling device can be adjusted to the width of the standardized stored goods, preferably by telescopically displacing at least one support arm of the load-handling device. This provides a method that can be variably adapted particularly easily to the diverse conditions typically encountered in such high-bay warehouses.

[0026] It is further preferred if, after the step of moving the lifting frame of the storage and retrieval machine towards the standardised stored goods or if there is an angular offset between the load receiving device and the standardised stored goods, after pivoting the load handling device around the pivot point, the connection of the load handling device to the standardised stored goods takes place in order to thereby effect a takeover of the standardised stored goods by the storage and retrieval machine.

[0027] The invention is explained in more detail below with reference to 6 figures, wherein the figures illustrate only exemplary and preferred embodiments of the invention.

[0028] Figure 1 shows a sectioned side view through a high-bay warehouse,

[0029] Figure 2 shows a perspective view of a part of a lifting frame with a load-carrying device connected to it, Figure 3 shows a front view of a lifting frame according to the invention with a load-carrying device,

[0030] Figure 4 shows a side view of a lifting frame according to the invention with load handling devices connected to it,

[0031] Figure 5 shows a sectional view from above of section AA of Figure 3 in the non-pivoted state, and

[0032] Figure 6 shows a sectional plan view along section AA from Figure 3 in the pivoted state.

[0033] 5. Detailed description of the embodiments

[0034] Figure 1 shows a high-bay warehouse 2 with a storage and retrieval machine 1. The storage and retrieval machine 1 can move stored goods 11, such as sea containers, both horizontally and vertically within the rack aisles 12. Below the rack aisle 12 are one or more defined transfer areas for exchanging stored goods 11 with an external means of transport 13. To store and retrieve stored goods 11 from a shelf compartment 14, the storage and retrieval machine 1 moves to the corresponding shelf compartment 14 and removes the stored goods 11, here a container 5, from the compartment 14 or places it in the shelf compartment 14. In this exemplary embodiment, the exchange of stored goods 11 with the means of transport 13 takes place below the storage level of the high-bay warehouse 2 in a so-called traffic level 15. In other embodiments of high-bay warehouses 2, the transfer areas may also be located on the vertical outer surfaces of the high-bay warehouse 2.

[0035] Figure 2 shows a perspective top view of a lifting frame 3 with a load-handling device 4 attached to it. The load-handling device is arranged below the lifting frame 3 such that it is held by two suspension points 8 and extends essentially perpendicular to the extent of the lifting frame 3. Between the suspension points 8, a pivot point 6 is defined, around which the load-handling device 4 can be pivoted upon actuation of the actuator 7, preferably a linear drive driven by an electric motor. Finally, the load-handling device 4 has two telescopically movable support arms 9a, 9b, which are shown in a partially extended state in Figure 2.During the movement of the (not shown) storage and retrieval machine through the (also not shown) storage aisle, the support arms 9a, 9b are telescopically retracted into the load handling device 4 in order to ensure that the width of the storage and retrieval machine and thus the width of the storage aisle can be kept to a minimum.

[0036] Figure 3 shows a front view of the lifting frame 3 of a storage and retrieval machine according to the invention, with load handling means 4 arranged below the lifting frame 3. This load handling means 4 is connected to the lifting frame 3 via suspension points (not shown) such that the load handling means 4 extends essentially perpendicular to the horizontal extent of the lifting frame 3 and can be pivoted from this rest position around the pivot point 6 by a predetermined angular amount. The pivoting of the load handling means 4 around the pivot point 6 is predetermined via an actuator 7, in particular via an actuator 7a of the actuator 7 that can be moved linearly towards the load handling means 4. The operating plane of the actuator 7 thus lies completely below the lifting frame 3, so that its upper side can remain free either for inspection purposes or for the attachment of other units.

[0037] Figure 4 shows a side view of the lifting frame 3 from Figure 3 with the load-handling device 4 arranged below the lifting frame 3. The load-handling device 4 is connected to the underside of the lifting frame 3 via suspension points 8, with both suspension points 8 being connected at an equal distance from the pivot point 6, which extends from the underside of the lifting frame 3 into the top of the load-handling device 4. The load-handling device 4 also has two support arms 9a, 9b, which form part of the load-handling device 4 and can be moved telescopically relative to one another.

[0038] Figure 5 shows a plan view of section AA from Figure 3 of the load-handling device 4, which is connected to the lifting frame (not shown) via the suspension points 8. The pivot point 6 is arranged at the same distance from each suspension point 8 in the load-handling device 4, wherein the load-handling device 4, in the form shown, is unpivoted in its rest position. The actuator 7, in particular its adjusting element 7a, is not displaced towards the load-handling device 4. Finally, Figure 6 shows a plan view of section AA from Figure 3 and shows the load-handling device 4, which, under the influence of the actuator 7, has been pivoted around the pivot point 6 to such an extent that the mechanical stops 17 of the load-handling device 4 rest against limiting pieces 18 of the suspension points 8.The limit stops 17 and the limit pieces 18 of the suspension points 8 thus mechanically define the maximum extent of pivoting of the load-handling device 4 around the pivot point 6.

[0039] List of reference symbols

[0040] 1 storage and retrieval machine

[0041] 2 high-bay warehouses

[0042] 3 lifting frames

[0043] 4 load handling equipment

[0044] 5 standard containers

[0045] 6 Pivot point

[0046] 6a bolt

[0047] 7 Actuator

[0048] 7a Actuator

[0049] 8 suspension point

[0050] 8a Camp

[0051] 9a, 9b support arm

[0052] 9 Effective level

[0053] 10 Storage goods

[0054] 11 aisles

[0055] 12 External means of transport

[0056] 13 shelf compartments

[0057] 14 traffic level

[0058] 17 mechanical stops

[0059] 18 boundary pieces

Claims

Patent claims 1. A storage and retrieval machine (1) for a high-bay warehouse (2), comprising a lifting frame (3) and at least one load-handling device (4) connected to the lifting frame (3) for detachably connecting a standardized storage item, preferably a standard container (5), by means of twistlock bolts connected to the load-handling device (4), wherein the load-handling device (4) preferably extends vertically from at least part of the lifting frame (3) and is pivotably mounted about a pivot point (6) and is connected to the lifting frame (3) via at least one suspension point (8), wherein an actuator (7) is provided, via which a predetermined pivoting movement of the load-handling device (4) can be effected with respect to the lifting frame (3) and around the pivot point (6).

2. Storage and retrieval device (1) according to claim 1, characterized in that the load-handling means (4) is connected to the lifting frame (3) in a plane below the latter.

3. Storage and retrieval unit (1) according to one of the preceding claims, characterized in that the actuator (7) is connected to the lifting frame and is connected to an actuator control element (7a) with the load-handling means (4) at a predetermined distance from the pivot point (6).

4. Storage and retrieval device (1) according to one of the preceding claims, characterized in that the side of the lifting frame (3) facing away from the load-handling means (4) is occupied neither by the pivot point (6) nor by the actuator (7) or a suspension point (8), preferably the effective plane (10) formed by the actuator (7) with the load-handling means (4) is arranged below the lifting frame (3).

5. Storage and retrieval device (1) according to one of the preceding claims, characterized in that which has at least one suspension point (8) bearings (8a) via which, on the one hand, the load-carrying means (4) is permanently connected to the lifting frame (3) and, on the other hand, pivoting of the load-carrying means (4) around the pivot point (6) is possible.

6. Storage and retrieval device (1) according to one of the preceding claims, characterized in that the pivoting of the load-handling means (4) around the pivot point (6) can be effected in a pivoting range of 1° to 30°, preferably 1° to 20°, particularly preferably 1° to 10°.

7. Storage and retrieval unit (1) according to one of the preceding claims, characterized in that the load-handling means (4) has at least one, preferably at least two, support arm(s) (9) which can be telescopically extended between a retracted state and at least one extended state.

8. Storage and retrieval unit (1) according to claim 7, characterized in that the load-handling means (4) in the retracted state of the support arm (9) has a length which does not exceed the width of the lifting frame (3).

9. Storage and retrieval unit (1) according to one of claims 7 or 8, characterized in that the load-handling means (4) in the extended state has a length which corresponds to at least two widths, preferably at least three widths, of the standardized stored goods, preferably the standard containers.

10. Storage and retrieval device (1) according to one of the preceding claims, characterized in that the pivot point (6) for the pivoting movement of the load-handling means (4) is fixed in place by a bolt (6a) connected to the lifting frame (3).

11. Method for detecting and moving a standardized item of storage, preferably a standard container (5), by means of a storage and retrieval machine (1) in a high-bay warehouse (2) according to one of the preceding claims, characterized by the steps of (a) placing a standardized item of storage in the access area of ​​a storage and retrieval machine (1), (b) moving the lifting frame (3) of the storage and retrieval machine (1) towards the standardized item of storage until the load-handling device (4) is arranged above the standardized item of storage, (c) if there is an angular offset between the standardized item of storage and the load-handling device (4), pivoting the load-handling device (4) around the pivot point (6), preferably by actuating the actuator (7), until the load-handling device (4) is aligned with the standardized item of storage.

12. Method according to claim 11, characterized in that the load-carrying means (4) is adjusted in its length to the width of the standardized stored goods, preferably by telescopic displacement of at least one support arm (9).

13. Method according to one of claims 11 or 12, characterized in that after step (b) or in the case of an angular offset after step (c) the connection of the load-handling device (4) to the standardized stored goods, preferably by twistlock bolts connected to the load-handling device (4) with at least one standard container, takes place.

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