DE102018218709A1 - Methods and devices for filling shelves of a shelf with goods from a shelf trolley - Google Patents

Abstract

The invention relates to a method for filling a shelf of a shelf (4.1, 4.2) with goods (6) from a shelf trolley (3) which comprises several storage levels (17.1, 17.2, 17.3), an associated handling device (2), which comprises a robot arm ( 6), and at least one associated rack trolley (3), and a handling system (1), comprising such a handling device (2), at least one such rack trolley (3) and a control device (5), which is designed to carry out the corresponding method .

Description

The invention relates to a method for filling shelves of a shelf with goods from a shelf trolley which comprises several storage levels, an associated handling device and at least one associated shelf trolley, and a handling system comprising such a handling device, at least one such shelf trolley and a control device which is designed to perform the appropriate procedure.

From the DE 10 2016 222 255 B3 A logistics system is known, comprising at least one goods carrier, which is designed for the temporary storage of goods, at least one driverless transport vehicle, which is designed to transport the goods carrier, and at least one mobile robot, the installation device of which has a coupling device which comprises a first coupling device, which is designed for the direct mechanical coupling of the goods carrier to the set-up device and comprises a second coupling device which is designed for the direct mechanical coupling of the transport vehicle carrying the goods carrier to the set-up device, such that the goods are removed from the goods carrier by means of the robot arm in the coupled state of the goods carrier and / or can be placed on the product carrier.

The object of the invention is to propose a method and to create an associated handling device, at least one associated shelf trolley, and a corresponding handling system with which handling tasks can be carried out in a particularly flexible, efficient and safe manner.

• - manuelles oder autonomes Heranfahren des Regalwagens in eine räumliche Nähe des zu befüllenden Regals,
• - manuelles oder autonomes Heranfahren einer Handhabungsvorrichtung, die einen Roboterarm aufweist, in eine räumliche Nähe des Regalwagens und des zu befüllenden Regals,
• - automatisches Verbringen eines ausgewählten Warenstücks aus einer Lagerebene des Regalwagens an einen Ausgabeplatz der Handhabungsvorrichtung oder an einen Abstellplatz in dem Fachboden des Regals mittels des Roboterarms der Handhabungsvorrichtung,
• - Entnehmen des an dem Ausgabeplatz vorhandenen, ausgewählten Warenstücks und manuelles oder automatisches Ablegen dieses Warenstücks auf einem Fachboden des Regals.

This object is achieved according to the invention by a method for filling shelves of a shelf with goods from a shelf trolley which comprises several storage levels, comprising the following steps:

• - Manual or autonomous approach of the rack trolley in the vicinity of the shelf to be filled,
• manual or autonomous approach of a handling device, which has a robot arm, to a spatial proximity of the shelf trolley and the shelf to be filled,
• automatic transfer of a selected piece of goods from a storage level of the rack trolley to an output location of the handling device or to a parking space in the shelf of the shelf by means of the robot arm of the handling device,
• - Removal of the selected piece of goods present at the output location and manual or automatic depositing of this piece of goods on a shelf of the shelf.

The shelf to be filled can be, in particular, a sales shelf, for example of a self-service market, in which the goods are kept in an orderly manner and manually removed from the sales shelf by a customer and, for example, placed in a shopping cart. The sales shelf then has to be refilled in the usual practice by the staff of the self-service market. For this purpose, shelf trolleys are generally available in a warehouse, which contain a stock of goods for refilling the store shelves. So far, these activities have only been carried out manually by one person. The main disadvantage of this is that the employees also have to lift the sometimes very heavy goods, for example, over a large height difference.

Depending on the design variant, the issue location can already be formed by an assigned section on a storage level of the control car. As an alternative or in addition, the delivery place can be formed by a deposit on the handling device. The tray can be designed in the manner of a tray and in particular can be designed to be height-adjustable autonomously or manually. As an alternative or in addition, the delivery point can also be formed by an assigned section on one of several shelves of the shelf.

According to the current state of the art, the grooming process in supermarkets or drugstores is purely manual by the respective employees. The goods are either removed directly from pallets or from trolleys, so-called trolleys, and placed in the appropriate place on the store shelf. This step is often not ergonomically designed for the employees, since large and heavy products and / or packages must also be removed from the top or bottom of the trolley. A particular disadvantage is the scenario that the employee has to reach very far up or down and at the same time deep into the warehouse level. In addition, the products must also be placed on the upper shelves of the store. Even a person of average size has difficulties with this because he holds a box in one hand, correctly arranges the products already on the shelf with the other hand and then places the next product in it. Due to these boundary conditions, this activity is not ergonomically designed and is a permanent burden on the employees.

A robot for implementing an automation solution is selected, inter alia, depending on the handling task and the size and / or weight of the handling object, ie the item. For an application in which objects or goods with a greatly varying weight are handled, the load capacity of the robot must in any case correspond to the maximum possible load on the object, even if the proportion of significantly heavier products is relatively small. This fact means that the system is oversized for a large part of the work, which increases the weight of the robot and thus the moving mass. If human-robot collaboration (HRC) takes place, small moving masses are desired. This is due to the lower risk of injury with lower masses and better system performance because the robot is allowed to move at faster speeds.

The aim of the invention is a handling strategy to support the clearing process, for example in supermarkets or drugstores, and to provide a fully automated solution to this task. Furthermore, the corresponding modules and technical implementations, which form the overall system and also guarantee this, can belong to the invention. One or more rack trolleys and a handling device which has robot kinematics can be used for this purpose. An advantageous design of the individual components minimizes the risk of injury to employees and at the same time enables an efficient process. The robot can use the handling strategy i.e. handle loads of high weight by one of the methods according to the invention without actually being designed for this load. As a result, objects with both light and high weight can be handled without the entire robot or the entire system having to be replaced or the robot being oversized for lower payloads.

In a partially automated scenario, entire boxes are located on the individual storage levels of the rack trolley. The individual products are in these boxes. The boxes should be prepared and / or handed over to the employee in order to ensure an ergonomic work process and to avoid reaching deep into the storage levels of the rack trolley. The handling strategy eliminates the need to reach in and only a small amount of work space is required above the cartons for handling, which means that the cartons can be packed tightly in the shelf trolley and thus more products can be picked up. When the boxes are handed over, it is desirable that they are transported to the appropriate shelf height at which the products are to be placed by the employee. This particularly facilitates the placement process in deep or high shelf levels. Alternatively, the boxes can also be prepared for an ergonomic height that is identical for each box. This height depends on the height of the employee, which makes clearing easier. In the autonomous scenario, the placement process can take place fully automatically. Individual products that are on the shelves of the shelf trolleys are put into the appropriate shelves.

Another advantage of a special embodiment of the invention is that both scenarios can be implemented with the same, configurable handling system. This offers a significant advantage because additional components and costs are reduced, but at the same time the required performance and an ergonomic process are ensured. In addition, the robot can be designed for lower payloads than the heavier objects to be handled would actually require.

In a partially automated variant, the automatic transfer of the selected item of goods can be an automatic pushing and / or automatic pulling of the selected item of goods from a storage level of the rack trolley to an output location by means of the robot arm of the handling device, whereby subsequently, i.e. after the automatic moving, the removal of the selected item of goods present at the output location and the placing of this item of goods on a shelf of the shelf is carried out manually.

In the method, the selected item of goods present at the delivery location can be automatically raised or lowered from a first storage level to a second storage level.

The automatic lifting or lowering of the selected item of goods present at the dispensing station can take place to a height which at least essentially corresponds to the height of a shelf of the shelf which is to be filled with the selected item of goods, or to an altitude which is ergonomic for humans.

The automatic or manual lifting or lowering of the selected item of goods present at the delivery location can be carried out by means of an automatic or manual lifting device separate from the robot arm.

The automatic movement of the selected item can be done in one fully automated variant can be an automatic removal of the selected item from a storage level of the rack trolley by means of the robot arm of the handling device and an automatic depositing of this item on a shelf of the shelf by means of the robot arm of the handling device.

The automatic removal of the selected item of goods present at the output location and the automatic depositing of this item of goods on a shelf of the shelf can thus be carried out by means of the robot arm.

To the respective procedure, i.e. To implement the handling strategy according to the invention, an entire system is composed of several intelligent modules. One of these is the shelf trolley in which the items to be cleared are located. This module is an independent and passive unit. Another component is the handling device. This handling device comprises a robot kinematics and at least one shelf.

• Einerseits erfolgt ein Manipulieren der Kartons in der Lagerebene durch eine Roboterkinematik, die selbst auch einen Freiheitsgrad in vertikale Richtung besitzt. So kann ein Ziehen und/oder Schieben der Warenstücke auf der jeweiligen Lagerebene des Regalwagens durchgeführt werden. Ein Anheben der Warenstücke durch den Roboterarm entfällt insoweit.

In the semi-automated process, the boxes from the storage level of the shelf trolley are to be given to the employee at an ergonomic height. This movement task is divided into two main tasks, from which the positionability in space is composed:

• On the one hand, the cartons are manipulated on the storage level by robot kinematics, which itself also has a degree of freedom in the vertical direction. The goods can be pulled and / or pushed on the respective storage level of the rack trolley. The robot arm does not need to be lifted in this respect.

On the other hand, there is movement, i.e. a lifting and / or lowering of the goods along the vertical direction through the height-adjustable shelves.

It is particularly with the solution that the goods are not lifted during the entire handling task. The manipulation in the plane is done by pushing or pulling the item through the robot arm. This means that it is not necessary for the robot's load to be adapted to the heaviest piece of goods. It is sufficient if the robot can exert the necessary force to push and / or pull the goods. This force is the product of piece weight, gravitational acceleration and coefficient of friction, which depends on the material combination.

The storage levels of the shelf trolley can therefore preferably be coated with a material with a low coefficient of friction in order to facilitate the movement between the item and the storage level of the shelf trolley. The coating can be, for example, Teflon. Alternatively, friction-reducing elements, such as passive mechanical conveying means, in particular roller conveyors, can be used as storage levels of the rack trolley. This handling principle ensures an efficient and robust process.

Robot kinematics, i.e. the robot arm can preferably be designed to be redundant one or more times. Robot kinematics, i.e. the robot arm can be specially designed for handling in levels. During the process, the handling device is mechanically and / or control-technically coupled to the rack trolley. In addition to the robot kinematics, the shelves can also be formed on the handling device. To enable the movement task to be carried out, the goods are pulled or pushed onto one of the shelves using the robot kinematics. Two versions of the shelves are possible, namely an active and a passive variant.

If the shelves are active, the goods are pulled or pushed from the shelf trolley onto one of the shelves and transported to the appropriate height for the process. The employee can then continue the ergonomic manual process ergonomically.

If the shelves are passive, they are not actively adjusted in height along the vertical axis. The process flow is then as follows. The robot arm pushes or pulls the goods onto the individual shelves.

In order to enable the fastest possible process flow, each level of the shelf trolley can be assigned its own shelf. If these shelves are loaded, the employee only needs to manually remove the goods from the various shelves. During this activity, new items are always replenished. With this inexpensive and technically simple concept, the height cannot be adjusted ergonomically, but automatically pulling it out of the shelf trolley significantly simplifies the work for the employee.

The employee can be specified which item of goods is to be cleared next. This can be done by always having only one piece of goods ready. The next piece of goods will only be placed on the issue place when the employee has removed the previous item. Alternatively, the employee can be signaled which item of goods is to be cleared next. This can be implemented, for example, by means of a display.

The employee can also choose freely. Since all goods and their position and location in the rack trolley are known, it is sufficient if it is only identified from which level of the rack trolley the goods have been removed. This can be determined by sensors, for example by a camera, a force sensor, a load cell or a light barrier.

What is particularly characteristic of this handling concept is the advantageous arrangement of the modules, which largely separate the work areas. The working area of the human being and the working area of the robot preferably overlap only where it is actually necessary due to the process, namely in the area of the shelves where the product transfer takes place. Otherwise the movements are independent of each other. This makes the system particularly suitable for HRC applications. Regardless of whether the shelves are active or passive, the modules can be arranged in most cases so that the robot kinematics handles the objects from the side inside the shelf trolley. The shelves are located on the opposite side of the shelf trolley, followed by the employee. This greatly reduces the risk of collision or crushing for the employee. In addition, the human work area covers both the shelves and the shelves in which the products are to be placed, which makes the process as efficient as possible. Another advantage of separating the work areas is that the robot can move at higher speeds because the human is not in the immediate vicinity.

The object is accordingly achieved with a handling device, in particular for carrying out the method according to one or more of the variants described, comprising a chassis, at least one at least essentially vertical first support column arranged on the chassis, a robot arm mounted on the first support column and in particular a sensor device which is designed to identify a shelf trolley which has been moved towards the handling device at least with regard to one of its properties.

The handling device can have at least one second support column, which is arranged on the chassis and which is at least substantially vertically aligned, and can have an automatic lifting device separate from the robot arm, which has at least one tray forming the dispensing place, which is in its position by means of the lifting device Altitude is automatically adjustable.

The handling device can have two shelves and the automatic lifting device can be designed to adjust the two shelves independently of one another in their respective height positions.

The handling device can have a third support column which is arranged on the chassis and which is at least substantially vertically aligned, a first shelf being mounted on the second support column and a second shelf being mounted on the third support column.

The first support column, the second support column and the third support column can each be arranged in a corner region of a chassis which is at least essentially rectangular or square in plan and delimit a cuboid interior which is designed to accommodate the shelf trolley in such a way that in a picked-up state of the Shelf trolley the first support column, the second support column and the third support column are each arranged in the vicinity of one of the vertical edges of the rack trolley.

The robot arm can have at least three, in particular at least four swivel joints, in particular exactly three or exactly four swivel joints, which have vertical axes of rotation aligned parallel to one another, the robot arm having a base member which is mounted on the first support column in a height-adjustable manner.

However, if the levels of the shelf cart are coated to ensure good pulling or pushing automatic handling of the goods, there may be a risk that the goods will slide off the levels when the shelf cart is in motion. To avoid this, locking mechanisms can be used on the side where the shelves are located, i.e. Stop devices may be provided.

In one embodiment, all locks can be released manually at the same time, for example by the employee. All interlocks can be released automatically or at the same time due to the process. In a modification, only the level on which a piece of goods is being prepared is unlocked.

If the entire system is not to move during the clearing process, unlocking mechanisms can be coupled to brakes on the rack trolley. This means that the Brakes of the rack trolley are actuated when the locks of the levels are open. This prevents the system from moving and prevents the goods from falling out. If the brake is released, a mechanism ensures that the locks on the storage levels of the shelf trolley are closed again. However, if the overall system is to move at a low speed due to the process, the opening of the locks can be coupled to a connection of the rack trolley to the handling device. If the modules are decoupled again, the locks close and the shelf trolley can be moved at higher speed without goods falling out of the levels.

Instead of manually triggering the locking of the storage levels of the rack trolley, a coupling movement between the handling device and the rack trolley can also be used. This is particularly useful if the entire unit is moving at a slow speed during the supported clearing process, since in this case the brakes on the shelf trolley must not be actuated and the locks should only be opened when the systems are coupled together.

• Öffnen der Verriegelung durch Roboterarm. Bei dieser Lösung sind die Ablagen direkt in den Regalwagen integriert. Die Ablagen dienen nicht nur als Auflage für die Warenstücke, die vorbereitet werden, sondern stellen gleichzeitig den Verriegelungsmechanismus dar, welcher ein Herausrutschen der Warenstück aus den Regalwagen verhindert. Der Roboter handhabt entweder direkt das Warenstück, das vorbereitet wird oder indirekt, indem er das Warenstück dahinter bewegt und somit das eigentliche Warenstück auf eines von ausziehbaren Elementen befördert. Das ausziehbare Element besitzt einen Anschlag, sodass es ausgefahren wird, wenn die entsprechende Prozesskraft durch den Roboter aufgebracht wird und das Warenstück darauf geschoben wird.

In the event that the shelves are actively moved, their movement can be used to open the locks. This means that the entire system can be moved during the clearing process without the goods slipping out of the rack trolley. Technically, this can be implemented using various principles, some of which are described below:

• Robot arm opens the lock. With this solution, the shelves are integrated directly into the shelf trolley. The shelves not only serve as a support for the goods that are being prepared, but also represent the locking mechanism that prevents the goods from slipping out of the shelf trolleys. The robot either directly handles the piece of goods that is being prepared or indirectly by moving the piece of goods behind it and thus conveying the actual piece of goods onto one of extendable elements. The pull-out element has a stop, so that it is extended when the corresponding process force is applied by the robot and the item is pushed onto it.

The pull-out element can be guided via a linear guide. A preload ensures that the locks are closed when no goods are being prepared in the relevant level, or that they close again as soon as the employee has removed the goods. The biasing force can be provided, for example, by a spring element. With this solution it is not possible to adjust the height of the shelves, however very good access to the goods is guaranteed, since only the shelves that have already been loaded are extended.

However, the solution just described can be changed so that active height adjustment is also possible. The pull-out elements are not designed as a complete level, but rather, for example, as a kind of fork or comb. The piece of goods then lies on these fork elements after it has been handled by the robot. The active shelves have the right size so that they can move vertically between the two forks and pick up the item. As soon as the piece of goods has been picked up from the rack, a pretension ensures that the fork elements move back and the piece of goods can be transported to the desired and ergonomic height so that the employee can remove it and put it into the appropriate shelf.

Another possibility is that it is not the process force and / or process movement of the robot that releases the locks, but rather the vertical movement of the shelves. When driving down a shelf, a driver is actuated, which ensures that the lock opens against a pretensioning force or a pretensioning torque. As long as the shelf is at the level of the shelf trolley on which a piece of goods is being handled, the lock remains open. As soon as the shelf moves vertically downwards, the lock closes again due to the pretension and the item can be moved to the desired height for ergonomic clearance. The driver can be designed so that it releases the lock only in one direction, preferably vertically downwards. By means of a kind of free-wheeling or compliance, the driver can give way if the shelf moves in the opposite direction past the storage level of the shelf trolleys. In one of the versions, the locks open as soon as the shelves are moved past (even if the locks are not to be opened at all). However, this can be avoided by integrating a delay element. The lock only opens when the shelf remains in the appropriate position (due to the delay element).

The handling device, on which both the robot kinematics and the shelves can be integrated, can significantly improve the HRC process through an advantageous arrangement favor. Various arrangements are possible, two of which are illustrated below. The focus here is on enabling an ergonomic and efficient process, separating the work areas of humans and robots as far as possible and only overlapping the necessary area on the shelves for object transfer.

A possible arrangement is the execution of the handling device as a kind of triangular structure with columns. On two of the columns are the shelves, which have a vertical degree of freedom, i.e. are adjustable in height. The robot kinematics, which handles the goods within the storage levels of the rack trolley, is attached to the third pillar. In addition, the robot arm also has a degree of freedom in the vertical direction in order to switch between the storage levels of the rack trolley. As soon as the rack trolley and the handling device are coupled, the space taken up is minimal with good stability of the overall system. If the employee is helped by this unit to clear the room, the robot pushes the individual goods onto one of the shelves. As soon as a shelf is loaded, it is moved to the ergonomic height that is suitable for storage or that is individual for humans. While the employee is clearing the items on the presentation shelf, the next item is already being prepared and transported to the second storage area. This ensures that the employee does not have to wait for the preparation of the goods. The separation of the work areas is particularly advantageous with this arrangement. Even though the human and the robot are separate from each other, the employee can always access both shelves and store the goods.

Optionally, the base, i.e. the chassis of the handling device can also be designed, for example, in a U-shape instead of, for example, a triangular structure. This stabilizes the system even more, especially if it is operated in an uncoupled state.

Another possible arrangement is that both robot kinematics and the shelves are arranged on the same side of the rack trolley. In order to transport the goods onto the shelves, the robot pulls them out of the levels of the shelf trolley. As soon as a shelf is loaded, the shelf moves to a removal position so that the employee can clear the goods. In the meantime, the next tray is prepared and moved to the waiting position until the first tray is unloaded and goes back to loading. It is important to separate the work areas between loading and unloading the shelves. On the one hand only the robot works and on the other hand only the human being. So there is no overlap of the work areas, not even in the transfer area. To increase efficiency, any number of shelves can be used with this version, which are all loaded one after the other. So there is no waiting time for the employee.

As already described, the shelves can be designed in various forms and can be active or passive. Another option is that both the active and the passive shelves can be moved manually by the employee. This can be implemented, for example, by a multi-joint structure with one or more joints. If the employee wants to move the shelf to a specific position on the shelf, he can simply drag the shelf there. As soon as the piece of goods has been removed and removed, the tray moves back to the starting position. This can be implemented by means of a retraction mechanism, for example a spring-damper system, which is pretensioned by the employee during the extension movement. The actuation of the retraction mechanism can either be coupled to the weight that acts on the shelf, or manually e.g. can be triggered by the employee pressing a button.

In the event that active shelves are used, there is a risk that people can become trapped when the shelves pass each other or when a shelf passes the levels of the shelf trolley. To avoid this, passive pinch protection can be used. This pinch protection can be attached to both shelves and ensures that, for example, the employee cannot pinch his hand, regardless of how the shelves move towards each other. As a result, jamming in both directions of travel is avoided. This is ensured by the fact that the folding mechanism opens on one side and locks on the other side, so that the objects on the shelf do not fall down. Alternatively, light barriers or safety edges can be integrated to secure the clamping areas.

The same modules can be used for the fully automated scenario as for the partially automated scenario. In order to handle the individual goods, only the passive gripper is replaced by hand kinematics with an active gripper. A suitable interface ensures a quick change between these two configurations. The robot can get additional degrees of freedom through the change and thus both position and orient the individual pieces of goods to be handled and thus fully automatically in all six, for example Manipulate degrees of freedom in the room and thus move them to the presentation shelf. The degrees of freedom additionally provided by the wrist can be arbitrary. However, it is important that the system is equipped with an active gripper so that the goods can also be gripped automatically. In this scenario, the individual goods are lifted and autonomously cleared onto the shelves.

Accordingly, a shelf trolley, in particular for carrying out the method according to one or more of the variants described, has a trolley and a trolley arranged on the trolley with a plurality of storage levels which are designed for the displaceable storage of items of goods, each storage level at least has a lateral discharge opening and has a marking device which is designed to cooperate with the sensor device of the handling device when the rack trolley is positioned in close proximity to the handling device, such that the rack trolley approached to the handling device has at least one of its properties by means of the marking device Sensor device of the handling device is to be identified.

Each storage level of the shelf trolley can have a delivery point.

Each storage level of the shelf trolley can have a stop device assigned to the respective delivery opening, which is designed to prevent the pieces of goods present on the relevant storage level from slipping out in a locked state of the stop device, and is designed to release the relevant output opening for removing goods in an unlocked state of the stop device to release.

The object is thus achieved in particular by an entire handling system according to the invention, comprising a handling device as in one or more of the described embodiments, at least one shelf trolley as in one or more of the described embodiments and a control device which is designed, a method in accordance with one or more of the to carry out the variants described, in that the control device controls the robot arm of the handling device, the automatic lifting device of the handling device and / or the stop device of the at least one shelf trolley, in particular depending on the labeling device of the at least one shelf trolley and the measured values of the sensor device of the handling device.

In the handling system, the robot arm can have an interchangeable coupling, to which a first robot hand with only a single joint can optionally be coupled, which carries a goods pusher that is designed to automatically push and / or automatically pull a piece of goods, or a second robot hand with at least one Joint, in particular at least two joints can be coupled, which carries a gripper, which is designed for the automatic lifting of a piece of goods by means of the robot arm. In general, any other hand kinematics with and without gripper can also be connected to the interface.

In addition, the robot arm and / or the lifting device can have a passive anti-trap device in the handling system.

Specific exemplary embodiments of the invention are explained in more detail in the following description with reference to the attached figures. Concrete features of these exemplary embodiments can, regardless of the specific context in which they are mentioned, possibly also viewed individually or in further combinations, represent general features of the invention.

• 1 eine schematische Draufsicht auf ein beispielhaftes Handhabungssystem,
• 2 eine perspektivische Darstellung einer beispielhaften Handhabungsvorrichtung mit einem Roboterarm und zweier Ausgabeplätze,
• 3 eine perspektivische Darstellung einer beispielhaften Handhabungsvorrichtung in räumlicher Nähe eines beispielhaften Regalwagens,
• 4 eine perspektivische Darstellung einer abgewandelten Ausführung einer Handhabungsvorrichtung in räumlicher Nähe zu einem beispielhaften Regalwagen,
• 5 eine schematische Draufsicht auf ein beispielhaftes Handhabungssystem mit einer Handhabungsvorrichtung gemäß 4,
• 6 eine perspektivische Ansicht der Handhabungsvorrichtung gemäß 4 mit schematischer Darstellung zweier unterschiedlicher möglicher Werkzeuge an dem Roboterarm;
• 7 eine schematische Darstellung eines beispielhaften Regalwagens mit Anschlagseinrichtungen,
• 8a-8c perspektivische Darstellungen einer Anschlagseinrichtungen am beispielhaften Regalwagens gemäß 7,
• 9 eine perspektivische Darstellung eines beispielhaften Regalwagens mit separaten Ausgabeplätzen,
• 10 eine perspektivische Darstellung eines beispielhaften Regalwagens mit ausziehbaren Ausgabeplätzen, und
• 11 eine perspektivische Darstellung eines ausziehbaren Ausgabeplatzes am beispielhaften Regalwagen gemäß 10 mit einem zusätzlichen Ausgabeplatz der Handhabungsvorrichtung.

Show it:

• 1 1 shows a schematic top view of an exemplary handling system,
• 2nd 1 shows a perspective illustration of an exemplary handling device with a robot arm and two dispensing stations,
• 3rd 1 shows a perspective illustration of an exemplary handling device in close proximity to an exemplary shelf trolley,
• 4th 1 shows a perspective illustration of a modified embodiment of a handling device in spatial proximity to an exemplary shelf trolley,
• 5 is a schematic plan view of an exemplary handling system with a handling device according to 4th ,
• 6 a perspective view of the handling device according to 4th with a schematic representation of two different possible tools on the robot arm;
• 7 1 shows a schematic illustration of an exemplary shelf trolley with stop devices,
• 8a-8c Perspective representations of a stop device according to the exemplary shelf trolley 7 ,
• 9 1 shows a perspective illustration of an exemplary shelf trolley with separate delivery places,
• 10th a perspective view of an exemplary shelf trolley with pull-out areas, and
• 11 a perspective view of a pull-out output space on the exemplary shelf trolley according to 10th with an additional output space for the handling device.

The 1 shows a top view of a handling system 1 , having a handling device 2nd , at least one shelf trolley 3rd between two stationary shelves 4.1 , 4.2 and a control device 5 , which is designed to carry out a method according to the invention by the control device 5 a robotic arm 6 the handling device 2nd , an automatic lifting device 7 the handling device 2nd controls, in particular depending on an optional labeling device 8th of the at least one shelf trolley 3rd and a sensor device 9 the handling device 2nd controls.

The handling device 2nd points, as in 2nd is shown in more detail, a chassis 10th , at least one on the chassis 10th arranged, at least substantially vertical first support column 11 , one on the first support column 11 stored robot arm 6 and an optional sensor device 9 , which is formed, one to the handling device 2nd approached shelf trolleys 3rd identify at least one of its properties. This can be done using a marking device 8th of the at least one shelf trolley 3rd respectively.

The handling device 2nd has a second support column in the case of the present exemplary embodiment 12th on that on the landing gear 10th is arranged and which is at least substantially vertically aligned, and one of the robot arm 6 separate automatic lifting device 14 which has at least one the output location 15a educational filing 15.1 , 15.2 has, by means of the lifting device 14 is adjustable in height. In the shelf cart 3rd are several pieces of goods 16 in different storage levels 17.1 , 17.2 , 17.3 of the shelf trolley 3rd stored.

The handling device 2nd has a third support column in the case of the present exemplary embodiment 13 on that on the landing gear 10th is arranged and which is oriented at least substantially vertically, a first shelf 15.1 on the second support column and a second shelf 15.2 on the third support column 13 is stored.

The handling device 2nd thus has two trays in the case of the present exemplary embodiment 15.1 and 15.2 on, the automatic lifting device 14 is trained, the two trays 15.1 and 15.2 can be adjusted independently of each other in their respective altitude, as is the case in 3rd is more clearly shown.

The first support column 11 , the second support column 12th and the third support column 13 are in the case of the present exemplary embodiment in each case in a corner region of a chassis which is at least essentially rectangular or square in plan 10th arranged and delimit a cuboid interior, which is designed to receive the shelf trolley 3rd such that in a recorded state of the shelf trolley 3rd , as in 2nd and 3rd is shown, the first support column 11 , the second support column 12th and the third support column 13 in each case near one of the vertical edges of the shelf trolley 3rd are arranged.

As especially in 2nd can be seen, the robot arm 6 at least three swivel joints D1 , D2 , D3 , especially four swivel joints D1 , D2 , D3 , D4 which have vertical axes of rotation aligned parallel to one another, the robot arm 6 a base link 6a has that on the first support column 11 is adjustable in height.

The shelf trolley 3rd has a chassis and a shelf arranged on the chassis with several storage levels 17.1 , 17.2 , 17.3 on, which are designed for slidable storage of goods 16 , each storage level 17.1 , 17.2 , 17.3 at least one side discharge opening A1 , A2 , A3 has and comprising a marking device 8th , which is designed with the sensor device 9 the handling device 2nd interact when the shelf cart 3rd in close proximity, as in 2nd and 3rd shown to the handling device 2nd is positioned such that the to the handling device 2nd approached shelf trolleys 3rd at least with regard to one of its properties by means of the optional marking device 8th through the sensor device 9 the handling device 2nd is to be identified. It is important, as is to be marked in the figures, that the dispensing openings A1 , A2 , A3 have to be aligned with the delivery points and the robot arm thus has access to the levels of the rack trolley (the sides of the rack trolley can be closed).

Every storage level 17.1 , 17.2 , 17.3 of the shelf trolley 3rd can be an issue place 15a exhibit.

Every storage level 17.1 , 17.2 , 17.3 of the shelf trolley 3rd can, as in 7 to 11 is shown, one of the respective delivery opening A1 , A2 , A3 associated anchor device 18.1 , 18.2 , 18.3 have, which is designed in a locked state ( 8b) the anchor device 18.1 , 18.2 , 18.3 slipping out at the relevant storage level 17.1 , 17.2 , 17.3 existing items 16 prevent and is designed in an unlocked state ( 8c ) of the anchor device 18.1 , 18.2 , 18.3 the relevant output opening A1 , A2 , A3 for the removal of goods 16 to release.

• - manuelles oder autonomes Heranfahren des Regalwagens 3 in eine räumliche Nähe des zu befüllenden Regals 4.1, 4.2,
• - manuelles oder autonomes Heranfahren einer Handhabungsvorrichtung 2, die einen Roboterarm 6 aufweist, in eine räumliche Nähe des Regalwagens 3 und des zu befüllenden Regals 4.1, 4.2,
• - automatisches Schieben eines ausgewählten Warenstücks 16 aus einer Lagerebene 17.1, 17.2, 17.3 des Regalwagens 3 an einen Ausgabeplatz 15a mittels des Roboterarms 6 der Handhabungsvorrichtung 2,
• - manuelles oder automatisches Entnehmen des an dem Ausgabeplatz 15a vorhandenen, ausgewählten Warenstücks 16 und manuelles oder automatisches Ablegen dieses Warenstücks 16 auf einem Fachboden des Regals 4.1, 4.2.

With the handling system 1 can the inventive method for filling a shelf of a shelf 4.1 , 4.2 with goods 16 from a shelf trolley 3rd of the multiple storage levels 17.1 , 17.2 , 17.3 includes, be carried out. The process has the following steps:

• - Manual or autonomous approach of the rack trolley 3rd in close proximity to the shelf to be filled 4.1 , 4.2 ,
• - Manual or autonomous approach of a handling device 2nd who have a robotic arm 6 has, in a spatial proximity of the shelf trolley 3rd and the shelf to be filled 4.1 , 4.2 ,
• - automatic pushing of a selected item 16 from a storage level 17.1 , 17.2 , 17.3 of the shelf trolley 3rd to a delivery point 15a by means of the robot arm 6 the handling device 2nd ,
• - Manual or automatic removal of the at the delivery point 15a existing, selected item 16 and manual or automatic depositing of this item 16 on a shelf of the shelf 4.1 , 4.2 .

The modules can also be moved autonomously in the overall process if they are coupled to a transport system.

In the method, an automatic raising or lowering of the at the dispensing place 15a existing, selected item 16 from a first storage level 17.1 to a second storage level 17.2 , 17.3 respectively.

The automatic raising or lowering of the at the delivery point 15a existing, selected item 16 can be at an altitude that corresponds to the altitude of a shelf of the shelf 4.1 , 4.2 corresponds to that with the selected item 16 should be filled.

The automatic raising or lowering of the at the delivery point 15a existing, selected item 16 can by means of one of the robot arm 6 separate automatic lifting device 14 be performed. In this scenario, the goods are taken directly from the shelf trolley by the robot arm and automatically put into the shelves.

The automatic removal of the at the delivery point 15a existing, selected item 16 and the automatic depositing of this product 16 on a shelf of the shelf 4.1 , 4.2 can by means of the robot arm 6 be performed.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102016222255 B3 [0002]

Claims (18)

Method for filling shelves of a shelf (4.1, 4.2) with goods (16) from a shelf trolley (3) which comprises several storage levels (17.1, 17.2, 17.3), comprising the following steps: - manual or autonomous approach of the rack trolley (3) in the vicinity of the shelf to be filled (4.1, 4.2), - Manual or autonomous approach of a handling device (2), which has a robot arm (6), in close proximity to the rack trolley (3) and the shelf (4.1, 4.2) to be filled, - Automatic transfer of a selected item (16) from a storage level (17.1, 17.2, 17.3) of the rack trolley (3) to a delivery point (15a) of the handling device (2) or to a parking space in the shelf of the shelf (4.1, 4.2) by means of the robot arm (6) of the handling device (2), - Removing the selected piece of goods (16) present at the delivery point (15a) and manually or automatically depositing this piece of goods (16) on a shelf of the shelf (4.1, 4.2). Procedure according to Claim 1 , characterized in that the automatic moving of the selected item of goods means an automatic pushing or automatic pulling of the selected item of goods (16) from a storage level (17.1, 17.2, 17.3) of the rack trolley (3) to an output location (15a) by means of the robot arm (6) the handling device (2) and then the removal of the selected piece of goods (16) present at the delivery point (15a) and the placing of this piece of goods (16) on a shelf of the shelf (4.1, 4.2) is carried out manually. Procedure according to Claim 2 , characterized by the further step of automatically raising or lowering the selected item of goods (16) present at the delivery point (15a) from a first storage level (17.1) to a second storage level (17.2, 17.3). Procedure according to Claim 2 or 3rd , characterized by the further step of automatically raising or lowering the selected item of goods (16) present at the delivery point (15a) to a height which at least essentially corresponds to the height of a shelf of the shelf (4.1, 4.2) which corresponds to the selected one Piece of goods (16) to be filled, or at an ergonomic height for humans. Procedure according to Claim 3 or 4th , characterized in that the automatic lifting or lowering of the selected item of goods (16) present at the delivery point (15a) is carried out by means of an automatic lifting device (14) separate from the robot arm (6). Procedure according to Claim 1 , characterized in that the automatic transfer of the selected item of goods, an automatic removal of the selected item of goods (16) from a storage level (17.1, 17.2, 17.3) of the rack trolley (3) by means of the robot arm (6) of the handling device (2) and an automatic depositing of this item (16) on a shelf of the shelf (4.1, 4.2) by means of the robot arm (6) of the handling device (2). Handling device, in particular for executing the method according to one of the Claims 1 to 6 comprising a chassis (10), at least one at least substantially vertical first support column (11) arranged on the chassis (10), a robot arm (6) mounted on the first support column (11) and in particular a sensor device (9) is to identify a shelf trolley (3) that has moved towards the handling device (2) at least with regard to one of its properties. Handling device after Claim 7 , characterized by at least one second support column (12) which is arranged on the undercarriage (10) and which is oriented at least substantially vertically, and an automatic lifting device (14) which is separate from the robot arm (6) and which has at least one the dispensing station (15a ) forming shelf (15.1, 15.2), which is automatically adjustable in height by means of the lifting device (14). Handling device after Claim 8 , characterized in that the handling device (2) has two shelves (15.1, 15.2) and the automatic lifting device (14) is designed to adjust the two shelves (15.1, 15.2) independently of one another in their respective height positions. Handling device after Claim 8 or 9 , characterized by a third support column (13) which is arranged on the undercarriage (10) and which is oriented at least substantially vertically, a first shelf (15.1) being mounted on the second support column (12) and a second shelf (15.2 ) is mounted on the third support column (13). Handling device after Claim 10 , characterized in that the first support column (11), the second support column (12) and the third support column (13) are each arranged in a corner region of a chassis (10) which is at least essentially rectangular or square in plan and delimit a cuboid interior , which is designed to receive the shelf trolley (3) in such a way that in a received State of the rack trolley (3) the first support column (11), the second support column (12) and the third support column (13) are each arranged in the vicinity of one of the vertical edges of the rack trolley (3). Handling device according to one of the Claims 7 to 11 , characterized in that the robot arm (6) has at least three, in particular at least four rotary joints (D1, D2, D3), in particular exactly three or exactly four rotary joints (D1, D2, D3), which have vertical axes of rotation aligned parallel to one another, and the robot arm (6) has a base member (6a) which is mounted on the first support column (11) so as to be adjustable in height. Shelf trolleys in particular for executing the method according to one of the Claims 1 to 6 , comprising a chassis and a shelf arranged on the chassis with a plurality of storage levels (17.1, 17.2, 17.3), which are designed for the displaceable storage of goods (16), each storage level (17.1, 17.2, 17.3) having at least one lateral delivery opening (A1 , A2, A3) and having a marking device (8) which is designed to interact with the sensor device (9) of the handling device (2) when the rack trolley (3) is positioned in close proximity to the handling device (2), such that the shelf trolley (3) approached to the handling device (2) can be identified at least with regard to one of its properties by means of the marking device (8) by the sensor device (9) of the handling device (2). Shelf trolleys after Claim 13 , characterized in that each storage level (17.1, 17.2, 17.3) of the rack trolley (3) has an output space (15a). Shelf trolleys after Claim 13 or 14 , characterized in that each storage level (17.1, 17.2, 17.3) has a stop device (18.1, 18.2, 18.3) assigned to the respective delivery opening (A1, A2, A3), which is designed in a locked state of the stop device (18.1, 18.2, 18.3) preventing the goods (16) present on the relevant storage level (17.1, 17.2, 17.3) from slipping out, and is designed to release the relevant output opening (A1, A2, A3) in an unlocked state of the stop device (18.1, 18.2, 18.3) release for the removal of goods (16). Handling system, comprising a handling device (2) according to one of the Claims 7 to 12th , at least one shelf trolley (3) according to one of the Claims 13 to 15 and a control device (5) which is designed, a method according to one of the Claims 1 to 6 to be carried out by the control device (5) controlling the robot arm (6) of the handling device (2), the automatic lifting device (14) of the handling device (2) and / or the stop device (18.1, 18.2, 18.3) of the at least one shelf trolley (3) , in particular as a function of the marking device (8) of the at least one shelf trolley (3) and the measured values of the sensor device (9) of the handling device (2). Handling system after Claim 16 , characterized in that the robot arm (6) has an interchangeable coupling to which a first robot hand with only a single joint can optionally be coupled, which carries a goods pusher which is designed to automatically push and / or automatically pull a piece of goods (16), or a second robot hand can be coupled with at least one joint, in particular at least two joints, which carries a gripper which is designed for the automatic lifting of a product (16) by means of the robot arm (6). Handling system after Claim 16 or 17th , characterized in that the robot arm (6) and / or the lifting device (14) has a passive anti-trap device.

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