AU2016205996B2

AU2016205996B2 - Order-picking apparatus and method for retrieving articles using the order-picking apparatus

Info

Publication number: AU2016205996B2
Application number: AU2016205996A
Authority: AU
Inventors: Christoph Hellenbrand
Original assignee: Becton Dickinson Rowa Germany GmbH
Current assignee: Becton Dickinson Rowa Germany GmbH
Priority date: 2015-01-09
Filing date: 2016-01-07
Publication date: 2020-05-21
Anticipated expiration: 2036-01-07
Also published as: BR112017011647A2; EP3042866A1; PT3042866T; BR112017011647B1; CA2985668A1; WO2016110528A1; ES2662053T3; JP7143383B2; AU2016205996A1; CN107207157A; MX369420B; JP2021011388A; JP2018501168A; CN107207157B; EP3042866B1; MX2017008951A; KR102436228B1; KR20170102466A; DK3042866T3; CA2985668C

Abstract

The invention relates to an order-picking apparatus having storage shafts for articles, and to a method for retrieving articles. Known order-picking apparatuses have the problem of it not being possible to store articles which are incompatible with the storage shafts. The order-picking apparatus according to the invention comprises a first row of racks (10), which have horizontal shelves (11), and at least one second row of racks (20), which have a plurality of shelves (21) which are arranged one above the other and have a plurality of storage shafts (22), also comprises an aisle (30), which is formed between the first and the second rows of racks (10, 20) and in which a storage-and-retrieval unit can be displaced, and further comprises a storage device (60, 61), a retrieval device (70) and an auxiliary retrieval device (80). The storage-and-retrieval unit (40) comprises a gripping apparatus (50) for storing articles on the horizontal shelves (11), and/or retrieving them therefrom, and introducing them into the storage shafts (22, 22'), wherein a control device (90), which is coupled to the storage-and-retrieval unit (40), can be activated in order for identical articles located one behind the other to be retrieved from the horizontal shelves (11), and for these articles to be stored in the storage shafts (22), and in order for one or more articles arranged on the horizontal shelves (11) to be retrieved, and for these articles to be transferred to the auxiliary retrieval device (80).

Description

Commissioning device and process for outputting piece goods using the commissioning device

The present invention relates to a commissioning device for piece goods, in particular medicinal packages, and a process for outputting piece goods using the commissioning device according to the invention.

Automated commissioning equipment is used frequently in pharmacies in order to store medicinal packages in a way that saves space. In known commissioning devices applicable to pharmacies, the medicinal packages are stored chaotically; in other words the medicinal packages are not stored in predetermined storage spaces in the device, but rather in storage spaces with just the right amount of space. Excess empty volume can be avoided this way and the number of stored medicinal packages per m' of surface area can be considerably increased. The commissioning devices that operate according to this system include a complex storage system that assigns storage spaces optimally. However, commissioning devices that operate in this manner are unsuitable for medicine distribution centers or large pharmacies that have a very high output frequency (in other words medicinal packages per unit of time) since the chaotically stored medicinal packages can't be output fast enough.

Therefore, when there are very high output frequencies, the commissioning systems that are used are those with socalled shaft systems in which the medicines are selectively stored. Each storage shaft has a gate at the lower end thereof controllable by an operating unit, the gate allowing one or more medicinal package to be discharged from the storage shaft. The number of different medicines that can be stored using a commissioning device with selective storage shafts corresponds at most to the number of selective storage shafts. An example of such a commissioning device is disclosed in DE 198 15 883 Al.

However, the disadvantage to commissioning devices that use storage shafts is that medicinal packages cannot be stored in them if the packages cannot be stored in a shaft, for

2016205996 17 Apr 2020 example packages of a special shape or that need to be cooled, or those that are not dispensed very often such that storage in a selective shaft would not make sense.

Any discussion of documents, acts, materials, devices, articles or the like which has been included in the present specification is not to be taken as an admission that any or all of these matters form part of the prior art base or were common general knowledge in the field relevant to the present disclosure as it existed before the priority date of each of the appended claims.

Throughout this specification the word comprise, or variations such as comprises or comprising, will be understood to imply the inclusion of a stated element, integer or step, or group of elements, integers or steps, but not the exclusion of any other element, integer or step, or group of elements, integers or steps.

The present disclosure may provide a commissioning device that uses storage shafts with enhanced storage capacity for the medicinal packages to be stored in the storage shafts and can also store and output medicinal packages that are not compatible with storage shafts or that have a much lower output frequency than that of medicinal packages stored in the storage shafts.

In one aspect there is disclosed a commissioning device for piece goods, comprising at least one first shelf row with at least one first shelf comprising a plurality of shelf surfaces disposed one above the other, each of which extends in a horizontal plane, at least one second shelf row with at least one second shelf comprising a plurality of shelf surfaces disposed one above the other, each of which extends in a horizontal plane, a lane formed between the first and the second shelf rows in which an operating unit can travel horizontally and vertically, at least one input device for moving piece goods into the commissioning device and from which the operating unit can remove piece goods, at least one output device for outputting piece goods from the second shelf row and at least one

2016205996 17 Apr 2020 auxiliary output device for outputting piece goods held by the operating unit along an auxiliary output path, wherein a plurality of parallel storage shafts is formed on each shelf surface of the second shelf row, each of the storage shafts comprising a gate at the shaft end, the gate holding and releasing piece goods lying in the storage shaft, the piece goods able to be output from said shafts along a main output path by way of the output device, wherein the operating unit comprises a gripping device for inputting and/or outputting piece goods onto or from the horizontal shelf surfaces and for filling the goods into the storage shafts, and a control unit coupled to the operating unit, the control unit controlling the operating unit for inputting and outputting piece goods, wherein the control unit is designed such that the operating unit is controllable for removing one or more piece good(s) arranged on the horizontal shelf surfaces and passing these piece goods to an auxiliary output device, characterized in that the control unit is furthermore designed such that the operating unit is controllable for removing identical piece goods that lie in a row from the horizontal shelf surfaces and placing these piece goods into the storage shafts and for outputting one or more piece goods located on the horizontal shelf surfaces and transferring these piece goods to the auxiliary output device.

The commissioning device according to the invention comprises at least a first shelf row with at least a first shelf, the shelf having a plurality of shelf surfaces disposed one above the other, each of said self surfaces extending in the horizontal plane, and at least a second shelf row with at least a second shelf, the second shelf having a plurality of shelf surfaces disposed one above the other, each of said second shelf surfaces extending in an inclined plane. When the commissioning device comprises a plurality of shelves per shelf row, all of the shelves can be designed to be identical, but it is also possible for different shelves with shelf

2A

2016205996 17 Apr 2020 surfaces separated by different distances to be installed, for example .

A lane is formed between the first and the second shelf rows, with a horizontally and vertically movable operating unit being disposed in the lane at a corresponding guide means. The lane is defined by the ends (loading edges) of the shelf surfaces, said ends normally located in a vertical plane for each shelf row such that the planes of opposing shelf rows run parallel to one another.

The commissioning device according to the invention further comprises at least one input device for moving piece goods into the commissioning device, the operating unit able to remove piece goods from the input device, at least one output device that is able to output piece goods from the second shelf row, among others, and at least one auxiliary output device that is able to output along an auxiliary output path piece goods that were taken up by operating unit, wherein a plurality of parallel storage shafts are formed on each

2B shelf surface of the second shelf row, each of the storage shafts having at its respective end a gate for holding and releasing piece goods lying in the storage shaft, and from said shafts piece goods can be output along a main output path by way of the output device.

The operating unit of the commissioning device according to the invention comprises a gripping device for inputting and/or outputting piece goods onto or from the horizontal shelf surfaces and for filling piece goods into the storage shafts or routing the goods onto the auxiliary output device, as well as a controller coupled to the operating unit, the controller controlling the operating unit in inputting and outputting the piece goods. According to the invention, the control unit is designed such that the operating unit is controllable for the purposes of outputting from the horizontal shelf surfaces identical piece goods that lie in a row and for inputting the piece goods into the inclined storage shafts, and for outputting one or more piece goods located on the horizontal shelf surfaces and transferring these piece goods to the auxiliary output device.

Thus, in the commissioning device according to the invention two kinds of storage spaces are combined; the storage shafts of the second storage shelf row and the horizontal shelf surfaces of the first shelf row. Medicinal packages with a high output frequency are stored by type in the storage shafts. An excess supply of medicinal packages to be stored in the storage shafts can be placed on the horizontal shelf surfaces (in other words an amount in addition to the piece goods located in the storage shafts), or medicinal packages that cannot be stored in storage shafts or that cannot be output thereby can be placed on the horizontal shelf surfaces. Furthermore, medicinal packages that can be located or stored on the horizontal shelf surfaces are those whose output frequency is too low to be stored in the storage shafts, whose weight is too much or for which there is no storage shaft available based on dimensions.

The piece goods with high output frequency are output by way of the storage shafts. However, to make it possible to output piece goods that cannot be output by way of storage shafts or goods that are not stored in an inclined shaft due to a low output frequency, the device according to the invention comprises an auxiliary output device to which said piece goods can be fed using the operating unit. The piece goods are then moved out of the commissioning device along an auxiliary output path by way of this auxiliary output device.

The commissioning device according to the invention thus makes it possible to store and output piece goods (medicinal packages) with a high output frequency (in storage shafts) as well as piece goods with a low output frequency or goods that cannot be output using the inclined storage shafts together in a single commissioning device without reducing the output rate of the commissioning device. Piece goods with a high output frequency can be output using the storage shafts, each of which is provided with a gate; in parallel with this, the piece goods stored on the horizontal shelf surfaces can be output by way of the auxiliary output device using the operating unit.

Piece goods that are stored in the shafts (and if necessary on the horizontal shelf surfaces as excess supply) are called shaft goods here. Piece goods that are stored on a horizontal shelf surface because of the conditions mentioned above are called shelf goods. The present invention is described primarily in connection with medicinal packages. However, other kinds of piece goods can be processed using the commissioning device according to the invention.

The piece goods are output from the storage shafts by releasing the gate and moving the piece goods out of the shaft using an appropriate device associated with the storage shaft (when the shaft is horizontal, for example).

In a preferred embodiment of the commissioning device, the shelf surfaces of the second shelf row are designed at an incline downward away from the lane, in other words the storage shafts are designed as inclined storage shafts. This makes it possible to output the piece goods by simply opening the gate associated with a storage shaft. The piece good drops out of the storage shaft and onto the output device by gravity due to the incline of the storage shaft. In other embodiments, the second shelf row can combine shelves with horizontal shelf surfaces and shelves with inclined shelf surfaces.

As noted already, a lane is formed between the first and the second shelf rows, with the operating unit being movable therein horizontally and vertically on a corresponding guide. In order to move piece goods easily and quickly from the horizontal shelf surfaces to the (inclined) storage shafts, that is to move piece goods from the excess supply to the storage locations from which they are ultimately output, a preferred embodiment provides that the gripping device of the operating unit has a horizontal holding surface with opposing loading edges, a gripper for inputting and outputting the piece goods onto and from the horizontal shelf surfaces and a pushing device for pushing piece goods onto the holding surface, wherein a transport path is formed for piece goods between the loading edges, and wherein the holding surface extends over the entire width of the lane so that the loading edges of the holding surface align with loading edges of the horizontal shelf surfaces or shafts such that piece goods can be moved onto or from the horizontal shelf surfaces or from the holding surface into the shafts without moving the holding surface. This is achieved by aligning the width of the holding surface with the width of the lane, in other words keeping the distance between the loading edges of the holding surface and the ends / loading edges of the shelf rows small enough that no piece goods can get wedged in the gap between the loading edges, but not so small that the operating unit cannot freely move in the lane (keeping in mind that some shelf surfaces can extend slightly wider into the lane than others).

Thus, in the embodiment according to the invention it is not necessary for the gripping device to be pivoted about a horizontal pivoting axis after the piece goods are moved to the holding surface in order to feed the piece goods to the storage shafts over the same loading edge. The embodiment according to the invention allows the piece goods to be moved to the shafts using the pushing device after the goods are moved to the holding surface by way of the gripper; to this end, a transport path is provided according to the invention between the loading edges of the holding surface. The embodiment according to the invention thereby makes it possible for piece goods to be fed from the horizontal shelf surfaces to the storage shafts or to the auxiliary output device very quickly.

Occasionally, it could be desirable to transfer piece goods stored on the horizontal shelf surfaces as excess supply for piece goods stored in the storage shafts, for example in order to move the goods closer to the storage shaft through which they are ultimately output. To support the movement of piece goods from the holding surface to the horizontal shelf surfaces, a preferred embodiment provides that the pushing device comprise two pushing means for moving piece goods from the holding surface in opposite directions, i.e. in one case to the storage shafts and in the other case onto the horizontal shelf surfaces.

In one embodiment with a particularly simple construction, the pushing means of the gripping device can be moved in a notch of the holding surface and beneath the notch. In this preferred embodiment, the pushing means are disposed and movable at a point on the gripping device which is otherwise free of other components. The gripper is normally located at the side surfaces of the holding surface (if the gripper is a jaw-type gripper) so that a good distribution of individual components of the gripping device is achieved by the embodiment according to the invention.

The pushing means are used to feed the piece goods located on the holding surface to the storage shafts and elsewhere. In inclined storage shafts, the piece goods slide down to the gate or to a piece good already located in the storage shaft by the force of gravity. In order to guarantee that the piece goods slide into the inclined storage shafts by the force of gravity, in particular in the case of very small an/or light piece goods, a preferred embodiment provides that a pushing means comprises a pushing finger that can be moved over a loading edge. This ensures that when moving a piece good from the holding surface to an inclined storage shaft, the center of gravity of the piece good is moved out over the loading edge so that the piece good slides down the inclined storage shaft.

To allow piece goods of different dimensions to be stored, a preferred embodiment provides that the inclined shelf surfaces of the second shelf row are configured such that storage shafts of different heights are formed.

Piece goods that are output using the auxiliary output device are those that can either not be output using an inclined storage shaft (for example because of shape) or whose output frequency is so low that storing in a storage shaft does not make sense. The auxiliary output device can be designed as a slide next to the second shelf row, for example. Piece goods can be led from the operating unit to the actual output device or out of the commissioning device. However, in order to keep the design complexity of the auxiliary output device as low as possible, in a preferred embodiment the auxiliary output device is formed on the shelf surface of the second shelf row. In this preferred embodiment, therefore, part of a shelf surface is not provided as a storage shaft, but rather the auxiliary output device is formed in this area. In this embodiment, the auxiliary output device is therefore not embodied by a stand-alone component, but by existing components. In this regard, in an especially preferred embodiment the auxiliary output device is designed as an inclined storage shaft without a gate.

The object of the present invention is further achieved by a process according to patent claim 10. According to the invention, in reaction to an output request (a request for outputting a certain number of piece goods), for one or more piece goods by the control unit of the commissioning device, a determination is made as to whether the at least one piece good to be output is a shaft good or a shelf good. The output request can be transmitted to the control unit over a path known to those trained in the art, for example through a cabled or wireless network connection.

After the determination is made as to whether the at least one piece good to be output is a shaft good or a shelf good, if it is a shelf good a number of piece goods corresponding to the output request is collected by the operating unit and transferred to the auxiliary output device. To this end, the corresponding number of piece goods is moved to the holding surface using the gripper of the operating unit, and then transferred to the auxiliary output device which outputs the piece goods, or the outputting can be by way of the actual output device of the commissioning device. Alternatively, the commissioning device can also be configured such that the auxiliary output device ends at a removal point, in other words the outputting is executed without any intermediate switching of the actual output device. Only one piece good or multiple piece goods (in this case shelf goods) can be output according to the output request, wherein the outputting can occur in succession or in parallel (if there are multiple operating units) depending on the precise configuration of the commissioning device. If there is only one operating unit, either each piece good is output individually or first all piece goods are moved to the holding surface (from different horizontal shelf surfaces if necessary), and then transferred together from the holding surface to the auxiliary output device .

If the piece goods to be output are shaft goods, in other words piece goods that are normally stored in the storage shafts, according to the invention a determination is first made as to whether a number of piece goods corresponding to the output request are stored in the storage shafts. If so, a number of piece goods corresponding to the output request are output onto the output device and therefrom out of the device by actuating the gate or the gates of the storage shaft or shafts in which the piece goods are stored, and if necessary by actuating a corresponding device for moving the piece goods out of the storage shaft.

For the case that a number of piece goods corresponding to the output request is not stored in the storage shafts, a plurality of piece goods stored on the horizontal shelf surfaces (goods from the excess supply) are grasped by the operating unit and a number of piece goods corresponding to the output request is output.

The plurality of piece goods can be precisely the number of piece goods requested, which are then output. However, more piece goods than the number requested can be removed from the excess supply. The requested piece goods are output, and the excess piece goods are moved to the storage shaft for subsequent output requests.

It can also be that the requested number of piece goods is only partially available in the storage shafts and in this case the portion of requested piece goods still available in the storage shafts can be output using the shafts, and the remaining portion can be removed and output from the horizontal shelf surfaces.

The piece goods not stored in the storage shafts are output by moving the operating unit to the auxiliary output device and transferring a number of piece goods corresponding to the output request to the auxiliary output device and outputting them.

Alternatively, the piece goods not stored in the storage shafts are output by moving the operating unit to a storage shaft, transferring all piece goods to the storage shaft and actuating the gate of the inclined storage shaft such that a number of piece goods corresponding to the output request onto the output device can be output (by the force of gravity for inclined storage shafts or using a corresponding device for horizontal storage shafts). It is further conceivable that if the number of piece goods stored in the storage shafts does not correspond to the output request, a plurality of piece goods corresponding to the output request is removed from the horizontal shelf surfaces (from the excess supply) using the operating unit, a number of piece goods corresponding to the output request are output (using the auxiliary output device or using the storage shafts) and the piece goods still located on the holding surface of the gripping device are moved to an inclined storage shaft. In this case, the requested piece goods are output for one thing, and in addition other piece goods are placed in an inclined storage location.

The input device is designed such that a plurality of identical piece goods can be arranged next to one another on the input device in order to fill the storage shafts, i.e. the input device is much wider than a normal piece good (5-8 times the width of a normal piece good). Alternatively, the piece goods can also be placed individually on the input device, particularly when shelf goods are to be input.

Below, the device and the process according to the invention are described in more detail with reference to the attached drawing, where:

Figure 1 shows a perspective view of a first embodiment of the commissioning device according to the invention;

Figure 2 shows a sectional view of the embodiment shown in Figure 1;

Figure 3 shows another perspective view of the embodiment;

Figure 4 shows a rear view of the embodiment;

Figure 5 shows a front view of the embodiment;

Figure 6 shows a side view of the embodiment;

Figure 7 shows a detailed view of the gripping device of the operating unit;

Figure 8 shows another detailed view of the gripping device;

Figure 9 shows a detailed view of lower areas of inclined storage shafts;

Figure 10 shows a perspective view of a second embodiment of the commissioning device according to the invention;

Figure 11 shows a detailed view of the second embodiment near the storage shafts; and

Figures 12a, 12b - 15a, 15b show schematic views of a commissioning device according to the invention, the views explaining various embodiments of the process according to the invention.

Figure 1 shows a perspective view of a commissioning device 1 according to the invention, wherein some unimportant elements of the commissioning device, such as most of the framework structure 2 and most of the exterior paneling 3, is left out. The commissioning device 1 comprises a first shelf row 10 with a plurality of shelves, each of which comprises a plurality of shelf surfaces 11 disposed one above the other that extend in a horizontal plane (wherein only one shelf surface 11 is indicated in Figure 1; other shelf surfaces are disposed above the shelf surface shown). The individual shelves of the first shelf row 10 are formed by shelf walls 12 and a plurality of shelf surfaces 11 as mentioned above. In the embodiment shown, all end edges (loading edges) of the shelf surfaces are located in a vertical plane, that is to say that all shelf surfaces extent equally far into the commissioning device.

The embodiment of the commissioning device shown in Figure 1 comprises two input devices 60, 61, which in this embodiment are designed as conveyor belts and which are integrated into the first shelf row, i.e. there are shelves provided above and below the two input devices 60, 61, the shelves comprising horizontal shelf surfaces 11. The input devices are disposed and dimensioned such that the the devices end flush with (because of the device widths) the vertical planes mentioned above. A corresponding arrangement of input devices and shelf surfaces makes it particularly easy to remove piece goods from the input devices and to place the piece goods onto the shelf surfaces .

Opposite the first shelf row 10 is a second shelf row 20 that comprises a plurality of shelves with inclined shelf surfaces 21, wherein in the embodiment shown only one inclined shelf surface 21 is shown for simplicity's sake. In the embodiment shown, the end edges (loading edges) of the inclined shelf surfaces that are turned into the commissioning device also end in a vertical plane, wherein this plane runs parallel to the plane defined by the end edges of the horizontal shelf surfaces.

A plurality of storage shafts 22 is formed on each shelf surface 21, each shaft having a gate 23 at the lower end 24 of the shaft (the gate being coupled to a control unit not shown in Figure 1) for holding and releasing piece goods lying in the storage shaft 22. Below the inclined shelf surface is an output device 70 onto which the piece goods located in the inclined storage shafts fall when the gates of the inclined storage shafts are actuated, and by way of which the requested piece goods are moved out of the commissioning device. In the embodiment shown in Figure 1, the output device 70 is also designed as a conveyor belt.

Between the first and the second shelf rows 10, 20 is a lane 30, the width of which is defined by the distance between the two vertical planes and into which an operating unit 40 can travel horizontally and vertically at a corresponding guide, wherein in Figure 1 the horizontal guide 41 of the operating unit 40 in particular can be seen.

The commissioning device 1 according to the invention further comprises an auxiliary output device 80 which allows for the outputting of piece goods, in particular those which are not stored in the inclined storage shafts since the goods are either not capable of being stored in the shafts, for example because of shape, or which are so seldom output that or requested that inputting these piece goods in the inclined storage shafts does not make sense because the shafts can be better occupied by frequently requested piece goods. The the embodiment shown, the auxiliary output device 80 is formed on an inclined shelf surface 21, in fact is designed as a storage shaft whose lower end has no gate. If a piece good is to be output by way of the auxiliary output device 80, the good is removed from a horizontal shelf surface 11 by the operating unit 40 (which is described in more detail below) and fed to the auxiliary output device 80, along which the piece good slides onto the output device 70. In alternative embodiments, the auxiliary output device can also be disposed next to the second shelf row as a stand-alone component, for example. This can be a necessity when piece goods that are stored and output by way of the auxiliary output device have dimensions that prevent the goods from being output between the inclined shelf surfaces due to the arrangement thereof.

Figure 2 shows a sectional view of the embodiment shown in Figure 1, in which the upper half of the commissioning device is left out. In this sectional view in particular, the arrangement of horizontal shelf surfaces 11 of the first shelf row can be seen. It is further clear that the ends of the horizontal shelf surfaces 11 and the sides of the output devices 60, 61 all lie in a plane. As can be seen in this view, each output device 60, 61 comprises an associated identification device 100 for determining data on the piece goods lying on the input device (dimensions of the piece goods, identification of piece goods, number of piece goods, etc.). It can also be seen that each input device 61, 60 comprises an outer area 62 that protrudes beyond the leading front of the commissioning device and on which the piece goods to be input are placed for inputting, wherein the normal process is such that a plurality of identical piece goods is placed. The identical piece goods are moved into the commissioning device using the input device; in the commissioning device, the goods are removed from the input device together by the operating unit if they are identical piece goods and are fed to an inclined storage shaft or a horizontal shelf storage 11.

In this figure, there are only a few piece goods shown as examples. There are a few shelf-type piece goods 7 arranged on the horizontal shelf surfaces; four shaft-type piece goods 6 are indicated on the upper input device. Here, it can be seen how the shaft goods in particular are advantageously placed on the input device, namely identical goods all in a row so that all four piece goods can be grasped by the operating unit and moved to the pre-determined inclined storage shaft at the same time .

Figure 3 shows an alternative perspective view of the embodiment already shown in Figure 1, with this view showing the commissioning device from another side. There are otherwise no difference between the views according to Figures 1 and 3 .

Figure 4 shows a rear view of the embodiment of the commissioning device according to the invention, with the inside of the commissioning device being visible with the exterior panels being left out. The two shelf rows 10, 20 can be seen disposed opposite one another, only one shelf surface 21 of the second shelf row 20 being shown for simplicity's sake. Formed between the first and the second shelf rows is the lane 30 in which the operating unit 40 can travel horizontally and vertically, wherein this figure shows the vertical guide 42 in particular for the operating unit. The operating unit 40 comprises among other things a gripping device 50 which is easily seen in the rear view. The gripping device completely traverses the lane 30, being thereby capable of traversing the distance between the first shelf row and the second shelf row (of course while ensuring freedom of motion in the lane). As can be easily seen in this representation, the inclined shelf surfaces 21 of the second shelf row 20 are inclined outward away from the lane to the output device 70. In this representation, it is also easily seen that access to both input devices 60 and 61 is possible using the gripping device 50. The horizontal shelf surfaces 11 and the input devices 60 and 61 extend up to the same vertical plane. The same applies to all of the inclined shelf surfaces 21.

Figure 5 shows a front view of the commissioning device according to the invention. As can be seen in this front view, both input devices 60, 61 are disposed below a display unit 110 one atop the other. A variety of kinds of information about the commissioning device can be displayed using the display unit 110, and the display unit 110 is coupled to an input device (no shown). Below the input devices 60, 61 is the control unit 90 which is covered by part of the panel 3 of the commissioning device. The control unit 90 is coupled to the input devices, the output device, the display unit and the operating unit 40, among other things.

A door opening 4 is provided in the front side of the commissioning device for entering the commissioning device in case of a disruption or for maintenance purposes. There is also another opening 5 provided in the front side off the commissioning device through which part of the output device 70 extends, in other words through which piece goods are moved out of the commissioning device.

Figure 6 shows a side view of the embodiment of the commissioning device according to the invention already shown in the previous figures. This representation also leaves out non-essential components. In the first shelf row shown in the back, there are two shelves disposed side by side in this representation, with horizontal shelf surfaces 11. It can be seen that the distance between the individual shelf surfaces can vary even within a shelf. It is also seen that both input devices 61, 60 and the output device 70 extend out beyond the front side of the device, ending in a removal area 71 and two holding areas 62, 63.

Figure 7 shows a detail view of the gripping device 50 of the operating unit 40 as well as the arrangement off the gripping device between the first (right) and the second (left) shelf row, the shelf surfaces 11, 21 of the shelf rows being visible. The gripping device 50 of the operating unit comprises a holding surface 51 that is in the form of a simple holding table in the embodiment shown. There are two loading edges 52, 53 disposed at opposite ends of the holding surface, the loading edges ending just prior to the end edges / loading edges of the respective shelf surfaces 11, 21 of the first and the second shelf rows, in other words lane 30 between the first and the second shelf row is almost completely traversed, but the freedom of motion of the operating unit in the lane is maintained. A corresponding configuration of the holding table and the holding surface makes it possible to remove piece goods from the horizontal shelf surfaces and to directly push these goods on or over the holding surface to an inclined shaft 22 without having to move the holding table or the gripping device to one of the shelf rows.

To remove and move the piece goods, the gripping device 50 comprises a gripper 54 that is designed as a jaw-type gripper with two gripping jaws 54a, 54b in the embodiment shown, wherein at least one of the two gripping jaws 54b of the gripper is pivotable in such a way that piece goods can be clamped between the gripping jaws 54a, 54b, and thereby pulled from a horizontal shelf surface 11 onto the holding surface 51 of the gripping device. To this end, the gripper is designed such that the gripping jaws can be pushed into a shelf, wherein the insertion depth into the shelf depends on how many piece goods are to be removed from the corresponding shelf surface .

In order to move the piece goods from the holding surface 51 to the inclined storage shafts 22, the gripping device 50 comprises a pushing device 55 in the embodiment shown. The pushing device comprises two pushers 55a, 55b that are movable in a notch 51a of the holding surface. Furthermore, the pushers 55a, 55b in the embodiment shown are disposed in such a way that they can be moved under the plane of the holding surface. As can be seen in pusher 55a, the pushers comprise a pushing finger 56a, 56b that can be moved over a respective loading edge. With reference to pushing finger 56a, which is associated with loading edge 52, this means that the pushing finger can be moved over loading edge 52. This is particularly important as the piece goods can be pushed onto the horizontal shelf surfaces in such a way that the goods do not protrude out over the front loading edge Ila of the horizontal shelf surfaces .

Concerning pusher 55b, which is associated with loading edge 53, which is in turn associated with the second shelf row, pushing finger 56b, which can be moved over loading edge 53, provides that piece goods lying on holding surface 51 can be pushed to a storage shaft in such a way that the center of gravity of a piece good is pushed over loading edge 21a of the inclined shelf surface 21 so that the piece goods are certain to slide by the force of gravity in the inclined storage shaft up to the gate (not shown in this representation) or up to a piece good that is already located in the storage shaft.

Figure 8 shows another detailed view of the gripping device 50 in which what is particularly recognizable is that the pushers 55a, 55b can move inside of a notch 51a in the holding surface 51. In this representation, it can also be seen that the pushing finger 56a of pusher 55a can move over loading edge 52.

In Figure 8, the gripping device 50 of the operating unit is arranged in such a way that piece goods can be removed from the input device 60. To do so, the pushers 55a, 55b must of course be moved under the plane of the holding surface. The arrangement and representation o the pushers in Figure 8 are for illustrative purposes only; the pushers are not so positioned while the commissioning device is operating.

Figure 9 shows a detailed view of a plurality of inclined storage shafts 22 formed on an inclined shelf surface 21. The individual storage shafts 22 are separated from one another by way of separating walls 25 that are disposed parallel to one another on the inclined shelf surface 21. At the lower end of each inclined storage shaft 22 is a gate 23 that permits individual piece goods to be output out of the inclined storage shaft. The piece goods output from the storage shaft fall onto the output device 70 by virtue of the arrangement of the inclined storage shaft and the output device 70, and are output thereby through an opening in the front side of the commissioning device.

Also disposed on the inclined shelf surface 21 shown is the auxiliary output device 80, by way of which shelf goods in particular can be output from the horizontal shelf surface. In alternative embodiments, the auxiliary output device can also comprise two or more storage shaft widths or can be disposed next to the second shelf row as a separate component, for example. The auxiliary output device as shown here is a passive output device, in other words the piece goods are not moved by way of a motion by the output device itself. Alternatively, the auxiliary output device can also be configured as an active output device, for example as a conveyor belt that can be led directly out of the commissioning device if necessary.

Figure 10 shows a perspective view of a second embodiment, wherein in this embodiment horizontal storage shafts 22' are used; the other components correspond substantially to those of the first embodiment so that there is no need to provide a detailed description. Figure 11 shows a detailed view of a shelf surface of a shelf of the second shelf row 20 of the second embodiment, wherein the shelf surfaces 21 are designed to be horizontal. At the ends 24 of the shelf surfaces are gates 23, there being a gate 23 associated with each storage shaft 22¹ which can be operated separately by way of the control unit.

In this embodiment, the second shelf row 20 comprises conveying device 25 for moving piece goods in the storage shafts 22'. In the embodiment shown, the conveying device 25 is designed as a conveyor belt beneath the surfaces of the storage shafts, wherein the surfaces of the storage shafts have a notch through which a section of the conveying device extends at least in sections so that there is contact between the stored piece goods and the conveying device. If a piece good is to be output, a gate 23 (or a plurality of gates) is opened and the conveying device is activated. The conveying device acts on all storage shafts of the shelf surface, but where there are storage shafts with unopened gates the piece goods only move up against the gates but are not output.

There are also other processes known to those trained in the art with which to output piece goods. For example, each storage shaft can be assigned a conveying device, which can be designed as a pusher, in other words the piece goods are pushed out of a shaft.

Below, a few embodiments of the process according to the invention are described in reference to Figures 12a, 12b 15a, 15b, each of which show different respective process steps schematically. The figures are very simplified and only the essential features are shown and described.

Figures 12a and 12b show two stages of a first embodiment of the process. According to the invention, the control unit first determines whether the at least one piece good to be output is a shaft good or a shelf good, said determination coming in reaction to a output request. In the exemplary embodiment shown in Figures 10a, 10b [sic], a shelf good 7 stored on horizontal shelf surface 11 is requested via an output request. The gripping device 50 is then moved to the horizontal shelf surface 11. As soon as the gripping device 50 is correctly positioned, the piece good in question is grasped and moved to the holding surface. The gripping device is moved to the auxiliary output device 80 and as soon as the gripping device 50 is correctly positioned, the piece good 7 is pushed onto the auxiliary output device 80 and proceeds therefrom to the output device 70 which moves the piece good out of the commissioning device.

In the embodiment illustrated in Figures 13a and 13b, the output request is for four shaft goods. This kind of piece good is normally stored in inclined shaft 22'. However, the control unit has determined that only one piece good 6¹ is present in inclined shaft 22'. The gripping device is then moved to shelf surface 11' where four piece goods meeting the output request are stored as excess supply. All four piece goods 6' are grasped by the gripping device. Since it was determined that only one piece good 6' is present in inclined storage shaft 22', but the output request was for four piece goods, the gripping device 50 moves to the auxiliary output device 80 and all piece goods 6' located on the gripping device 50 are output using the auxiliary output device 80 and the output device 70.

In the embodiment shown in Figures 14a and 14b, the output request is for two piece goods that are normally stored in inclined storage shaft 22'. However, the control unit has determined that inclined storage shaft 22' is empty. Four piece goods 6 meeting the output request are removed from horizontal shelf surface 11' using the gripping device 50. Then, the gripping device is moved in front of inclined storage shaft 22' and all piece goods 6 lying on the gripping device 50 are moved to inclined shaft 22'. However, since the output request only included two piece goods 6, only two piece goods are output and the other two goods remain in inclined storage shaft 22'.

In an alternative embodiment illustrated in Figures 15a and 15b, two piece goods are again requested, and it is again determined that no piece goods meeting the output request are located in inclined storage shaft 22'. Then, four piece goods 6 are grasped from horizontal shelf surface 11' using the gripping device 50. However, in contrast to the previous exemplary embodiment, the gripping device is first moved to the auxiliary output device 80 and two of the four piece goods located on the gripping device 50 are output using the auxiliary output device. The gripping device 50 with the two remaining piece goods is moved to inclined storage shaft 22' and the two remaining piece goods are moved to the inclined storage shaft where they remain until the next corresponding output request.

The variant of the process according to the invention that is used depends on the load on the operating device and on the storage situation. In each case, the optimum outputting variation is determined by the control unit for the current output request.

Claims

1. A commissioning device for piece goods, comprising at least one first shelf row with at least one first shelf comprising a plurality of shelf surfaces disposed one above the other, each of which extends in a horizontal plane, at least one second shelf row with at least one second shelf comprising a plurality of shelf surfaces disposed one above the other, each of which extends in a horizontal plane, a lane formed between the first and the second shelf rows in which an operating unit can travel horizontally and vertically, at least one input device for moving piece goods into the commissioning device and from which the operating unit can remove piece goods, at least one output device for outputting piece goods from the second shelf row and at least one auxiliary output device for outputting piece goods held by the operating unit along an auxiliary output path, wherein a plurality of parallel storage shafts is formed on each shelf surface of the second shelf row, each of the storage shafts comprising a gate at the shaft end, the gate holding and releasing piece goods lying in the storage shaft, the piece goods able to be output from said shafts along a main output path by way of the output device, wherein the operating unit comprises a gripping device for inputting and/or outputting piece goods onto or from the horizontal shelf surfaces and for filling the goods into the storage shafts, and a control unit coupled to the operating unit, the control unit controlling the operating unit for inputting and outputting piece goods, wherein the control unit is designed such that the operating unit is controllable for removing one or more piece good(s) arranged on the horizontal shelf surfaces and passing these piece goods to an auxiliary output device, characterized in that the control unit is furthermore designed such that the operating unit is controllable for removing identical piece goods that lie in a row from the horizontal shelf surfaces and placing these piece goods into the storage shafts.

2. The commissioning device according to claim 1, characterized in that the shelf surfaces of the second shelf row are designed to incline downward away from the lane.

3. The commissioning device according to claim 1 or claim 2, characterized in that the gripping device comprises a horizontal holding surface with opposite loading edges, a gripper for inputting and outputting piece goods onto or from the horizontal shelf surfaces and a pushing device for pushing piece goods onto the holding surface, wherein a transport path for piece goods is formed between the loading edges and wherein the holding surface traverses the entire width of the lane.

4. The commissioning device according to claim 3, characterized in that the pushing device comprises two pushing means for moving piece goods in opposite directions on the holding surface.

5. The commissioning device according to claim 4, characterized in that the pushing means can be moved in a notch of the holding surface and under the surface.

6. The commissioning device according to claim 4 or claim 5, characterized in that a pushing means comprises a pushing finger that can be moved over a loading edge.

7. The commissioning device according to one of the preceding claims, characterized in that the inclined shelf surfaces of the second shelf row are arranged such that storage shafts of varying heights are formed.

8. The commissioning device according to one of the preceding claims, characterized in that the auxiliary output device is formed on a shelf surface of the second shelf row.

9. The commissioning device according to claim 8, characterized in that the auxiliary output device is designed as a storage shaft without a gate.

10. A process for outputting piece goods from a commissioning device according to one of the preceding claims, wherein the control unit determines whether the at least one piece good to be output is a shaft good or a shelf good, said determination coming in reaction to an output request, in the case that the good is a shelf good, a number of piece goods corresponding to the output request is grasped by the operating unit and transferred to the auxiliary output device, characterized in that in the case that the good is a shaft good, the determination is made whether there is still a corresponding number of piece goods stored in the storage shafts, and, in the case that a corresponding number is stored in the storage shafts, a number of piece goods corresponding to the output request is output onto the output device and moved thereby out of the commissioning device, or, in the case that a corresponding number is not stored in the storage shafts, a plurality of piece goods stored on horizontal shelf surfaces and that correspond to the output request is grasped by the operating unit, and a number of piece goods corresponding to the output request is output.

11. The process according to claim 10, characterized in that the piece goods not stored in the storage shafts are output by moving the operating unit to the auxiliary output device, transferring a number of piece goods corresponding to the output request to the auxiliary output device and outputting the piece goods .

12. The process according to claim 10, characterized in that the piece goods not stored in the storage shafts are output by

2016205996 17 Apr 2020 moving the operating unit to a storage shaft, transferring all piece goods in the storage shaft, actuating the gate of the inclined storage shaft or shafts such that a number of piece goods corresponding to the output

5 request can be output onto the output device.