EP-4735356-A1 - TRANSPORT DEVICE FOR STORING AND RETRIEVING PRODUCTS IN A SHELF WAREHOUSE AND METHOD FOR STORING AND RETRIEVING PRODUCTS IN A SHELF WAREHOUSE

Abstract

A transport device for storing and retrieving products in a shelf warehouse having at least one shelf aisle and at least one shelf, has a satellite vehicle that can be moved along the shelf by means of a propulsion device and has a support surface on which a product can be supported. The product can be lifted relative to the satellite vehicle by means of a lifting device. A carrier vehicle that can be moved along the shelf aisle by means of a drive device, has a receiving area on which the satellite vehicle can be arranged. The carrier vehicle has a first sensor device, by means of which a current position of the satellite vehicle on the receiving area and/or a current position of the product located on the satellite vehicle can be detected. A control device sends correction signals to the propulsion device of the satellite vehicle if the deviation is greater than a predetermined value.

Inventors

• THUMM, ROLAND

Assignees

• Dambach Lagersysteme GmbH & Co. KG

Dates

Publication Date

20260506

Application Date

20240626

Claims (1)

1. patent claims 1. Transport device (10) for storing and retrieving products in a rack warehouse, which has at least one rack aisle (R) and at least one rack compartment (F) extending perpendicular to the rack aisle (R), wherein the transport device (10) has a satellite vehicle (20) which can be moved along the rack compartment (F) by means of a travel drive device (25) and has a support surface (21) on which a product (P) can be supported and which has a lifting device (22) with which the product (P) can be raised and lowered relative to a chassis (28) of the satellite vehicle (20) by means of a lifting drive device (27), wherein the transport device (10) has a carrier vehicle (11) which can be moved along the rack aisle (R) by means of a drive device (14) and which has a receiving space (15) on which the satellite vehicle (21) with or without a product supported (P), characterized in that the carrier vehicle (11) has a first sensor device (16) with which an actual position of the satellite vehicle (20) on the receiving location (15) and/or an actual position of the product (P) located on the satellite vehicle (20) can be detected and which transmits the corresponding 1st position signals to a control device (18) in which the respective ACTUAL position is comparable with a DESIRED position, wherein the control device (18) is designed such that it outputs correction signals to the drive device (25) of the satellite vehicle (20) if the deviation between the ACTUAL position and the DESIRED position is greater than a predetermined value. 2. Transport device according to claim 1, characterized in that the first sensor device (16) is an optical sensor device. 3. Transport device according to claim 2, characterized in that the first sensor device (16) has at least one camera and/or at least one light barrier and/or at least one optical scanner. 4. Transport device according to one of claims 1 to 3, characterized in that the control device (18) is arranged on the carrier vehicle (11) and is wirelessly connected to the drive device (25) of the satellite vehicle (20). 5. Transport device according to one of claims 1 to 3, characterized in that the control device is arranged on the satellite vehicle (20) and is wirelessly connected to the first sensor device (16). 6. Transport device according to one of claims 1 to 5, characterized in that the satellite vehicle (20) has a second sensor device (24) with which the actual position of the satellite vehicle (20) on the receiving site (15) can be detected and the corresponding second position signal is transmitted to the control device (18), in which the actual position of the satellite vehicle (20) is comparable with the target position. 7. Transport device according to claim 6, characterized in that the second sensor device (24) is an optical sensor device. 8. Transport device according to claim 7, characterized in that the second sensor device (24) has at least one camera and/or at least one light barrier and/or at least one optical scanner. 9. Transport device according to one of claims 1 to 8, characterized in that a third sensor device (26) is provided which detects the temperature in the environment of the carrier vehicle (11) and/or the satellite vehicle (20) and outputs corresponding temperature signals to the control device (18). 10. Method for storing and retrieving products in a rack warehouse, which has at least one rack aisle (R) and at least one rack compartment (F) extending perpendicular to the rack aisle (R), with a transport device according to one of claims 1 to 9, wherein the satellite vehicle (20) with the on the support surface (21) arranged product (P) by means of the vehicle Drive device (25) drives onto the receiving location (15) of the carrier vehicle (11) and is stopped there, wherein at least after stopping the satellite vehicle vehicle (20) the actual position of the satellite vehicle (20) on the receiving location (15) and/or the actual position of the product (P) located on the satellite vehicle (20) is detected by means of the 1st sensor device (16) and the 1st sensor device (16) sends corresponding 1st position signals to the control device (18), whereupon the respective ACTUAL position is compared with the DESIRED position by means of the control device (18) and correction signals are sent from the control device (18) to the travel drive device (25) of the satellite vehicle (20) if the deviation between the ACTUAL position and the DESIRED position is greater than a predetermined value, whereupon the position of the satellite vehicle (20) on the receiving location (15) is changed by means of the travel drive device (25) in dependence on the correction signals. 11. The method according to claim 10, characterized in that an optical sensor device is used as the first sensor device (16). 12. The method according to claim 11, characterized in that at least one camera and/or at least one light barrier and/or at least one optical scanner is used as the first sensor device (16). 13. Method according to one of claims 10 to 12, characterized in that the control device (18) is arranged on the carrier vehicle (11) and is wirelessly connected to the drive device (25) of the satellite vehicle (20) is connected. 14. Method according to one of claims 10 to 13, characterized in that the control device is arranged on the satellite vehicle (20) and is wirelessly connected to the first sensor device (16). 15. Method according to one of claims 10 to 14, characterized in that the satellite vehicle (20) has a second sensor device (24) with which the actual position of the satellite vehicle (20) on the receiving site (15) is detected and which transmits the corresponding second position signals to the control device (18), in which the actual position is compared with the desired position. 16. The method according to claim 15, characterized in that an optical sensor device is used as the second sensor device (24). 17. The method according to claim 16, characterized in that at least one camera and/or at least one light barrier and/or at least one optical scanner is used as the second sensor device (24). 18. Method according to one of claims 10 to 17, characterized in that a third sensor device (26) is provided which detects the temperature in the environment of the carrier vehicle (11) and/or the satellite vehicle (20) and outputs corresponding temperature signals to the control device (18).

Description

Transport device for storing and retrieving products in a rack warehouse and method for storing and retrieving products in a rack warehouse The invention relates to a transport device for storing and retrieving products in a shelf warehouse which has at least one shelf aisle and at least one shelf compartment extending perpendicular to the shelf aisle, wherein the transport device has a satellite vehicle which can be moved along the shelf compartment by means of a travel drive device and has a support surface on which a product can be placed and which has a lifting device with which the product can be raised and lowered relative to a chassis of the satellite vehicle by means of a lifting drive device, wherein the transport device has a carrier vehicle which can be moved along the shelf aisle by means of a drive device and which has a receiving space on which the satellite vehicle can be arranged with or without a product stored on it. Furthermore, the invention relates to a method for storing and retrieving products in a rack warehouse, which has at least one rack aisle and at least one rack compartment extending perpendicular to the rack aisle, wherein the satellite vehicle with the The ordered product is driven onto the receiving area of the carrier vehicle by means of the drive device and is stopped there. A corresponding transport device is known from EP 2 780 260 B1 and is used to quickly place products, for example pallets with containers attached, into or out of a shelving system. The shelving units are designed to be multiple deep, i.e. several products can be arranged in a row perpendicular to the shelving aisle in one shelving unit. To retrieve a product, the carrier vehicle, which carries the satellite vehicle on its receiving position, travels along the shelving aisle to the position of the shelving unit from which the product is to be retrieved. After reaching the correct position in the shelving aisle, the drive device of the satellite vehicle is activated and the latter leaves the carrier vehicle and moves into the shelving unit until it is positioned below the product to be retrieved. The lifting device is then activated and the product is lifted within the shelving unit so that it now sits on the support surface of the satellite vehicle. The satellite vehicle is then moved along the shelf compartment back to the carrier vehicle using the drive mechanism until it is seated in its receiving position. The lifting mechanism is then lowered, whereby the product is lowered and placed on a rotating conveyor of the carrier vehicle. The conveyor is assigned its own drive mechanism, by means of which the product can be moved on the carrier vehicle and aligned in the desired manner. The carrier vehicle then travels together with the satellite vehicle. tool and the product picked up along the shelf aisle, preferably to its end. The carrier vehicle's rotating conveyor and its drive mechanism make the construction very complex and expensive. In addition, these two structural components increase the weight of the carrier vehicle, which is disadvantageous both in terms of energy consumption and in terms of working speed. The invention is based on the object of creating a transport device for storing and retrieving products in a shelf warehouse of the type mentioned, in which the alignment of the product relative to the carrier vehicle is possible in a structurally simple manner. In addition, a method for storing and retrieving products in a rack warehouse is to be created, with which a product or a load can be handled quickly and easily. This object is achieved with a transport device having the features of claim 1. It is provided that the carrier vehicle has a first sensor device with which an actual position of the satellite vehicle on the receiving location and/or an actual position of the product located on the satellite vehicle, for example a pallet and/or a box or a carton, can be detected and which transmits the corresponding first position signals to a control device in which the respective actual position is comparable with a target position, wherein the control device is designed in such a way that it sends correction signals to the vehicle. drive device of the satellite vehicle when the deviation between the actual position and the desired position is greater than a predetermined value. According to the invention, the basic idea is to detect the position of the satellite vehicle and/or the product on the carrier vehicle and to carry out any correction solely by means of the travel drive device of the satellite vehicle. An additional rotating conveyor and its additional drive device can thus be dispensed with. Preferably, an optical sensor device is used as the first sensor device, which for example has at least one camera and/or at least one light barrier and/or at least one optical scanner and in particular a laser scanner. In a possible embodiment of the invention, it can be provided that t