DE202021106835U1 - picking device - Google Patents

Abstract

Picking device (1) with at least
• a shelf for storing goods,
• a storage and retrieval device (7), which is suitable for storing goods at specific locations on the shelf and/or is suitable for retrieving goods that are located at a specific location in the warehouse, the storage and retrieval device (7) having a base body and has a manipulator (16) movable relative to the base body and
• A controller that is designed to control movements of the storage and retrieval device (7) and / or movements of components of the storage and retrieval device (7), characterized in that the manipulator (16) has an interface at which the manipulator (16) with other components of the storage and retrieval device (7) can be connected and to which the manipulator (16) can be separated from the other components of the storage and retrieval device (7).

Description

The invention relates to an order-picking device.

A picking device has a shelf for storing goods. Furthermore, an order-picking device has a storage and retrieval device that is suitable for storing goods at specific locations on the shelf, for example at a specific location on a shelf of a shelf, and/or is suitable for storing goods that are at a specific location in the warehouse, for example located at a specific location on a specific shelf of a warehouse. Furthermore, an order-picking device has a controller. The controller is designed to control movements of the storage and retrieval device or movements of components of the storage and retrieval device, with the term "control" in the sense of control technology not only includes controlling but also regulating and as a generic term for control engineering and regulation engineering should be understood.

Such picking devices are out EP 2 826 732 A1 , DE 10 2005 012 910 A1 , EP 2 042 477 A1 and EP 1 564 160 A1 known.

Against this background, the invention was based on the object of creating an order-picking device that expands the field of application of an order-picking device.

This task is solved by the picking device according to claim 1 . Advantageous embodiments are specified in the description below and the dependent claims.

The invention is based on the basic idea of equipping the stacker crane with a base body and a manipulator that can be moved relative to the base body and equipping the manipulator with an interface at which the manipulator can be connected to other components of the stacker crane and at which the manipulator can be separated from the other components of the stacker crane can be separated.

The provision of an interface makes it possible, for example, to easily separate the manipulator from the other components of the stacker crane for maintenance purposes and to reconnect the manipulator to the other components of the stacker crane after the maintenance work has been carried out.

Further, more specific advantages can be realized with the storage and retrieval device according to the invention if, in a preferred embodiment, the manipulator is a manipulator of a first type and the storage and retrieval device additionally has a manipulator of a second type that is different from the first type.

• • der Art der Güter, die in der Kommissioniervorrichtung eingelagert und/oder aus der Kommissioniervorrichtung ausgelagert werden konnten, und/oder
• • der Güte mit der verschiedene Arten von Gütern in der Kommissioniervorrichtung gehandhabt werden konnten,

beschränkt waren, bietet die erfindungsgemäße Kommissioniervorrichtung die Möglichkeit

• • einer größeren Vielfalt hinsichtlich der Arten von Güter, die in der Kommissioniervorrichtung eingelagert und/oder aus der Kommissioniervorrichtung ausgelagert werden können, und/oder
• • eine verbesserte Güte mit der verschiedene Arten von Gütern in der Kommissioniervorrichtung gehandhabt werden können.

While prior art order pickers were equipped with either a single stacker crane or two stacker cranes of the same type, such as those shown in FIG EP 1 564 160 A1 known order picking device, and thus with regard

• • the type of goods that could be stored in the picking device and/or removed from the picking device, and/or
• • the ease with which different types of goods could be handled in the picking device,

were limited, the picking device according to the invention offers the possibility

• • a greater variety in terms of the types of goods that can be stored in the picking device and/or removed from the picking device, and/or
• • an improved quality with which different types of goods can be handled in the picking device.

For example, the manipulator of the first type may be optimized to handle goods in the form of rectangular boxes, while the manipulator of the second type may be optimized to handle goods in the form of bottles and/or cans.

For example, the manipulator of the first type may be optimized to handle goods in the form of large rectangular boxes, while the manipulator of the second type may be optimized to handle goods in the form of small rectangular boxes.

For example, the first type manipulator may be optimized to handle goods in the form of large rectangular boxes, while the second type manipulator may be optimized to handle goods of inhomogeneous shape, such as sacks.

• • Formschluss und/oder
• • Reibschluss und/oder
• • Magnetkraft und/oder
• • Saugkraft und/oder
• • Adhäsion verändern.

In a preferred embodiment, the manipulator of the first type can use the position and / or orientation of the goods within the picking device

• • Form fit and/or
• • Friction and/or
• • magnetic force and/or
• • suction power and/or
• • Change adhesion.

• • Formschluss und/oder
• • Reibschluss und/oder
• • Magnetkraft und/oder
• • Saugkraft und/oder
• • Adhäsion verändern.

In a preferred embodiment, the manipulator of the second type can use the position and / or orientation of the goods within the picking device

• • Form fit and/or
• • Friction and/or
• • magnetic force and/or
• • suction power and/or
• • Change adhesion.

In a preferred embodiment, the manipulator of the first type has a slide, a hook, a sucker, a movable magnet and/or a gripper.

In a preferred embodiment, the manipulator of the second type has a slide, a hook, a sucker, a movable magnet and/or a gripper.

• • eine Verriegelungsposition hat, in der der Manipulator nicht von den weiteren Bauteilen des Regalbediengeräts getrennt werden kann, und
• • eine Entriegelungsposition hat, in der der Manipulator von den weiteren Bauteilen des Regalbediengeräts getrennt werden kann.

In a preferred embodiment, the interface of the manipulator has a locking element that

• • has a locking position in which the manipulator cannot be separated from the other components of the stacker crane, and
• • has an unlocking position in which the manipulator can be separated from the other components of the stacker crane.

In a preferred embodiment, a drive is provided which can move the locking element from the locking position into the unlocking position and/or which can move the locking element from the unlocking position into the locking position.

In a preferred embodiment, a manipulator storage location is provided on which the manipulator can be stored.

In a preferred embodiment, the manipulator of the second type has an interface at which the manipulator of the second type can be connected to other components of the storage and retrieval device and at which the manipulator of the second type can be separated from the other components of the storage and retrieval device.

In a preferred embodiment, the storage and retrieval device has a manipulator interface on one of its other components, with which the interface of the manipulator interacts in order to connect the manipulator to other components of the storage and retrieval device and to separate the manipulator from the other components of the storage and retrieval device.

In a preferred embodiment, the manipulator interface is designed to interact with the interface of the second-type manipulator to connect the second-type manipulator to other components of the stacker crane and to separate the second-type manipulator from the other components of the stacker crane to separate.

In a preferred embodiment, the storage and retrieval device has only one manipulator interface, so that only one manipulator can be connected to the other components of the storage and retrieval device.

• • ein Gut, das vorher nicht an einem bestimmten Lagerplatz in einem Regal der Kommissioniervorrichtung positioniert war, mittels des Regalbediengeräts an diesen bestimmten Lagerplatz in dem Regal positioniert wird, oder
• • ein Gut, das vorher an einem bestimmten Lagerplatz in einem Regal der Kommissioniervorrichtung positioniert war, mittels des Regalbediengeräts von diesem bestimmten Lagerplatz entfernt wird.

The method according to the invention provides that

• • a good that was not previously positioned at a specific storage location on a shelf of the picking device is positioned at this specific storage location on the shelf by means of the storage and retrieval device, or
• • a good that was previously positioned at a specific storage location on a shelf of the picking device is removed from this specific storage location by means of the storage and retrieval device.

In a preferred embodiment, as part of the method according to the invention, the manipulator is connected at the interface to other components of the storage and retrieval device and/or the manipulator is separated from the other components of the storage and retrieval device at the interface.

The order-picking device according to the invention can be designed as a type of high-bay warehouse, which means that the shelf of the order-picking device has a height of more than 4 m, particularly preferably more than 5 m, particularly preferably more than 6 m. In a particularly preferred embodiment, however, the picking device is not designed as a high-bay warehouse. In a preferred embodiment, the picking device is designed in such a way that it can be located in a room of a commercial building installed, for example in the room of a pharmacy. In a preferred embodiment, the height of the shelf is <6 m, particularly preferably <5 m, particularly preferably <4 m, particularly preferably <3.50 m.

In a preferred embodiment, the shelf is elongate. An elongate shelf is understood to mean a shelf that has a length in a longitudinal direction and a width in a width direction perpendicular to the longitudinal direction and a height in a height direction perpendicular to the longitudinal direction and perpendicular to the width direction, the length being greater than the width and the length is greater than the height. In a preferred embodiment, the length is at least 2 times, particularly preferably 2.5 times, particularly preferably 3 times, particularly preferably 3.5 times, particularly preferably 4 times greater than the width. In a preferred embodiment, the length is at least 2 times, particularly preferably 2.5 times, particularly preferably 3 times, particularly preferably 3.5 times, particularly preferably 4 times greater than the height. In a preferred embodiment, the height is at least 2 times, particularly preferably 2.5 times, particularly preferably 3 times, particularly preferably 3.5 times, particularly preferably 4 times greater than the width.

In a preferred embodiment, the shelf has shelves. In a preferred embodiment, a shelf of the shelf has a length in the longitudinal direction of the shelf that is in the range of 50 mm to 500 mm. In a preferred embodiment, the shelf has a depth in the width direction of the shelf that is in the range of 5mm to 500mm. In a preferred embodiment, the shelf has two shelves arranged one above the other, the distance between the upper side of the lower shelf and the lower side of the upper shelf in the height direction of the shelf being in the range of 5 mm to 500 mm.

In a preferred embodiment, at least one, particularly preferably the majority (more than 50%), particularly preferably the overwhelming majority (more than 75%) of the shelves present on the shelf is made of plastic, particularly preferably glass, Plexiglas, metal or wood. In a preferred embodiment, the majority (more than 50%), particularly preferably the overwhelming majority (more than 75%), of the existing shelves are made of the same material.

In a preferred embodiment, the shelf has a plurality of shelves, in this particular embodiment all of the shelves of the shelf are of equal length and depth and all of the shelves of the shelf are equidistant from one another. In a particularly preferred embodiment, not all shelves of the shelf have the same length or the same depth or are at the same distance from one another, namely at least one shelf has a different length than another shelf and/or a different depth than another shelf and/or a different distance from a shelf than another shelf has from another shelf.

In a preferred embodiment, the shelf is designed to take a load of 50 kg. A shelf may be stiffened to minimize deflection or maximize flatness. Shelves with reduced adhesion can be provided, for example in the area of refrigerated shelves. Shelves for areas of refrigerated shelves / integrated refrigerators are possible, which allow condensate to drain and are preferably made of perforated sheet metal. In a preferred embodiment, an integrated drip pan is provided, which drains the condensate in a defined direction. The shelves can be designed as a grating construction.

In a preferred embodiment, at least one shelf of the shelf, preferably the majority (more than 50% of the existing shelves), particularly preferably more than 70% of the existing shelves and particularly preferably all shelves are designed in such a way that the surface on which the goods lie should run horizontally.

In a preferred embodiment, the shelf has a drawer. In a preferred embodiment, the shelf has drawers and shelves. In a preferred embodiment, the shelf has more drawers than shelves. In an alternative embodiment, the shelf has more shelves than drawers. In a preferred embodiment, the shelf can be designed in such a way that the drawer is open at the top and a free space is provided above the drawer into which part of the stacker crane can reach in order to let the goods fall into the drawer from there. Embodiments are also possible in which the drawer is open on one side, for example has no side wall or has an opening in the side wall or is open at the rear end, i.e. for example has no rear wall or has an opening in a rear wall, so that by means of the Storage and retrieval device through the respective opening a good can be placed in the drawer or the drawer can be removed. This makes it possible to put goods in the drawer and to remove the goods from the picking device by at least partially pulling the drawer out of the shelf. It is also possible with such an embodiment to load the picking device with goods by pulling a drawer at least partially out of the shelf, placing the goods in the drawer and pushing the drawer back into the shelf, in which position the storage and retrieval device then passes through the respective opening has access to the goods that have reached the shelf in this way.

The shelf can be assembled from individual shelf modules.

More preferably, the shelf has at least four shelf posts, each shelf post being located in one of four corners of the shelf, with at least one shelf of the shelf located between the four shelf posts. In a preferred embodiment, the shelf is rectangular, more preferably square, with each corner of the shelf being positioned adjacent a shelf post. In a preferred embodiment, a rail is provided between a first shelf post and a second shelf post, with the shelf resting on the rail. In a preferred embodiment, a further rail is provided between a third and a fourth shelf post, which runs parallel to the rail, with the shelf resting on both rails. In a preferred embodiment three rails are provided which together form the shape of a U, with the shelf resting on the three rails. In an alternative embodiment, four rails are provided, which together form a rectangle, with a shelf resting on all four rails. Rails can be designed, for example, in the form of angle profiles.

In a preferred embodiment, movable closure elements are provided with which at least part of one side of the shelf can be closed. For example, doors are provided that can be displaced horizontally or vertically or at an angle. Such doors may be configured to enclose a first portion of one side of the shelf in a first position and enclose a second portion of the same side of the shelf in a second position. In a preferred embodiment, such a door can then be led out of the shelf in a third position in which it completely exposes the side. Embodiments are possible in which the closure element is designed as a roller shutter. Guillotine-type trapdoors are also possible. Pivoting doors that can be pivoted about a horizontal axis or about a vertical axis are conceivable. Closing one side of the shelf can be used to protect the goods located behind the closure element from being accessed. Furthermore, locking part of one side of the shelf can be used to prevent collisions. If the part of one side of the rack is closed by a locking element, through which a storage and retrieval machine would have access to the goods when part of the side is open, then by locking this part of the side it can be prevented that the storage and retrieval machine can access the goods. This makes it possible for another storage and retrieval device or an operator to have manual access to the respective good without running the risk of colliding with the storage and retrieval device, which would otherwise also have access via the now closed side.

In a preferred embodiment, the picking device according to the invention is used for storing goods, particularly preferably used for storing goods whose length is between 10 and 400 mm and/or whose width is between 10 and 300 mm and/or whose height is between 10 and 200 mm.

The system according to the invention has a device according to the invention and an item that is located on the shelf.

In a preferred embodiment, the order-picking device according to the invention has a number of shelves. In a preferred embodiment, the picking device according to the invention has a first shelf and a second shelf running parallel to the first shelf. The longitudinal direction of the first shelf particularly preferably runs parallel to the longitudinal direction of the second shelf. Designs are also conceivable in which a second shelf is arranged at an angle, for example at an angle of 90°, to the first shelf.

In a preferred embodiment, at least one, preferably the majority (more than 50%), particularly preferably the overwhelming majority (more than 75%) of the existing shelves and very particularly preferably every existing shelf has a rear wall. The rear wall is preferably provided on the side of the respective shelf facing away from the other available shelves, so that the shelves open towards an interior of the picking device. The rear walls may contain openings, for example an ejection opening or an insertion opening. Drawers that may be provided in the shelf can be pulled out of the rear wall in the direction of the rear wall. The rear wall can be designed as a movable door or wall or as a roller shutter.

In a preferred embodiment, at least one, preferably the majority (more than 50%), particularly preferably the overwhelming majority (more than 75%) of the existing shelves and very particularly preferably each existing shelf has at least one side wall. The side wall is preferably provided on the side of the respective shelf facing away from the other available shelves, so that the shelves open towards an interior of the picking device. The side walls may contain openings, for example an ejection opening or an insertion opening. Drawers that may be provided in the shelf can be pulled out of the rear wall in the direction of the side wall. The side wall can be designed at least partially as a movable door or wall or as a roller shutter.

In a preferred embodiment, at least one shelf has a partition that projects beyond the front edge of at least one shelf on at least one side. The partition wall can run horizontally. The partition wall can run vertically. One part of the shelf can be separated from another part of the shelf by means of a partition or, in a preferred embodiment, with several adjacent partitions, particularly preferably with several adjacent partitions running at an angle of 90° to one another. Such a delimitation can be used, for example, to provide different climate zones in a shelf. Refrigerators / shelf areas with cooling function are possible. The partition walls can be used to guide a closure element, for example a roller shutter, which can close off an area of a shelf delimited by partition walls. For example, the rails of a roller shutter can be implemented in partitions.

The dividers can be built into a shelf. If a shelf is composed of modules, the partitions can be walls that delimit a module, for example.

In a preferred embodiment, the shelf has an area delimited by partition walls at least on both sides, preferably on both sides as well as at the top and bottom, a so-called zone, with the front edges of the shelves provided in the zone being set back in relation to the front edge of the partition walls, the front edge of the partitions therefore projects with respect to the front edges of the shelves in this zone. The front edge of the shelves and the front edge of the partition is understood in particular as the edge of the shelves or the partition facing the storage and retrieval device.

In a preferred embodiment, a partition wall extends over several shelves in the height direction.

In addition or as an alternative to partitions, which extend over several shelves and are preferably used to form zones in the shelf, a partition or several partitions can be provided in the shelf, which are each provided between two shelves and the space between two shelves into compartments subdivide. Partitions used in this way particularly preferably have front edges which are arranged in the same plane as the front edges of the two shelves between which they are arranged. Partitions used in this way can also be designed in such a way that their respective front edges are set back with respect to the plane in which the front edges of the two shelves between which they are arranged are set back.

In a preferred embodiment, a shelf of a shelf is movably arranged within the shelf. For example, a shelf can be raised or lowered in the vertical direction of the shelf by means of hydraulic tappets. Or a shelf can be moved in the longitudinal direction of the shelf, for example in rails. Or a shelf can be moved in the width direction of the shelf, for example in rails.

• • die Vorderseite zumindest in Teilen aus einer Rückwand oder einer Seitenwand eines Regals der Kommissioniervorrichtung gebildet wird und/oder
• • die Rückseite zumindest in Teilen aus einer Rückwand oder einer Seitenwand eines Regals der Kommissioniervorrichtung gebildet wird und/oder
• • zumindest eine der Seitenwände zumindest in Teilen aus einer Rückwand oder einer Seitenwand eines Regals der Kommissioniervorrichtung gebildet wird.

In a preferred embodiment, at least one rear wall of a shelf forms a boundary wall or part of a boundary wall of the order-picking device according to the invention. In a preferred embodiment, the picking device has a front, a rear and two side walls, wherein

• • the front is formed at least in parts from a rear wall or a side wall of a shelf of the order-picking device and/or
• • the back is formed at least in parts from a rear wall or a side wall of a shelf of the order-picking device and/or
• • at least one of the side walls is formed at least in part from a rear wall or a side wall of a shelf of the picking device.

In the front, the back and / or one of the side walls of the picking a door or window with a movable window sash arranged in a window frame and closing the window frame in a closed position.

The front, the back and/or at least one of the side walls of the order-picking device can be formed at least in parts from a transparent material, so that an interior view of the order-picking device is possible from the outside. Additionally or alternatively, the front, the rear and/or at least one of the side walls of the picking device can be formed at least in parts by a display, particularly preferably a touch-sensitive display. A display designed in this way can be used to give the front, the back and/or at least one of the side walls a special appearance (a special wall color that can also change, for example depending on the time of day) or can be used as advertising space . A display designed in this way, particularly preferably a touch-sensitive display, can be part of an interface with which a user can interact with the controller of the picking device.

In a preferred embodiment, the picking device has a roof. In a preferred embodiment, the roof rests on the shelf or on the shelves of the picking device. In an alternative embodiment, the roof is at least partially formed by the top of the shelf or the tops of the shelves, with at least one additional cover element being provided that at least partially closes off the area of the picking device in which there is no shelf from above. The areas of the picking device in which there is no shelf are preferably completely closed off from above by a ceiling element or by a plurality of ceiling elements. The ceiling elements can have hatches. The ceiling elements can be designed as closed ceiling elements, for example as plastic, metal or wooden panels. However, the ceiling elements can also be designed as lattice elements.

• • in einer ersten Betriebsart der Kommissioniervorrichtung (dem „Einlagern“) Güter von außerhalb eines Innenraums der Kommissioniervorrichtung in einen Innenraum der Kommissioniervorrichtung zu verbringen und
• • in einer zweiten Betriebsart der Kommissioniervorrichtung (dem „Auslagern“) Güter von innerhalb eines Innenraums der Kommissioniervorrichtung in einen Bereich außerhalb dieses Innenraums der Kommissioniervorrichtung zu verbringen.

In a preferred embodiment, the picking device has a conveyor belt. In a preferred embodiment, the conveyor belt leads from an area outside a shelf into the shelf, preferably into a space between two shelves of a shelf. Such a conveyor belt can be used to bring goods from outside an interior space of the picking device into an interior space of the picking device. Such a conveyor belt can be used to move goods from within an interior space of the picking device to an area outside of this interior space of the picking device. Such a conveyor belt can also be used to

• • in a first mode of operation of the picking device (the "storage") to bring goods from outside an interior space of the picking device into an interior space of the picking device and
• • in a second mode of operation of the picking device (the "removal") to bring goods from within an interior space of the picking device to an area outside of this interior space of the picking device.

• • ein erstes Förderband auf, das dazu genutzt wird, Güter von außerhalb eines Innenraums der Kommissioniervorrichtung in einen Innenraum der Kommissioniervorrichtung zu verbringen („Einlagerungsband“) und
• • ein zweites Förderband auf, das dazu genutzt wird, Güter von innerhalb eines Innenraums der Kommissioniervorrichtung in einen Bereich außerhalb dieses Innenraum der Kommissioniervorrichtung zu verbringen („Auslagerungsband“).

In a preferred embodiment, the picking device

• • a first conveyor belt, which is used to bring goods from outside an interior space of the picking device into an interior space of the picking device (“storage belt”) and
• • a second conveyor belt, which is used to bring goods from within an interior space of the picking device to an area outside this interior space of the picking device (“outsourcing belt”).

In addition or as an alternative to the storage belt, the picking device in this embodiment can have a storage chute or storage drawers. In addition or as an alternative to the outsourcing belt, the picking device in this embodiment can have an outsourcing chute or outsourcing drawers. The picking device can have a roller conveyor both as part of the storage and as part of the retrieval.

The picking device can have a separation, in particular a pick & place separation, a feeder separation or a separation unit.

In a preferred embodiment, the picking device has a converter. In a preferred embodiment, the translator is a jaw gripper. In a preferred embodiment, the converter can be moved between a pick-up position and a deposit position.

In a preferred embodiment, the converter is in its pick-up position above a delivery point. The task place can be a fixed one Surface, for example a solid surface, onto which an operator of the picking device can place a good or to which the goods to be stored can be reached in another way, for example through a chute at the end of which the fixed surface is arranged or from the end of which the good is placed the solid surface falls. The task place can be the bottom of a drawer. The loading area can be a specific area of a conveyor belt. The loading area can be the surface of a mobile tray. The task area can be arranged outside of an interior space of the picking device, for example if the converter is used in the course of storing the goods. The task station can be arranged inside an interior of the picking device, for example if the converter is used in the course of retrieving the goods.

In a preferred embodiment, the converter is in its storage position above a storage space. The storage location can be a solid surface, for example a solid surface, from which the storage and retrieval device can pick up a good. The storage location can be a specific area of a conveyor belt. The storage space can be the surface of a mobile tray. The storage space can be arranged outside of an interior space of the picking device, for example if the converter is used in the course of retrieving the goods. The storage space can be arranged inside an interior of the picking device, for example when the converter is used in the course of storing the goods.

In a preferred embodiment, the picking device has an identification station which has at least one identification device with which at least one property of an item can be determined. The identification station can also have a number of identification devices, particularly preferably at least two identification devices, which each determine different properties of the item. In a preferred embodiment, at least one of the existing identification devices, particularly preferably the majority (more than 50%) and particularly preferably the vast majority (more than 75%) of the existing identification device is connected to the controller for data exchange, for example via a radio link, such as Bluetooth or via a wired connection.

An identification device that can be used in an identification station can be a laser, with which at least one dimension of the item can be determined.

An identification device that can be used in an identification station can be a barcode reader and/or a QR code reader, with which at least one barcode on the item can be determined.

An identification device that can be used in an identification station can be an RFID reader, with which a passive or active RFID tag of the item can be determined.

An identification device that can be used in an identification station can be a camera with which, for example, a pictorial representation of the item can be recorded and/or with which at least one dimension of the item can be determined using image analysis methods and/or with which, using image analysis methods (OCR -Method) at least one text printed on the good, for example a sell-by date or a description of the good, can be determined.

An identification device that can be used in an identification station can be a temperature measuring device with which at least one dimension of the item can be determined.

An identification device that can be used in an identification station can be a scale with which the weight of the item can be determined.

An identification device that can be used in an identification station can be an x-ray device with which at least one x-ray image of the item can be made.

• • als Teil eines Aufgabeplatzes und/oder
• • als Teil eines Ablageplatzes und/oder
• • auf dem Weg angeordnet, den ein Umsetzer zwischen einem Aufgabeplatz und einem Ablageplatz zurücklegt, insbesondere in Form eines Zwischenplatzes, auf den der Umsetzer das Gut zur Identifikation kurzzeitig ablegt.

In a preferred embodiment is an identification station

• • as part of a task area and/or
• • as part of a storage location and/or
• • Arranged on the way that a converter covers between a task area and a storage area, in particular in the form of an intermediate area on which the converter places the goods for identification for a short time.

• • eine erste Identifikationsstation zur Identifikation zumindest einer Eigenschaft eines Gutes während des Einlagerns des Guts und
• • eine zweite Identifikationsstation zur Identifikation zumindest einer Eigenschaft eines Gutes während des Auslagerns des Guts

auf.The identification station can be used to identify at least one property of an item during storage of the item. The identification station can be used to identify at least one property of an item during the retrieval of the item. One and the same identification station can be used to identify at least one property of an item during storage of the item and to identify at least one property of an item while the item is being retrieved. In a preferred embodiment, the picking device

• • a first identification station for identifying at least one property of an item during storage of the item and
• • a second identification station for identifying at least one property of a good during the retrieval of the good

on.

• • mehrere hintereinandergeschaltete Förderbänder oder
• • eine Rutsche, insbesondere Wendelrutsche, oder eine Wendelrutsche, Röllchenbahn mit einem nachgeschalteten Förderband, auf das ein Gut von der Rutsche bzw. der Röllchenbahn fällt oder
• • ein Förderband mit einer Rutsche, in die ein von dem Förderband gefördertes Gut am Ende des Förderbands fällt,

vorgesehen, mit dem bzw. mittels denen das Gut von der Aufgabe zum Aufgabeplatz befördert wird.In a preferred embodiment, the order-picking device has a task which is formed by a location which is arranged outside of an interior space of the order-picking device and is accessible to an operator of the order-picking device. The task can be the task location, above which a converter can be located in its pick-up position. In an alternative embodiment, a conveyor, for example a conveyor belt, a chute or movable tray or a series of conveyors, for example

• • several conveyor belts connected in series or
• • a chute, in particular a spiral chute, or a spiral chute, roller conveyor with a downstream conveyor belt onto which a good falls from the chute or the roller conveyor, or
• • a conveyor belt with a chute into which a good transported by the conveyor belt falls at the end of the conveyor belt,

provided, with or by means of which the good is transported from the task to the task place.

• • mehrere hintereinandergeschaltete Förderbänder oder
• • eine Rutsche, insbesondere Wendelrutsche mit einem nachgeschalteten Förderband, auf das ein Gut von der Rutsche fällt oder
• • ein Förderband mit einer Rutsche, in die ein von dem Förderband gefördertes Gut am Ende des Förderbands fällt,

vorgesehen, mit dem bzw. mittels denen das Gut von dem Ablageplatz zum Übergabeplatz befördert wird.In a preferred embodiment, the picking device has a transfer station from which a storage and retrieval device can pick up a good. The transfer area can be the storage area above which a converter is located in its storage position. In an alternative embodiment, a conveyor, for example a conveyor belt, a chute, in particular a spiral chute or movable tray or a series of conveyors, for example

• • several conveyor belts connected in series or
• • a chute, in particular a spiral chute with a downstream conveyor belt onto which a good falls from the chute or
• • a conveyor belt with a chute into which a good transported by the conveyor belt falls at the end of the conveyor belt,

provided with or by means of which the goods are transported from the storage area to the transfer area.

• • mehrere hintereinandergeschaltete Förderbänder oder
• • eine Rutsche, insbesondere Wendelrutsche mit einem nachgeschalteten Förderband, auf das ein Gut von der Rutsche fällt oder
• • ein Förderband mit einer Rutsche, in die ein von dem Förderband gefördertes Gut am Ende des Förderbands fällt,

festgelegt wird. In einer bevorzugten Ausführungsform ist das Fördermittel der Umsetzer. In einer alternativen, ebenfalls bevorzugten Ausführungsform ist der Umsetzer eines der Fördermittel, die zur Bildung des Aufgabeförderwegs hintereinander geschaltet sind. In einer alternativen, ebenfalls bevorzugten Ausführungsform ist der Umsetzer keines der Fördermittel, die zur Bildung des Aufgabeförderwegs hintereinander geschaltet werden; in dieser Ausführungsform wird das Gut also ohne Umsetzer von der Aufgabe zum Übergabeplatz entlang des Aufgabeförderwegs transportiert.In a preferred embodiment, the order-picking device has a feed conveyor path between the task and the transfer point, along which the goods are moved from the feed point to the transfer point, the route of the feed conveyor path being guided by a single conveyor, for example a conveyor belt, a chute or movable tray or a Cascading funding, for example

• • several conveyor belts connected in series or
• • a chute, in particular a spiral chute with a downstream conveyor belt onto which a good falls from the chute or
• • a conveyor belt with a chute into which a good transported by the conveyor belt falls at the end of the conveyor belt,

is determined. In a preferred embodiment, the conveyor is the converter. In an alternative, likewise preferred embodiment, the converter is one of the conveying means which are connected in series to form the feed conveying path. In an alternative, likewise preferred embodiment, the converter is not one of the conveyors that are connected in series to form the feed conveyor path; in this embodiment, the good is thus transported from the task to the transfer point along the task conveyor path without a converter.

• • als Teil der Aufgabe und/oder
• • als Teil des Übergabeplatzes und/oder
• • entlang des Aufgabeförderweg angeordnet.

In a preferred embodiment is an identification station

• • as part of the task and/or
• • as part of the transfer area and/or
• • located along the infeed conveyor path.

• • mehrere hintereinandergeschaltete Förderbänder oder
• • eine Rutsche mit einem nachgeschalteten Förderband, auf das ein Gut von der Rutsch fällt oder
• • ein Förderband mit einer Rutsche, in die ein von dem Förderband gefördertes Gut am Ende des Förderbands fällt,

vorgesehen, mit dem bzw. mittels denen das Gut von dem Ablageplatz zur Ausgabe befördert wird.In a preferred embodiment, the order-picking device has an output that is formed by a location that is arranged outside of an interior space of the order-picking device and is accessible to an operator of the order-picking device. The output can be the shelf above which a translator can be in its shelf position. In an alternative embodiment, a conveyor, for example a conveyor belt, a chute or movable tray or a series of conveyors, for example

• • several conveyor belts connected in series or
• • a chute with a downstream conveyor belt onto which goods fall from the chute or
• • a conveyor belt with a chute into which a good transported by the conveyor belt falls at the end of the conveyor belt,

provided, with or by means of which the material is conveyed from the storage space to the output.

• • mehrere hintereinandergeschaltete Förderbänder oder
• • eine Rutsche mit einem nachgeschalteten Förderband, auf das ein Gut von der Rutsch fällt oder
• • ein Förderband mit einer Rutsche, in die ein von dem Förderband gefördertes Gut am Ende des Förderbands fällt,

vorgesehen, mit dem bzw. mittels denen das Gut von dem hier in Rede stehenden, ggf. zweiten Übergabeplatz zum Aufnahmeplatz befördert wird.In a preferred embodiment, the order-picking device has a transfer station at which a storage and retrieval device can deposit goods. The transfer point can be the same place from which a stacker crane can pick up a good. In a preferred embodiment, the order-picking device has a first transfer station that is intended for a storage and retrieval device to pick up goods from it, and a second transfer station that is provided for a storage and retrieval device to deposit goods on it. The possibly second transfer point in question here can be the receiving point above which a converter is located in its receptacle. In an alternative embodiment, a conveyor, for example a conveyor belt, a chute or movable tray or a series of conveyors, for example

• • several conveyor belts connected in series or
• • a chute with a downstream conveyor belt onto which goods fall from the chute or
• • a conveyor belt with a chute into which a good transported by the conveyor belt falls at the end of the conveyor belt,

provided, with or by means of which the goods are transported from the here in question, possibly second transfer point to the pick-up point.

• • mehrere hintereinandergeschaltete Förderbänder oder
• • eine Rutsche mit einem nachgeschalteten Förderband, auf das ein Gut von der Rutsch fällt oder
• • ein Förderband mit einer Rutsche, in die ein von dem Förderband gefördertes Gut am Ende des Förderbands fällt,

festgelegt wird. In einer bevorzugten Ausführungsform ist das Fördermittel der Umsetzer. In einer alternativen, ebenfalls bevorzugten Ausführungsform ist der Umsetzer eines der Fördermittel, die zur Bildung des Ausgabeförderwegs hintereinander geschaltet sind. In einer alternativen, ebenfalls bevorzugten Ausführungsform ist der Umsetzer keines der Fördermittel, die zur Bildung des Ausgabeförderwegs hintereinander geschaltet werden; in dieser Ausführungsform wird das Gut also ohne Umsetzer von dem Übergabeplatz zur Ausgabe entlang des Ausgabeförderwegs transportiert.In a preferred embodiment, the picking device has an output conveyor path between the transfer point and the output, along which the goods are moved from the transfer point to the output, the route of the output conveyor path being guided by a single conveyor, for example a conveyor belt, a slide or a movable tray or a Cascading funding, for example

• • several conveyor belts connected in series or
• • a chute with a downstream conveyor belt onto which goods fall from the chute or
• • a conveyor belt with a chute into which a good transported by the conveyor belt falls at the end of the conveyor belt,

is determined. In a preferred embodiment, the conveyor is the converter. In an alternative, likewise preferred embodiment, the converter is one of the conveying means which are connected in series to form the output conveying path. In an alternative, also preferred embodiment, the converter is not one of the conveyors that are connected in series to form the output conveyor path; In this embodiment, the item is thus transported from the transfer point to the output along the output conveyor path without a converter.

• • als Teil der Ausgabe und/oder
• • als Teil des Übergabeplatzes und/oder
• • entlang des Ausgabeförderweg angeordnet.

In a preferred embodiment is an identification station

• • as part of the issue and/or
• • as part of the transfer area and/or
• • located along the output conveyor path.

In a preferred embodiment, the route of the outfeed path corresponds to that of the infeed path. In an alternative embodiment, part of the route of the output conveyor path corresponds to the route of the infeed conveyor path or part of the route of the infeed conveyor path. In an alternative embodiment, part of the route of the infeed conveyor path corresponds to the route of the outfeed conveyor path or part of the route of the outfeed conveyor path. In an alternative embodiment, the route of the output conveyor path and the route of the infeed conveyor path are different.

• • eine Tastatur und/oder
• • eine Computermaus oder ein Touchpad und/oder
• • ein berührungsempfindliches Display und/oder
• • ein Mikrofon für eine Sprachsteuerung und/oder
• • ein Anschluss für das Auslesen eines Speichermediums, beispielsweise eines USB-Stick, einer CD, einer DVD und/oder
• • ein Lesegerät zum Auslesen eines RFID-tag oder eine Antenne für eine Kommunikation nach einem Funkstandard, beispielsweise Bluetooth oder NFC,

sein, die als Teil der Kommissioniervorrichtung ausgeführt sind und insbesondere drahtlos, beispielsweise über Bluetooth, oder über Kabel mit der Steuerung der Kommissioniervorrichtung verbunden sind. Ergänzend oder alternativ kann die Benutzerschnittstelle eine WLAN- oder LAN-Schnittstelle oder eine Schnittstelle für ein Telefonnetzwerk oder eine Schnittstelle für das Internet, beispielsweise ein Router, sein, mit der der Nutzer über ein Netzwerk, beispielsweise ein Telefonnetzwerk oder ein Computernetzwerk, insbesondere ein WLAN, ein LAN oder über das Internet, mit der Steuerung der Kommissioniervorrichtung interagieren kann.In a preferred embodiment, the picking device has a user interface. The user interface allows the user to interact with the controller of the picking device. The user interface can

• • a keyboard and/or
• • a computer mouse or touchpad and/or
• • a touch-sensitive display and/or
• • a microphone for voice control and/or
• • a connection for reading a storage medium, for example a USB stick, a CD, a DVD and/or
• • a reader for reading an RFID tag or an antenna for communication based on a wireless standard, such as Bluetooth or NFC,

which are designed as part of the picking device and are connected in particular wirelessly, for example via Bluetooth, or via cable to the controller of the picking device. Additionally or alternatively, the user interface can be a WLAN or LAN interface or an interface for a telephone network or an interface for the Internet, for example a router, with which the user can connect via a network, for example a telephone network or a computer network, in particular a WLAN , a LAN or via the Internet, can interact with the controller of the picking device.

In a preferred embodiment, the order-picking device has an air-conditioning device with which at least part of an interior space of the order-picking device can be heated or cooled. In a preferred embodiment, in which a zone can be formed by partition walls in a shelf, the air conditioning device can be designed in such a way that it influences the temperature in the zone by heating and/or cooling, and particularly preferably in a predetermined temperature range and in particular at can maintain a certain temperature. For example, a zone for receiving refrigerated goods may be maintained at a temperature range of 3°C to 7°C. In a preferred embodiment, in which the temperature in a zone delimited by dividing walls is influenced by means of an air conditioning device, in a particularly preferred embodiment, the dividing walls are designed with insulation. It is also possible to use the air-conditioning device to prevent the temperature in the entire interior of the order-picking device from rising above a specific value, for example above 35°C.

In a preferred embodiment, the order-picking device has lighting with which an interior of the order-picking device can be at least partially illuminated. The lighting can be used to illuminate part of the interior space in front of a shelf or between several shelves. Lighting can also be used for accentuation, for example, each shelf can be equipped with lighting that can be controlled, for example, so that the lighting lights up when a good is stored in this shelf by means of the storage and retrieval device or a good is stored from this shelf by means of the storage and retrieval device is outsourced.

In a preferred embodiment, a shelf of the order-picking device can be designed to be movable and, in particular, preferably be moved into different positions within the order-picking device. In the case of movable shelves, for example, the distance between two shelves can be reduced in order to make better use of space if there is no need to access a good that is located on one of the two shelves at the relevant time. In an alternative embodiment, all shelves of the picking device are stationary and immovable.

In a preferred embodiment, the picking device has an interior space. In a preferred embodiment, the picking device has a front, a back and two side walls and a roof, in which embodiment the interior is the space defined by the front, the back and the two side walls and the floor on which the picking device stands or a possibly existing floor area of the picking device and the roof is limited. If the order-picking device does not have its own roof, but has a front, a rear and two side walls, then in this embodiment the interior is the space defined by the front, the rear and the two side walls and the floor on which the order-picking device stands or a possibly existing floor area of the picking device and the horizontal plane is delimited, which contains the highest point of the picking device.

In a preferred embodiment, the stacker crane has a manipulator. A manipulator is a device that can change the position and/or orientation of an item in space. A change of location means that an item is moved from a first location to a second location. A change in orientation means that an item remains in the same place, but is oriented differently at this place, for example rotated about an axis.

• • Formschluss und/oder
• • Reibschluss und/oder
• • Magnetkraft und/oder
• • Saugkraft und/oder
• • Adhäsion

die Lage und/oder Ausrichtung des Guts verändern.A manipulator can use

• • Form fit and/or
• • Friction and/or
• • magnetic force and/or
• • suction power and/or
• • Adhesion

change the position and/or orientation of the goods.

In a preferred embodiment, the manipulator has a slide, a slide being understood to be a device that can exert a pushing force on the item, but not a pulling force.

In a preferred embodiment, the manipulator has one hook, in particular several Hooks or claws, whereby a hook is understood to mean a device which has a recess, by means of which at least part of the item can be gripped from behind and a tensile force can be applied to the item.

In a preferred embodiment, the manipulator has a suction cup, a suction cup being understood to mean a device that can apply a suction force to the item and, particularly preferably, by applying a suction force, can hold the item in a position relative to the suction unit, so that by moving of the sucker, the goods can also be moved, for example by moving the sucker, a pulling movement can be applied to the goods held on the sucker by means of suction force.

In a preferred embodiment, the manipulator has a movable magnet, in which case the item can be held on the magnet by the magnetic force and a movement of the magnet can thus be transferred to the item.

In a preferred embodiment, the manipulator has a gripper. A gripper has at least two gripping elements, wherein at least one gripping element can be moved relative to the other gripping element, so that the distance between the first gripping element and the second gripping element can be changed. The gripper can function, for example, in the manner of pliers. Embodiments are possible in which the position of one gripping element is fixed within the manipulator and the change in the distance between one gripping element and the other gripping element is brought about solely by movements of one gripping element. In a particularly preferred embodiment, however, both gripping elements can be moved relative to the respective other gripping element, so that the distance between the gripping elements can be changed by movements of both gripping elements.

In a preferred embodiment, the storage and retrieval device has a support platform. In a preferred embodiment, the manipulator is arranged above the support platform. In a preferred embodiment, the manipulator or a part of the manipulator belonging to the manipulator can be moved relative to the support platform. If the manipulator is designed as a gripper, for example, the manipulator can grip an item lying on the support platform and, by moving it relative to the support platform, can store the item from the support platform on the shelf. Goods can be removed from the shelf by moving the manipulator or part of the manipulator relative to the support platform. For this purpose, the manipulator or part of the manipulator is moved relative to the support platform on the shelf, where it takes the goods to be outsourced, for example, or exerts a tensile force on the goods to be outsourced and brings the goods to be outsourced from the shelf to the support platform.

In a preferred embodiment, the storage and retrieval device has a base body. In a preferred embodiment, the manipulator is designed to be movable relative to the base body. In a preferred embodiment, a support platform, if present, is designed to be movable relative to the base body. In a preferred embodiment, the manipulator and/or the support platform are designed to be movable in a vertical direction relative to the moving base body. In a preferred embodiment, the manipulator and the support platform are part of an assembly that can be moved as a whole relative to the base body.

In a preferred embodiment, the base body is formed at least in part by a column, particularly preferably a vertical column.

In a preferred embodiment, the base body, particularly preferably a column forming part of the base body, has a rail, the movement of the manipulator relative to the base body, or a subassembly having the manipulator being guided in its movement relative to the base body, by the rail.

• • durch einen hydraulischen und/oder einen pneumatischen Zylinder erfolgen, der an einem Ende mit dem Grundkörper und an seinem anderen Ende mit dem Manipulator bzw. der Baugruppe verbunden ist, und/oder
• • durch eine Zahnstange und ein angetriebenes Ritzel, wobei beispielsweise die Zahnstange am Grundkörper angeordnet sein kann und der Manipulator bzw. die Baugruppe ein angetriebenes Ritzel aufweist, durch dessen Bewegung sich der Manipulator bzw. die Baugruppe entlang der Zahnstange bewegen kann, und/oder
• • nach Art einer Magnetschwebebahn erfolgen und/oder
• • durch ein Seil oder einen Gurt oder Zahnriemen erfolgen, der an einem Ende mit dem Manipulator, bzw. der Baugruppe verbunden ist und auf eine Winde am Grundkörper auf- oder abgewickelt wird oder der an einem Ende mit dem Grundkörper verbunden ist und auf eine Winde am Manipulator bzw. der Baugruppe auf- oder abgewickelt wird, und/oder
• • durch eine Schlaufe eines Zahngurts, bzw. Zahnriemen, mit dem der Manipulator, bzw. die Baugruppe verbunden ist, erfolgen, wobei der Zahngurt im Eingriff mit mindestens einem Ritzeln am Grundkörper steht und durch Bewegen des Zahngurts, beispielsweise durch Antreiben des Ritzels, der Manipulator bzw. die Baugruppe relativ zum Grundkörper bewegt werden kann, und/oder
• • durch eine Kugelumlaufspindel erfolgen und/oder
• • ein angetriebenes Reibrad, das entlang einer Reibfläche läuft, beispielsweise ein am Manipulator bzw. der Baugruppe vorgesehenes, angetriebenes Reibrad, das entlang einer Reibfläche am Grundkörper läuft.

The movement of the manipulator, or of an assembly having the manipulator, relative to the base body can

• • be effected by a hydraulic and/or a pneumatic cylinder which is connected at one end to the base body and at its other end to the manipulator or the assembly, and/or
• • by a rack and a driven pinion, for example the rack can be arranged on the base body and the manipulator or the assembly has a driven pinion, through the movement of which the manipulator or the assembly can move along the rack, and/or
• • take place in the manner of a magnetic levitation train and/or
• • by a rope or a belt or toothed belt, which is connected at one end to the manipulator or the assembly and is wound up or down on a winch on the base body or is connected at one end to the base body and on a winch is wound up or unwound on the manipulator or the assembly, and/or
• • by a loop of a toothed belt or toothed belt with which the manipulator or the assembly is connected, the toothed belt is in engagement with at least one pinion on the base body and by moving the toothed belt, for example by driving the pinion, the Manipulator or the assembly can be moved relative to the base body, and / or
• • done by a ball screw and / or
• • a driven friction wheel that runs along a friction surface, for example a driven friction wheel that is provided on the manipulator or the assembly and runs along a friction surface on the base body.

• • die Lage des Manipulators und/oder die Lage einer ggf. vorgesehenen Baugruppe, zu der der Manipulator ein Teil ist, relativ zum Grundkörper bestimmen,
• • die Lage des Manipulators oder eines Teils des Manipulator, beispielsweise eines Greifarms, relativ zu anderen Teilen einer Baugruppe, zu der er gehört, beispielsweise relativ zu einer Stützplattform bestimmen,
• • die Lage eines Teils des Manipulators relativ zu einem anderen Teil des Manipulators bestimmen, beispielsweise die Lage eines Greifarms relativ zu einem anderen Greifarm,
• • die Lage des Regalbediengeräts oder eines Teils des Regalbediengeräts relativ zu anderen Teilen der Kommissioniervorrichtung bestimmen, beispielsweise die Positionierung des Grundkörpers relativ zu einem Referenzpunkt der Kommissioniervorrichtung oder aber die Lage des zum Regalbediengerät zugehörigen Manipulators relativ zu einem Referenzpunkt an einem Regal der Kommissioniervorrichtung.

In a preferred embodiment, the storage and retrieval device has a status determination system. The status determination system can be composed of individual modules. The status determination system can

• • determine the position of the manipulator and/or the position of an assembly that may be provided, of which the manipulator is a part, relative to the base body,
• • determine the position of the manipulator or a part of the manipulator, e.g. a gripper arm, relative to other parts of an assembly to which it belongs, e.g. relative to a support platform,
• • determine the position of one part of the manipulator relative to another part of the manipulator, for example the position of a gripper arm relative to another gripper arm,
• • determine the position of the stacker crane or part of the stacker crane relative to other parts of the picking device, for example the positioning of the base body relative to a reference point of the picking device or the position of the stacker crane associated manipulator relative to a reference point on a shelf of the picking device.

The position of an object relative to another object is, in particular, the distance of a reference point of one object relative to a reference point of the other object and/or the angle by which one object was rotated around an axis of rotation relative to the other object, starting from a reference position , Roger that.

• • eine Lasermessvorrichtung, mit der ein Abstand gemessen werden kann,
• • einen Winkelmessgeber, mit dem gemessen werden kann, um welchen Winkel sich ein Objekt gedreht hat,
• • ein Lichtschranke, mit der kontrolliert werden kann, ob ein Objekt einen bestimmten Referenzpunkt erreicht hat, oder mit der kontrolliet werden kann, ob ein Objekt einen bestimmten Referenzpunkt passiert hat,
• • einen Drucksensor, mit dem ermittelt werden kann, ob ein Objekt gegen ein anderes Objekt anstößt,
• • eine Visionkamera,
• • ein Wegmesssystem,
• • einen Ultraschallsensor,
• • einen Laser-Triangulationssensor,
• • einen Seilzugsensor.

The condition determination system can include measuring devices for determining the positions, for example

• • a laser measuring device with which a distance can be measured,
• • an angle encoder that can be used to measure the angle through which an object has rotated,
• • a light barrier, which can be used to check whether an object has reached a certain reference point or with which it can be checked whether an object has passed a certain reference point,
• • a pressure sensor that can be used to determine whether an object is hitting another object,
• • a vision camera,
• • a position measuring system,
• • an ultrasonic sensor,
• • a laser triangulation sensor,
• • a draw-wire sensor.

In a preferred embodiment, the stacker crane can be moved relative to the shelf. In a preferred embodiment, the storage and retrieval device is moved along a defined path relative to the shelf. In a preferred embodiment, the stacker crane is guided on a rail. In a preferred embodiment, a base body of the storage and retrieval device is guided on a rail. In a preferred embodiment, the storage and retrieval device is guided on an upper rail and on a lower rail. In a preferred embodiment, a rail runs parallel to a shelf.

• • durch einen hydraulischen und/oder einen pneumatischen Zylinder erfolgen, der an einem Ende mit dem Grundkörper und an seinem anderen Ende mit dem Regal verbunden ist, und/oder
• • durch eine Zahnstange und ein angetriebenes Ritzel, wobei beispielsweise die Zahnstange am Regal angeordnet sein kann und der Grundkörper ein angetriebenes Ritzel aufweist, durch dessen Bewegung sich der Grundkörper entlang der Zahnstange bewegen kann, und/oder
• • nach Art einer Magnetschwebebahn erfolgen und/oder
• • durch ein Seil oder einen Gurt oder Zahnriemen erfolgen, der an einem Ende mit dem Regal verbunden ist und auf eine Winde am Grundkörper auf- oder abgewickelt wird oder der an einem Ende mit dem Grundkörper verbunden ist und auf eine Winde am Regal auf- oder abgewickelt wird, und/oder
• • durch eine Schlaufe eines Zahngurts, bzw. Zahnriemen, mit dem das Regal verbunden ist, erfolgen, wobei der Zahngurt im Eingriff mit mindestens einem Ritzeln am Grundkörper steht und durch Bewegen des Zahngurts oder der Ritzels, beispielsweise durch Antreiben des Ritzels, der Grundkörper relativ zum Regal bewegt werden kann, und/oder
• • durch eine Kugelumlaufspindel erfolgen und/oder
• • ein angetriebenes Reibrad, das entlang einer Reibfläche läuft, beispielsweise ein am Grundkörper vorgesehenes, angetriebenes Reibrad, das entlang einer Reibfläche am Regal oder an dem Boden vor dem Regal läuft.

The movement of the main body of the stacker crane relative to the shelf can

• • done by a hydraulic and/or a pneumatic cylinder connected at one end to the base and at its other end to the shelf, and/or
• • by a rack and a driven pinion, for example, the rack can be arranged on the shelf and the base body has a driven pinion, through the movement of which the base body can move along the rack, and / or
• • take place in the manner of a magnetic levitation train and/or
• • be done by a rope or a belt or toothed belt connected at one end to the Shelf is connected and is wound up or unwound on a winch on the base body or is connected at one end to the body and is wound up or unwound on a winch on the shelf, and/or
• • by a loop of a toothed belt or toothed belt to which the shelf is connected, the toothed belt being in engagement with at least one pinion on the base body and by moving the toothed belt or the pinion, for example by driving the pinion, the base body relatively can be moved to the shelf, and/or
• • done by a ball screw and / or
• • a driven friction wheel that runs along a friction surface, for example a driven friction wheel provided on the base body that runs along a friction surface on the shelf or on the floor in front of the shelf.

• • ein Gut, das vorher nicht an einem bestimmten Lagerplatz in einem Regal der Kommissioniervorrichtung positioniert war, mittels des Regalbediengeräts an diesen bestimmten Lagerplatz in dem Regal positioniert wird, oder
• • ein Gut, das vorher an einem bestimmten Lagerplatz in einem Regal der Kommissioniervorrichtung positioniert war, mittels des Regalbediengeräts von diesem bestimmten Lagerplatz entfernt wird.

A method that can be carried out with the order-picking device according to the invention can provide that

• • a good that was not previously positioned at a specific storage location on a shelf of the picking device is positioned at this specific storage location on the shelf by means of the storage and retrieval device, or
• • a good that was previously positioned at a specific storage location on a shelf of the picking device is removed from this specific storage location by means of the storage and retrieval device.

• • von dem Manipulator gehalten und/oder liegt auf einer Stützplattform eines Regalbediengeräts und wird mit dem Regalbediengerät relativ zum Regal bewegt und/oder durch eine Bewegung des Manipulators bzw. einer den Manipulator umfassenden Baugruppe relativ zu einem Grundkörper des Regalbediengeräts relativ zum Regal in eine Übergabeposition bewegt und
• • nach Erreichen der Übergabeposition durch eine Bewegung des Manipulators oder eines Teils des Manipulators an den bestimmten Lagerplatz bewegt.

In a preferred embodiment, goods to be stored at a specific storage location on the shelf are stored in a preceding method step

• • held by the manipulator and/or lies on a support platform of a storage and retrieval device and is moved with the storage and retrieval device relative to the shelf and/or by moving the manipulator or an assembly comprising the manipulator relative to a base body of the storage and retrieval device relative to the shelf in a transfer position moves and
• • after reaching the transfer position, moved to the specified storage location by a movement of the manipulator or a part of the manipulator.

• • durch eine Bewegung des Manipulators oder eines Teils des Manipulators von dem bestimmten Lagerplatz entfernt und
• • mit dem Regalbediengerät relativ zum Regal bewegt und/oder durch eine Bewegung des Manipulators bzw. einer den Manipulator umfassenden Baugruppe relativ zu einem Grundkörper des Regalbediengeräts relativ zum Regal in eine Übergabeposition bewegt, während das Gut von dem Manipulator gehalten wird und/oder auf einer Stützplattform eines Regalbediengeräts liegt.

In a preferred embodiment, goods to be retrieved from a specific storage location on the shelf

• • removed from the specified storage location by a movement of the manipulator or a part of the manipulator, and
• • Moved with the storage and retrieval device relative to the shelf and / or by moving the manipulator or an assembly comprising the manipulator relative to a base body of the storage and retrieval device relative to the shelf in a transfer position, while the goods are held by the manipulator and / or on a Support platform of a stacker crane is located.

The picking device according to the invention and/or the method are particularly preferably used for storing and/or retrieving goods whose length is between 10 and 400 mm and/or whose width is between 10 and 300 mm and/or whose height is between 10 and 200 mm.

The picking device according to the invention and/or the method are particularly preferably used for storing and/or retrieving goods that are not dimensionally stable, for example sacks or bags.

• 1 eine perspektivische Ansicht auf die sogenannte Einlagerseite einer erfindungsgemäßen Kommissioniervorrichtung;
• 2 eine perspektivische Ansicht auf die Rückseite der Kommissioniervorrichtung nach 1;
• 3 eine Draufsicht auf die Rückseite der Kommissioniervorrichtung nach 1;
• 4, 4a eine geschnittene Ansicht der Kommissioniervorrichtung nach 1 entlang der Linie A-A in 3;
• 5, 5a eine geschnittene Ansicht der Kommissioniervorrichtung nach 1 entlang der Linie B-B in 3;
• 6 eine Draufsicht auf eine erste Seite der Kommissioniervorrichtung nach 1;
• 7 eine Draufsicht auf eine zweite Seite der Kommissioniervorrichtung nach 1;
• 8 eine Ansicht von oben auf die Kommissioniervorrichtung nach 1;
• 9 eine geschnittene Ansicht der Kommissioniervorrichtung nach 1 entlang der Linie C-C in 8;
• 10 eine Draufsicht auf die Einlagerseite der Kommissioniervorrichtung nach 1;
• 11 eine geschnittene Ansicht der Kommissioniervorrichtung nach 1 entlang der Linie D-D in 10;
• 12 eine perspektivische Ansicht eines Regalbediengeräts der Kommissioniervorrichtung gemäß 1 mit einem ersten Typ eines Manipulators;
• 13 eine perspektivische Ansicht eines Regalbediengeräts der Kommissioniervorrichtung gemäß 1 mit einem zweiten Typ eines Manipulators;
• 14 eine perspektivische Ansicht eines ersten Typs eines Manipulators eines Regalbediengeräts der Kommissioniervorrichtung gemäß 1 und
• 15 eine perspektivische Ansicht eines zweiten Typs eines Manipulators eines Regalbediengeräts der Kommissioniervorrichtung gemäß 1.

The invention is explained in more detail below with reference to a drawing that merely shows embodiments of the invention in more detail. show:

• 1 a perspective view of the so-called storage side of a picking device according to the invention;
• 2 a perspective view of the back of the picking device 1 ;
• 3 a top view of the rear of the picking device 1 ;
• 4 , 4a a sectional view of the picking device 1 along line AA in 3 ;
• 5 , 5a a sectional view of the picking device 1 along line BB in 3 ;
• 6 a top view of a first side of the picking device 1 ;
• 7 a top view of a second side of the picking device 1 ;
• 8th a top view of the picking device 1 ;
• 9 a sectional view of the picking device 1 along line CC in 8th ;
• 10 a top view of the storage side of the picking device 1 ;
• 11 a sectional view of the picking device 1 along the line DD in 10 ;
• 12 a perspective view of a storage and retrieval device according to the picking device 1 with a first type of manipulator;
• 13 a perspective view of a storage and retrieval device according to the picking device 1 with a second type of manipulator;
• 14 a perspective view of a first type of manipulator of a storage and retrieval device according to the picking device 1 and
• 15 a perspective view of a second type of manipulator of a storage and retrieval device according to the picking device 1 .

The order-picking device 1 shown in the figures has two rows of shelves 2 lying opposite one another. Each row of shelves 2 consists of a large number of individual shelf modules 3. Each shelf module 3 has vertical struts 4 and shelves 5 arranged between the struts 4 and fastened to them. For reasons of clarity, the shelf modules 3 are shown with a small number of shelves 5. Depending on the size of the goods to be stored, the number of shelves 5 can be adjusted. When storing flat goods, for example packs the size of a medicine pack, smaller distances between the shelves 5 are required than when storing high goods, such as bottles. Thus, in a shelving module 3 intended for storing flat goods, the number of shelves 5 can be increased since they can be arranged one above the other at a smaller distance than is the case for a shelving module 3 for storing tall goods. The pattern of the shelves provided in the shelf modules 3 can vary within the picking device 1 . In this way, individual shelf modules 3 or even individual areas of individual shelf modules 3 can be reserved for storing specific goods and equipped accordingly. Areas of the rows of shelves 2 are conceivable within which the shelves 5 are arranged relatively close together; these areas are then used to store flat goods. Areas of the rows of shelves 2 are also conceivable, within which the shelves 5 are arranged one above the other relatively far away from one another; these areas are then used to store tall goods.

It is also possible to equip individual areas of the row of shelves 2 for special storage conditions, for example with cooling or with an air conditioner that sets a specific humidity level. The refrigeration, which can also be equipped as a freezer, can be used for storing refrigerated goods. Air-conditioned areas in which the air humidity is adjusted by means of the air conditioning system can be used, for example, to store goods that should be stored particularly dry, or for example to store goods that should be stored particularly moist, such as fresh vegetables. The areas of row 2 that are equipped for special storage conditions can have insulated walls. It can also be provided that a shelf module 3 belonging to a specially equipped area of a row of shelves 2 is provided with a closure element pointing towards the aisle 6, such as a roller shutter, which closes the shelf module 3 towards the aisle 6 and thus sets the special storage conditions facilitated within the shelf module 3, but at the same time by opening the closure element, for example raising the roller shutter, to allow access to a stored in this shelf module 3 under special storage conditions Good.

The opposing rows of shelves 2 form a corridor 6 between them. Each storage and retrieval device 7 can be moved along the rows of shelves 2 . As 12 , 13 show particularly well, the storage and retrieval device 7 has a head guide 8 and a foot guide 9 . The head guide 8 has two pairs of rollers 10 . A head strap (not shown) is guided through the two pairs of rollers 10, on which the two pairs of rollers 10 roll. Another pair of rollers 11 supports the storage and retrieval device 7 against the ceiling 20 of the picking device 1 and rolls on the ceiling 20 . The foot guide 9 has two pairs of rollers 13 . A foot strap (not shown) is guided through the two pairs of rollers 10, on which the two pairs of rollers 13 roll. Another pair of rollers 11 supports the storage and retrieval device 7 against the floor 21 of the picking device 1 and rolls on the floor 21 . The foot guide 9 has a drive 14 . The drive 14 drives a toothed wheel which engages in the teeth of the foot strap, which is not shown and is designed as a toothed belt. The foot strap and the head strap are stationarily arranged in the picking device 1 .

A foot strap and a head strap each extend along a row of shelves 2. The drive 14 can move the shelf by rotating a gear which is in engagement with the teeth of the foot strap move control device 7 along the stationary foot belt and thus move the storage and retrieval device 7 along the row of shelves 2.

The relative position of the storage and retrieval device 7 in relation to the row of shelves 2 can be determined and monitored as follows: A reference point of the storage and retrieval device 7 in relation to the row of shelves 2 is defined. This reference point can, for example, be an end stop, ie a stop at the end of the row of shelves 2, beyond which the storage and retrieval device 7 cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop at each end of the row of shelves 2, between which the storage and retrieval device 7 can move relative to the row of shelves 2. The position of the storage and retrieval device 7 relative to the reference point can now be determined from the tooth pitch of the stationary foot strap and by monitoring the number of revolutions of the gear wheel of the drive 14 . Calibration runs and regular control runs are possible.

The storage and retrieval device 7 has a vertical column 15 . The head guide 8 is provided at the top of the column 15; the foot guide 9 is provided at the lower end of the column 15.

A vertically movable manipulator 16 is provided on the column 15 (cf. also 14 , 15 ). The column 15 has a toothed rail 17 . A toothed wheel (not shown) engages in the toothed rail 17 and can be rotated by a drive 18 . By rotating the gear wheel, the manipulator 16 can be moved along the toothed rail 17 arranged in a stationary manner on the column 15 and consequently along the column 15 . The manipulator has a guide plate with rollers 19 which roll along vertical guide surfaces on the column 15 and stabilize the movement of the manipulator 16 along the column 15 .

The relative position of the manipulator 16 in relation to the column 15 can be determined and monitored as follows: A reference point of the manipulator 16 in relation to the row of shelves 2 is established. This reference point can, for example, be an end stop, ie a stop at the end of the column 15 beyond which the manipulator 16 cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop each at one end of the column 15, between which the manipulator 16 can move relative to the column 15. The position of the manipulator 16 relative to the reference point can now be determined from the tooth pitch of the toothed rail 17 and by monitoring the number of revolutions of the gear wheel of the drive 18 . Calibration runs and regular inspection runs are possible.

The manipulator 16 has a support surface 30 on which goods can be supported during transport of the goods in the manipulator 16 . The support surface 30 is in accordance with the embodiment 14 , 15 carried out stationary. Embodiments are also possible in which the support surface 30 is designed to be linearly displaceable.

The manipulator 16 has two forks 31 which together form a jaw gripper 32 . At the end of the forks 31 racks 33 are provided. A drive 34 can drive a gear wheel, which is not shown in detail and is arranged between the toothed racks 33 . A rack 33 is arranged on one side of the gear wheel; the other rack 33 is located on the other side of the gear. By rotating the gear, the racks 33 are moved past the gear. Due to the arrangement of the racks 33 on opposite sides of the gear, the racks 33 are rotated in opposite directions as the gear rotates. This movement of the toothed racks 33 allows the distance between the forks 31 to be increased or decreased, depending on whether the toothed racks 33 are moved towards one another or away from one another by turning the toothed wheel.

The relative position of the forks 31 to one another can be determined and monitored as follows: A reference point is established. This reference point can be, for example, the fully closed position in which the tips of the forks 31 are in contact and further rotation of the gear wheel is no longer possible. The position of the forks 31 relative to each other can now be determined from the tooth pitch of the toothed racks 33 and by monitoring the number of revolutions of the gear wheel of the drive 34 . Calibration runs and regular control runs are possible.

The manipulator 16 has a roller (in 14 , 15 only the roller 35 at the front end is visible) guided, revolving toothed belt 36. The toothed belt 36 runs along the support surface 30. A carrier 37, which also supports the drive 34, the forks 31 and the toothed racks 33, is connected to the toothed belt 36. A drive, not shown, drives the toothed belt 36 so that the toothed belt 36 runs around the rollers 35 . Due to the connection with the toothed belt 36, when the toothed belt 36 moves, the carrier 37 and with it the drive 34, the forks 31 and the toothed racks 33 are also moved, namely along and over the support surface 30.

In an alternative embodiment, it is possible for the toothed belt 36 to be designed as a stationary toothed rack and for the carrier 37 to have a drive with a gear wheel. By rotating the gear, the carrier 37 can be moved along the stationary rack. The relative position of the carrier 37 in relation to the support surface 30 can be determined and monitored as follows: A reference point of the carrier 37 in relation to the support surface 30 is established. This reference point can, for example, be an end stop, ie a stop at the end of the support surface 30 beyond which the carrier 37 cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop each at one end of the support surface 30, between which the carrier 37 can move relative to the support surface 30. The position of the carrier 37 relative to the reference point can now be determined from the tooth pitch of the toothed rack and by monitoring the number of revolutions of the gearwheel of the drive. Calibration runs and regular control runs are possible.

A slide 38 is provided on the carrier 37 . When the goods are lying on the support surface 30 , this can hit the goods from behind and push the goods along the support surface 30 .

14 and 15 show that the forks have 31 pads 39. The pads 39 can be matched to the item to be taken. A first embodiment, namely that in 14 shown, conceivable in which the pads 39 are made of rubber and have a good coefficient of friction in order to securely grip a carton pack. A second embodiment, namely that in 15 shown, in which the pads 39 are slightly magnetic to grip a ferromagnetic package securely.

The support surface 30 and the carrier 37 and the toothed belt 36 can be rotated about the vertical axis A, so that a storage and retrieval device 7 engages both in shelves 5 of the row of shelves 2 that is closer to it and in shelves 5 of the row of shelves 2 arranged on the other side of the aisle 6 can.

The relative position of the storage and retrieval device 7 in relation to the row of shelves 2 can be determined and monitored as follows: A reference point of the storage and retrieval device 7 in relation to the row of shelves 2 is defined. This reference point can, for example, be an end stop, ie a stop at the end of the row of shelves 2, beyond which the storage and retrieval device 7 cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop at each end of the row of shelves 2, between which the storage and retrieval device 7 can move relative to the row of shelves 2. The position of the storage and retrieval device 7 relative to the reference point can now be determined from the tooth pitch of the stationary foot strap and by monitoring the number of revolutions of the gear wheel of the drive 14 . Calibration runs and regular control runs are possible.

The manipulator 16 can grasp an item lying on a shelf 5 by entering the shelf module 3 with forks 31 spread slightly wider than the width of the item, so that one fork 31 is arranged on each side of the item. By moving the forks 31 together by means of the drive 34, the forks 31 can be brought into contact with the goods and exert a clamping force on the goods. By retracting the forks 31 by moving the toothed belt 36, the goods can be transferred from the forks 31 to the support surface 30.

The manipulator 16 can store goods lying on the support surface 30 on a shelf 5 arranged next to the support surface 30, in that the forks 31 and the slide 38 are moved forwards by moving the toothed belt 36 and the goods are removed from the support surface 30 by means of the slide 38 is pushed onto the shelf 5.

The picking device has wall panels 22 . These form the respective rear walls of the rows of shelves 2 and close them off from the outside. In 2 some wall panels 22 have been omitted to give an insight into the struts 4 of the shelf modules 3. Furthermore, the order-picking device 1 has ceiling panels 23 which form part of the ceiling 20 of the order-picking device 1 . The ceiling panels 23 can be transparent or opaque in order to let light into the picking device 1 . The ceiling panels 23 can be opaque in order to keep light out of the picking device 1, for example to protect light-sensitive goods. The picking device has side panels 24 . These form the respective side walls of the rows of shelves 2 and close them to the outside. A window 25 can be provided in a side panel 24 in order to provide a view of the aisle 6 . A door 26 can be provided on one side of the picking device 1 .

A delivery station 40 is provided on one side of the picking device 1 . The loading station 40 has a conveyor belt 41 on which goods to be stored can be placed. The goods lying on the conveyor belt 41 are conveyed into the loading station 40, identified there and by means of a transfer, not shown in detail transferred to trays 42. The trays 42 are located in the access area of the storage and retrieval device 7 so that the storage and retrieval device 7 can pick up the goods on the trays 42 by means of the jaw gripper 32 . For identification during implementation, the in DE 10 2004 007 962 A1 procedures described are used.

On one side of the picking device 1 there is a tray 43 for transport crates. The transport crates can be arranged next to one another on this shelf 43 and the goods can be placed on the conveyor belt 41 from the transport crates.

A touchscreen 44 is provided on one side of the picking device 1 as an interface for interaction between the operator and the picking device 1 .

Four outputs 45 are provided on one side of the picking device 1, each of which is designed as a chute leading out of the respective shelf module 5 to the outside. In the case of the two upper outputs 45, an output surface 46 is provided, on which a good sliding down the chute comes to rest and can be grasped by the operator. In the lower two editions 45 transport boxes 47 are provided, into which falls a slide sliding down the good. The upper ends 48 of the chutes are in the access area of the storage and retrieval device 7, so that goods can be placed on top of the chute.

The manipulator 16 has an interface at which the manipulator 16 can be connected to other components of the stacker crane 7 and at which the manipulator 16 can be separated from the other components of the stacker crane 7 . The interface can be formed by the guide plate with rollers 19. The manipulator 16 can be easily exchanged through the interface. As a result, operating situations of the picking device 1 are possible in which a manipulator 16 of a first type, which is particularly good for removing and/or storing a first type of goods (e.g. flat packs), but for removing and/or storing a second Type of goods (e.g. bottles) is somewhat less suitable, is exchanged for a manipulator 16 of a second type, which is better suited for the removal and/or storage of a second type of goods (e.g. bottles). Depending on the design of the interface, this exchange can take place automatically so that it is not necessary for the operator to carry out the exchange.

The picking device 1 has two stacker cranes 7 . One storage and retrieval device 7 is equipped with a manipulator 16 of a first type and can, for example, store and/or retrieve flat packs particularly well. The other storage and retrieval device 7 is equipped with a manipulator 16 of a second type and can store and/or retrieve bottles particularly well, for example.

The side wall of the picking device 1 that has the window 25 can be opened in its entirety and a storage and retrieval device 7 can be removed as such from the resulting opening. This makes it possible, for example, to completely remove or completely replace a storage and retrieval device 7 for maintenance purposes.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely 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

• EP 2826732 A1 [0003]
• DE 102005012910 A1 [0003]
• EP 2042477 A1 [0003]
• EP 1564160 A1 [0003, 0009]
• DE 102004007962 A1 [0126]

Claims (8)

Picking device (1) with at least • a shelf for storing goods, • a storage and retrieval device (7) which is suitable for storing goods at specific locations on the shelf and/or is suitable for goods which are at a specific location on the are located in the warehouse, the storage and retrieval device (7) having a base body and a manipulator (16) that can be moved relative to the base body and • a controller that is designed to control movements of the storage and retrieval device (7) and/or movements of components of the storage and retrieval device (7 ) to control, characterized in that the manipulator (16) has an interface at which the manipulator (16) can be connected to other components of the storage and retrieval device (7) and at which the manipulator (16) from the other components of the storage and retrieval device ( 7) can be separated. Picking device (1) after claim 1 , characterized in that the manipulator (16) can change the position and/or alignment of the goods within the order-picking device (1) by means of • positive locking and/or • frictional locking and/or • magnetic force and/or • suction force and/or • adhesion. Picking device (1) according to one of Claims 1 or 2 , characterized in that the manipulator (16) has a slide (38), a hook, a sucker, a movable magnet and/or a gripper (32). Picking device (1) according to one of Claims 1 until 3 , characterized in that the interface has a locking element which • has a locking position in which the manipulator (16) cannot be separated from the other components of the stacker crane (7), and • has an unlocking position in which the manipulator (16 ) can be separated from the other components of the stacker crane (7). Picking device (1) after claim 4 characterized by a drive which can move the locking element from the locking position to the unlocking position and/or which can move the locking element from the unlocking position to the locking position. Picking device (1) according to one of Claims 1 until 5 , characterized by a manipulator storage location on which the manipulator (16) can be stored. Picking device (1) according to one of Claims 1 until 6 , characterized in that the manipulator (16) is a manipulator (16) of a first type and that the stacker crane (7) additionally has a manipulator (16) of a second type different from the first type. Picking device (1) after claim 7 , characterized in that the manipulator (16) of the second type has an interface at which the manipulator (16) of the second type can be connected to other components of the stacker crane (7) and at which the manipulator (16) of the second type of the other components of the stacker crane (7) can be separated.

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