• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for the safe operation of an automated rack storage system with storage racks (1), which have bins (11) for loads (6), and a rack aisle (3) extending between the storage racks (1), and storage areas (7, 8, 9), each of which is assigned to a storage and retrieval unit (10) with a control unit, a traction drive and a load receiving device, and a respective Regalgassenzugang (19, 20, 21) per storage area, which can be opened and closed, in the automatic operation of the Re- galvo units (10) store goods in the storage bins or outsource them from the storage bins, and the automatic operation switches to a safety mode when access to a switching device (24, 25, 26) by an operator (23) is registered in one of the storage areas, wherein in safety operation those storage and retrieval units (10) which would move in a protected area (73) are moved to a holding position in which the respective storage and retrieval unit (10) remains stationary and is put into a resting state that is safe for the operator (23) or motionless until the control unit receives a release signal.
    公开号:AT516231A1
    申请号:T50614/2014
    申请日:2014-09-05
    公开日:2016-03-15
    发明作者:
    申请人:Tgw Mechanics Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a method for safely operating an automated storage system with storage racks, a rack aisle running between the storage racks, and storage areas, each of which is assigned at least one Regalbe¬diengerät with a control unit, a drive and a Lastaufnahmevor¬richtung, and in each case a lockable access per storage area, which can be opened and closed, in which receive the automatic control the Re¬galbediengeräte via control lines each to the control unit Fahr- and La¬gerbefehle and driven according to these driving and storage commands of Fahran¬trieb and the load receiving device to along the Regalgasse to go to the storage bins and einzulgerg the cargo to the storage bins or outsource cargo from the storage bins, and wherein the Automa¬tikbetrieb changes to a safety operation when access to a switching device access by an operator in a de r storage areas is logged and the operator would like to enter one of the storage areas, wherein in Si¬cherheitsbetrieb some of the storage and retrieval units on the control lines in each control unit again receive driving and / or storage commands and accordingly these driving and / or storage commands the traction drive and / or the load-receiving device is driven, and at least one other of the storage and retrieval devices is still operated in automatic mode.
    Different designs of an automated rack storage system are, for example, from WO 2013/090970 A2, EP 2 543 611 A1, EP 2 327 643 B1, WO2010 / 118412 A1, EP 2 158 144 B1, DE 10 2004 007 412 A1, EP 2 132 113 B1 and DE 10 2011 012 424 A1. Such shelf storage systems include storage shelves and shelf aisles formed between them, computer-controlled storage and retrieval systems being arranged in a rack alley in storage levels lying one above the other, by means of which goods are stored in storage locations or goods are removed from storage locations. In this case, a shelf operating device via a load-receiving device either only a single storage level or a specially trained load-receiving device serve several storage levels. Thus, each storage level a stacker crane or more La¬gerebenen a common storage and retrieval device can be assigned.
    The automatic operation requires safety engineering design measures such as physical barrier, safety clearances and the like. The system is enclosed with a protective fence and the rack aisle is secured against unauthorized access by an operator by means of an access door which is locked and unlocked with an access key, with a sensor monitoring whether the Access door is closed or opened, and transmitted corresponding status signals to a control device. The rack aisle has a Schaltvor¬richtung which communicates with the control device and is physically adjustable with an access key between an automatic position and a War¬tungsstellung, the access key is in the automatic position physically inseparable connected to the respective switching device and in the maintenance position of the switching device physically detachable is to open the access door. If several rack aisles are present, each rack aisle is assigned an access door and a switching device.
    If the operator enters the rack aisle, for example to perform maintenance work on the storage and retrieval unit, on the load handling unit or on the storage rack or to remedy a malfunction in the manipulation of load, then it moves into the danger area and must be ensured in any case in that the automatic mode was switched into a safety drive at this time. In safety operation, the storage and retrieval unit must have been switched to a no-hazard state of rest so that the operator is not exposed to any risk of injury. For this purpose, appropriate safety-related control measures are required.
    There are strict legal requirements for these safety-related aspects, which are specified in relevant standards, machine guidelines and the like. It is only in excerpts also the DIN EN 13857, DIN EN 528, DIN EN13849 pointed out.
    DE 10 2011 117 487 B3 discloses a rack storage system with a large number of rack aisles and storage and retrieval machines which can be moved in each case in an x-direction, wherein each storage and retrieval unit is equipped with a load-receiving device which can be moved in a y-direction and can be extended in a z-direction, in order to store goods in storage bins or to outsource goods from storage bins. In order to enable maintenance in a rack aisle and automatic operation in a rack aisle adjacent thereto, it is provided that the storage and retrieval unit in the adjoining rack aisle will still be operated on one side, in a direction opposite to the one to be maintained is aligned.
    In DE 20 2013 101 646 U1 a rack storage system with a frozen and / or inertized storage area is described which has a plurality of storage racks, separated by rack aisles, each having a plurality of shelf levels, wherein per storage rack aisle at least one storage and retrieval device is provided for the storage and retrieval of storage units , The enclosed storage area is adjoined by a service area which is isolated from it and which is connected to the storage area via a lock. In the storage area, an access bar in the rack aisle is provided at each service level between the storage shelves.
    The present invention has for its object to provide an automated storage system and a method for operating the same, can meet the highest safety requirements and is characterized by a high availability.
    The object of the invention is achieved by the following method measures:
    Definition of a spatial access area for the operator either exclusively within a storage area in which the operator accesses or within a storage area and from this to an above and / or below storage area, wherein in each storage area one or more storage and retrieval units for storing the goods on the Lagergerplätze or outsourcing of goods to be operated from the storage bins;
    Definition of a spatial protection area based at least on the access area;
    Determination of those storage and retrieval units, which move in the protected area. would move; and that in safety operation those storage and retrieval units (10; 10 '; 10 ") which would move or move in the protective area are moved to a holding position in which the respective storage and retrieval unit remains in place and then into a driverless or motionless position for the operator Ruhe¬ state is offset until the control unit receives a release signal (Sfrb4).
    Within the scope of the invention, the term "spatial access area" is to be understood as the (theoretical) area of movement within which the operator can act when he is in the rack aisle in one of the storage areas. This is determined to be in the first dimension (y-direction) and second dimension (z-direction) by the unrestricted movement radius of the user's arm / foot and in a third dimension (x-direction) through the unrestricted walkway of the operator the Regalgasse. Physical boundaries, such as those provided by the sidewalks or security grilles, limit the access area of the operator. The third dimension (x-direction) can also extend over only a longitudinal section of the rack aisle, in particular in the case of short rack aisles over the entire length of the rack aisle and, in particular, in the case of long rack aisles.
    According to the invention, this access area can be defined within one of the storage areas in which the operator can move, if, for example, sidewalks and safety gratings are provided in the rack aisle and the storage rack. In this case, the access area for the operator is limited by the sidewalks and safety grids in the first dimension (y-direction) and second dimension (z-direction).
    If physical boundaries are not provided in the storage racks, it is also advantageous if the access area is not limited to the storage area in which the operator can move but is extended to at least one adjacent storage area located above or below the relevant storage area Storage area is located.
    However, the access area can also take into account both the upper storage area and the lower storage area. This may be the case, for example, if the operator wishes to enter a medium storage area. The scope of protection results from the dimensions (xyz direction) of the access area and is configured so large that, if necessary, the operator of storage and retrieval units of an adjacent storage area is not at risk, even if it would reach into the adjacent storage area , The spatial extension of the protection area to at least two storage areas (within a rack aisle) leads to a particularly safe operation of the rack storage system, even if for maintenance or fault repair in some shelf levels still the Automa¬tikbetrieb for the storage of cargoes on the Bins or Auslage¬rung of cargo from the storage bins is upright.
    If, on the one hand, the access area for the operator is limited to the storage area by structural measures, in which this access, the spatial extension of the protection area to this (one) storage area is sufficient. In safety operation, the storage and retrieval unit, if only a storage and retrieval unit is present in this storage area Regal Bed iengeräte, if in theser storage area a plurality of shelf Bed iengeräte are present, be moved to a Halteposi¬tion in which the at least one stacker crane behaves as long and is also placed in a safe for the operator or bewegungsloslosen resting state until the control unit receives a release signal (Sfrb4).
    On the other hand, if the access area for the operator is not limited to only one storage area, but extends over several storage areas, the spatial extent of the protected area is also defined over several storage areas. In safety operation, the at least one storage and retrieval unit in that storage area in which the operator accesses and at least one storage and retrieval unit in that storage area above and / or below, in which the protection area extends, are placed in a holding position on, in which the storage and retrieval unit remains paused and is further set in a sleep-free for the operator or motionless, until the control unit receives a release signal (Sfrb4).
    The term "motionless idle state" is to be understood as meaning that all drives of the storage and retrieval unit are "ineffective" and in safety operation, the shelving devices also do not process travel and storage commands.
    Also advantageous are the measures and embodiments according to claims 2 and 27, since the power loss is relatively low, if only as many shelf levels "fail" in safety operation for the shelving units as is absolutely necessary for sicherstech¬schen aspects. Thus, compared to such from the prior art known shelf storage systems, where the storage and retrieval device of the storage area to be entered and the Regal iengeräte the adjacent storage areas are shut down, achieved a much higher availability.
    In other words, outside the protected area, moving shelf control devices of the storage area below and / or above continue to operate in automatic mode. On the other hand, shelf control units arranged within this protected area are switched safely or motionless in safety mode, so that the operator can not pose any danger if he / she is within the protected area. In safety operation, control measures prevent unintentional departure of a control device from the holding position and unintentional extension of the load-receiving device.
    According to a measure and embodiment according to claims 3 and 28, the operator-free or motionless idle state is achieved for the Re¬galbediengerät in the stop position when the storage and retrieval unit is supplied with a running operating voltage. The hazard voltage can also be selected so that the travel drive and the actuator are connected to the shelf control device "de-energized". This safety-related control measure can be implemented easily and is also very reliable.
    The measure according to claim 4 also proves advantageous, as a result of which it is possible to supply the storage and retrieval unit (also called a "shuttle" in the case of a single-level rack operating device) with electrical energy, for example important electronic components even in the event of danger without a backup capacitor or backup battery to keep in operation. For example, this can relate to a communication module or a position transmitter of the storage and retrieval unit, so that the automatic mode (normal operation) can be resumed without problems after a safety operation (dangerous operation). It is also advantageous that an error analysis and troubleshooting on the worried storage and retrieval unit is facilitated. For example, fault codes can be displayed on the shelf control unit, and also, for example, the setting of sensors is facilitated by the maintained power supply.
    Despite the energy supply of the storage and retrieval unit, even in the event of danger, the measures taken ensure effective protection of a person in the storage area. In particular, if the rectification value / effective value of the hazardous operating voltage is below a minimum rectification value / minimum effective value necessary for the moving storage and retrieval unit, driving the storage and retrieval unit is excluded for physical reasons alone. In other words, the drive motors of the Re¬galbediengerätes (drive motor for traction drive and drive motor for load receiving device) is supplied to less energy than that they could move the Regalbedien¬gerät or load-bearing device within the protection area. Personal protection is therefore particularly effective. The traction drive and positioning drive of the storage and retrieval unit can cooperate via an external power supply system, for example a sliding line arrangement, or an internal power supply system carried along with the rack operating device, for example a rechargeable "PowerCap".
    The "RMS value" is calculated by squaring and subsequent averaging, the " rectification value " by rectification and subsequent averaging. For unipolar voltages, the " rectification value " therefore at the same time the (arithmetic) "mean".
    The measure according to claim 5 allows maximum flexibility in the control of the stacker cranes and a reliable switching between an automatic operation and safety operation for a storage and retrieval unit. Each individual storage and retrieval unit can be specifically operated in safety mode.
    The circuit complexity for the control device can be greatly reduced if a switching module can connect a group of conductor line arrangements, as described in claim 6. Also reduces the error susceptibility of the control system. The "fixed wiring" of the Schleifleitungs¬ arrangements via the switching modules allows a simpler design of the software program for the software control device.
    A particularly advantageous measure proves the back confirmation to the control device when the holding positions of the Regal iengeräte has been reached and has set a non-dangerous resting state of each of these storage and retrieval units, as described in claim 7. Only when the confirmation signal has been acknowledged, the stacker cranes are placed in the "safe Ruhezu¬stand". This normally ensures that the stacker cranes have previously been moved to the stop positions and only then is the "safe rest condition" set. Thus, no "artificial blockage" is created by the stopped stacker cranes for the operator in Lagerbe¬reich and can move over a wide range of areas in the storage area unhindered.
    According to the measure of claim 8, 12, 16 and 29, the operator receives clear instructions as to when to enter the storage area. With proper operation, the danger risk for the operator can be reduced to a minimum, since the operator can not even enter the storage area before the confirmation signals and feedback signals of the storage and retrieval devices and possibly the confirmation signal of the load-lifting device and possibly the confirmation signals of the provision devices ( active) have been signaled to the control device.
    Also advantageous is the measure according to claim 9, 13, 17 and 30, since a zuεsätzliche safety measure is geschaf¬ with the arrangement of a closing unit, which is only operated when appropriate release signals vorlie¬gen. As a result, a "violent" access is almost impossible.
    With the measure according to claim 10, a simple control-technical safety concept is proposed, which enables a "controlled" stopping of the transport device. The last pending storage or Auslagerer orders can still be processed before the transport device assumes its defined by the control device holding position. According to this embodiment, a physical penetration barrier in the region of the load-lifting device can additionally be provided for each storage area, which is intended to prevent predominantly the falling of an operator when it is in the storage area. The penetration barrier is a protective grid or railing.
    As a particularly advantageous measure proves the back confirmation to the control device when the holding position of the transport device has been reached and has set a safe hibernation, as described in claim 11.
    If the rack storage system at the load manipulation unit additionally equipped with at least one buffer area, a particularly efficient system is created, which must also meet the safety requirements. With the measure according to claim 14, a simple control technology security concept is proposed, which is a "controlled"
    Shutting down the conveyor devices for the provision devices allows. The final storage or retrieval orders can still be processed before the conveyors are switched off.
    As a particularly advantageous measure proves the back confirmation to the control device when the position of the sheet of the transport device has been reached and has set a safe hibernation, as described in claim 15. Only when the confirmation signal has been confirmed, the transport device is placed in the "safe hibernation". In the normal case, this ensures that the transport device was previously moved to the folder position and only then is the "safe idle state" set.
    It is also advantageous if the lifting speed of the transport device is reduced when it moves along the protected area, as described in claim 18. The lifting speed can be reduced to such an extent that the transport device is moved through the protective area at a "safe speed" or is moved past the protected area. It would also be possible for there to be a mutual adaptation between a physical penetration barrier provided in the area of the load-lifting device and the lifting speed. Relevant standards require certain safety distances to moving machine parts. In the case of the load-lifting device would have a correspondingly wide-sized physical Durch¬griffbarriere (protective grid) are provided when the transport device is moved with maximum lifting speed. However, this would mean that the penetration barrier widened so far that standardized Bereitstellvor¬richtungen, which are arranged on at least one side of the load-lifting device über¬ each other, are installed and thus a takeover or Überga¬be of cargo between a takeover place or Transfer point and ei¬nem storage and retrieval unit could not be done. Only by extending the supply devices could this disadvantage be counteracted, which would be costly. By specifically adjusting the lifting speed and width of the penetration barrier, it can now be ensured that at least the takeover or transfer point is freely accessible on the provision devices. The principle is that the lower the stroke speed, the narrower the penetration barrier can be designed.
    According to one embodiment of the invention, the non-hazardous condition for the walking devices is achieved by disabling them as described in claims 19 and 20. With this measure, a simple control safety concept is proposed, which enables a "controlled" shutdown of the conveying devices for the provisioning devices. The last pending storage or retrieval orders can still be processed before the conveyors are switched off.
    According to the measure according to claim 21, the buffer area is monitored via a sensor and an access by an operator, for example, to a load, which stands on a supply device, detected. If the sensor system is triggered, immediately an emergency switch-off of the load-lifting device directly adjoining the buffer area is initiated. As a result, the highest safety requirements are met.
    Also advantageous are the measures and embodiments according to claims 22 to 24 and 34 to 36, since this safety concept can be implemented without arranging a physical penetration barrier on the load-lifting device. The transport device can continue to operate automatically and at maximum stroke speed or possibly only slightly reduced stroke speed even after the operator has entered one of the storage areas and during which the operator approaches in the direction of the load handling unit. The lifting speed of the transport device wirderst reduced or the transport device is only stopped when Zuztrittsüberwachung is triggered in the storage area near the cargo manipulation unit. The only condition for this is that the access control at a sufficiently large safety distance to the cargo manipulation unit, therefore the load-lifting device and optionally providing devices, is located remotely. This safety distance, in turn, results from the relevant standards. The sensors preferably work with a radiation field or sound wave field, whereby the passage in the storage area is not blocked by physical barriers. Due to the unrestricted freedom of movement in the storage area, also troubleshooting can be carried out easily.
    The measure according to claim 25 is also advantageous, since the operator can pass the danger zone "safely" and can move past the load manipulation unit in order, for example, to go to a next load lifting device assigned to this rack aisle without having passed the automatic movement of the " "Material handling unit to disturb significantly. Such an embodiment is ideally suited for very long rack aisles, where several load-handling units can also be arranged.
    The object of the invention is further achieved in that a rack aisle several superposed and formed by sidewalks from each other Lagerbe¬reiche, each storage area one or more shelf iengerätezlagagers to store the goods to the storage bins or outsourcing of goods from the storage bins and a lockable access door for access to the respective storage area are associated, and that the control device is connected to switching modules and comprises means for selective and parallel (simultaneous) connection of some of the switching modules, the number of selectively and in parallel (simultaneously) switched Switching modules based on a spatial access area for the operator within a Lagerbe¬reiches, in which the operator access, and is defined by this on an above and / or below storage area, wherein the Accessbei¬reich a spatial protection vorgi bt, and that the control device is adapted to: - determine those shelf control devices which would move or move in the protected area, and to generate driving and / or storage commands in safety mode, by means of which those stacker cranes which are themselves would move or move in the protected area, be moved to a holding position in which the respec¬¬¬¬¬¬¬¬¬¬¬¬¬¬¬¬¬¬¬,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, For the shelf storage system, the advantages listed in connection with the method for safe operation of the same apply analogously.
    The embodiment according to claim 31 is advantageous because the access of an operator from the rack aisle side to the movement space of the transport device is thus prevented by a "separating protective device". Only when needed and if the load-Flebevorrichtung was moved into a gefahren for the operator or motionless idle state, the "tren¬nende protective device" can be removed.
    According to the embodiment according to claim 32, the access of a Bedienper¬son from the buffer area to the movement space of the transport device can be prevented by a "separating guard". This "separating protective device" is preferably automatically adjustable.
    Also advantageous is the embodiment according to claim 33, since the penetration protection works with a radiation field or sound wave field, whereby access to the movement space of the transport device is not blocked by physical barriers, but nevertheless a very effective safety device is present. The penetration protection can also be realized by a camera system. If the penetration protection is switched and the control device is signaled that the operator wishes to access the movement space of the transport device, the transport device can be stopped immediately, in particular an "emergency stop" can be initiated by the control device The operator is allowed optimal freedom of movement in the buffer area, so that troubleshooting can be easily performed.
    According to claim 37, the storage area is monitored laterally next to the load-Flebevorrichtung. This can ensure that the trans-
    Port device is not adjusted when an operator is directly in the area of the load-lifting device.
    Finally, the embodiment according to claim 38 is advantageous because thereby the superimposed storage areas are spatially limited by "separating guards". Thus, the operator can no longer intervene from one storage area in the other storage area. The access area and therefore the protection area lie essentially within a storage area.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    1 shows a section of a shelf storage system in a first embodiment with a rack storage and a load handling unit in plan view of a rack level;
    FIG. 2 shows the shelf storage system in a view according to the line II in FIG. 1; FIG.
    FIG. 3 shows the shelf storage system according to FIG. 1 in front view; FIG.
    Fig. 4 is an end view of a shelf storage system in a second
    Execution;
    Fig. 5 is an end view of a shelf storage system in a third
    Execution;
    Fig. 6 shows a detail of a shelf storage system in a fourth
    Execution with a shelf storage and a load handling unit in plan view of a shelf level;
    Fig. 7 shows a detail of a shelf storage system in a fifth
    Execution with a shelf storage and a load handling unit in plan view of a shelf level;
    Fig. 8 shows a detail of a shelf storage system in a sixth
    Execution with a shelf storage and a load handling unit in plan view of a shelf level;
    9 is an enlarged detail of a storage rack and ei¬ nem storage and retrieval unit of Figure 1, in front view.
    FIG. 10 shows the shelf storage system according to FIG. 1 in an automatic mode with a first embodiment of a control device; FIG.
    11a, 11b the rack storage system according to FIG. 1 with a safety drive for some of the shelf units and an automatic mode for some of the stacker cranes; FIG.
    12,13 the rack storage system of Figure 1 with a second Ausfüh¬ tion of a control device.
    14, 15 show the shelf storage system according to FIG. 1 with a third embodiment of a control device;
    16 shows the rack storage system with a first embodiment for a mechanical and control-technical safety device, in automatic mode for the stacker cranes and the load handling unit;
    17a, 17b, the shelf storage system of Figure 16 with a Sicherheitsbe¬trieb for some of the shelf iengeräte and the load-handling unit.
    18 shows the rack storage system with a second embodiment for a mechanical and control-technical safety device, in automatic mode for the stacker cranes, the storage manipulation unit and provision devices;
    19a, 19b show the rack storage system according to FIG. 18 with a safety drive for some of the stacker cranes, the cargo manipulation unit and the provision devices;
    FIG. 20 shows the shelf storage system with a third embodiment for a mechanical and control-related safety device; FIG.
    21 shows the shelf storage system with a fourth embodiment for a mechanical and control-technical safety device;
    22 shows the shelf storage system with a fifth embodiment for a mechanical and control-technical safety device;
    FIG. 23 shows the shelf storage system with a sixth embodiment for a mechanical and control-related safety device; FIG.
    Figs. 24a to 24e are a flowchart for a first control method of the shelf storage system;
    Figs. 25a to 25e are a flow chart for a second control method of the shelf storage system;
    Figs. 26a to 26e are a flowchart for a third control method of the shelf storage system.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, wherein the disclosures contained in the entire description apply mutatis mutandis to the same parts with the same reference numerals. same component names can be transferred. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these conditions are to be transferred in a change in position mutatis mutandis to the new situation.
    1 to 3, a first embodiment of a shelf storage system is shown, which storage shelves 1, a cargo manipulation unit 2, at least one zwi¬schen the storage shelves 1 and along the load-handling unit 2 in a x-direction shelf shelf 3, a the cargo manipulation unit 2 connected conveyor system 4, 5 for transporting goods 6 and for transporting goods 6, storage areas 7, 8, 9 and per storage area 7, 8, 9Regalbediengeräte 10 for storing the cargoes 6 on storage bins 11 or outsourcing of cargoes 6 from the storage bins 11 includes. In the example shown two storage shelves 1 are shown. In the context of the invention, however, more than two storage racks 1 can also be provided, wherein a rack aisle 3 is formed between each adjacent storage racks 1.
    According to the embodiment shown, the storage racks 1 in the racking levels (RE) respectively form storage bins 11 for the load 6 next to each other and one behind the other, so that two or more loads 6 can be placed in the depth direction of the storage bins 1, thus a so-called "double-deep" or "double-deep" or "bunker" . "Multi-deep" storage is possible. On the other hand, it is also possible that the storage shelves 1 form in the rack levels exclusively in a row nebenei¬nander provided bins 11 for the load 6, so in the depth fenrichtung the storage shelves 1 only a load 6 can be turned off, so a so-called "single depth "Storage is possible.
    The storage shelves 1, which are arranged at a spacing parallel to one another, form storage bins 11 for the load items 6 provided one above the other in each other and each of the rack aisle 3 comprises adjacent, vertical front rack members and vertical rear bays remote from the rack aisle 3 galsteher. The front shelf uprights are connected in the direction of the rack aisle 3 hori¬zontal extending front longitudinal beams 12 and the rear shelf upright in the direction of the rack aisle 3 horizontally extending rear longitudinal beams 13. The front longitudinal beams 12 form guide rails for the Re¬galbediengerät 10. Between the longitudinal beams 12, 13 cross member 14 may be provided, which extend in the depth direction of a storage rack (z-direction) and the top side a storage area or the storage bins 11ausbild.
    The shelf storage system comprises a plurality of storage areas 7, 8, 9 arranged one above the other and separated by trays 15. The storage areas 7, 8, 9 each have a height of between 2.1 m and 3.0 m and a width of between 0.75 m and 1.5 m.
    Each storage area 7, 8, 9 in turn comprises in stackable (horizon¬ tal) driving levels 16 in the rack aisle 3 movable and independently voneinan controlled pallet stackers 10 for storing the cargoes 6 on the storage bins 11 or outsourcing of cargoes 6 from the storage bins 11th It can be provided that each shelf level (RE) is assigned to a stacker crane 10. Thus, a storage and retrieval unit 10 operates via a Lastaufnahme¬ 17 a shelf level. In a transverse direction (z-direction), the load-receiving device 17 can store one or more load-carriers 6 on both sides in the storage spaces 11 or move them out of the storage places 11. The Fahrahrebenen16 and shelf levels (RE) lie in the embodiment shown essentially at the same height level, wherein the longitudinal direction of the rack aisle 3 (x-direction) extending and pairwise opposite Längsstra¬versen 12 each form a driving plane 16, along which the Regalbe ¬Diengerät 10 is moved. For example, each storage area 7, 8, 9 has six drive levels 16, six shelf levels (RE) and six stacker cranes 10. This is shown for reasons of clarity in FIG. 3 only for the lower and upper storage areas 7, 9.
    However, fewer storage and retrieval units 10 'can also be present as shelving levels (RE) if the storage and retrieval unit 10' comprises load-receiving devices 17 arranged one above the other and can be controlled independently of one another, as shown in FIG. 4 also shown for reasons of clarity only with reference to the middle and upper storage area 9. The load receiving devices 17 can be controlled independently of each other, of which a first Lastaufnahmevor¬ direction 17 in a transverse direction (z-direction) on a first shelf level (RE) store one or more loads 6 in a storage space 11 or outsource from a storage space 11 and a second Load receiving device 17 in ei¬ner transverse direction (z-direction) on a second shelf level (RE) one or more loads 6 store in a storage space 11 or can be outsourced from a storage space 11. Thus, a storage and retrieval device 10 'can serve, for example, more than one shelf level, for example two shelf levels, via two load receiving devices 17. Although the driving planes 16 no longer lie in each horizontal plane (RE), but essentially at the same height level of every second plane plane (RE), the longitudinal direction of the rack aisle 3 (x-direction) and opposite each other in pairs Longitudinal beams 12 each form a driving plane 16 along which the storage and retrieval unit 10 'is moved. For example, each storage area 7, 8, 9 has three drive levels 16, six shelf levels (RE) and three stacker cranes 10. 4 again comprises the storage shelves 1, a load handling unit 2 (54; 55) (not shown), at least one extending between the storage shelves 1 and along the load handling unit 2 (54; 55) in an x-direction the rack aisle 3, a conveyor system 4, 5 connected to the load handling unit 2 (54, 55) for transporting loads 6 and for transporting loads 6, storage areas 7, 8, 9 and per storage area 7, 8; 9Regalbediengeräte 10 'for storing the cargoes 6 on storage bins 11 and Auslagern loading goods 6 from the storage bins 11.
    In FIG. 5, the storage areas 7, 8, 9 each have only one storage and retrieval unit 10 ", which on a liftable and lowerable platform comprises the load receiving device 17 described in greater detail below and can be moved along guide rails in the direction of the rack aisle 3. The load-receiving device 17 can access each of the rack levels (RE) within a storage area 7, 8, 9 on one or both sides in a transverse direction (z-direction) and store one or more goods 6 in a storage space 11 or unload it from a storage space 11 , According to this embodiment, each storage area 7, 8, 9 comprises a single driving level 16, four shelving levels (RE) and a storage and retrieval unit 10 ".
    In contrast to the embodiments according to Figs. 1 to 3 and Fig. 4, where the guide rails are formed by the front longitudinal beams 12, according to this embodiment of the invention in the aisle 3 in superposed Fahrahrebenen 16 arranged guide rails of the Re¬ galactic devices 10 ". The power and / or data supply of the storage and retrieval units 10 ", in particular the drive motors 60, 63 and the control unit 64 can, as is known, take place via a sliding line arrangement 65 which is fastened to one of the guide rails per drive level 16 and extends over the ge ¬ Samte length of the guide rail extends. The drive motors 60, 63 are communicatively connected to the control unit 64.
    A cargo manipulation unit as shown in Figs. 1 to 3; 4; 6 to 8 is beschrie¬ben, can be omitted according to this embodiment, since the conveyor techniques 4, 5 are provided for the transport of loads 6 and for the removal of loads 6 each Lagerbe¬reich 7, 8, 9. In this case, the rack aisle extends between the storage shelves 1.
    Even if, according to the embodiment shown, each storage area 7, 8, 9 has a conveying system 4, 5 for transporting loads 6 and for transporting load items 6, and the storage and retrieval unit 10 "with its load receiving device 17 is movable between the conveying techniques 4, 5 in order to store goods 6 and to unload goods 6, in an alternative embodiment (not shown) only one conveyor 4, 5 would be provided for transporting goods 6 and for transporting goods 6 and the load handling unit 2 (54, 55), which connects the storage areas 7, 8, 9 with the conveyor 4, 5 for transporting goods 6 and for transporting goods 6. The conveyor 4 for transporting goods 6 and the conveyor 5 for transporting goods 6 are, for example, to the lower or upper storage area 7 , 9 connected. In this case, the rack aisle extends between the storage shelves 1 and along the load handling unit 2 (54; 55).
    Since the stacker cranes 10; 10 '; 10 "are usually operated in an automatic mode to automatically store and retrieve the stored goods 6, the rack aisles 3 must be protected for safety reasons against unauthorized access by people.
    For this purpose, a protective fence 18 is provided, which is set up at least in the area of the front side of the rack aisle 3 and storage racks 1, which can not be easily overcome by a human.
    In order to still make the rack aisle 3 accessible, at least one access per storage area 7, 8, 9 is provided, which in the example shown is realized in the form of an openable / closable access door 19, 20, 21. The access door 19, 20,21 can be locked, unlocked, opened and closed. A corresponding state of the access door 19, 20, 21 can be monitored by a sensor 22 and output as a status signal. The sensor 22 may be realized in the form of a Posi¬ tion switch, light button or a light barrier. The sensor 22 is arranged to detect the opening of a closed access door 19, 20, 21. Only when the access door 19, 20, 21 is open can the aisle 3 there be entered by an operator 23 (service technician), as will be explained in more detail below.
    The shelf storage system also includes at least one switching device. Preferably, a separate switching device 24, 25, 26 is provided per storage area 7, 8, 9. The switching device 24, 25, 26 is (logically) associated with the storage area 7, 8, 9.
    Each of the switching devices 24, 25, 26 (see FIG. 11 b) comprises a switching means 27 (operating mode selector switch) by means of which the operating mode between the automatic mode and the safety mode can be manually switched over to a control device 28 (for example a programmable logic controller "PLC"). ) signal that an operator 23 would like to enter one of the storage areas 7, 8, 9. The automatic mode is interrupted when switched to safety mode and the control device 28 receives a mode change signal from the switching device 24, 25, 26. Furthermore, each of the switching devices 24, 25, 26 may comprise an output means 29 to which an access message for the safe access of the operator 23 to the storage area 7, 8, 9 is signaled, in particular visually or acoustically Generates enable signal, which causes the output of the access message. The release signal is generated only when the control units of the storage and retrieval units 10; 10 '; 10 "to the Steue¬rungsvorrichtung 28 an acknowledgment signal and feedback signal per Regalbedien¬gerät 10; 10 '; 10 "was transmitted, as will be described in more detail.
    Also, each of the switching devices 24, 25, 26 may include a command input means 30 to which a mode change signal (command) may be input when the safety operation is to be switched back to the automatic mode. This is only possible when the operator 21 has completely moved out of the storage area 7, 8, 9 and the access door 19, 20, 21 is closed again.
    Further, each of the switching devices 24, 25, 26 may have a key socket 31. The key holder 31 has two positions, an automatic operating position and a safety operating position. In the automatic mode position, the access key must be in the key holder 31 and can not be removed. For example, to enter the safety mode position, the access key is rotated about its longitudinal axis. As soon as the access key is in the safety operating position, it can be withdrawn, that is to say disconnected and removed by the switching device 24, 25, 26. The control device 28 is in communication with the switching device 24, 25, 26 and automatically signals the respective position of the switching device 24, 25, 26 (automatic operating position or safety operating position). For this purpose, the control device 28 is sent either a first state signal in the automatic operating position or a second state signal in the safety output position. The key holder serves to receive a respective access key. The access keys are preferably all formed differently. The access key then fits only to the access door 19, 20, 21 of the respective storage area 7, 8, 9.
    In addition, each of the switching devices 24, 25, 26 may be equipped with an emergency stop input means 32 for inputting an emergency stop signal.
    The switching means 27 and output means 29 can be combined in one structural unit and is, for example, a illuminated pushbutton, with a push button forming the switching means 27 and a lamp the output means 29. The lamp lights up when the automatic mode is running, it flashes when the push button is operated, and it er¬lischt, if at least from the control units of the stacker cranes 10; 10 '; 10 "to the control device 28, an acknowledgment signal and feedback signal per storage and retrieval unit 10; 10 '; 10 "has been transmitted, as will be described in more detail in verschle¬den embodiments.
    Each storage area 7, 8, 9 may also include an electromechanical lock unit 33 for locking and unlocking the access door 19, 20, 21. The closing unit 33 comprises an actuator, for example an electromagnet. The actuator is actuated by the control device 28 and unlocks the access door 19, 20, 21 via the actuator when a first enable signal (Sfrbi) and a second enable signal (Sfrb2) have been transmitted to the evaluation unit 35. The first enable signal (Sfrbi) and second enable signal (SFrb2 ) is generated by the control device 28, when this of the control units of the Re¬galbediengeräte 10; 10 '; 10 "a confirmation signal and feedback signal per Re¬galbediengerät 10; 10 '; 10 "was transmitted, as will be described in more detail.
    The switching devices 24, 25, 26 are connected via control lines 34 to an evaluation unit 35 having the control device 28, by means of which incoming signals / commands are processed by a control logic and output signals / commands are generated, as described below.
    The cargo manipulation unit 2 shown in FIGS. 1 to 3 is arranged between mutually opposite end faces of the storage racks 1 and comprises a first load-lifting device 37a, a first buffer device 38a, a second load-lifting device 37b and a second Buffer device 38b.
    The load-lifting devices 37a, 37b are stationarily mounted and independently controlled via a respective control unit 39a, 39b. The control unit 39a, 39b is, for example, a control logic, in particular a drive control. The load lifting devices 37a, 37b each comprise a transport device 41, 41b which can be raised and lowered by means of a lifting drive 40a, 40b. The Hubantrieb40a, 40b comprises a schematically illustrated drive motor 93a, 93b, wel¬ which is connected to the control unit 39a, 39b. Preferably, the transport devices 41, 41 b are each mounted on a vertical mast. The transport devices 41, 41b each comprise a conveying device 43a, 43b, which can be driven by a conveyor drive 42a, 42b, with a conveying direction that runs parallel to the rack aisle 3, as indicated by the arrows in FIG. The conveyor drive 42a, 42b comprises a schematically illustrated drive motor 94a, 94b, which is connected to the control unit 39a, 39b. The conveying devices 43a, 43b are, for example, a roller conveyor, belt conveyor. The load-lifting devices 37a, 37b are each assigned a control unit 39a, 39b, which in turn communicates via control lines 44 with the control device 28 and receives input and / or removal commands from the control device 28. The lift drive 40a, 40b and the conveyor drive 42a, 42b are connected to the control unit 39a, 39b. The lifting drive 40a, 40b and the conveyor drive 42a, 42b are driven in accordance with these input and / or retrieval commands. The conveyor drive 42a, 42b includes one or more drive motors that drive the conveyor 43a, 43b. If a drive motor is provided, it may comprise the control unit 39a, 39b or it may be connected to the control unit 39a, 39b. If a plurality of drive motors are provided, they can be connected to the control unit 39a, 39b via a bus line. If the conveyor device 43a, 43b is a roller conveyor, conveyor rollers can be used in which the drive motor is arranged within a conveyor roller. Such conveyor rollers are referred to as "motor rollers".
    The buffer devices 38a, 38b respectively comprise in the direction of the rack aisle 3 on one side of the load-lifting device 37a, 37b and in at least one rack level (RE) first supply devices 45 for the intermediate buffering of one or more loaded goods 6 and in the direction of the rack gas 3 on the on the other side of the second load-lifting device 37a, 37b and in at least some of the rack levels (RE) second staging devices 46 for the intermediate buffering of one or more outsourced goods 6. As shown, the first staging devices 45 and second staging devices 46 are in each rack level (RE ) arranged. The first supply devices 45 form a first buffer region, a so-called storage buffer region, and the second supply devices 46 form a second buffer region, a so-called swap-out buffer region, each of the load-lifted devices 37a, 37b being assigned the first and second buffer regions.
    The first provision devices 45 of the buffer devices 38a, 38b form in all rack levels (RE) in which they are arranged, in each case a Einlager¬ distance for the load 6 and the second provision devices 46 of the buffer devices 38a, 38b form in all shelf levels (RE) , in which they are arranged, in each case an outsourcing line for the load 6. The supply devices 45, 46 each have, according to this embodiment, a conveying device which can be driven via a conveyor drive 47a, 47b, 48a, 48b, for example roller conveyors. on. The Bereitungsfördervorrichtungen 45, 46 thus form motor-driven Bereitstellfördervorrichtungen. Each provision device 45, 46 is assigned a control unit 49a, 49b, 50a, 50b, for example a control logic, in particular a drive control. The conveyor drive 47a, 47b, 48a, 48b comprises one or more drive motors which drive the conveyor rollers. If a drive motor is provided, it may comprise the control unit 49a, 49b, 50a, 50b or it may be connected to the control unit 49a, 49b, 50a, 50b angeschlos¬sen. If a plurality of drive motors are provided, they can be connected to the control unit 49a, 49b, 50a, 50b via a bus line. The drive motor can also be arranged within a conveyor roller. Such conveyor rollers are referred to as "motor rollers".
    The supply devices 45, 46 are each assigned a control unit 49a, 49b, 50a, 50b, which in turn communicates via control lines 51 with the control device 28 and receives input and / or output commands from the control device 28. The conveyor drives 47a, 47b, 48a, 48b are connected to the control unit 49a, 49b, 50a, 50b. The conveyor drives 47a, 47b, 48a, 48b are controlled in accordance with these input and / or retrieval commands.
    As can also be seen from FIG. 1, the front longitudinal bars 12 run along the storage racks 1 and the load handling unit 2 (cargo carrier).
    Lifting device 37a, 37b and buffer devices 38a, 38b) in the longitudinal direction of the rack aisle 3 (x-direction) and in at least some of the shelf levels (RE), be¬vorzugt in each shelf level (RE). The stacker cranes 10 can be moved along the Längstraver¬sen 12 for Einla¬gern of cargoes 6 and outsourcing of cargoes 6, wherein on the one hand on the load receiving device 17 outsourced cargo 6 can be removed from the storage bins 11 and placed on the supply devices 46 of the buffer device 38a or buffer device 38b , and on the other hand loadings 6 to be stored by their load-receiving device 17 can be taken from the supply devices 45 of the buffer device 38a or buffer device 38b and can be delivered to storage places 11.
    In detail, the storage and retrieval of loads 6 by means of the conveying techniques 4, 5, the load handling unit 2 and the stacker cranes 10 in WO 2013/090970 A2 describe and is made the subject of this revelation.
    The conveying techniques 4, 5 are shown only in sections for the sake of clarity in Fig. 1. The conveyor 4 for transporting loading goods 6 to the load-lifting device 37a, 37b and the conveyor 5 for transporting loads 6 from the load-lifting device 37a, 37b are parallel to the rack aisle 3 below the storage shelves 1 and form a conveyor level (FE).
    The liftable and lowerable transport device 41a, 41b can be positioned at the height of the conveying technology plane (FE) between the conveying techniques 4, 5 lying opposite one another and at the level of the shelving planes (RE) between the mutually opposite provisioning devices 45, 46 to be stored-de / auszulagernde loads 6 between the transport device 41a, 41b and the respective conveyor 4, 5 and between the transport device 41a, 41b and the respective provision device 45, 46 of the first / second Puffervor¬richtung 38a, 38b to promote.
    As can be seen in FIGS. 1 and 2, the shelf storage system comprises frontally to the storage shelves 1 per storage area 7, 8, 9 stages 52, which are accessible via a staircase 53.
    According to another embodiment, as shown in Fig. 6, the load manipulation unit 36 is arranged frontally in front of the storage shelves 1 and includes the first load-lifting device 37a, the first buffer device 38a, the second load-lifting device 37b and the second buffer device 38b , The structure of the load-handling unit 36 corresponds to that of the load-handling unit 2 in FIG. 1. Also according to this embodiment, the front longitudinal bars 12 extend along the storage racks 1 and the load-handling unit 36 (load-lifting device 37a, 37b and buffer device) 38a, 38b) in the longitudinal direction of the rack aisle 3 (x-direction) and in at least some of the shelf levels (RE), preferably in each shelf level (RE). The loading and unloading of goods 6 can take place in the manner described above.
    Also, the load manipulation units 2, 36 described above, as shown in FIGS. 1 and 6, can therefore only have a single one with the load-handling unit 2, 36 arranged in the storage racks 1 or arranged frontally of the storage racks 1 Have load-lifting device 37a and a single Puf¬fervorrichtung 38a, but as not shown.
    According to an embodiment according to FIG. 7, the load handling unit 54 is arranged in front of the storage racks 1 and comprises the first load lifting device 37a, the first buffer device 38a, the second load lifting device 37b and the second buffer device 38b.
    The first provision devices 45 form a first buffer area, a so-called storage buffer area and the second provision devices 46 form a second buffer area, a so-called Auslager-buffer area, where the first load-lifting device 37a, the first buffer area and the second Cargo lift 37b is associated with the second buffer area. Also, according to this embodiment, the front longitudinal beams 12 extend along the
    Storage shelves 1 and the load handling unit 54 (load-lifting device 37a, 37b and buffer devices 38a, 38b) in the longitudinal direction of the rack aisle 3 (x-direction) and in at least some of the shelf levels (RE), preferably in each Re¬galebenen (RE). The storage and retrieval of cargo 6 can be done in the manner described above.
    The first buffering device 38a and second buffering device 38b according to this embodiment respectively extend towards the rack aisle 3 exclusively on one of the sides of the first load lifting device 37a, 37b and in at least some of the racking levels (RE) the providing devices 45, 46 for intermediate buffering of one or more items to be stored and retrieved Cargoes 6.
    Of course, it is also possible according to this embodiment that the load-handling unit 54 is arranged integrated in the storage shelves 1.
    In Fig. 8, an embodiment is shown in which the load-handling unit 55 is arranged frontally of the storage shelves 1. This comprises the first load-lifting device 37a and the first buffer device 38a.
    The buffer device 38a comprises in the direction of the rack aisle 3 on a single side of the load lifting device 37a and in at least some of the Regalebe¬nen (RE) arranged supply devices 56 for the Zwischenpuffern one or more to be stored and / or outsourced cargo 6. It also mentions that in Contrary to the embodiments described above, in the case of the provisioning devices 56 used here, a reversing operation can also be provided in each rack level (RE). If the provision devices 56 include conveying devices, they can reveresize the conveying directions, as indicated by the double arrow. The staging conveyors 56 thus form motor-driven staging conveyors. Thus, both stocking operations and stocking operations of the load items 6 in the respective shelf levels (RE) can be performed. This is because the supply devices 56 are provided only on one side of the load-lifting device 37a. Should the provisioning devices 56 be designed such that they can carry a longitudinal transport of loadings 6 in the direction of the rack aisle 15, these may also be referred to as supply conveyor devices with a reversion operation. The provisioning devices 56 form a common buffer area, hence a so-called storage and retrieval buffer area.
    Of course, it is also possible according to this embodiment that the load-handling unit 55 is arranged integrated in the storage shelves 1.
    It should be noted at this point that the figures described above are merely an excerpt from a variety of different possibilities for the construction of a shelf storage system. The shelf storage system could just as well be designed according to the disclosure in EP 2 530 035 B1, EP 2 543 611 A1 or EP 2 566 789 B1.
    In Fig. 9, a possible embodiment of a stacker crane 10 is shown ge, which is designed for example as Einbenenregalbediengerät. Such Einbenenregalbediengerät is known for example from WO 2013 / 013252A1.
    As can also be seen in connection with the preceding Figures, the storage and retrieval unit 10 comprises a base frame 57, wheels 58, a traction drive 59 with a drive motor 60 for driving at least one impeller 58, side guide wheels guiding device 61, an actuator 62 with a drive motor 63 Drive the load receiving device 17, a control unit 64 and the load receiving device 17, for example, for storage and removal of loads 6 in or out of a storage rack 1 on. The load receiving device 17 comprises, for example, telescopic arms which can be extended on both sides relative to the conveyor vehicle 10 (as indicated by the double arrow in FIG. 9) and drivers respectively arranged on them (indicated diagrammatically in dashed lines in FIG. 9) for detecting one or more bins Such a load-bearing device 17 is known, for example, from EP 2351 698 A1.
    As shown in FIG. 9, the power and / or data supply of the shelf control device 10, in particular the drive motors 60, 63 and the control unit 64, can take place via a sliding line arrangement 65, which attaches to each of the front longitudinal bars 12 (guide rails) per driving plane 16 is and extends over the entire length of the longitudinal beam 12.
    The stacker crane 10 in turn comprises pantographs 66 and contacted therewith conductor lines 67 of the conductor rail arrangement 65 for power and / or data supply.
    It is thus possible that the storage and retrieval device 10 via the Schleifleitungsanordnung 65 not only with energy (motor or control currents) but also with data (data transmission signals or driving and / or bearing commands and the like.) For Steue¬rung the traction drive 59 of the stacker crane 10 and the actuator 62 is supplied to the load receiving device 17. In the process, data for the storage and retrieval unit 10 can also be transferred to the current for the supply of the storage and retrieval unit 10 via these slidewires 67. The control unit 64 of the storage and retrieval unit 10 is equipped with a device (not shown) for demodulation of the data from the stream. In addition, the bidirectional data transfer control unit 64 is connected to the central control device 28 via the slider line assembly 67.
    Thus, e.g. due to differently used frequencies for the energy as well as the data, these are each a filter on the respective storage and retrieval device 10 each be removed separately. This is described in detail in DE 102010 030 998 A1.
    On the other hand, only the power supply for the storage and retrieval unit 10, in particular the drive motors 60, 63 and the control unit 64, can take place via a sliding line arrangement 65. The data supply (driving and / or lager commands and the like.) For controlling the traction drive 59 of the storage and retrieval device 10 and the actuator 62 for the load receiving device 17, therefore, the transmission of driving and / or storage commands, however, take place via a wireless Nahkommunikationsverbindung. This can be done, for example, via an infrared
    Data transmission or a wireless connection, for example, WLAN, Bluetooth or ZigBee. In this case, the control unit 64 of the stacker crane 10 is connected to the central control device 28 for bidirectional data transmission via the wireless communication network.
    Alternatively, it would also be possible for the respective storage and retrieval unit 10 to be connected to a delivery vehicle's own electrical storage device, such as an accumulator, e.g. a capacitor, such as a so-called "PowerCap" is equipped. In this case, the respective storage and retrieval unit 10, in particular the Fährbetrieb59 and actuator 62 for the load-receiving device 17 rail-powered. The recharging of the memory device takes place e.g. at irregular time intervals, e.g. controlled depending on the state of charge andggf. in addition, depending on the current work request to the shelf operating device 10. In this case, the data could be supplied via the Schlupeitleitungsanordnung 65 or via the wireless Nahkommunikationsverbin¬dung.
    The different designs for the power and / or data supply are also applicable to the versions of the stacker cranes 10 '; 10 "according to FIGS. 4 and 5 applicable.
    FIGS. 10, 11a, 11b show a first embodiment of a control system for the rack storage system with the storage and retrieval units 10 according to the embodiment in FIGS. 1 to 3. FIG. 10 shows an automatic operation for the control units 10 in which all storage and retrieval units 10 are operated (automatically) in storage and retrieval operation. 11a, 11b show a safety mode in which 16 shelf-lift operating devices 10 are moved to a holding position in a number of drive levels and are then switched to a "non-dangerous" resting state for the operator, while storage and retrieval units 10 in other drive levels 16 are still (automatically) operate.
    The control device 28 (as shown in detail in FIG. 11b) comprises at least the evaluation unit 35, a multiplicity of switching modules 69 which can be connected in parallel and means 70 for selective and parallel (simultaneous) switching.
    Connection of some switching modules 69 (safety mode) or all switching modules 69 (automatic mode) and a voltage source 75. In Figs. 10 and 11b, only one of the switching modules 69 is completely shown. Each Fahr¬ebene 16 or each storage and retrieval device 10 is associated with a switching module 69. The switching modules 69 are connected via control lines 71 to the means 70 or the control device 28, in particular hard-wired. It would also be possible to use a bus system (field bus) to which the switching modules 69 are connected, in which case each switching module 69 can be addressed via addressing by the means 70 or the control device 28. The switching modules 69 are, for example, contactors (contactors), therefore electrically switched switches or electronic switches. The contactors are preferably designed with positively driven contacts. The means 70 communicates with the evaluation unit 35 and is, for example, analog / digital inputs / outputs, as indicated by the connecting line in FIG. 11b.
    The number of selectively and parallel (simultaneously) switched on switching modules 69 is based on a spatial access area 72, as shown schematically in Figs. 3, 11a, 11, for the operator 23 within a storage area 8 in which the operator 23 accesses, and from to a storage area 7, 9 located above and / or below.
    According to this embodiment, the spatial access area 72 is basically defined in a y-z direction by the (theoretical) range of movement of an arm or foot of the operator 23 and in an x-direction by the sidewalk of the operator 23 along the aisle 3; when the operator 23 is in one of the storage areas 7, 8, 9, for example in the storage area 8. The third dimension (x-direction) may extend over a length of the rack aisle 3 over a length of the rack aisle 3 and a length of the aisle 3 may only extend over a length of the aisle 3 with a short aisle 3, so that more than one access area 72 or Protective area 73 along the respective Regal¬gasse 3 and the respective storage area 7, 8, 9 are defined.
    In the representation in FIGS. 3, 11 a, 11 b, the access area 72 is extended from the central storage area 8 into the storage area 7 lying below and the storage area 9 lying above it. In this case, the access area 72 extends (in the y-z direction) in the central storage area 8 over all driving levels 16 and in the lower and upper storage area 7, 9 only via a driving plane 16 or a group of driving levels 16, for example two to four driving levels 16. Dignity the operator 23, however, enter the lower storage area 7, the access area 72 extends in the lower storage area 7 over all driving levels 16 and into the middle storage area 8. In the middle storage area 8 only the lower storage area 7 adjacent driving plane 16 or a lower storage area 7 adjacent Group of driving planes 16, for example, two to four driving levels 16 in the access area 72 of the operator 23 lie¬gen. If the operator 23 had to enter the upper storage area 9, the access area 72 in the upper storage area 9 extends over all driving levels 16 and into the central storage area 8. In the middle storage area 8, only the driving levels 16 adjacent to the upper storage area 9 or one to the above storage area 9 adjacent group of driving planes 16, for example, two to four driving levels 16 in the access area 72 of the operator 23 are.
    It must now be ensured for safety reasons that the access area 72 becomes a "hazardous area", therefore a protective area 73, when the operator 23 accesses one of the storage areas 7, 8, 9.
    This is accomplished by switching from automatic operation to safety operation for the stacker cranes 10, therefore, when the control device 28 or the evaluation unit 35 receives a mode change signal from one of the switching devices 24, 25, 26. In safety operation, on the one hand, those storage and retrieval units 10 which move into the protective area 73 in automatic mode and / or move through the protective area 73 are moved into the holding positions shown in FIG. 11a and into the holding positions in one Switched "safe hibernation", so there is no danger to the operator 23, and on the other hand, those Regalbedienge¬ devices 10, which are moved outside of the protection area 73, continue to operate inAutomatikbetrieb.
    In safety operation, it must therefore be ensured that the operator 23 is not exposed to any danger if she is in one of the storage areas 7, 8, 9, for example the storage area 8. In other words, only those storage and retrieval units 10 (automatically) may be operated in the other storage areas 7, 9, which are located outside the spatial protection area 73 for the operator 23. Therefore, a safety distance to a potential hazard area of at least the adjacent storage areas 7, 9 must be adhered to. Within this spatial protection area 73, the operator 23 can act, setting the protection area 73 based on the access area 72.
    The access area 72 is determined / configured in an analysis method before the shelf storage system is put into operation and can be determined by the movement of the stacker cranes 10, depending on the body size of the operator 23 and / or the risk to the operating person. The access area 72 results from the specifications for a safety distance in relevant standards, for example DIN EN 13857.
    As can be seen in FIGS. 9, 10, 11a, 11b, the sliding-line arrangements 65 each assigned to a driving plane 16 are by means of which the stacker cranes 10, in particular the travel drive 59 for the stacker crane 10 and the actuator 62 for the load-bearing device 17 as well the control unit 64 are supplied with power, connected via the switching modules 69 to an electrical circuit. The circuit comprises a voltage source 75 as shown. The control unit 64 is for example a control logic and forms a motor control.
    As shown on some storage and retrieval devices 10 in FIGS. 10, 11a, 11b, the control units 10 are each connected via a control line 76 to the control device 28 or evaluation unit 35, via which travel and storage commands of the control device 28 and acknowledgment signals (SRBi ..RBn) and feedback design (Srmi..rmii). The control lines 76 may be formed by the loop line arrangements 65 or a wireless communication network, for example an infrared data transmission or WLAN, Bluetooth or ZigBee. A bidirectional signal or data transmission between the control unit 64 of the stacker cranes 10 and the control device 28 is possible via the control lines 76.
    The evaluation unit 35 has an unillustrated control logic (computer program logic) or a computer module (Central Processing Unit), which is set up, incoming signals / commands, such as - confirmation signals (Srei rbpi) and feedback signals (SRMi.RMn ) from the control units 64 of the stacker cranes 10, - the status signal (Sz) from the sensor 22, - the mode change signal (Sas) from the switching devices 24, 25, 26 (switching means 27), - a first state signal (Sza) (automatic operation position) from the switch 24, 25, 26, - a second state signal (Szs) (safety operating position) from the switching devices 24, 25, 26, and / or - an emergency stop signal (Sna) from the emergency stop input means 32 to evaluate and outgoing signals / Generate commands, such as - driving and bearing commands for the drive 59 and / or actuator 62 of the shelving devices 10, - a switching signal (Su) for switching a switching module 69; 69 '; 69 "at least one driving plane 16 from an operating voltage for the shelf control device 10 of this at least one driving plane 16 to a danger operating voltage for the stacker crane 10 of this at least one driving plane 16, - a first release signal (SFrbi) for the electromechanical clamping unit 33, a second release signal (Sfrb2) for the electromechanical clamping unit 33, - a third release signal (SFrb3) for the output of the access message to the switching device 24, 25, 26, and / or - a fourth release signal (SFrb4) for the control unit 64 of the storage and retrieval units 10 ,
    If a closing unit 33 is not provided, then also the first release signal (SFrbi) and the second release signal (SFrb2) are dispensed with ·
    The incoming signals / commands and / or outgoing signals / commands are communicated via the means 70.
    FIG. 10 shows the automatic mode for the stacker cranes 10, in which the switching modules 69 or their switches are switched to a closed switching state and the sliding line arrangements 65 are connected to the voltage source 75 and fed with an operating voltage, for example 60V. For this purpose, the switching modules 69 receive switching signals (Sui..un) / switching commands via the control lines 71 from the control device 28, by means of which the switching modules 69 or their switches remain switched in a closed switching state. In order to meet the safety requirements in automatic mode, the protective fence 18 is provided, see FIG. 1.
    11 a, 11 b shows the safety operation for some of the storage and retrieval units 10, in which some of the switching modules 69 or their switches from the closed switching state to an open switching state "active". switched and the Schleuse line arrangements 65 separated from the voltage source 75 and the Re¬ galbediengeräte 10 are switched off. A hazardous operating voltage is zero volts.
    In safety operation, the shelf control devices 10 are moved, for example, in the storage area 8, in which the operator 23 access, and at least one of the control units 10 in the storage area 7, 9 located above and below, moves into a holding position. As entered in FIG. 11 a, this concerns the sixth to thirteenth driving plane 16.
    It should be mentioned that it is advantageous if, with the change from the automatic drive to the safety mode, the stacker cranes 10 are not "stopped" abruptly, but by the drive and / or the control unit 28 Bearing commands "controlled" in the x-holding positions (or the x-holding positions and z-holding positions) are moved. Also still "pending" stock commands can be processed, then still storage operations or outsourcing operations are completed before the stacker cranes 10 are moved to the holding positions.
    The holding positions of the stacker cranes 10 can be set such that the stacker cranes 10 are in the vertical one above the other. But it is also possible that the holding positions of the stacker cranes 10 are determined such that the stacker cranes 10 are offset from each other in the direction of the rack aisle 3.
    The holding positions are defined in the x direction along the rack aisle 3 and at the x positions predetermined by the control device 28 or evaluation unit 35 and are approached by the storage and retrieval units 10 by presetting corresponding travel commands. The detection of the driving position of the Regalbedi¬engerätes 10 in the x direction can be done via a suitable sensor. Preferably, a sensor 77 is provided which, according to the embodiment shown (FIG. 9), is formed by a rotary encoder and is arranged on the drive motor 60.
    It proves advantageous if each storage and retrieval unit 10 is defined a holding position in the z-direction perpendicular to the rack aisle 3. This relates to a positioning movement of the load receiving device 17 in the z-direction. In the holding position, the load receiving device 17, which is preferably extendible in the z direction relative to an initial position, is in the starting position (see FIGS. 1 and 9). The holding position of the load receiving device 17 or the Re¬galbediengerätes 10 in the z direction is approached by specifying appropriate Fahrbefeh¬le. The detection of the driving position of the storage and retrieval unit 10 or the load-receiving device 17 in the z-direction can follow via a suitable sensor. Preferably, a sensor 78 is provided which, according to the embodiment shown (FIG. 9), is formed by a rotary encoder and is arranged on the drive motor 63.
    If the stacker cranes 10 have reached the x-holding positions (or the x-holding positions and z-holding positions), they remain in the holding positions and are switched into a resting state that is safe for the operator 23 until the control unit 64 of FIG the control device 28, in particular the evaluation unit 35 receives a release signal (Sfrb4).
    It is advantageous for safety-related requirements if a confirmation signal (SRBi.RBn) is generated by each control operating device 10 after it has reached its x-holding position (or the x-holding position and z-holding position) by means of the control unit 64 becomes. For this purpose, the control unit 64 of each shelf control unit 10 encloses an electronic circuit (not shown) by means of which the travel movements of each storage and retrieval unit 10 in the direction of the rack aisle 3 (x-direction) relative to the driving plane 16 or the approach of the x-holding position be monitored.
    A position measuring system 79 (FIG. 9) is used, by means of which the actual position of each shelf control device 10 in the direction of the rack aisle 3 is detected. The path measuring system 79 comprises, for example, a bar code label with a plurality of bar code fields arranged on the front longitudinal crosspiece 12 over its entire length and a bar code reader arranged on the storage and retrieval unit 10.
    In addition, from each storage and retrieval unit 10, after it reaches its holding position and has transmitted the confirmation signal (SRBi.RBn) to the control device 28 or evaluation unit 35, a feedback signal (SRMi..RMn) can also be generated by the control unit 64 as soon as the corresponding recharging control device 10 is located in a resting state that is safe for the operator 23 and / or wetherless.
    If the acknowledgment signals (SRBi. RBn) were received by the control device 28 or evaluation unit 35 from the (stopped) storage and retrieval units 10 moved to the x-holding position (or the x-holding positions and z-holding positions), the control device 28 or evaluation unit 35 Um¬schaltsignale (Sui.un) generated. These switching signals (Sui..un) are supplied by the means 70 for selective and parallel connection of some of the switching modules 69, via the control lines 71 those switching modules 69, the driving planes 16 for the (stopped) stacker cranes 10 and the Schleiflei¬ tungsanordnungen 65 for the (stopped) stacker cranes 10 are assigned. By switching the switching modules 69, the drive motor 60 for the traction drive 59 and the drive motor 63 for the load receiving device 17 are supplied with the hazardous operation voltage. This means after this Ausfüh¬ tion that the danger operating voltage is lowered to zero volts and the drive motor 60 for the drive 59 and the drive motor 63 for the load receiving device 17 are de-energized. An automatic Losfah¬ren the stacker crane 10 and an automatic adjustment of the Lastaufnah¬mevorrichtung 17 is thus reliably avoided. In other words, the drive motors 60, 63 are "non-powered" by switching over to the hazard operating voltage and thus the non-hazardous or motionless idle state of the respective storage and retrieval unit 10 or the load-receiving device 17 is set.
    The control unit 64 of each (in the stop position held) Regalbedienger¬¬ 10 includes an electronic circuit by means of which detects the change in the Be¬triebsspannung on the danger operation voltage and a Rückmeldesig- signal (SRMi.RMn) is generated. This feedback signal (SRMi.RMn) is fed to the control device 28 or evaluation unit 35.
    With the change from the automatic mode to the safety mode, therefore, when the control device 28 or the evaluation unit 35 receives a mode change signal from one of the switching devices 24, 25, 26, a monitoring period starts, within which the stacker cranes 10, when properly performed, hold the x-hold positions (or optionally the x-hold positions and z-hold positions) should have reached. The monitoring period defines a period of, for example, 60 seconds.
    If the stacker cranes 10 reach the x-stop positions (or optionally the x-stop positions and z-stop positions) before the end of the monitoring period, within the time span, each of the storage and retrieval device 10 receives the confirmation signal (SRBi) from the control device 28 or the evaluation unit 35. RBn) or the acknowledgment signal (SRBi.RBn) and feedback signal (SRMi.RMn). For this purpose, the x-actual position for each shelf operating device 10 is detected via the position measuring system 79 and the x-actual position with an x-setpoint position predefined by the control device 28 each shelf control unit 10 compare. The x-target position corresponds to the x-hold position for each Regalbe¬diengerät 10. When operated properly corresponds to each storage and retrieval unit 10, the x-lstposition the x-target position.
    In cases in which the travel drive 59 of a storage and retrieval device 10 is inoperable or only partially functional, it is to be expected that the shelf devices 10 have not reached the x-hold positions at the end of the monitoring period, and therefore within the time span. It can be provided for this purpose that of the storage and retrieval unit 10 to the control device 28bzw. the evaluation unit 35, the acknowledgment signal (SRBi.RBn) or the acknowledgment signal (SRBi. RBn) and feedback signal (SRMi.RMn) is issued when the end of the monitoring period reached, therefore, the time is exceeded. Basically, could via the position measuring system 79, the actual position For the unusable or only conditionally operable storage and retrieval unit 10 evaluate. In this case, the non-functional or conditionally functional storage and retrieval unit 10 must be manually removed by the operator 23.
    A second embodiment of a control system for the leveling system is shown in FIGS. 12 and 13. In FIG. 13, the switching module 69 'and the circuit for a driving plane 16 or a storage and retrieval unit 10 are shown in their different switching states. The upper position of a switch 81 (solid line) symbolizes the switching state for an automatic mode where the operating voltage is fed to all the sliding line assemblies 65, and the lower position of a switch 81 (broken line) symbolizes the switching state for a safety operation where the hazardous operating voltage is in some of the sliding line assemblies 65 is fed.
    The control device 28 comprises the above-described evaluation unit 35, the voltage source 75, a voltage converter 80, a plurality of parallel switchable switching modules 69 'and the above-described means 70 for selek¬tiven and parallel (simultaneous) connection of some switching module 69' (Siheitsheitsbetrieb ) or all switching modules 69 '(automatic mode). Each switch module 69 'includes a switch 81. In Fig. 12, only one of the switch modules 69' is fully illustrated. The switching modules 69 'are connected via control lines 71 to the means 70 and the control device 28, in particular hardwired. However, it would also be possible to use a bus system (fieldbus) to which the switching modules 69 'are connected, in which case each switching module 69' can be addressed via addressing by the means 70 or the control device 28.
    The number of selectively and parallel (simultaneously) switched on switching modules 69 'is based on a spatial access area 72, as shown schematically in FIG. 12, for the operator 23 within a storage area 7, 8, 9, for example the storage area 8, in which the operator 23 access, and of die¬sem on an above and / or below storage area 7, 9th
    The determination of the spatial access area 72 and the protection area 73 is described above in detail and is also to be transferred to this embodiment.
    The voltage converter 80 and switch 81 form a drive control. The voltage converter 80 converts the voltage supplied by the power supply / voltage source 75 to a lower level, for example from 60V to 24V. With the aid of the changeover switch 81, the voltage of, for example, 60 V supplied by the voltage source 75 can be switched directly onto the sliding conductor arrangements 65 (power supply rail), or the converted voltage of, for example, 24 V is switched to the sliding conductor arrangements 65 (power supply rail).
    Different embodiments of the engine control (control unit 64 of the Re¬galbediengerätes 10) and driving control are described in AT 513 977 A1 and are the subject of this disclosure.
    The control device 28 or its drive control sets the Schleifleitungs¬ arrangements 65 (power supply rail), which serve the power supply of those storage and retrieval units 10, which would move into the Schutzbe¬reich 73 in automatic mode and / or would move through the protective area 73, preferably under a hazardous operating voltage, if is changed to the safety operation, that is, when the control device 28 or evaluation unit 35 receives a mode change signal, by means of which the change from the automatic mode to the safety mode is reported. The rectification value / effective value of the danger operating voltage is below a minimum rectification value / minimum effective value necessary for moving the storage and retrieval unit 10, but above zero.
    Advantageously, the control unit 64 of the storage and retrieval device 10, for example the control electronics of the control unit 64, can still be supplied with electricity, although the drive motors 60, 63 of the storage and retrieval device 10 or the load receiving device 17 are unable to move due to the low voltage. The voltage level can be selected so that it is below the starting voltage and the stationary storage and retrieval unit 10 can no longer be started or the load receiving device 17 can be adjusted, or even it may be below the operating voltage, so that a moving storage and retrieval device 10 also stops. For example, the operating voltage in normal operation can be less than or equal to 100V, in particular at 70V, 24V or 48V, whereas the danger operating voltage may be, for example, less than or equal to 24V and in particular 25 is 5V or 12V, which is usually sufficient for the supply of electronic components , It would also be conceivable that only important circuits are designed for operation by the danger drive voltage, but other circuits including the drive motors 60, 63 are shut down. For example, it can be provided that position transmitters and communication modules continue to operate without restrictions even when only the hazardous drive voltage is applied, so that a smooth resumption of normal operation after a hazardous operation is ensured.
    Due to the inertia of the storage and retrieval unit 10 or load-receiving device 17, it is generally sufficient if the rectification value / RMS value of the operating voltage of the operating voltage is 10bzw under one for moving the stacker crane. Load receiving device 17 necessary rectification value / RMS value of the driving voltage is. For even greater safety, however, provision can also be made for the maximum value of the hazard operating voltage to be below the minimum driving voltage.
    The conductor rail assemblies 65 are turned on in parallel by selectively switching the switching states for the switching modules 69 'while either being supplied with the operating voltage or the hazardous operating voltage. Those shelf operating devices 10, which would move into the protective area 73 during an automatic operation and / or would move through the protected area 73, are initially moved into the holding positions in safety operation (as indicated exclusively in FIG. 11a).
    If the x-holding positions (or the x-holding positions and z-holding positions) are reached, this is signaled to the control device 28 or evaluation unit 35 with the confirmation signal (Srbi.rbii) for each storage and retrieval unit 10. Thereafter, 35 switching signals (Sui.un) are generated by the control device 28 and the evaluation unit 35. These switching signals (Sui.un) are sent via the means 70 for the selective and parallel connection of some of the switching modules 69 ', via the
    Control lines 71 those switching modules 69 'fed, which are assigned to the Fahrebenen16 for the (stopped) stacker cranes 10 and the Schleifleitungsanordungen 65 for the (stopped) stacker cranes 10. The switching modules 69 'and the changeover switches 81 are switched by the control device 28 in accordance with the switching signals (Sui un) between the switching states.
    At this time, the selective switching of some of Schaltmo¬dule 69 ', whereby the storage and retrieval units 10 of these driving planes 16 and whose the drive motors 60, 63 are supplied only with the danger operating voltage, the rectification / RMS value under a for moving the Re¬galbediengerätes 10 necessary Mindestgleichrichtwert / Mindesteffivwert, je¬doch above zero. In other words, the drive motors 60, 63 are "shut down" by switching over to the danger operating voltage and thus the drift-free or motionless idle state of the respective storage and retrieval unit 10 or of the load-receiving device 17 is achieved.
    The control unit 64 of each storage and retrieval unit 10 includes a Elektronikschal¬tung, by means of which the change of the operating voltage detected on the Gefahrbe¬ drive voltage and a feedback signal (Srmi.rmii) is generated. This feedback signal (Srmi.rmd) is the control device 28 and Auswer¬teeinheit 35 fed.
    As can be seen in FIG. 12, the stacker cranes 10 of the fourth to ninth driving planes 16 are moved to a folding position, while the stacker cranes 10 of the first to third driving planes 16 and tenth to twelfth driving planes 16 continue to operate (automatically).
    FIGS. 14 and 15 show a further development of the embodiment according to FIGS. 12 and 13. According to this embodiment, a group of conductor rail assemblies 65 is supplied with the operating voltage either for an automatic operation via a respective switching module 69 ", or for the emergency operating voltage for a safety operation. For example, a switching module 69 "two Schleifleitungsan¬ orders 65 and two driving levels 16 assigned. Are four drive levels 16 each
    Storage area 7, 8, 9 provided so are each storage area 7, 8, 9 only two-module 69 "required. A switching module 69 "can be assigned at the same time or in parallel more than two Schleifleitungsan¬ordnungen 65 or two driving planes 16 at a correspondingly high number of driving planes 16, each driving plane 16 is assigned a Schleifleitungsanordnung 65. If six driving planes 16 per storage area 7, 8, 9 are provided and if one switching module 69 "is assigned three sliding conductor arrangements 65, then per storage area 7, 8, 9 only two switching modules 69" are required. In summary, this means that a switching module 69 "is always associated with a plurality of sliding conductor arrangements 65 or racking devices 10. This reduces the circuitry complexity and reduces the acquisition costs for the control device 28.
    The control device 28 comprises the above-described evaluation unit 35, the voltage source 75, a voltage converter 80, a plurality of parallel connectable switching modules 69 "and the above-described means 70 for the selective and parallel (simultaneous) connection of some or all of the switching modules 69". Each switching module 69 "includes a changeover switch 81. The switching modules 69" are connected via the control lines 71 to the means 70 and the control device 28, in particular hardwired. It is also possible to use a bus system (field bus) to which the switching modules 69 "are connected, in which case each switching module 69" can be addressed by the means 70 or the control device 28 via addressing.
    The number of selectively and parallel (simultaneously) switched on switching modules 69 "is based on a spatial access area 72, as schema¬tisch in Fig. 14, for the operator 23 within a storage area 7, 8, 9, for example, the storage area 8, in which the operator 23 access, and from this to an above and below storage area 7, 9th
    According to this embodiment, the access area 72 (in the yz direction) is defined by all groups of driving planes 16 in that storage area 7, 8, 9 in which the operator 23 must enter and at least one group of driving levels 16 in that storage area 7, 8, 9 , which is above and / or below this Lager¬ area 7, 8, 9 defined.
    The switching modules 69 "for the groups of a plurality of Schleifleitungsanordnun¬gen 65 are selectively switched by the above-described means 70 by switching signals (Sui.un) and in parallel, so that each storage area 7, 8, 9 one or more groups with the operating voltage and several groups are supplied with the danger operating voltage. Those stacker cranes 10, which would move into the protective area 73 in the automatic mode and / or move through the protective area 73, are provided with the hazardous voltage for operation by the conductor rail assemblies 65, whereas those storage and retrieval units 10, which are moved outside the protective area 73, continue to be supplied with the operating voltage.
    By switching the switching modules 69 ", the drive motor 60 for the drive 59 and the drive motor 63 for the load receiving device 17 are supplied with the hazardous operation voltage. As described above, the changeover signals (Sui.un) are not generated until the confirmation signals (SRBi.RBn) on the control device 28 or evaluation unit 35 are transferred from the to the x-hold position (or the x-hold positions and z-hold positions ) moved (stopped) storage and retrieval units 10 were received.
    Returning to FIG. 4, mention should also be made in this embodiment that the control device 28 comprises at least the evaluation unit 35, a multiplicity of parallel switchable switching modules 69 and means 70 for selective and parallel (simultaneous) connection of some switching modules 69 (safety operation) or all Switching modules 69 (automatic mode) and a Spannungsquel¬le 75 includes. Each driving plane 16 and each rack operating device 10 'is assigned a switching module 69. Also in this shelf storage system, the control device 28 may be formed according to the embodiments in FIGS. 12, 13 and 14, 15. Also, the embodiments of FIGS. 12, 13 and 14, 15 may be combined.
    The functions for an automatic mode and safety mode are identical applicable also in this rack storage system. Thus, it can be seen from FIG. 4 that the stacker cranes 10 'of the fifth to ninth drive planes 16 are (automatically) operated, while the stacker cranes 10' of the first to fourth drive planes 16 each move into a stop position and into this one for the operator 23 without danger or motionless resting state are offset. This is indicated for the fourth driving plane 16 by the dashed Darstel¬lung a stacker crane 10 '. The shelf unit 10 'of the first to third driving plane 16 are not shown for the sake of clarity.
    Also according to the embodiment according to FIG. 5, the control device 28 comprises at least the evaluation unit 35, a plurality of parallel connectable switching modules 69 and means 70 for selective and parallel (simultaneous) connection of some switching modules 69 (safety operation) or all of the switching modules 69 (automatic operation) as well a voltage source 75. Each driving level 16 or each storage and retrieval unit 10 "is a switching module 69 zugeord¬net. Also in this shelf storage system, the control device 28 may be formed in accordance with the embodiment in FIGS. 12, 13.
    The mode of operation for an automatic mode and safety mode are identical applicable also in this rack storage system. Thus, it can be seen from FIG. 5 that, when an operator 23 indicated by the arrow advances, the storage and retrieval device 10 "of the first driving plane 16 is (automatically) operated while the storage and retrieval devices 10 'of the second and third driving planes 16 are each moved into a holding position and be placed in this in a for the operator 23gefahrenlos or motionless idle state. This is indicated for the second / third driving plane 16 by the dashed representation of the shelf operating devices 10 ".
    It is provided in an advantageous embodiment of the invention that a dispensing signal (SFrb3) for the output of the access message to the switching device 24, 25, 26 by the control device 28 and evaluation unit 35 is generated when the confirmation signal (Srbi.rbd) or the Confirmation signal (SRBi.RBn) and feedback signal (SRMi..RMn) to the control device 28 was received and evaluated by this. An access message is signaled at the switching device 24, 25, 26 after the enable signal (SFrb3) has been tripped. The access message is output by an optical and / or acoustic signal at the output means 29. The operator 23 is now dergefahrenlose access to the storage area 7, 8, 9 possible.
    As described above, the electromechanical closing unit 33 can also be provided for locking and unlocking the access door 19, 20, 21, which must be activated beforehand in order to allow the operator 23 access to the storage area 7, 8, 9. The actuator, for example an electromagnet, is actuated by the control device 28 via the control line 68 and the access door 19, 20, 21 is unlocked via the actuator when the evaluation unit 35 receives the first release signal (Sfrbi) which is based on the confirmation signals (SRBi). RBn) of the shelf unit 10, 10 'moved to the x-holding position; 10 "is generated, and - the second enable signal (SFRB2), which based on the Rückmeldesig¬nalen (SRMi..RMn) of the moved to the x-holding position shelf control devices 10; 10 '; 10 "is generated.
    FIGS. 16, 17 a and 17 b describe a first embodiment of safety-related measures which can be provided when the level-control system has a manipulation unit 2; 36; 54; 55 according to one of the embodiments described above. The control system modified for this purpose combined with a "separating protective device" will also be described below in connection with FIG. 1.
    As schematically indicated in FIGS. 16, 17a, 17b, the load handling unit 2 comprises; 36; 54; 55 in each storage area 7, 8, 9 and at least in the area of the load-lifting device 37a; 37b, a movement space of the lifting and lowering transport device 41a; The penetration barrier 82 is, for example, a stationary protective grid, which is preferably arrested via fastening means on the front longitudinal bars 12, for example screwed to the longitudinal bars 12. Thus, the guards per storage area 7, 8, 9 can be removed as needed by the operator 23, for example, to prevent a jam on the load-lifting device 37a; 37b to eliminate. The protective grid extends in the direction of the rack aisle 3 and between the sidewalls 15, in particular substantially over the entire height of the respective Lagerberei¬ches 7, 8, 9. As shown in Fig. 1 in dotted lines, each load-lifting device 37a ; 37b and per storage area 7, 8, 9 a penetration barrier 82 arranged. The width of the protective grid is chosen so that they are indeed wider than the transport device 41a; 41b and if the delivery device 45; 46 are provided, but only so broad that a takeover place / transfer station 83, 84 for the acquisition of a load 6 from the Einla¬ger provisioning device 45 on the storage and retrieval unit 10; 10 '; 10 "or Überga¬be a load 6 from the shelf control unit 10; 10 '; 10 "remains free to the retrieval device 46.
    The width of the protective grid can also be reduced in compliance with the safety-related requirements if the change from automatic mode to safety mode, ie when the control device 28 or the evaluation unit 35 receives a mode change signal from one of the switching devices 24, 25, 26 Lifting speed for the transport device 41a, 41b is reduced.
    It is also advantageous if the load handling unit 2; 36; 54; 55 in each storage area 7, 8, 9 and in the area per buffer device 38a; 38b, a moving space of the elevatable and lowerable transporting device 41a; 41b for the goods 6 opposite the rack aisle 3 demarcating, second physical Durch¬griffsbarriere 85 has. This penetration barrier 85 comprises a substantially perpendicular to the longitudinal direction of the lane between a first operating position, in which the movement space with respect to the rack aisle 3 is accessible, and a second operating position in which the movement space relative to the
    Regalgasse 3 is sealed off, adjustable protective lock 86, as shown only schematically in Figs. 16,17a. The actuator (not shown) is connected to the control device 28, wherein the control device 28 comprises a switching module 87, which is adapted to generate a control signal (SST) with the switching to the safety operation and to control the protective lock 86 from the first operating position to the second operating position. If the protective lock 86 is adjusted to the second operating position, the operating person 23 can no longer move into the movement space of the transport device 41a; 41b hin engage.
    The control system comprises the above-described control device 28, by means of which it is ensured that in a safety operation the shelf control devices 10; 10 '; 10 "are moved into the holding position and are also placed in a safe for the Be¬dienperson 23 or motionless idle state and the operator 23 can only enter a storage area 7, 8, 9, if the safety conditions are given.
    Is in the shelf storage system, the (optional) load-lifting device 37a; 37b, subsequent control design or subsequent control action proves advantageous. The load handling unit 2; 36; 54; 55 includes at least one load-lifting device 37a; 37b with a lifting and lowering transport device 41a; 41b for storing and / or retrieving loaded goods 6. The rack aisle 3 extends between the storage shelves 1 and along the load handling unit 2; 36; 54; 55th
    As described above, the control device 28 comprises the evaluation unit 35, a multiplicity of switching modules 69 that can be connected in parallel; 69 '; 69 "and means 70 for selective and parallel (simultaneous) connection of some or all switching modules 69; 69 '; 69 "and a first voltage source 75. The first voltage source 75 supplies the stacker cranes 10; 10 '; 10 "with electrical energy.
    The evaluation unit 35 comprises the control logic (computer program logic), not shown, or the computer module, which compared to the embodiments according to FIGS. 10, 11a, 11b; 12; 14 may additionally be configured to receive incoming signals / commands from the first and optionally second load-lifting device 37a; 37b, such as acknowledgment signals (SHi.Hn) from the control unit 39a; 39b of the first and / or second load-lifting device (37a; 37b) - and optionally feedback signals (SRHi..RHn) from the control unit 39a; 39b of the first and / or second load-lifting device (37a; 37b) and outgoing signals / commands for the first and optionally second load-lifting device 37a; 37b to produce, such as - input and / or Auslagerbefehle for the lifting drive 40a; 40b and the conveyor drive 42a; 42b of the first and optionally second transport device 41a; 41b, and - a first enable signal (Sfhi) for the electromechanical clamping unit 33, - a second enable signal (Sfh2) for the electromechanical clamping unit 33, - a third enable signal (Sfh3) for the output of the access message to the switching device 24, 25, 26, and a fourth enable signal (Sffm) for the control unit 39a; 39b of the first and optionally second load-lifting device 37a; 37b, and / or - a control signal (Sst) for the protective lock 87.
    The incoming signals / commands and / or outgoing signals / commands are communicated via the selective-coupling means 88 by a switching module 89, 90 per load-lifting device 37a, 37b and the means 91 for connecting the switching module 87 to the protective-lock actuator 86. The switching modules 87, 89, 90 are, for example, contactors (contactors), therefore electrically connected switches or electronic switches. Preferably, the contactors are carried out with positively driven contacts.
    As shown in Fig. 17b, the control units 39a, 39b (Fig. 1) of the load-Flebevorrichtung 37a, 37b respectively connected via the control line 44 with the control device 28 and evaluation unit 35 and the switching module 89, 90, in particular fixed wired. The switching module 89, 90 is communicatively connected to the evaluation unit 35 via the means 88 for the selective connection of a switching module 89, 90 per load-lifting device 37a, 37b. The control line 44 serves for the transmission of input and / or retrieval commands of the control device 28 and confirmation signals (Shi..h2) and possibly feedback signals (Srhi.rh2). · The load-lifting device 37a, 37b, in particular a drive motor 93a , 93b for the lifting drive 40a, 40b and a drive motor 94a, 94b for the conveyor drive 42a; 42b of the transport device 41a, 41b are connected to a second voltage source, not shown, and are powered by the latter. For an automatic operation (Figures 1 and 16) of the load handling unit 2; 36; 54; 55 receive the load-lifting devices 37a, 37b via the Steuerlei¬tungen 44 on the associated control units 39a, 39b input and / or Ausstoßbefehle. The lifting drive 40a, 40b and conveyor drive 42a; 42b for the transport device 41a, 41b are controlled in accordance with the input and / or Auslager¬befehle to load 6, as shown in dashed and solid lines in Fig. 16, between the conveyor plane (FE) and the relevant shelf storage level (RE) automatically to transport.
    With the change from automatic mode to safety mode for the load handling unit 2; 36; 54; 55, therefore, when the control device 28 or the evaluation unit 35 receives an operating mode change signal from one of the switching devices 24, 25, 26, the lifting drive 40a, 40b for the transport device 41a, 41b is activated in such a way that the transport device 41a, 41b moves to a holding position (y-holding position). This holding position is defined by the control device 28 and is located along a vertical lifting axis for the transport device 41a, 41b, for example at a height level at which the transport device 41a, 41b is positioned outside the protective area 73. Such a holding position is entered by way of example in FIG. 17a.
    It should be mentioned that it is advantageous if, with the change from the automatic drive to the safety mode, the transport device 41a, 41b are not shut down "effectively", but instead by the input and output devices specified by the control device 28 or evaluation unit 35 / or swap commands "controlled" in the y-stop positions are moved. Also, "pending" import and / or retrieval commands can be processed, therefore still Einlagerungsvorgän¬ge or outsourcing operations are completed before the Transportvorrich¬ tion 41a, 41b is moved to the y-holding positions.
    When the transport device 41a, 41b has reached the stop position (y-stop position), a confirmation signal (Sm.Hn) is sent from the control unit 39a, 39b. The detection of the height position of the transport device 41a, 41b in the y-direction and thus also the holding position (y-holding position) can be performed by a suitable sensor. Preferably, a sensor 92 is provided which, according to the embodiment shown (FIG. 16), is formed by a rotary encoder and arranged on the drive motor 93a, 93b.
    Furthermore, the sensor system may comprise a path measuring system 95, by means of which the actual position in the y direction of the transport device 41a, 41b is detected. The path measuring system 94 comprises, for example, an optoelectronic measuring system, in particular a laser or infrared measuring system, whose transmitting unit are arranged on the transporting device 41a, 41b and receiving unit on a reference plane in order to measure a distance (actual position) between the transporting device 41a, 41b and the reference plane. In the event of a deviation of a predetermined y-position from the desired y-position by the control device 28, readjustment by the drive motor 93a, 93b can take place.
    The confirmation signal (Sm.Hn) is transmitted to the evaluation unit 35 and based on this, a switching signal (Sum..uHn) is generated. The switching signal (SuHi uHn) is the control device 28 via the control line 44 the
    Switching module 89, 90 transmits, by means of which the switching modules 89, 90 and de¬ren switch are switched from a closed switching state to an open Schalt¬zustand. As a result, the energy supply to the lifting drive 40a, 40b and conveyor drive 42a, 42b is interrupted and positioning movements of the transport device 41a, 41b, which could jeopardize the operator 23 in the access area 72 or protective area 73, are prevented. In order for the no-risk or motionless idle state for the transport device 41a, 41b is reached.
    It may also be provided that a feedback signal (SRHi.RHn) of the load-lifting device 37a, 37b is generated, as entered in FIG. 17b, when the transport device 41a, 41b is operated in a manner dangerous to the operator 23. motionless resting state, in which the actuation of the switching module 89, 90, the power supply to the drive motor 86 for the Hubantrieb40a, 40b and drive motor 87 for the conveyor drive 42a, 42b is interrupted. The feedback signal (SRHi.RHn) is sent to the control device (28) or Evaluation unit 35 transmitted.
    The transport device 41a, 41b is placed in a restless state for the operator 23 or motionless until the control unit 39a, 39b receives an enabling signal (SFh4).
    As described above, an electromechanical locking unit 33 can be provided for locking and unlocking the access door 19, 20, 21. The actuating drive, for example an electromagnet, is actuated by the control device 28 via the control line 68 and the access door 19, 20, 21 is unlocked via the actuating drive when the evaluation unit 35 - the first release signal (Sfrbi), which based on the confirmation signal ¬nalen (SRBi.RBn) of moving in the x-holding position storage and retrieval units 10; 10 '; 10 ", and - second enable signal (Sfrb2), which is based on the feedback signals (SRMi.RMn) of the storage and retrieval units 10 moved to the x-hold position; 10 '; 10 "are generated, and - the first enable signal (Sfm), which is based on the confirmation signal (Sm. Hn) convincing moving in the y-hold position transport device 41a, 41 convincing, - and optionally a second enable signal (Sfh2) 17b, which is generated based on the feedback signal (Srhi rhii) of the transport device 41a, 41b moved to the y-stop position.
    It is also provided that an enable signal (SFh3) for outputting the access message to the switching device 24, 25, 26 is generated by the control device 28 or evaluation unit 35 when the confirmation signal (SHi..Hn) or the Confirmation signal (SHi..Hn) and feedback signal (SRHi..RHn) on the control device 28 was received and evaluated by this. An access message is signaled at the switching device 24, 25, 26 after the enable signals (Sfrb3) and (Sfh3) have been released. The access message is issued by an optical and / or acoustic signal at the output means 29. The operator 23 is now the risk-free access to the La¬gerbereich 7, 8, 9 possible.
    In FIGS. 18, 19 a and 19 b, an extension of the control system is shown, which can be used in an advantageous manner when the load-handling unit 2; 36; 54; 55 is also provided with a buffer device 38a, 38b according to one of the embodiments described above. Each shelf level (RE) or shelf level (RE) may be associated with a shelf-in staging device 45 and / or a shelf-out staging device 46 or a combined shelf-in / staging device 45.
    The control system comprises the control device 28 described in FIGS. 16, 17a, 17b, by means of which it is ensured that in a safety operation the stacker cranes 10; 10 '; 10 "and the transport device 41a, 41b of the at least one load-lifting device 37a; 37b each moved into the Hal¬teposition and are placed in a safe for the operator 23 or wwegeless hibernation and the operator 23 only in ei¬ nen storage area 7, 8, 9 can occur, if the safety frame conditions are given ,
    According to this embodiment, the control device 28 additionally comprises a plurality of switching modules 96, 97 which can be connected in parallel and means 98 for the selective and parallel (simultaneous) connection of some switching modules 96, 97 (safety operation) or all switching modules 96, 97 (automatic operation) as well as a voltage source 99. The switching modules 96 are used to connect the storage-supply device 45 and the switching modules 97 are used to connect the Auslager-provisioning device 46. Each Einlager-Bereitstellvorrichtung45 is associated with a switching module 96. However, a switching module 96 can also switch on a group of several stacked storage devices 45 arranged one above the other. Each retrieval deployment device 46 is associated with a switching module 97. However, a switching module 97 can also switch on a group of a plurality of superposed outlay provision devices 46.
    As shown in Fig. 19b, the control units 49a; 49b; 50a; 50b (Fig. 1) of the provisioning devices 45; 46; 56 each via the control line 51 and switching module 96; 97 verbun¬den with the control device 28 and evaluation unit 35, in particular hardwired. It should be noted that in Fig. 19b, the switching modules 69; 69 '; 69 ", for example, the switching modules 69 and the second passage barrier 85 are not shown for reasons of clarity.
    The control line 51 is used to transmit input and / or Auslagerbefehlender the control device 28 and confirmation signals (Sßvi.Bvn) and, where appropriate, feedback signals (SRBvi.RBVn) · The provisioning devices 45; 46; 56, in particular drive motors for the conveyor drive 48a; 48b; 49a; 49b are connected to and powered by the third power source 99.
    The evaluation unit 35 comprises the control logic (computer program logic), not shown, or the computer module, which compared to the embodiments shown in FIGS. 10, 11a, 11b; 12; 14; 16, 17a, 17b may additionally be configured to receive incoming signals / commands from the provisioning devices 45 and / or provisioning devices 46 of the first buffer device 38a and / or second buffer device 38b, such as acknowledgment signals (SBvi..Bvn) from the control unit 49a ; 49b; 50a; 50b per drive device 45; 46; 56 - and possibly feedback signals (SRHi.RHn) from the control unit 49a, 49b; 50a; 50b per supply device 45; 46; 56 to evaluate and outgoing signals / commands for the first and optionally second load-lifting device 37a; 37b to produce, such as - input and / or Auslagerbefehle for the conveyor drive 47a; 47b; 48a, 48b of the delivery devices 45; 46; 56 - a first enable signal (Sfbvi) for the electromechanical clamping unit 33, - a second enable signal (Sfbv2) for the electromechanical clamping unit 33, - a third enable signal (SFbv3) for the output of the access message to the switching device 24, 25, 26, and / or - fourth enable signal (SFbv4) for the control unit 49a; 49b; 50a; 50b each delivery device 45; 46; 56th
    The incoming signals / commands and / or outgoing signals / commands are communicated via the means 98 for selective and parallel connection of the switching modules 96, which are assigned to the provisioning devices 45, and optionally switching modules 97, which are assigned to the provisioning devices 46. The switching modules 96, 97 are, for example, contactors (contactors), therefore electrically connected switches or electronic switches. The contactors are preferably designed with positively driven contacts. For an automatic operation (Figures 1 and 18) of a load handling unit 2, 36; 54; 55 receive the provision devices 45; 46; 56 via the control lines 51 to a control unit 49a; 49b; 50a; 50b Entry and / or removal commands. The conveyor drives 47a; 47b; 48a; 48b, 94a; 94b for the transport device 41a; 41b and provisioning devices 45; 46; 56 are driven in accordance with the in and / or out commands to load items 6 between the transport device 41a; 41b and a delivery device 45; 46; 56 in the relevant Regalla¬gerebene (RE) to be transported automatically.
    With the change from automatic mode to safety mode for the load handling unit 2; 36; 54; 55, therefore, when the control device 28 or the evaluation unit 35 receives an operating mode change signal from one of the switching devices 24, 25, 26, the conveyor drives 47a; 47b; 48a; 48b for the storage provisioning devices 45 and / or removal provision devices 46, which are arranged in the protection area 73, in such a way that the storage provision devices 45 and / or removal provision devices 46 are put into a safe position for the operator 23, until the control unit 49a; 49b; 50a; 50b receives a release signal (SFbv4).
    It should be mentioned that it is advantageous if, with the change from the automatic drive to the safety mode, the provision devices 45; 46; 56 are not "abruptly" shut down, but by the control device 28bzw. Evaluation unit 35 predetermined input and / or Auslagerbefehle "controlled" to be completed. Thus, still "pending" input and / or Auslagerbefeh¬ be processed, therefore still storage operations or Auslagerungs¬ operations on the provisioning devices 45; 46; 56 be completed, ehedie the provisioning devices 45; 46; 56 be shut down.
    Do the delivery devices 45; 46; 56 reaches standstill, a Be¬zustigungssignal (Svii. Bvn) per supply device 45; 46; 56 generated. The confirmation signals (S [3vi..Bvn) are transmitted to the evaluation unit 35 and, based thereon, switching signals (SuBvi.uBvn) for at least some of the number of switching modules 96; 97 generated.
    The number of selectively and parallel (simultaneously) powered switching modules 96, 97 is based on the spatial access area 72 described above, as shown in FIGS. 19a, 19b are shown schematically, for the operator 23 within a storage area 7, 8, 9, for example the storage area 8, in which the operator 23 accesses, and from there to an above and / or below lying storage area 7, 9. For a safety operation, as shown in FIGS. 19a, 19b, the switching signals (SuBvi.uBvn) are transmitted by the means 98 for the selective and parallel connection of some of the switching modules 96; 97, via the control lines 71 those switching modules 96; 97 supplied to the provisioning devices 45; 46; 56 bzw.jenen shelf levels (RE), which are to be set still assigned. Each group of supply devices 45; 46; 56 also via only one switching module 96; 97 are turned on. By way of example, two or more provisioning devices 45; 46; 56 each combined into a group and these groups each of a switching module 96; 97 are turned on. In summary, this means that a switching module 96; In each case, a plurality of providing devices 45; 46; 56 or shelf levels (RE) is assigned. This reduces the complexity of the circuit and reduces the acquisition costs for the control device 28.
    In safety operation now those provision devices 45; 46; 56 per storage area 7, 8, 9, which are arranged in the protection area 73, of the switching modules 96; 97 switched or its switch from a schlos¬senen switching state in an open switching state. Thereby, the power supply to the drive motors for the conveyor drives 48a; 48b; 49a; 49b interrupted and the conveying movements of the supply devices 45; 46, 56, which could endanger the operator 23 in the access area 72 or protective area 73, respectively. The drive motors for the conveyor drives 48a; 48b; 49a; 49b are thus de-energized and thus is the no-risk or motionless resting state of each of the provisioning devices 45; 46; 56sichergestellt.
    On the other hand, the provisioning devices 45; 46; 56 continues to operate in automatic mode.
    It can also be provided that a check-back signal (SRBvi..RBVn) of the Be¬reitstellvorrichtungen 45; 46; 56 is generated, as shown in Fig. 19b, when the supply devices 45; 46; 56 is in a gefahren for the operator 23 or motionless idle state, in which by Actuating the switching module 96; 97 the power supply to the drive motor for the Förderder 47a; 47b; 48a; 48b is interrupted. The feedback signal (SRBvi.RBVn) is transmitted to the control device 28 or evaluation unit 35.
    The provisioning devices 45; 46; 56 are placed in a dormant for the Bedienper¬son 23 or motionless idle state until the control units 49a; 49b; 50a; 50b (FIG. 1) receive an enabling signal (Sfbv4).
    As described above, an electromechanical locking unit 33 can be provided for locking and unlocking the access door 19, 20, 21. The actuating drive, for example an electromagnet, is actuated by the control device 28 via the control line 68 and the access door 19, 20, 21 is unlocked via the actuating drive when the evaluation unit 35 - the first release signal (Sfrbi), which based on the confirmation signal ¬nalen (SRBi.RBn) of moving in the x-holding position storage and retrieval units 10; 10 '; 10 "are generated, and - second enable signal (Sfrb2). which based on the feedback signals (SRMi..RMn) of the moved to the x-holding position storage and retrieval units 10; 10 '; 10 "are generated, and - the first enable signal (SFm). which is convincing based on the confirmation signal (SHi..Hn) of the transport device 41a, 41 moved into the y-stop position, and optionally the second release signal (Sfh2), as entered in FIG. 17b, which is based on the feedback signal (Srhi rhii) which is generated in the y-stop moving transport device 41a, 41b has received, and - the first release signal (Sfbvi), which based on the confirmation signal (Sbvi.bvii) of the stopped provisioning devices 45; 46; 56, and optionally the second enable signal (SFbv2), as entered in FIG. 19b, which based on the feedback signal (SRBvi.RBVn) of the stopped provision devices 45; 46; 56 is generated.
    It is also provided that an enable signal (SFbv3) for outputting the access message to the switching device 24, 25, 26 is generated by the control device 28 or evaluation unit 35 if the acknowledgment signal (Svii, Bvn) or the acknowledgment signal (Svivi.Bvn) and feedback signal (Srbvi..RBVn) was received at the control device 28 and evaluated by this. An access message is signalized at the switching device 24, 25, 26 after the enable signals (SFrb3), (Sfh3) and (SFbv3) have been triggered. The access message is issued by an optical and / or acoustic signal at the output means 29. The operator 23 is now the gefah¬renlose access to the storage area 7, 8, 9 possible.
    In FIG. 20, a second embodiment of safety-related measures is described, which can be provided when the shelf storage system is a manipulation unit 2; 36; 54; 55 according to one of the embodiments described above. The control system modified for this purpose is combined with a "non-separating protection device".
    As shown in Fig. 20, in each storage area 7, 8, 9 in the direction of longitudinal extension of the rack aisle 3 in front of the load-lifting device 37a; 37a first access monitor 100 and / or after the load-lifting device 37a; 37b a second access control 101 are provided. The first access control 100 and / or second access control 101 per storage area 7, 8, 9 comprise a switching sensor system 102, 103, which are connected via control lines (not shown) to the control device 28 or the evaluation unit 35. The first access monitor 100 generates a signal when it detects the presence of an operator 23 in the storage area 7, 8, 9 near the storage manipulation unit 2; 36; 54; 55 is detected. The second access monitor 101 also generates a signal if it detects the presence of a serviceman 23 in the storage area 7, 8, 9.
    As entered in FIG. 20, there is a danger zone 111 between the access monitors 100, 101, which in the automatic mode as a result of the lifting movements of the transport device 41a; 41b and the conveyance movements of the cargoes 6 on the staging devices 45; 46; 56 and within which the safety of the operator 23 would be compromised. The access monitors 100, 101 are located outside of this danger zone 111 and, moreover, it is ensured that there is no risk for the operator 23 when entering the storage area 7, 8, 9.
    Is the load manipulation unit 36; 54; 55 arranged on the front side of the storage shelves 1, as shown in FIGS. 6; 7; 8, it is also possible to provide in each storage area 7, 8, 9 also only an access monitor 101, which is arranged in the direction of the longitudinal extension of the rack aisle 3 after the load-lifting device 37a, 37b, as shown by way of example in FIG. The access control 101 is located outside this danger area 111.
    The first sensor system 102 and / or second sensor system 103 is formed by sensors generating a radiation field or sound wave field, wherein the radiation field or sound wave field essentially extends in a vertical plane oriented perpendicular to the longitudinal direction of the shelf alley 3 and substantially between the storage shelves 1 in the alley light and extends between the sidings 15 at the height of the alley. Such a sensor system 102, 103 is generally known as a switching "safety light grid". The sensor system 102 and / or the second sensor system 103 can also be realized by a camera system.
    As described above, the lifting drive 40a; 40b and the conveyor drive 42a, 42b of the transport device 41a; 41b to the control unit 39a; 39b connected, which in turn connected via a control line 44 with a switching module 104, 105, in particular hardwired. The switching module 104, 105 is communicatively connected to the evaluation unit 35 via the means 106 for connecting a switching module 104, 105 to each load-lifting device 37a, 37b.
    The switching module 104, 105 is set up in dependence on the detection signal of the first access monitor 100 and / or second access monitor 101, the transport device 41a; 41b, in particular the lifting drive 40a, 40b and the conveyor drive 42a; 42b to drive. The switching module 104,105 may, for example, a speed control for the drive motor 93 of the Hubantriebes40a; 40b and / or a speed control for the drive motor 94 of the conveyor drive 42a; 42b.
    As also indicated in FIG. 20, the arrangement of a condition monitoring 107, which in each storage area 7, 8, 9 in the area of the load-lifting device 37a; 37b is provided. The condition monitoring 107 comprises a switching third sensor system 108 which generates a signal when the sensor system 108 detects the presence of an operator 23 in the storage area 7, 8, 9 between the access monitors 100, 101 (FIG. 20) or between an access door 19, 20 , 21 and the access monitor 101 (Fig. 6). The status monitoring 107 or third sensor system 108 per storage area 7, 8, 9 is connected via a control line (not shown) to the control device 28 or the evaluation unit 35.
    The control device 28 is connected to the control unit 39a; 39b of the load-lifting device 37a; 37b and is the switching module 104; 105 is arranged to control the transport device 41a, 41b for the transport of the goods 6 as a function of the detection signal. The switching module 104, 105 is, as described above, via the means 106 for connecting a Schaltmo¬dul 104,105 per load-lifting device 37 a, 37 b communicatively connected to the evaluation unit 35.
    The third sensor system 108 may be formed by sensors generating a radiation field, the radiation field extending substantially in a horizontal plane and extending at least the width of the load-lifting device 37a; 37b extends between the storage shelves 1 in the alley. Such a sensor system 108 is generally known as a switching "safety light grid". The sensor system 108 can also be realized by a camera system.
    On the other hand, the third sensor system 108 may also be formed by a safety contact mat having a surface switch situated on the walkway 15 and embedded in an elastic plastic material, as shown diagrammatically in FIG. The safety contact mat runs essentially in a horizontal plane and extends at least over the width of the load-lifting device 37a; 37b between the storage shelves 1 in the alleyway. Such sensor 108 is generally known as a "keypad".
    In this embodiment, in the automatic mode of a load handling unit 2; 36; 54; 55 the loads 6 corresponding to input and / or Auslagerbefehlen about the load-lifting device 37a; 37b stored in the La¬geregale 1 or outsourced from the storage shelves.
    If now an operator 23 in one of the storage areas 7, 8, 9, for example, the storage area 8, enter to service, a troubleshooting and the like. on a storage and retrieval unit 10; 10 '; 10 ", on the load-lifting device 37a; 37b or a delivery device 45; 46; 56 must first be switched to safety mode and a "safe operating state" must have been achieved. Only then can the operator 23 enter the desired storage area 8 via the access door 19, 20, 21.
    The control device 28 is set up to initiate one or more of the following steps:
    Unlocking / opening of the access door 19, 20, 21 associated with the storage area 7, 8, 9 in which the operator 23 wishes to enter after the confirmation signal (Srei rbpi) has been released from those storage and retrieval units (10, 10 ', 10 ") , which were moved in automatic mode in the protection area (73). For this purpose, either only an access message can be issued to the switching device 24, 25, 26 or, if an electromechanical closing unit 33 is provided, its actuator can be actuated;
    Activating an access control 100; 101, in particular the sensor system 102; 103, which in the storage area 7, 8, 9 in the direction of the longitudinal extension of the rack aisle 3 before and / or after the load-lifting device 37a; 37b is arranged. In Fig. 20, the access monitors 100; 101 of the storage area 8 is activated; Monitoring an access of an operator 23 in the storage area 7, 8,9 by means of the access control 100; 101;
    Switching from automatic mode to a safety mode for a cargo handling unit 2; 36; 54; 55, when at the control unit 39a; 39b of the load-lifting device 37a; 37b receives a status signal, which is tripped, provided that the access control 100; 101 the access of the operator 23 in the storage area 7, 8, 9 near the load handling unit 2; 36; 54; 55 is detected. In safety mode, the lift drive 40a; 40b and / or conveyor drive 42a; 42b of the transport device 41a; 41 b switched off and in a safe for the operator 23 23 23 motionless idle state until the control unit 39a; 39bein unlock signal (SFh4) receives. The transport device 41a; 41b is in a safe or idle state when the power supply to the lift drive 40a; 40b and conveyor drive 42a, 42b interrupted and the Stellbewegungen the transport device 41a; 41b, which could endanger the operator 23 in the access area 72 or the protection area 73, are prevented;
    Switching from automatic mode to a safety mode for a cargo handling unit 2; 36; 54; 55, when at the control unit 49a; 49b, 50a; 50b of the delivery device 45; 46; 56 enters a status signal, which is triggered, if the access control 100; 101 the access of the operator 23 in the storage area 7, 8, 9 is detected. In safety operation, the conveyor drives 47a; 47b; 48a; 48b of the provisioning devices 45 arranged in the protection area 73; 46; 56 switched off and ver¬ translated into a safe for the operator 23 or motionless idle state until the control unit 49a; 49b; 50a; 50b an enable signal (SFbv4) er¬hält. The manner of connection of the supply devices 45; 46; 56 is described above in detail. The provisioning devices 45; 46; 56 are in a safe or motionless idle state when the power supply to the conveyor drives 47a; 47b; 48a; 48b interrupted and the La¬deguttransport on those providing devices 45; 46; 56, which could endanger the operator 23 in the access area 72 or the protection area 73, is prevented.
    As entered in FIG. 20, it is also possible to provide (loading) input devices 112, 113 for each storage area 7, 8, 9. The first input device 112 in the respective storage area 7, 8, 9 is in the direction of the longitudinal extent of the rack aisle 3 in front of a first interface 114 of the danger zone 111 and the second input device 112 in the respective storage area 7, 8, 9 in the direction of the longitudinal extension of the rack aisle 3 placed after a second interface 115 of the danger zone 111. The input devices 112, 113 thus lie outside the danger zone 111. Furthermore, the input devices 112, 113 are connected to the control device 28 or the evaluation unit 35 via a control line (not shown). The first input device 112 is the first access monitor 100 and the second input device 112 is associated with the second access monitor 101 and are connected to the control device 28 via control lines (not shown).
    This embodiment is mainly used in long rack aisles 3 application, where an operator 23 after leaving the danger area 111, the corresponding input device 112; 113 can press. If the operator 23 moves from the access door 19, 20, 21 into the storage area 7, 8, 9, for example into the storage area 8, this passes the (right) access monitor 100, whereupon the transport device 41a; 41b is controlled such that it is stopped or moved at a reduced lifting speed.
    In this embodiment, the operator 23 can either pass through the danger zone 111 and at the cargo manipulation unit 2; 36; 54; 56 passing by, or may also interfere with, for example, the load-lifting device 37a; 37b fix.
    If the operator 23 moves from the access door 19, 20, 21 in the direction of the rack aisle 3 (from right to left), it first traverses the drive area 111. If the operator 23 has left the danger area 111, he can exit the parking area ) Access Monitor 100 operates remote (left) input device 113 as it moves to the left.
    If the operator 23 moves out of the storage area 7, 8, 9 in the direction of the access door 19, 20, 21 (from left to right), this first passes the (left) access monitor 101, whereupon the transport device 41a; 41bderart is controlled so that it is stopped or moved at a reduced Hubge¬schwindigkeit. In this case, the operator 23 can traverse the danger area 111. If the operator 23 has left the danger zone 111, he can actuate the (right-hand) input device 112 remote from the (left) access monitor 101.
    In this way, the operator 23 without danger or without substantial risk of danger to the optionally still in safety operation controlled transport device 41a; 41b pass by.
    When the input device 112; 113, a first enable signal is generated by the control device 28 or the evaluation unit 35, by means of which the transport device 41a; 41b is switched from the safety mode back to the automatic mode. Furthermore, a second enable signal can be generated, by means of which those supply devices 45; 46; 56 turned off in the storage area 7, 8, 9, or those providing facilities 45; 46; 56, which have been switched off in the danger zone 111, are switched back from the safety operation into the automatic mode. It should be noted that the danger area 111 is within the above-described protection area 73, and therefore the "source of danger" must be eliminated.
    In Fig. 21, a third embodiment of safety measures is described, which can be provided when the shelf storage system, a manipulation unit 2; 36; 54; 55 comprises according to one of the Aus¬ described above. The control system modified for this purpose is combined with a "non-separating protection device".
    According to this embodiment, the load handling unit 2 comprises; 36; 54; 55 - at least one load-lifting device 37a; 37b with a lifting and senkba¬ren transport device 41a; 41b for the loads 6, and - at least one buffer device 38a; 38b for the load 6 with towards the rack aisle 3 on one of the sides of the load-lifting device 37a; 37b or both sides of the load-lifting device 37a; 37b and at least some of the shelf levels (RE) arranged supply devices 45, 46; 56 for the intermediate buffering of one or more goods 6, and - for each storage area 7, 8, 9 a movement space of the lifting and lowering transport device 41a; 41b and the moving space for the goods 6 on the buffering device 38a; 38b opposite the rack aisle 3 and monitoring this area "non-separating" penetration protection 109, wherein the penetration protection 109 in the region of the load-lifting device 37a, 37b and the at least one buffer device 38a; 38b and a monitoring plane is substantially in a vertical plane and parallel to the rack aisle 3. The monitoring level at least substantially spans the clear height between the sidewalls 15 when the protective area 73 lies within a storage area 7, 8, 9, or extends from the storage area 8 to an adjacent (lower and / or upper) storage area 7, 9 when the protection area 73 is extended over a plurality of storage areas 7, 8, 9.
    The penetration protection 109 comprises a switching sensor system 110, for example a multiplicity of optoelectronic sensors or ultrasound sensors, in order to generate a radiation field or sound wave field in the monitoring plane. Such a sensor system 110 with opto-electronic sensors is generally known as a "safety light grid". The penetration protection can also be realized by a camera system.
    In Fig. 22, a fourth embodiment of safety measures which can be provided when the rack storage system is a manipulation unit 2; 36; 54; 55 comprises according to one of the Aus¬ described above. The control system modified for this purpose is combined with a "separating and non-separating protective device".
    The load handling unit 2; 36; 54; 55 can in turn in each Lagerbe¬reich 7, 8, 9 and in the range of the load-lifting device 37a; 37b, a movement space of the lifting and lowering transport device 41a; 41b opposite the rack aisle 3 delimiting the first physical access barrier 82.
    In addition, in each storage area 7, 8, 9 and in the area of the provisioning devices 45; 46; 56, a buffer area of the delivery devices 45; 46; 56 detecting access monitoring 116,117 are provided. The access monitoring 116, 117 for each storage area 7, 8, 9 comprises a switching sensor system 118, which is connected via control lines (not shown) to the control device 28 or the evaluation unit 35. The access monitor 116, 117 generates a signal when it has access in the storage area 7, 8, 9 to the buffer area of the provisioning devices 45; 46; 56 is detected.
    The sensor system 118 includes, for example, a multiplicity of optoelectronic sensors or ultrasound sensors in order to generate a radiation field or sound wave field in the monitoring plane. The monitoring plane runs essentially in a vertical plane and preferably parallel to the rack aisle 3. Such a sensor system 110 with opto-electronic sensors is generally known as a "safety light grid". The monitoring level spans, at least substantially, the clear height between the sidewalls 15 when the protective area 73 lies within a storage area 7, 8, 9, or extends from the storage area 8 to an adjacent (lower and / or upper) storage area 7, 9 in, when the protection area 73 is extended over several storage areas 7, 8, 9.
    In automatic mode for the load handling unit 2; 36; 54; 55, the delivery devices 45; 46; 56 via the control lines 51 (Figure 1) on the control unit 49a; 49b; 50a; 50b insertion and / or removal commands and according to these input and / or Auslagerbefehle be the conveyor drives 47a; 47b; 48a; 48b; 94a; 94b for the transport device 41a; 41b and provisioning devices 45; 46; 56 is controlled to load items 6 between the transport device 41a, 41b and a corresponding supply device 45; 46; 56 at the appropriate level (RE).
    The control device 28 is set up to perform one or more of the following steps: determining the provision devices 45; 46; 56, which are arranged in the storage area 7,8, 9, or the provision devices 45; 46; 56 per Lagerbe¬reich 7, 8, 9, which are arranged in the protection area 73; Activating the access monitoring 116, 117, in particular a sensor system 118, to the provision devices 45; 46; 56 at least in that Lagerbe¬reich 7, 8, 9, in which the operator 23 enters; Monitoring an access by an operator 23 to a buffer area of the provisioning devices 45; 46 by means of access monitoring 116, 117; Emergency stop of the transport device 41a; 41b, when at the control unit 39a; 39b of the load-lifting device 37a; 37b, a status signal is initiated, which is triggered if the access of the operator 23 accesses the buffer area of the provisioning devices 45; 46; 56 is detected.
    The buffer area extends over the number of superposed provisioning devices 45; 46; 56 and detects all acceptance locations 83 of the provision devices 45 or transfer points 84 of the provision devices 46 (FIGS. 1, 6; 7) or takeover and transfer points 83, 84 of the provision devices 56 (FIG. 8).
    It should also be noted that when one column is dispensed, provision devices 45, 46 only on one side the provision devices 45; 46 and access monitoring 116; 117 is arranged. Such an embodiment is exemplified in dashed lines in FIG.
    In Fig. 23, an embodiment is shown in which the storage shelves 1 each in the transition area between superimposed storage areas 7, 8, 9 with a physical penetration barrier 119, in particular a security grating, ausgestat¬tet, which access the operator 23 of a Storage area 7, 8, 9in the other storage area 7, 8, 9 prevented. The passage barriers 119 run parallel to the driving plane 16 or shelf level (RE) and extend essentially over the length of the storage areas 7, 8, 9 and in the direction of the depth (z-direction) of the storage racks 1. These pass-through barriers 119 are essential, for example at the height level of the sidewalks 15 and arranged on both sides. The penetration barriers 119 are firmly connected to the storage racks 1, for example screwed. As can also be seen in each Lagerbe¬reich 7, 8, 9 two or more storage and retrieval units 10; 10 '; 10 "available.
    In this case, the spatial access area 72 is basically in a yz direction by the (theoretical) range of movement of an arm or foot of the operator 23 between the reach-through barriers 119 and 15 in an x-direction through the walkway of the operator 23 along the Re¬galgasse 3 defined when the operator 23 in one of the storage areas 8 stops. The third dimension (x-direction) may also extend over a length of the aisle 3 with a short rack aisle 3 over the entire length of the rack aisle 3 and a long aisle 3, so more than one access area 72 and protection area 73 along the be defined Regalle 3.
    In this case, the protection area 73 is within a single storage area 7, 8, 9 and in the safety mode for the storage and retrieval units 10; 10 '; 10 "all in this storage area 7, 8, 9, for example, in the storage area 8, arranged shelf Bed iengeräte 10; 10 '; 10 "in the holding position and in this in a" safe hibernation "switched (as shown in dashed lines in Fig. 23), since the protection area 73 is located only in this storage area 7, 8, 9.
    Reference is made to the detail embodiments of the control device 28 and the procedural measures to the above described or subsequently be¬ written Fig. In the underlying and overlying Lager¬ area 7, 9, the stacker cranes 10; 10 '; 10 "continue to operate in Automatikbe¬trieb.
    As can also be seen from FIG. 23, a plurality of driving levels 16 are formed, and in each storage area 7, 8, 9 at least two shelf control units 10; 10 '; 10 ". Is in each storage area 7, 8, 9 per driving plane 16 a Regalbe¬diengerät 10; 10 '; 10 ", so those storage and retrieval units 10, 10 '; 10 ", which would move into the protective area 73 in automatic mode and / or move through the protective area 73, therefore, according to the illustrated embodiment, all six storage and retrieval units 10; 10 '; 10 ", moved into the holding position and in each case in a" safe hibernation "switched.
    In FIGS. 24a to 24e, the method for safely operating an automated rack storage system in a first embodiment is described.
    At the beginning of the method, the shelf storage system is operated in an automatic mode in a step S10, that is to say the shelf control units 10; 10 '; 10 "receive from the control device 28 the travel and storage commands and store goods 6 fully automatically on and off.
    The at least one load-lifting device 37a; 37b receives the storage instructions from the control device 28 and the loads 6 are taken over fully automatically by the conveyor 4, raised / lowered at the level of a desired shelf level (RE) and either onto a supply device 45; 56or directly on the stacker crane 10; 10 '; 10 "handed over. Likewise, at least one load-lifting device 37a receives; 37b of the control device 28, the removal commands and the cargoes 6 fully automatically from the Re¬galbediengeräten 10; 10 '; 10 ", on a provisioning device 46; 56 or directly to the load-lifting device 37a; 37b passed, raised / lowered at the level of a conveyor technology level (FE) and transferred to the conveyor 5.
    Are the delivery devices 45; 46; 56 provided, so also received by the control device 28 input and / or Auslagerbefehle to fully automatically deliver goods 6 at a takeover point 83 and transfer point 84.
    In a step S11, a query is made as to whether to switch to a safety mode or safety mode. Is the access of the operator 23 in one of the storage areas 7, 8, 9 required to a maintenance on a Regalbedienge¬ councils 10; 10 '; 10 ", the load-lifting device 37a; 37b or the supply device 45; 46; 56 perform, so the operator 23, the Automatikbe¬trieb for the stacker cranes 10; 10 '; 10 ", the at least one load-lifting device 37a; 37b and the provisioning devices 45; 46; 56 interrupt. For this purpose, in a step S12 by the operator 23, the switching means 27 is actuated, for example, a push button is pressed, with the control device 28 is signaled that a safety operation is required. By means of the technical (logical) assignment of the switching devices 24, 25, 26 to a storage area 7, 8, 9, the control device 28, after the operator 23 has actuated the switching means 27, can determine in which storage area 7, 8, 9 it wishes to enter , It should also be noted that when the text of "maintenance" is spoken, repair, repair or Service¬ work or a fault repair can be understood.
    If the switching means 27 has been actuated, a routine for a safety drive begins to run, and the control device 28 generates the shelf control devices 10; 10 '; 10 "corresponding to the steps S13 to S16, the at least one load-lifting device 37a; 37b corresponding to steps S17 to S19 and the provisioning devices 45; 46; 56 is controlled according to steps S20 to S22.
    According to steps S13 to S16, it is now provided that some of the shelf control devices 10; 10 '; 10 "in a safety mode and some storage and retrieval units10; 10 '; 10 " be operated in automatic mode. Those storage and retrieval units10; 10 '; 10 ", which would move into the protected area 73 in automatic mode and / or pass through the protected area 73, would receive driving and / or storage commands by means of which the stacker cranes 10, 10 '; 10 " be instructed to each drive in a defined by the control device 28 holding position. The stacker cranes 10; 10 '; 10 "outside the protection area 73 remain in automatic mode. It can also be provided that, after the actuation of the switching means 27 per storage and retrieval unit 10, 10 '; 10 "the last storage or removal order is still done. For example, still a load 6, which has already been picked up by a supply device 45, still stored on a storage space 11, or it is a load 6, which was already taken from a storage space 11, transported to a Be¬reitstellvorrichtung 46.
    In step S15 it is queried whether those storage and retrieval units 10; 10 '; 10 ", which would move into the protective area 73 in automatic mode and / or move through the protective area 73, were moved into the holding positions. As described above, the hold position may relate to an x-hold position (or optionally, the x-hold positions and z-hold positions).
    With the change from the automatic mode to the safety mode in step S12, a monitoring period is triggered (step S14) within which the shelving devices 10; 10 '; 10 "should have reached the stop positions (or optionally the x-stop positions and z-stop positions).
    In step S15, it is now also possible to query whether "selected" storage and retrieval units 10; 10 '; 10 "have reached the stop positions within the monitoring period. This is from the stacker cranes 10; 10 '; 10 "are each signaled by a confirmation signal (SRMi.RMn) of the control device 28.
    The monitoring period defines a period of time and has one of the "selected" stacker cranes 10; 10 '; 10 "does not reach the holding position within the monitoring period, steps S23 to S29 can still be triggered.
    In a step S16, the operating voltage for the storage and retrieval units 10; 10 '; 10 " switched to a danger operating voltage, as above, for example, to the different embodiments of FIG. 11b; 12 and 14 described.
    According to steps S17 to S19, it is now provided that the at least one load-lifting device 37a; 37b is operated in a safety mode.
    It may also be provided that after the actuation of the switching means 27 by the load-lifting device 37a; 37b the last storage or Auslagerauf¬trag is still done. For example, still a load 6, which is already on the transport device 41a; 41b is still on one of the Bereitstell¬vorrichtungen 45; 56 or the conveyor 5 passed, as shown in step S17.
    In step S18 it is queried whether the transport device 41a, 41b of the at least one load-lifting device 37a; 37b has been moved to a holding position (y-holding position).
    If the transport device 41a, 41b is in the holding position (y-holding position), according to step S19 the voltage supply becomes the drive motor for the lifting drive 40a; 40b and drive motor for the conveyor drive 42a; Interrupted as described above.
    According to steps S20 to S22, it is provided that the supply devices 45; 46 per storage buffer area and storage buffer area or the ready
    Actuators 56 are operated per combined storage / retrieval buffer area in a safety mode.
    It can also be provided that after the actuation of the switching means 27 by the supply devices 45; 46; 56 the last storage or Auslagerauf¬trag is still done. For example, still a load 6, which is already on the transport device 41a; 41b is still on a Bereitstellvor¬richtung 45; 56 received or from a supply device 46; 56 on the transport device 41a; 41b, as indicated in step S20.
    In step S21, it is determined whether the motor-driven conveyors of the supply devices 45; 46; 56 of the at least one buffer area were stopped.
    Were the delivery devices 45; 46; 56 is stopped or stopped, according to step S22, the power supply to the drive motor for the conveyor drive 47a; 47b; 48a; 48b interrupted as described above.
    According to the steps S23 to S29, the "access scenario" for the Bedienper¬son 23 is now shown.
    In step S23 it is possible to query whether the stacker cranes 10; 10 '; 10 ", the load-lifting device 37a; 37b and the provisioning devices 45; 46; 56 have been placed in a sleepless state for the operator 23, as described in detail above. If this is not the case, no access to the storage area 7, 8, 9 is granted and an authorized person must be requested.
    Is the no-risk or motionless resting state for the shelf control units 10; 10 '; 10 ", the load-lifting device 37a; 37b and the supply devices 45; 46; 56, the control device 28 receives the enabling signals (Sfrb3, SFh3, Sfbv3), whereby at the output means 29 of the switching device 24, 25, 26 an access message is optically and / or acoustically output, as indicated in step S24.
    In step S 25, an optional closing unit 33 can be operated as described above.
    The operator 23 may, after the access message has been issued and, if appropriate, the closing unit 33 has been actuated to unlock the access door 19, 20, 21, switch the key holder 31 from the automatic operating position to the safety operating position and then remove the key as shown in step S26.
    Thereafter, the operator 23 can unlock and open the access door 19, 20, 21 to allow access to one of the storage areas 7, 8, 9 and a maintenance on a storage and retrieval unit 10; 10 '; 10 ", a supply device 45, 46; 56 in the protection area 73 or the load-lifting device 37a; 37b, see steps S27 to S29.
    The operator 23 may, after the access message has been issued and, if appropriate, the closing unit 33 has been actuated to unlock the access door 19, 20, 21, switch the key holder 31 from the automatic operating position to the safety operating position and then remove the key as shown in step S26.
    When the maintenance is completed, the operator 23 returns to the access door 19; 20; 21 and closes the access door 19, 20, 21. If the optio¬ nale closing unit 33 is provided, this is actuated and the access door 19, 20,21 locked, preferably after the command input means 30 has been operated.
    Thereafter, the key is again inserted into the key holder 31, and the key holder 31 is switched from the safety operating position to the automatic operating position. Subsequently, the command input means 30 is operated and the control device 28 is signaled that the automatic operation can be resumed. After the operation of the command input means 30, the control device 28 transmits an enabling signal (Sfrb4) to the control unit (64), an enabling signal (Sfh4) to the control unit 39a; 39b and a release signal (SFbv4) to the control unit 49a; 49b; 50a; 50b. Thus, the hazard operating voltage is switched back to the operating voltage and the shelf control devices 10; 10 '; 10 "away from the stop positions and operate automatically according to the next drive and / or bearing commands. Also, the load-lifting device 37a; 37b and the delivery devices 45; 46; 56 are again supplied with voltage and operated automatically.
    FIGS. 25a to 25e describe the method for safely operating an automated rack storage system in a second embodiment.
    At the beginning of the method, the shelf storage system is operated in an automatic mode in a step S10, that is to say the stacker cranes 10; 10 '; 10 "receive from the control device 28 the travel and storage commands and store goods 6 fully automatically on and off.
    In a step S11, a query is made as to whether to switch to a safety mode or safety mode, as described above. If the access of the operator 23 to one of the storage areas 7, 8, 9 is required, then the operator 23 can control the automatic operation for the stacker cranes 10; 10 '; 10 ", the at least one load-lifting device 37a; 37b and the delivery devices 45; 46; 56, as described above to step S12.
    If the switching means 27 has been actuated, a routine for a safety drive begins to run, and the storage and retrieval units 10; 10 '; 10 "controlled by the Steue¬rungsvorrichtung 28 according to the steps S13 to S16 and moved into the described holding position.
    According to the steps S17 to S23, the "access scenario" for the Bedienper¬son 23 is now shown.
    In step S17 it is possible to query whether the stacker cranes 10; 10 '; 10 "have been placed in a non-operator sleep state for the operator 23, as described in detail above. If this is not the case, no access to the storage area 7, 8, 9 is granted and an authorized person must be requested.
    Is the no-risk or motionless resting state for the shelf control units 10; 10 '; Reaches 10 ", the control device 28 receives the enable signal (Sfrb3). whereby an access message is optically and / or acoustically output at the output means 29 of the corresponding switching device 24, 25, 26, as indicated in step S18.
    In step S 19, an optional closing unit 33 can be operated as described above.
    The operator 23 may, after the access message has been issued and, if necessary, the lock unit 33 has been actuated to unlock the access door 19, 20, 21, switch the key holder 31 from the automatic mode position to the safe operating position and then remove the key as shown in step S20.
    The automatic mode for the load handling unit 2; 36; 54; 55 can be switched to a safety mode if, at one of the switching devices 24, 25, 26, the operator 23 registers access to one of the storage areas 7, 8, 9 and this is signaled to the control device 28, see for example FIG. 17a , 17b. In this case, in a step S24 for the safety operation of the load handling unit 2; 36; 54; 55 the Hubgeschwindig¬keit for the transport device 41a; 41b reduced to a speed greater than zero. The lifting speed is reduced compared to the automatic mode zumin¬dest on the lifting movement or the movement path along the Schutz73. The transport device 41a; 41b is preferably moved through the protection area 73 at "safe speed".
    Thereafter, the operator 23 can unlock and open the access door 19, 20, 21 to allow access to one of the storage areas 7, 8, 9, see steps S21 to S23.
    In addition, in step S25, the providing devices 45; 46; 56 stopped or stopped, in which the power supply to the drive motor for the conveyor drive 47a; 47b; 48a; 48b interrupted as described above.
    In addition, steps S26 to S29 may be provided. At this time, in step S26, access control 116; 117 (Figure 22) on the Bereit¬stellvorrichtungen 45; 46; 56 is activated per buffer area and the buffer area is monitored for access by the operator 23.
    Is an access of the operator 23 to a buffer area required in order spielsweise a fault on a supply device 45; 46; 56, access control 116; 117 and signals the control device 28 as shown in steps S27 and S28.
    The control device 28 initiates an emergency shutdown of the transport device 41a; 41b, by the control unit 39a; 39b of the load-lifting device 37a; 37b, a status signal is transmitted, see step S29.
    Subsequently, the operator 23 can eliminate the fault in the buffer area, see step S30.
    If the maintenance work is completed, for example, in the buffer area, the operator can, for example, continue to move to a standing in the holding position (safe) storage and retrieval unit 10; 10 '; 10 "to wait, or to a arranged along the aisle 3, next cargo manipulation unit 2; 36; 54; 55 continue to perform on this maintenance, or return to the Zu¬gangstür 19, 20, 21 return. In the first case, the operator 23 can actuate an input device 113 after leaving the danger zone 111, with which the load-handling unit 2; 36; 54; 55 is switched back to the automatic mode. In the second case, after releasing the danger zone 111, the operator 23 can operate an input device 112, with which the load manipulation unit 2; 36; 54; 55 returns to the automatic drive, or it leaves the storage area 7, 8, 9 and closes the access door 19, 20, 21. If the optional closing unit 33 is provided, this is operated and the access door 19, 20, 21 locked, preferably after the command input means 30 has been operated. The control device 28 transmits upon actuation of the input device 112; 113 an enabling signal (SFh4) to the control unit 39a; 39b and an enabling signal (Sfbv4) to the control units 49a; 49b; 50a; 50b.
    Thereafter, the key is again inserted into the key holder 31, and the key holder 31 is switched from the safety operating position to the automatic operating position, as described above. Subsequently, the command input means 30 is actuated and the control device 28 signals that wie¬der the automatic mode can be added. After the operation of the command input means 30, the control device 28 transmits an enable signal (Sfrb4) to the control unit (64), an enable signal (Sffm) to the control unit 39a; 39b and an enabling signal (Sfbv4) to the control unit 49a; 49b, 50a; 50b. Thus, in turn, the danger operating voltage is switched to the operating voltage and it will be the stacker cranes 10; 10 '; 10 "away from the stop positions and automatically operated according to the next travel and / or storage commands. Also, the load-lifting device 37a; If necessary, voltage is supplied again after an "emergency stop" and the system is again moved at maximum lifting speed and the supply devices 45; 46; 56 are again supplied with voltage and operated automatically.
    In FIGS. 26a to 26e, the method for the safe operation of an automated rack storage system in a third embodiment is described.
    The steps S10 to S23 correspond to the steps S10 to S23 as described in Figs. 25a to 25c.
    As indicated by the steps S24 to S26, even after switching from an automatic mode to the safety mode, the load handling unit 2; 36; 54; 55, therefore, the load-lifting device 37a; 37b and the provision devices 45; 46; 56 are automatically operated, but the first access control 100 and second access control 101 become or only one of the access monitors 100; 101 (FIG. 20) is activated by the control device 28. Likewise, the condition monitoring 107 can be activated, see step S27.
    The automatic mode for the load handling unit 2; 36; 54; 55 can be switched to a safety mode if the presence of an operator 23 in a storage area 7, 8, 9 near the load-lifting device 37a; 37b or provision devices 45, 46; 56, see, for example, FIG. 20.
    In this case, until the access control 100, 101 is triggered, the transport device 41a; 41b with maximum lifting speed and the Bereit¬stellvorrichtungen 45; 46; 56 are operated fully automatically (steps S24 and S25).
    If the operator 23 has to move into the danger zone 111, as defined above (step S29), it must be ensured that the danger to the operator 23 is reduced to a minimum. This is achieved by steps S30 and optionally step S31. In step S30, the presence of the operator 23 in the storage area 7, 8, 9 via the access control 100; 101 detected and this signals the control device 28. As entered in dashed lines, the presence of an operator 23 in the danger zone 111 or in the region of the load-lifting device 37a can be entered via the state monitoring 107 in step S31; 37b or provisioning devices 45; 46; 56 detected and this the control device 28 are signaled.
    The control device 28 causes the load-lifting device 37a; 37b and the transport device 41a; 41b and also the provisioning devices 45; 46; 56, see steps S32 and S33.
    The operator 23 can now correct the fault, see step S34.
    If the maintenance work is completed, for example, in the buffer area, the operator 23 can, for example, continue to move to a (safe) storage and retrieval unit 10; 10 '; 10 "to wait, or to a along the rack aisle 3 arranged, next cargo manipulation unit 2, 36; 54; 55 continue to perform on this maintenance, or again to
    Access door 19, 20, 21 return. In the first case, the operator 23, after leaving the danger zone 111, can operate an input device 113, with which the load handling unit 2; 36; 54; 55 is switched back to the automatic mode. In the second case, the operator 23 can actuate an input device 112 after leaving the danger zone 111, with which the load-handling unit 2; 36; 54; 55 returns to the automatic mode, or leaves the storage area 7, 8, 9 and closes the access door 19, 20, 21. If the optional closing unit 33 is provided, this is actuated and the access door 19, 20, 21 locked, preferably after that Command input means 30 has been operated. Thereafter, the key is again inserted on the key holder 31, and the key holder 31 is switched from the safety operation position to the automatic operation position, as described above. Subsequently, the command input means 30 is actuated and the control device signals that again the automatic operation can be recorded. The control device 28 transmits an enabling signal (SFrb4) to the control unit (64) and optionally an enabling signal (Sfhw) to the control unit 39a after the operation of the command input means 30; 39b and, if appropriate, an enable signal (SFbv4) to the control unit 49a; 49b; 50a; 50b. Thus, in turn, the danger operating voltage is switched to the operating voltage and the shelf control devices 10; 10 '; 10 "moves away from the holding positions and automatically operated according to the next driving and / or lager commands. Also, if appropriate, the transport device 41a; 41b are again moved away from the holding position and are operated automatically according to the next storage and / or retrieval commands. Likewise, the provision devices 45; 46; 56 are operated automatically.
    Is an access monitor 116; 117 provided on the buffer area (FIG. 22), it can be activated either when the access by an operator 23 to one of the storage areas 7, 8, 9 is reported to the switching device 24, 25, 26 and this is signaled to the control device 28, or the access monitoring 100, 101 is triggered and signaled to the control device 28.
    Finally, it should be noted that the (mechanical) switch 69; used in the figures for reasons of easier understanding. 69 '; 69 "equivalent can be replaced by electronic switch. For example, instead of the switch, transistors, in particular FETs or IGBTs can also be used.
    It should also be noted that in the embodiments of FIGS. 1 to 3; 6; 7; 8th; Not every driving plane 16 must be equipped with a storage and retrieval device 10, but it is also possible that the number of storage and retrieval devices 10 is less than the number of driving planes 16 and a storage and retrieval device is used, which at least one storage and retrieval device 10 on different driving planes 16 give up can accommodate different driving levels16. This is an¬geordnet at a front end of the rack aisle 3. Such a storage and retrieval device-Flebevorrichtung is known for example from WO 2012/106744 A1.
    The exemplary embodiments show possible embodiments of the rack storage system, wherein it should be noted at this point that the invention is not restricted to the specific embodiments of the same, but rather also various combinations of the individual embodiments are possible with each other and this possibility of variation is based on the teaching technical acting by objective invention in the skill of those working in this field technical expert.
    Furthermore, individual features or combinations of features from the different embodiments shown and described can also represent solutions that are inventive, inventive or inventive.
    Above all, the individual embodiments shown in FIGS. 1 to 26 may form the subject of independent solutions according to the invention.
    For the sake of order, it should finally be pointed out that in order to better understand the construction of the rack storage system, this or its components have been shown partly unevenly and / or enlarged and / or reduced in size.
    REFERENCE SIGNS LIST 1 storage rack 25 switching device 2 load manipulation unit 26 switching device 3 rack aisle 27 switching means 4 conveyor 28 control device 5 conveyor 29 output means 6 load 30 command input means 7 storage area 31 key holder 8 storage area 32 emergency stop input device 9 storage area 33 closing unit 10 storage and retrieval unit 34 control line 11 storage location 35 evaluation unit for Switching devices 12 Front longitudinal bar 36 Load handling unit 13 Rear longitudinal bar 37 Load lifting device 14 Crossbar 38 Buffering device 15 Walkway 39 Control unit Lifting device 16 Traveling level 40 Lifting drive 17 Load receiving device 41 Transporting device 18 Protective fence 42 Conveyor drive 19 Access door 43 Conveyor 20 Access door 44 Control line 21 Access door 45 Insert Supply Device 22 Sensor 46 Outfeed Supply Device 23 Operator 47 Conveyor Drive Storage 24 Switching Device Prov 48 Transport drive Outfeed drive 71 Control line
    Ready to install 72 Access area 49 Control unit Provision device 73 Protection zone 50 Control unit Ready-to-operate direction 75 Voltage source 51 Control line 76 Control line 52 Stage 77 Sensor 53 Stairs 7g Sensor 54 Load manipulation unit 79 Position measuring system 55 Load manipulation unit 80 Voltage converter 56 Insertion / Outsourcing 81 Switch
    Stability control 82 Threshold barrier 57 Base frame 83 Take-off point 58 Impeller 84 Transfer point 59 Travel drive 85 Pass-through barrier 60 Drive motor 86 Protective sluice 61 Guiding device 87 Switching module Sluice 62 Actuator 88 Lifting device 63 Drive motor 89 Switching module for lifting device 64 Control unit for crane control unit 90 Switching module for lifting equipment - 65 Conductor rail arrangement 66 Current collectors 91 Sluice means 67 Conductor line 92 Sensor 68 Control line 98 Drive motor Lifting drive 69 Shelf module for shelf operating system 94 Drive motor Conveyor drive device 95 Positioning system 70 Center stacker 96 Shunt module Stacker 97 Shifter module Outfeed staging device 98 Provision device 99 Power source 100 Access control 101 Access control 102 Sensor technology 103 Sensor system 104 Switching module 105 Switching module 106 Means 107 Condition monitoring 108 Sensor system 109 Punch through utz 110 Sensor system 111 Danger zone 112 Input device 113 Input device 114 Interface 115 Interface 116 Access monitoring 117 Access monitoring 118 Sensor technology 119 Penetration barrier
    权利要求:
    Claims (38)
    [1]
    1. A method for safe operation of an automated shelf storage system with storage racks (1), which in superimposed shelf levels (RE) Lagerplät¬ze (11) for loads (6), and one between the storage shelves (1) extending rack aisle (3 ), and storage areas (7, 8, 9), which in each case at least one storage and retrieval unit (10; 10 '; 10 ") with a control unit (64), a traction drive (59) and a load receiving device (17) is assigned, and in each case a lockable access (19, 20, 21) per storage area (7, 8, 9), which can be opened and closed, in which in automatic operation, the stacker cranes (10, 10 ', 10 ") via control lines (76) respectively to the Control unit (64) receive driving and storage commands and according to these driving and storage commands of the drive (59) and the load receiving device (17) are driven to move along the rack aisle (3) to the storage bins (11) and the charging goodness r (6) store on the storage bins (11) or outsource cargo (6) from the storage bins (11), and the automatic mode changes to a safety operation when access to a switching device (24, 25, 26) by a Operator (23) is registered in one of the storage areas (7, 8, 9) and the operator (23) wishes to enter one of the storage areas (7, 8, 9), wherein in the safety mode some of the storage and retrieval units (10; 10 '; 10 ") via the control lines (76) in each case on the control unit (64) again receive driving and / or Lagerbe¬ commands and according to these driving and / or bearing commands of Fahran¬trieb (59) and / or the load receiving device ( 17), and at least one other of the stacker cranes (10, 10 ', 10 ") is still operated in automatic mode, characterized by the steps: Definition of a spatial access area (72) for the operator (23) either exclusively Within a storage area (7, 8, 9), in which the operator (23) access, or within a storage area (7, 8, 9) and from this on a above and / or below Lagerbe¬reich (7, 8, 9 ), wherein in each storage area (7, 8, 9) one or more Re¬galbediengeräte (10; 10 '; 10 ") for storing the load (6) on the Lager¬ places (11) or outsourcing of cargo (6 ) are operated from the storage bins (11); Definition of a spatial protection area (73) on the basis of the access scope (72); Definition of those storage and retrieval units (10, 10 ', 10 ") which would move or move in the protective area (73); and that in safety operation those storage and retrieval units (10; 10 '; 10 ") which would move or move in the protection area (73) are moved into a holding position in which the respective shelf operating device (10; 10'; ) as long as persisted and further into a for the operator (23) without risk or be¬wegeless idle state is offset until the control unit (64) receives a Frei¬schaltsignal (Sfrb4).
    [2]
    2. The method according to claim 1, characterized in that in each storage area (7, 8, 9) in superposed driving planes (16) at least two stacker cranes (10, 10 ') for storing the load (6) on the storage bins (11) or outsourcing of cargo (6) from the Lager¬plätzen (11) are operated independently of each other; those storage and retrieval devices (10, 10 ') are defined per storage area (7, 8, 9), which would move or move in the protection area (73); in safety operation those storage and retrieval units (10, 10 ') in the storage areas (7, 8, 9), which would move or move in the protected area (73) are moved to a holding position, in which the respective Regalbedienge¬rät (10; 10 ', 10 ") remains in place and is further moved into a sleep-free state for the operator (23) until the control unit (64) receives an enable signal (Sfrb4).
    [3]
    3. The method of claim 1 or 2, characterized in that in the automatic mode, the storage and retrieval device (10, 10 ', 10 ") on a drive motor (60) for the traction drive (59) and on a drive motor (63) for the load receiving device (17) are supplied with an operating voltage, and in the safety mode, the operating voltage is switched to a hazardous operating voltage, so that the storage and retrieval unit (10; 10 '; 10 ") on the drive motor (60) for the traction drive (59) and the drive motor (63) for the Load receiving device (17) are supplied with the danger operating voltage, wherein the maximum value of the danger operating voltage is lower in magnitude than a minimum operating voltage which is required for the storage and retrieval device (10, 10 ', 10 ") or the load receiving device (17). to move.
    [4]
    4. The method according to claim 3, characterized in that a rectification value / rms value for the hazardous operating voltage is below a minimum rectifier value / minimum effective value necessary for moving the storage and retrieval unit (10; 10 '; 10 "), but above zero.
    [5]
    5. The method according to any one of claims 1 to 4, characterized gekennzeich¬net that the drive motor (60) for the traction drive (59) and the drive motor (63) for the load receiving device (17) extending from one in the direction of the rack aisle (3) and electric power is supplied to each of a sliding plane (16) for the rack operating device (10; 10 '; 10 "), the sliding line arrangements (65) each being connected to at least one switching module (69; 69'; 69") Voltage source (75) are connected and in the sliding conductor assemblies (65) by selectively switching the Schaltzu¬stände for the switching module (69; 69 '; 69 ") either in automatic mode, the Be¬triebsspannung or in safety mode, the hazardous operating voltage is fed.
    [6]
    6. The method according to any one of claims 1 to 4, characterized gekennzeich¬net that the drive motor (60) for the traction drive (59) and the drive motor (63) for the load receiving device (17) extending from one in the direction of the rack aisle (3) and each of a driving plane (16) for the storage and retrieval device (10; 10 '; 10 ") associated conductor rail assembly (65) are supplied with electrical energy, wherein groups each of a plurality of conductor rail assemblies (65) via at least one group associated switching modules (69") at least a Spannungs¬ source (75) are connected and in the groups of several Schleiflei¬tungsanordnungen (75) in each case by switching the switching states for the switching modules (69 ") either in automatic mode, the operating voltage or in safety operation, the hazardous operating voltage is fed.
    [7]
    7. Method according to one of claims 1 to 6, characterized by generating an acknowledgment signal (SRBi..RBn) for each storage and retrieval unit (10; 10 '; 10 ") when the respective storage and retrieval unit (10; 10'; 10") has reached the holding position , or a time period predefined by a control device (28) within which the respective storage and retrieval device (10; 10 '; 10 ") should have reached the holding position is exceeded, and transmitting the confirmation signals (SRBi..RBn) to the control device ( 28), and generating a switching signal (Sui.un) by the control device (28) when the acknowledgment signal (SRBi..RBn) is received at and evaluated by the control device (28) and actuation of some switching modules (69; 69 '). 69 ") are made of a number of switching modules (69; 69 '; 69") on the basis of the switching signals (Sui.un), whereby those switching modules (69; 69'; 69 ") are actuated which are assigned to the stacker cranes ( 10, 10 ', 10 the confirmation signals (in the holding position Srbi RBn) to the control device (28) are associated), have received, and generating a feedback signal (SRMi..RMn) per shelf operating device (10; 10 ', 10 ") when the relevant storage and retrieval unit (10; 10'; 10") is in a sleep-free or motionless idle state for the operator (23), in which by operating the switching modules (69; 69 '; 69 ") The drive motor (60) for the traction drive (59) and the drive motor (63) for the load receiving device (17) of the stacker cranes (10; 10 '; 10") which are in the stop position are supplied with the hazardous operating voltage, and Transmission of the feedback signals (SRMi..RMn) to the control device (28).
    [8]
    8. The method according to claim 7, characterized by evaluating the feedback signal (Srmi.rmd) per storage and retrieval device (10; 10 ', 10 ") in the control device (28), and generating a release signal (Sfrb3) for the output of the access message to the switching device ( 24, 25, 26) by the control device (28) when the feedback signal (Srmi..rmd) has been received at and evaluated by the control device (28) and output of an access message to the switching device (24, 25, 26) ¬dem the enable signal (Sfrb3) were triggered, by means of which the Bedi¬enperson (23) the safe access in the storage area (7, 8, 9) is signaliert.
    [9]
    9. The method of claim 7 or 8, characterized by further generating by the control device (28) an enable signal (Sfrbi) for unlocking the access (19, 20, 21) when the acknowledgment signal (SRBi.RBn) is sent to the control device (28). and is generated by the control device (28) when the acknowledgment signal (SRMi.RMn) at the control device (28) is received by the control device (28), and generating an enable signal (Sfrb2) for unlocking the access (19, 20, 21) and was evaluated by this, and unlocking the access (19, 20, 21) for those storage area (7, 8, 9) in which the operator (23) is to occur to perform service work, a troubleshooting and the like after the enable signals (Sfrbi, SFrb2) have been released.
    [10]
    10. Method according to one of claims 1 to 9, wherein in the automatic operation of a load-handling unit (2; 36; 54; 55) at least one load-lifting device (37a; 37b) with a liftable and lowerable transport device (41a; 41b) receives loading and / or unloading instructions for the loading goods (6) via a control line (44) at a control unit (39a; 39b) and a lifting drive (40a; 40b) in accordance with said storing and / or retrieval instructions ) and a conveyor drive (42a; 42b) for the transport device (41a; 41b) controls in order to transport loads (6) between a conveyor level (FE) and a respective shelf storage level (RE), characterized in that the automatic mode in a Safety operation for the load handling unit (2; 36; 54; 55) changes when access to the switching device (24,25,26) by an operator (23) in one of the storage areas (7,8,9) is registered and the operator (23) in one of the storage areas (7, 8 , 9), wherein in the safety mode the lifting drive (40a; 40b) for the transport device (41a, 41b) is actuated in such a way that the transport device (41a, 41b) is moved into a holding position and is further displaced into a resting state which is safe for the operator (23) until the control unit ( 39a, 39b) receives an enabling signal (Sfh4).
    [11]
    11. The method according to claim 10, characterized by generating an acknowledgment signal (Sm..Hn) when the transport device (41a, 41b) has reached the stop position, and generating a switching signal (Sum.times.Hn) by the control device (28) after the Confirmation signal (Sm.Hn) on the control device (28) was evaluated, and actuation of a switching module (83; 84) based on the switching signal (SuHi.uHn) to the power supply to the lifting drive (40a; 40b) and conveyor drive (42a; 42b).
    [12]
    12. The method according to claim 11, characterized by evaluating the confirmation signal (Sm..Hn) of the at least one load-lifting device (37a, 37b) in the control device (28), and generating at least one enable signal (Sfh3) for the output of Zu¬ at the switching device (24, 25, 26) by the control device (28) when the acknowledgment signal (Sm..Hn) is received at the control device (28) and evaluated by the latter, and issuing an access message at the Switching device (24, 25, 26) nach¬dem at least the release signal (SFh3) was triggered, by means of which the operator (23) the safe access to the storage area (7, 8, 9) is signaled.
    [13]
    13. The method according to claim 11 or 12, characterized by generating at least one enable signal (Sfhi) for unlocking the access (19, 20, 21) by the control device (28) when the confirmation signal (Sm..Hn) has been received and evaluated by the control device (28), and unlocking the access (19, 20, 21) for that storage area (7, 8, 9) in which the operator (23) is to enter to service, a Stö R elimination and the like. Perform after at least the first dispensing signal (Sfhi) were triggered.
    [14]
    14. Method according to one of claims 1 to 13, in which goods to be stored (6) are transferred from a conveyor system (4) to the load-fleece device (37a, 37b) and to fleas of a rack level (41a, 41b) by means of the transport device (41a; RE) and are disposed of in at least Eini¬gen the shelf levels (RE) arranged supply conveyor devices (45; 46; 56; 56) where the loads (6) are buffered until the stacker cranes (10; 10 '; 10 " ) pick up the load (6) to be stored from the delivery conveyor (45; 46; 56; 56) and place it on the storage bins (11), and load (6) to be unloaded by means of the storage and retrieval devices (10; 10 '; 10 ") from the bins (11 ) and disposed on at least some of the shelf levels (RE) arranged supply conveyor devices (45; 46; 56), where the loads (6) are buffered until they are taken from the load-Flebevorrichtung (37a, 37b) and by means of the transport device (41a; 41 b) are moved at the level of a conveyor system (5), and in the automatic mode of a load-handling unit (2; 36; 54; 55) the supply conveyor devices (45; 46; 56) are connected via a control line (51) to a control unit unit (49a, 49b, 50a, 50b) receive and corresponding to these input and / or retrieval commands conveyor drives (47a, 47b, 48a, 48b, 87) for the transport device (41a, 41b) and supply conveyor devices (45; 46; 56) controls to transport loads (6) between the transport device (41a; 41b) and a supply conveyor (45; 46; 56) in the respective shelf storage (RE), and characterized by determining the Bereitstellfördervorrichtungen (45; 46; 56) which are arranged in the protective area (73); Switching from automatic mode to a safety mode when access to the switching device (24, 25, 26) by an operator (23) in one of the storage areas (7, 8, 9) is registered and the operator (23) in one of the storage areas ( 7, 8, 9), wherein in the safety mode for the load manipulation unit (2; 36; 54; 55) the conveyor drives (47a; 47b; 48a; 48b) for the supply conveyor devices (45; 46; 56), which are arranged in the protected area (73), are controlled in such a way that the supply conveyor devices (45; 46; 56) are put into a standstill without danger to the operator (23) until the control unit (49a; 49b; 50a; Sfbv4).
    [15]
    A method according to claim 14, characterized by generating an acknowledgment signal (Sβvi.Bvn) for each supply conveyor (45; 46; 56) when the supply conveyors (45; 46; 56) have reached standstill, and generating a switching signal (Sussvi.uBvn). by the control device (28) after the acknowledgment signal (SBvi.Bvn) has been evaluated at the control device (28) and actuation of a switching module (96; 97) on the basis of the switching signal (SuHi..uHn) in order to supply the energy in safety operation to the conveyor drive (47a, 47b, 48a, 48b) to interrupt.
    [16]
    16. The method according to claim 14 or 15, characterized by evaluating the confirmation signal (Svii Bvn) per supply conveyor device (45; 46; 56) in the control device (28), and generating at least one enable signal (Sfh3) for the output of the Zu¬gangsmeldung at the switching device (24, 25, 26) by the control device (28) when the acknowledgment signal (SBvi..Bvn) has been received at the control device (28) and evaluated by the latter, and issuing an access message to the switching device (24, 25, 26) nach¬dem at least the release signal (Sfbv3) were triggered, by means of which the operator (23) the risk-free access to the storage area (7, 8, 9) is signaled.
    [17]
    17. The method according to any one of claims 14 to 16, characterized by generating at least one enable signal (Sfbvi) for unlocking the access (19, 20, 21) by the control device (28) when the confirmation signal (Sßvi.BVn ) was received at the control device (28) and was evaluated by this, and unlocking the access (19, 20, 21) for that storage area (7, 8, 9) in which the operator (23) is to enter to service, a Stö¬ after at least the first dispensing signal (Sfbvi) have been triggered.
    [18]
    18. Method according to one of claims 1 to 9, wherein in the automatic mode of a load-handling unit (2; 36; 54; 55) the load-lifting device (37a; 37b) is connected to a control unit (39a) via a control line (44) 39b) receives input and / or Auslagerbefehle and controls according to these input and / or Auslagerbefehle a lifting drive (40a; 40b) and a conveyor drive (42a, 42b) for the transport device (41a, 41b) to load (6) between ¬ transporting a conveyor level (FE) and a respective shelf storage level (RE), characterized by defining a vertical path of movement of the transport device (41a, 41b), which intersects the protection area (73) and adjacent to the protection area (73); Switching the automatic mode into a safety mode for the load handling unit (2; 36; 54; 55), a) either when at the switching device (24, 25, 26) the access by an operator (23) to one of the storage areas (7 , 8, 9) and the operator (23) would like to enter one of the storage areas (7, 8, 9), b) or by an access monitor (100, 101), in particular a sensor system (102, 103), in the storage area (7, 8, 9) in the direction of the longitudinal extent of the rack aisle (3) before or after the load lifting device (37a; 37b) the presence of an operator (23) has been detected, wherein in safety operation of the lifting drive (40a; 40b) for the transport device ( 41a, 41b) is controlled in such a way that the lifting speed is reduced compared to the automatic mode of operation at least along the movement path along the protected area (73).
    [19]
    19. Method according to claim 18, in which goods to be stored (6) are taken over by a conveyor system (4) onto the load-lifting device (37a, 37b) and moved by means of the transport device (41a, 41b) at the level of a shelf level (RE) and on the Regalebe¬nen arranged Bereitstellfördervorrichtungen (45, 46, 56) are delivered where the loads (6) are buffered until the Regalbedienger¬¬te (10; 10 '; 10 ") the stored goods (6) of the Picking up conveyor devices (45; 46; 56) and placing them on the storage bins (11) and retrieving loaded goods (6) from the bins (11) by means of the stacker cranes (10; 10 '; RE) are delivered where the loads (6) are buffered until they are taken over by the load lifting device (37a, 37b) and by means of the transport device (41a, 41b) Height conveyor technology (5) are moved, and in the automatic mode of a load handling unit (2; 36; 54; 55) the supply control devices (45; 46; 56) receive input and / or output commands via a control line (44) at a control unit (39a; 39b) and correspondingly drive and drive (42a 42b) for the transport device (41a; 41b) and supply conveyor devices (45; 46; 56) for transferring goods (6) between the transport device (41a; 41b) and a supply conveyor device (45; 46; 56) to be transported in the respective shelf storage level (RE), characterized by the provision of the supply conveyor devices (45; 46; 56) which are arranged in the protective area (73); Switching the automatic mode into a safety mode for the load handling unit (2; 36; 54; 55), a) either when at the switching device (24; 25; 26) the access by an operator (23) to one of the storage areas (7 , 8, 9) and the operator (23) wishes to enter one of the storage areas (7, 8, 9), b) or if an access monitor (100, 101), in particular a sensor system (102, 103), Storage area (7, 8, 9) in the direction of the longitudinal extension of the rack aisle (3) before or after the load-lifting device (37a; 37b) the presence of an operator (23) has been detected, wherein in safety operation, the conveyor drives (42a, 42b ) for the supply conveyor devices (45; 46; 56), which are arranged in the protected area (73), are controlled in such a way that the supply conveyor devices (45; 46; 56) place them in a standstill which is not dangerous for the operator (23) until the control unit (39a, 39b) releases old signal (Sfh4).
    [20]
    20. The method according to claim 18 or 19, characterized in that in the safety mode after reaching standstill for the Bereitstellför¬dervorrichtungen (45; 46; 56), the power supply to the conveyor drives (42a, 42b) is interrupted.
    [21]
    21. Method according to one of claims 1 to 20, in which goods to be stored (6) are taken over by a conveyor system (4) onto the load-lifting device (37a, 37b) and are transported by means of the transport device (41a, 41b) at the level of a shelf level (RE ) as well as on the Regalebe¬nen (RE) arranged Bereitstellfördervorrichtungen (45; 46; 56) wer¬den where the loads (6) are buffered until the Regalbedi¬engeräte (10; 10 '; 10 ") the goods to be stored (6) from the Bereitstellför¬dervorrichtungen (45; 46; 56) pick up and put down on the storage bins (11), and outsourced load (6) by means of the stacker cranes (10; 10 ', 10 ") from the storage bins ( 11) and are disposed of in the racking levels (RE) Bereit¬stellfördervorrichtungen (45; 46; 56) are delivered where the loads (6) are buffered until they are taken over by the load-lifting device (37a, 37b) and by means of the transport device (41a, 41b) are moved at the level of a conveyor system (5), and in automatic mode a load handling unit (2; 36; 54; 55) the supply control devices (45; 46; 56) receive input and / or output commands via a control line (44) at a control unit (39a; 39b) and correspondingly drive and drive (42a 42b) for the transport device (41a, 41b) and supply conveyor devices (45; 46; 56) for storing goods (6) between the transport device (41a, 41b) and a ready-to-feed device (45; 46; 56 ) in the respective shelf storage level (RE), characterized by the provision of the supply conveyor devices (45; 46; 56) which are arranged in the protective area (73); Activating an access monitor (116; 117), in particular a sensor system (118), on the supply conveyor devices (45; 46; 56) at least in that storage area (7, 8, 9) into which the operator (23) enters; Monitoring access by an operator (23) to a buffer area of the supply conveyors (45; 46; 56) by means of the access monitor (116; 117); Emergency shutdown of the transport device (41 a, 41 b), when at a control unit (39 a, 39 b) of the load-lifting device (37 a, 37 b) enters a state signals, which is triggered, if the access control (116; 117), in particular the Sensor (118), the access of the operator (23) to the buffer area of the supply conveyor devices (45; 46; 56) is detected.
    [22]
    22. Method according to one of claims 1 to 9, wherein in the automatic operation of a load-handling unit (2; 36; 54; 55) the load-lifting device (37a; 37b) is connected via a control line (44) to a control unit (39a 39b) receives input and / or retrieval commands and controls a lifting drive (40a, 40b) and a conveyor drive (422a, 42b) for the transport device (41a, 41b) in accordance with these input and / or retrieval commands in order to load goods (6) between them ¬ transporting a conveyor level (FE) and a respective shelf storage level (RE), characterized by unlocking that access (19, 20, 21), which is associated with the storage area (7, 8, 9), in which the operator (23) after the confirmation signal (Srei rbpi) has been triggered by those storage and retrieval units (10; 10 '; 10 ") which have been moved in the protected area (73), activating an access monitor (100; 101), in particular a sensor system (102; 103) , which in the storage area (7, 8 , 9) in the direction of the longitudinal extent of the rack aisle (3) before and / or after the load-lifting device (37a; 37b) is arranged; Monitoring an access of an operator (23) to the storage area (7, 8, 9) by means of access control (100, 101); Switching from automatic mode to a safety mode for the load handling unit (2; 36; 54; 55) when a status signal which is triggered, if triggered by the access control, is received at a control unit (39a; 39b) of the load lifting device (37a; 37b) (100; 101) the access of the operator (23) to the storage area (7, 8, 9) is detected, whereby in safety operation the lifting drive (40a; 40b) and / or conveyor drive (87a; 87b) of the transport device (41a; 41b ) and placed in a safe for the Bedienper¬son (23) safe or idle state, until the control unit (39a; 39b) receives an enable signal (SFh4).
    [23]
    23. The method according to claim 22, characterized by activating a condition monitoring (107), in particular a sensor (108); Monitoring the presence of an operator (23) in the region of the cargo-lifting device (37a, 37b) by means of the condition monitoring (107); Switching from automatic mode to a safety mode for the load handling unit (2; 36; 54; 55) when the conditioner signal (37a; 37b) is triggered on the control unit (39a; 39b) of the load lifting device (37a; 107) detects the presence of an operator (23) in the area of the load-lifting device (37a; 37b), wherein in the safety mode the lifting drive (40a; 40b) and / or conveyor drive (42a; 42b) of the transport device (41a; 41b) are switched off and into one for the operator safe or motionless idle state are offset until the control unit (39a, 39b) receives a release signal (Sffm).
    [24]
    24. Method according to one of claims 1 to 23, in which goods to be stored (6) are taken over by a conveyor system (4) onto the load-lifting device (37a, 37b) and at the level of a rack level (RE ) are placed on the Regalebe¬nen arranged Bereitstellfördervorrichtungen (45; 46; 56) are delivered where the loads (6) are buffered until the shelf Bed iengerä te (10; 10 '; 10 ") the stored goods to be stored (6) pick up from the Bereitstellfördervorrich¬ tungen (45; 46; 56) and park on the storage bins (11), and outsourced goods to be retrieved (6) by means of the stacker cranes (10; 10 '; 10 ") from the storage bins (11) and on supply shelves (45; 46; 56) arranged in the shelves, where the loads (6) are buffered until they are taken over by the load-lifting device (37a; 37b) and by means of the transport device (41a; 41b). au f height of a För¬dertechnik (5) are moved, and in the automatic mode of a load-handling unit (2; 36; 54; 55), the supply control devices (45, 46, 56) receive, via a control line (51) at a control unit (49a, 49b, 50a, 50b), input and / or retrieval commands and correspond to these input and / or output commands Outfeed commands conveyor drives (47a; 47b; 48a; 48b) for the transport device (41a; 41b) and supply conveyor devices (45; 46; 56) to move loads (6) between the transport device (41a; 41b) and a supply conveyor device (45; 46; 56) in the shelf storage level (RE) concerned, characterized by unlocking that access (19, 20, 21) associated with the storage area (7, 8, 9) in which the operator wishes to enter, after the confirmation signal from those Stacker cranes (10, 10 ', 10 ") was triggered, which were moved in the protection area (73); Activating an access monitor (100; 101), in particular a sensor system (102; 103), in the storage area (7, 8, 9) in the direction of the longitudinal extent of the rack aisle (3) before and / or after the load lifting device (37a; 37b); Monitoring an access of an operator (23) to the storage area (7, 8, 9) by means of access control (100, 101); Switching from automatic mode to a secure operation for the load manipulation unit (2; 36; 54; 55) when, at a control unit (49a; 49b; 50a; 50b), the supply conveyors (45; 46; 56) enter a condition signal which is triggered; if the access control (100; 101) detects the access of the operator (23) to the storage area (7, 8, 9), whereby in safety operation the conveyor drives (47a; 47b; 48a; 48b) of the delivery conveyor devices (45; 46; 56) , which are arranged in the protected area (73), switched off and in a for the operator sicherahrlosenbzw. motionless idle state until the control unit (49a; 49b; 50a; 50b) receives an enable signal (SFbv).
    [25]
    25. The method according to any one of claims 10 to 24, characterized by attaching a first input device (112) in the respective storage area (7, 8, 9) in the direction of the longitudinal extension of the rack aisle (3) in front of a first boundary surface (114) of a danger area (111) and / or a second input device (113) in the respective storage area (7, 8, 9) in the direction of the longitudinal extension of the rack aisle (3) to a second interface (115) of the danger zone (111), wherein the danger zone (111) based the load-lifting device (37a; 37b) and / or Bereitstellfördervorrich¬tung (45; 46; 56) outgoing endangerment for an operator (23) when it in the storage area (7, 8, 9) access, is defined, and pressing the Input device (112, 113) by the operator (23) after it has left the danger zone (111), and generating a first enable signal, by means of which the transport device (41a, 41b) reverts from the safety mode it is switched to automatic mode; Generation of a second release signal, by means of which those Bereitstell¬fördervorrichtungen (45; 46; 56), which were turned off in the protected area (73), or those Bereitigungsfördervorrichtungen (45; 46; 56), which were switched off in Ge¬fahren area (111) out the safety mode can be switched back to automatic mode.
    [26]
    26. Automated racking system with storage racks (1), which in superimposed rack levels storage bins (11) for loads (6), and a conveyor system (4, 5) for transporting cargo (6) and Abtrans¬port (6) of Loading goods (6), and a rack aisle (3) formed between the storage racks (1), and storage areas (7, 8, 9), and storage and retrieval devices (10; 10 '; 10 ") for storing the loads (6) in the storage places (11) or removal of the load (6) from the storage bins (11), which in each case have a control unit (64), a travel drive (59) and a load receiving device (17) and can be moved along guide rails in order to transport the goods (6 ) to the storage bins (11) or to unload goods (6) from the bins (11), and a lockable access door (19, 20, 21) per storage area (7, 8, 9), and a switching device (24, 25, 26), by means of which between a Automatikbe¬trieb and a Sich In the automatic mode, the shelf control devices (10; 10 '; 10 ") via a control line (76) each to the control unit (64) receive drive and bearing commands and according to die¬ser drive and bearing commands of the drive (59) and the load receiving device (17) are driven, and wherein in the safety mode some of Regalbedi¬ Devices (10, 10 ', 10 ") via the control line (76) on the control unit (64) again receive driving and / or bearing commands and according to these driving and / or bearing commands of the drive (59) and / or the Lastaufnahmevor¬ direction (17), while at least one other of the storage and retrieval devices (10; 10 '; 10 ") continues to operate in automatic mode, and a control device (28) which communicates with the control units (64) via the control line (76) Stacker cranes (10, 10 ', 10 ") and the Schaltvorrich¬ tung (24, 25, 26) communicates, characterized in that a rack aisle (3) a plurality of superposed and by walkways (15) separated from each other Storage areas (7, 8, 9) is formed, each Lagerbe¬reich (7, 8, 9) one or more storage and retrieval units (10; 10 '; 10 ") for storing the load (6) on the storage bins (11) or removal of loads (6) from the storage bins (11) and a lockable access door (19, 20, 21) for access in the respective storage area (7, 8, 9 ), and in that the control device (28) is connected to switching modules (69; 69 '; 69 ") and a means (70) for the selective and parallel (simultaneous) connection of one of the switching modules (69; 69 "), wherein the number of selectively and parallel (simultaneously) switched on switching modules (69; 69 '; 69") based on a spatial access area (72) for the operator (23) either exclusively within a storage area (7, 8, 9), in which the operator (23) enters, or within a storage area (7, 8, 9) and of this on ei¬nen above and / or below storage area (7, 8, 9) is defined, wherein the access area (72) specifies a spatial protection area (73), and the control device (28) is adapted to: those storage and retrieval units (10; 10 '; 10 ") to determine which would move or move in the protective area (73) and to generate driving and / or storage commands in the safety mode, by means of which those storage and retrieval units (10, 10 ', 10 ") which would move or move in the protected area (73) are moved to a holding position in which the respective storage and retrieval unit (10; 10 '; 10 ") remains as long as and in a Ru for the operator (23) without risk or motionless ¬hezustand is offset until the control unit (64) receives a release signal (Sfrb4).
    [27]
    27 shelf storage system according to claim 26, characterized in that each storage area (7, 8, 9) in superimposed driving levels at least two independently controlled stacker cranes (10; 10 ', 10 ") for storing the load (6) on the storage bins (11). or storage of loading goods (6) from the storage spaces (11) are assigned, and that the control device (28) is adapted to: - those storage and retrieval devices (10; 10 '; 10 ") per storage area (7, 8, 9 ), which would move or move in the protected area (73), and to generate driving and / or storage commands in the safety mode, by means of which those storage and retrieval devices (10, 10 ') in the storage areas (7, 8, 9 ), which would move or move in the protected area (73), are moved into a holding position, in which the respective storage and retrieval unit (10, 10 ', 10 ") remains stationary and further into a position safe for the operator (23). motionless idle state is offset until the control unit (64) receives a release signal (SFrb4).
    [28]
    28 shelf storage system according to claim 26 or 27, characterized gekennzeich¬ net, that - the control unit (64) of each storage and retrieval device (10; 10 ', 10 ") comprises a Steuerlo¬gik which is set up a confirmation signal (SRBi..RBn) when the relevant storage and retrieval unit (10; 10 '; 10 ") has reached the holding position, or a time period predefined by a control device (28) within which the respective storage and retrieval unit (10; 10'; Is reached, and the control line (76) is designed to transmit the confirmation signals (SRBi.RBn) to the control device (28), and the control device (28) comprises an evaluation unit (35) which is set up, a switching signal ( Sui.un) when the acknowledgment signal (SRBi.RBn) has been received at and evaluated by the control device (28), and the means (70) are adapted to provide some switching modules (69; 69 '; 69 ") of a number of switching modules (69; 69 '; 69 ") on the basis of the switching signals (Sui un), wherein those switching modules (69; 69 '; 69") are actuated, which are associated with the stacker cranes (10; 10'; 10 "), which in the holding position the confirmation signals (69; SRBi.RBn) have transmitted to the control device (28), and - the control unit (64) of each storage and retrieval device (10; 10 '; 10 ") comprises a Steuerlo¬gik which is set up, a feedback signal (Srmi.riwi) per shelf To generate a control unit (10; 10 '; 10 ") when the respective rack control device (10; 10'; 10") is in a restless or motionless resting state for the operator (23), in which by operating the The drive motor (60) for the traction drive (59) and the drive motor (63) for the load receiving device (17) of the shelf control units (10, 10 ', 10 "), which are in the holding position, are supplied with the Gefah¬renbetriebsspannung, and Ste Transmission (76) for transmitting the feedback signals (Srmi..rmii) andie control device (28) is formed.
    [29]
    29. shelf storage system according to one of claims 26 to 28, characterized ge indicates that the control device (28) comprises an evaluation unit (35), which is executed, a release signal (SFrb3) for the output of the Eingangsmel¬dung to the switching device (24, 25, 26) when the Rückmel¬designal (SRMi.RMn) on the control device (28) was received and evaluated by this, and the switching device (24, 25, 26) comprises a switching means (27), by means wel¬chem can be manually switched over between the automatic mode and the safety mode, and an output means (29), on which an access message for the danger-free access of the operating person (23) to the storage area (7, 13) is based on the release signal (Sfrb3). 8, 9) is signaled.
    [30]
    30. rack storage system according to one of claims 26 to 29, characterized ge indicates that the control device (28) an evaluation unit (35) um¬fasst, which is arranged, a first release signal (Sfrbi) for unlocking the access (19, 20 , 21) when the acknowledgment signal (SRBi.RBn) is received at and evaluated by the control device (28), and to generate a second enable signal (SFrb2) for unlocking the access (19, 20, 21) when the feedback signal (SRMi.RMn) has been received at and evaluated by the control device (28), and that an electromechanical locking unit (33) is provided for locking and unlocking the access door (19, 20, 21) associated with the Control device (28) is connected and receives from this the first enable signal (Sfrbi) andsecond enable signal (Sfrb2) to entrie¬geln the access door (19, 20, 21).
    [31]
    31. shelf storage system according to one of claims 26 to 30, gekennzeich¬ by a load-handling unit (2; 36; 54; 55), which at least one load-lifting device (37a, 37b) with a liftable and lowerable transport device (41a 41 b) for the transport of the load (6), and that the load-handling unit (2; 36; 54; 55) at least in the area of the load-lifting device (37a; - and lowerable transport device (41a, 41b) for the load (6) opposite the rack aisle (3) delimiting, first physical access barrier (82), in particular a protective grid, wherein the physical Durchgriffsbarri¬ere (82) parallel to the direction of the lane and between the sidewalks (15), insbeson¬dere substantially over the entire height of the respective storage area (7, 8,9) extends.
    [32]
    32. Shelf storage system according to one of claims 26 to 31, characterized by a load-handling unit (2; 36; 54; 55) which has a load-lifting device (37a; 37b) with a lifting and lowering transport device (41a; 41b). for transporting the load (6), and a buffering device (38a, 38b) towards the rack aisle (3) on either side of the load lifting device (37a, 37b) or on both sides of the load lifting device (37a, 37b) and in at least some of the Regalebe¬nen (RE) arranged Bereitstellfördervorrichtungen (45; 46; 56) for Zwi¬schenpuffern one or more loads (6), and in the region of the buffer device (38a: 38b) a movement space derheb- and lowerable transport device (41a, 41b) for the loads (6) opposite the rack aisle (3) delimiting, second physical Durchgriffsbarrie (86), in particular a protective lock (87), wherein the physical passage barrier (85) is a substantially senkrech t to Gassenlängsrich¬tung between a first operating position, in which the movement space opposite the rack aisle (3) is accessible, and a second Betriebsstel¬lung, in which the movement space against the rack aisle (3) is abgesch¬schottet, adjustable protective lock (86) whose actuator is connected to the control device (28), wherein the control device (28) has a switching module (87) which is set up to control the safety lock (87) from the first operating position to the second operating position by switching to safety mode.
    [33]
    33. Shelf storage system according to claim 26, 31 or 32, characterized by a load manipulation unit (2; 36; 54; 55), which the load-lifting device (37a; 37b) with a liftable and lowerable transport device (41a, 41b) for the loading goods (6), and the buffer device (38a, 38b) with in the direction of the rack aisle (3) on ei¬ner the sides of the load-lifting device (37a, 37b) or on both sides of the load-lifting device (37a; 37b) and in at least some of the shelf levels arranged supply conveyor means (45; 46; 56) for the intermediate buffering of one or more loads (6), and - in the region of the load lifting device (37a; 37b) and buffer device (38a; 38b) per storage area (7 , 8, 9) has a movement space of the liftable and lowerable transport device (41a, 41b) and movement space for the cargo (6) on the buffer device (38a, 38b) opposite the Re¬galgasse (3) hedging and monitoring this area Durch¬griffsschutz (109), wherein the penetration protection (109) has optoelectronic sensors or ultrasound sensors and a monitoring plane extends substantially in a vertical plane and parallel to the rack aisle (3).
    [34]
    34. Shelf storage system according to claim 26, characterized in that a load-lifting device (37a, 37b) with a lifting and lowering transport device (41a, 41b) for the load (6) arranged laterally next to the rack aisle (3) and depending Storage area (7, 8, 9) in the direction of the longitudinal extent of the rack aisle (3) in front of the load-lifting device (37a; 37b) a first access control (100), in particular first sensor (102) is provided, which generates a signal when the access monitor (100) detects the presence of an operator (23) in the storage area (7, 8, 9) near the load-lifting device (37a; 37b), and in that the control device (28) is provided with a control unit (39a; 39b). the load-lifting device (37a; 37b) is connected and has a switching module (104; 105) which is adapted to control the transport device (41a; 41b) in accordance with the detection signal for the transport of the goods (6).
    [35]
    35. Shelf storage system according to claim 26 or 34, characterized gekennzeich¬net that a load-lifting device (37a, 37b) with a liftable and lowerable transport device (41a; 41b) for the load (6) laterally next to the Regalgas¬se (3) arranged and per storage area (7, 8, 9) in the direction of the longitudinal extent of the rack aisle (3) after the load-lifting device (37a; 37b) a second Zu¬trittsüberwachung (101), in particular second sensor (103) is provided which wel¬che generates a signal when the access monitor (101) detects the presence of an operator (23) in the storage area (7, 8, 9) near the load-lifting device (37a; 37b), and that the control device (28) is equipped with a control unit (28). 39a, 39b) of the load-lifting device (37a, 37b) is connected and has a switching module (104, 105) which is arranged to move the transporting devices (41a, 41b) in accordance with the detection signal ) head for.
    [36]
    36. Shelf storage system according to claim 34 or 35, characterized gekennzeich¬net that the first sensor (102) and second sensors (103) are each formed by, a radiation field or sound wave field generating sensors, each storage area (7, 8, 9) the radiation field or Sound wave field extends substantially in a vertical plane and extends substantially between the storage shelves (1) in the alley light and between the sidewalks (16) in the lane height.
    [37]
    37. Shelf storage system according to one of claims 26 to 36, characterized in that the load-lifting device (37a, 37b) with a lifting and lowering transport device (41a, 41b) for the load (6) laterally next to the aisle (3) in the region of the load-lifting device (37a, 37b) a condition monitor (107), in particular a third sensor (108) is provided for each storage area (7, 8, 9) in the rack aisle (3), which generates a signal when from the Condition monitoring (107) the presence of an operator in the storage area (7, 8, 9) near the load-lifting device (37a; 37b) is detected, and that the control device (28) with a control unit (39a, 39b) of the load Lifting device (37a, 37b) is connected and has a switching module (104, 105), which is adapted to control in dependence on the Erfas¬sungssignal the transport device (41a, 41b) for the transport of the load (6).
    [38]
    38. Shelf storage system according to claim 26, characterized in that the storage shelves (1) are each in the transition region between superimposed storage areas (7, 8, 9) with a physical penetration barrier (119), in particular a security grid, equipped, which Access of an operator (23) from one storage area (7, 8, 9) to the other storage area (7, 8, 9) prevents the access area (72) substantially between the trays (15) and the physical access barrier (119 ) is defined.
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    同族专利:
    公开号 | 公开日
    AT516231B1|2016-09-15|
    DE112015004070A5|2017-06-14|
    EP3505466B1|2020-12-09|
    EP3188987B1|2020-12-02|
    WO2016033628A1|2016-03-10|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50614/2014A|AT516231B1|2014-09-05|2014-09-05|Automated shelf storage system and method for safely operating the same|ATA50614/2014A| AT516231B1|2014-09-05|2014-09-05|Automated shelf storage system and method for safely operating the same|
    EP15781846.9A| EP3188987B1|2014-09-05|2015-09-03|Automated rack storage system and method for safely operating it|
    PCT/AT2015/050211| WO2016033628A1|2014-09-05|2015-09-03|Automated rack storage system and method for safely operating it|
    DE112015004070.6T| DE112015004070A5|2014-09-05|2015-09-03|AUTOMATED SHELVING SYSTEM AND METHOD FOR SAFE OPERATION THEREOF|
    EP18203839.8A| EP3505466B1|2014-09-05|2015-09-03|Automated shelf storage system and method for reliably operating the same|
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