US 2016/0101938 A1 · RACK STORAGE SYSTEM AND METHOD FOR CONTROLLING THE MOVEMENT PATH OF A STORAGE AND RETRIEVAL DEVICE IN A RACK STORAGE SYSTEM

Abstract

A rack storage system 1 and a method for controlling the movement path of a storage and retrieval device in a rack storage system, including at least one storage and retrieval device with at least two movement axes x, y which can be controlled independently of one another and are operated by electric motors, to carry out a movement from a starting point to a target point 4 to transfer stored goods within the rack storage system and/or into or out of the rack storage system, having a control unit for controlling the motors of the movement axes x, y and an electric intermediate circuit for exchanging fed-back electrical energy between the motors. The control unit pre-calculates the movement sequences, necessary for a movement from the starting point to the target point, of the individual movement axes x, y and coordinates them with one another, and actuates the motors of the movement axes x, y so the storage and retrieval device carries out the movement on a pre-calculated movement path which is based on a set of movement sequences, coordinated with one another, of the individual movement axes x, y. The control unit calculates a quantity with a plurality of sets of movement sequences which are coordinated with one another, which contains at least a first set with movement sequences which are optimized with respect to the speed of the movement, for a high-speed operating mode, and a second set with movement sequences which are optimized with respect to the consumption of electrical energy, for an economical operating mode. The control unit selects a set with movement sequences from the calculated quantity on the basis of operation parameters of the rack storage system in order to actuate the motors of the movement axes in order to carry out a movement path.

Claims22

Dependent claims

A rack storage system, comprising:

at least one storage and retrieval device with at least two movement axes (x, y) which are controllable independently of one another and are operated by electric motors, in order to carry out a movement from a starting point (3) to a target point (4) in order to transfer stored goods at least one of within the rack storage system (1), into the rack storage system (1), or out of the rack storage system (1), a control unit that controls the motors of the movement axes (x, y) of the storage and retrieval device, an electric intermediate circuit that exchanges fed-back electrical energy between the motors,
wherein the control unit is configured to pre-calculate movement sequences, necessary for a movement from the starting point (3) to the target point (4), of the individual movement axes (x, y) and coordinates the movement sequences with one another, and said control unit actuates the motors of the movement axes (x, y) in such a way that the storage and retrieval device carries out the movement on a pre-calculated movement path (6) which is based on a set of the movement sequences, coordinated with one another, of the individual movement axes (x, y),
the control unit is further configured to calculate a quantity with a plurality of sets of movement sequences which are coordinated with one another, wherein said quantity contains at least a first set with the movement sequences which are optimized with respect to a speed of the movement, for a high-speed operating mode, and a second set with the movement sequences which are optimized or partially optimized with respect to a consumption of electrical energy, for an economical operating mode, and wherein the control unit is configured to select one of the sets with the movement sequences from the calculated quantity based on operation parameters of the rack storage system (1) in order to actuate the motors of the movement axes (x, y) in order to carry out a movement path (6).

A method for controlling the movement path of a storage and retrieval device with at least two movement axes (5, x, y) which can be controlled independently of one another and are operated by electric motors, in order to carry out a movement from a starting point (3) to a target point (4) in a rack storage system (1), wherein the movement sequences, necessary for a movement from the starting point (3) to the target point (4), of the individual movement axes (x, y) are pre-calculated and coordinated with one another, and the motors of the movement axes (x, y) are actuated in such a way that the storage and retrieval device carries out the movement on a pre-calculated movement path (6) which is based on a set of movement sequences, coordinated with one another, of the individual movement axes (x, y), comprising

calculating a quantity with a plurality of sets of movement sequences which are coordinated with one another, said quantity contains at least a first set with the movement sequences which are optimized with respect to a speed of the movement, for a high-speed operating mode, and a second set with the movement sequences which are optimized or at least partially optimized with respect to a consumption of electrical energy, for an economical operating mode, and selecting the set with the movement sequences from the calculated quantity on the basis of operation parameters of the rack storage system (1) in order to actuate the motors of the movement axes (x, y) and carrying out the movement path (6).

Dependencies are inferred from the claim text.

Rack storage system and method for controlling the movement path of a storage and retrieval device in a rack storage system

Life of this patent

Rack storage system and method for controlling the movement path of a storage and retrieval device in a rack storage system

Life of this patent

Abstract

Claims22