EP0741663A1

EP0741663A1 - Order-picking cell

Info

Publication number: EP0741663A1
Application number: EP95936977A
Authority: EP
Inventors: Josef Raschke; Rudolf Dipl.-Ing. Schuster; Rudolf Stingl
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 1994-11-24
Filing date: 1995-11-24
Publication date: 1996-11-13
Also published as: WO1996015964A1; AU3923395A; CN1062828C; CN1139410A; JPH09508092A

Abstract

The order-picking cell suitable in particular for stackable goods (WA), such as stacks of paper, for example, comprises: two rack systems (RS1, RS2) which are disposed parallel to each other at a spacing and each have a plurality of rack compartments (RF); a rack-serving device (RGB) which can be moved in the rack aisle between the two rack systems (RS1, RS2) in the longitudinal direction (X) and is provided with a gripper system (GS) for inserting and removing goods (WA) which are to be stored or are stored; an input conveyor (EF) for delivering goods (WA); and an output conveyor (AF) for the output of the goods (WA) picked. The gripper system (GS) can be pivoted into a first position (I) in the transverse direction (Z) relative to the first rack system (RS1), into a second position (II) in the longitudinal direction (X), and into a third position (III) in the transverse direction (Z) relative to the second rack system (RS2). The input conveyor (EF) and/or the output conveyor (AF) is/are aligned adjoining the rack aisle in the longitudinal direction (X). The pivotable arrangement of the gripper system (GS) enables the goods to be input and/or output via conveyor devices extending in the longitudinal direction (X) and thus the cell to have a space-saving structure.

Description

description

Consignment cell

From DE-Z promote and lift 19 (1969) No. 12, pages 727 to 732, it is known to use storage and retrieval machines in continuous storage as storage devices for the goods coming from the goods receipt or directly from the production or as removal devices for the removal of the goods use after orders. On the other hand, in the so-called specialist rack stores, there is a division into individual rack systems with intermediate aisles, each of which is used by rack operating devices. The goods arriving from goods receipt or production on a storage and retrieval conveyor in the transverse direction to the rack aisles are discharged before a predetermined rack aisle, taken over by the storage and retrieval machine and placed in the desired rack compartment. Outsourcing takes place in the opposite direction with the same conveyor elements. The shelf operating device fetches the desired goods from the shelf compartment and transfers them to the storage and retrieval conveyor leading to dispatch in this direction.

The known shelf operating devices used in order picking systems consist of a carriage which can be moved on rails in the aisle between two shelf systems and which carries a vertical mast. A lifting part that can be moved in the vertical direction on the mast then carries the gripping system required for the storage and / or removal of the goods. If the shelf systems are very high, guide rails can also be provided in the ceiling area in addition to the rails laid on the floor. Due to the space required in the floor area for the trolley and lifting section and in the ceiling area for the lifting section, the corresponding areas of the shelving systems cannot be used for shelf compartments. The one due to the construction of the storage and retrieval machines that cannot be used for storage compartments

Space in the floor and ceiling area, thus leads in particular to Lower rooms to a significant reduction in storage capacity.

The invention specified in claim 1 is based on the problem of creating a simply constructed picking cell, the installation of which takes up little space. In addition, the cell or module construction should enable a row of two or more order picking cells to be arranged in a row.

The advantages achieved by the invention consist in particular in that the input conveyor and / or output conveyor can run in the longitudinal direction following a rack aisle due to the pivotable gripping system. With such a space-saving arrangement, the goods can be picked up by the storage and retrieval device directly from an input conveyor and can be transferred directly to an output conveyor. Since this direct removal and task also applies to conveyors running in the transverse direction, there is a high degree of flexibility for the arrangement and alignment of input conveyors and output conveyors.

Advantageous embodiments of the invention are specified in the subclaims.

The configuration of the storage and retrieval unit according to claim 6 results in further serious advantages of the commissioning cell. Because the guides for the trolley of the rack operating device extend in the horizontal direction in the region of half the height of the two rack systems, only relatively narrow strips of the rack systems that cannot be used for rack compartments are covered. Starting from these middle strips, the lifting device arranged on the trolley can then move the gripping system up to under the ceiling and down to the floor, ie in contrast to the known rack control devices, both the ceiling area and the floor area can be used by the rack control device accessible shelves both shelving systems can be used. In addition, input conveyors of a neighboring cell can be passed through the picking cell in the transverse direction without any problems, since the storage and retrieval unit can easily drive over them.

Exemplary embodiments of the invention are shown in the drawing and are described in more detail below.

Show it

FIG. 1 shows a top view of a first embodiment of a picking cell,

FIG. 2 shows a top view of a second embodiment of a picking cell,

FIG. 3 shows a top view of a third embodiment of a picking cell,

FIG. 4 shows the basic principle of the rack operating device used in the order picking cells according to FIGS. 1 to 3,

FIG. 5 shows a side view of the lifting device and gripping system of a storage and retrieval unit,

Figure 6 is a plan view of a complete storage and retrieval unit with lifting device and gripping system according to Figure 5 and

FIG. 7 shows a spatial representation of a picking cell according to FIG. 1.

FIG. 1 shows a highly simplified schematic illustration of a top view of a first embodiment of a picking cell for stackable goods. This picking cell comprises two spaced-apart parallel and each with a plurality of shelves RF Equipped shelf systems RS1 and RS2, a shelf operating device RBG that can be moved in the longitudinal direction X in the shelf aisle between the two shelf systems RS1 and RS2, an input conveyor EF arriving in the transverse direction Z from the right, and an output conveyor AF leaving the shelf aisle in the longitudinal direction X. In the rear area of the second shelf system RS2, a switch cabinet designated SS is arranged. In addition, an additional input conveyor ZEF arriving in the transverse direction Z from the right is shown, which leads through the picking cell to a neighboring cell, not shown in the drawing.

The storage and retrieval unit RBG comprises a carriage W which can be moved in the longitudinal direction X in the rack aisle, a lifting device HE arranged on the carriage W and a gripping system GS which can be adjusted in the vertical direction Y with the aid of the lifting device HE. The vertical direction running perpendicular to the plane of the drawing is indicated in FIG. 1 by a cross. The gripping system GS is pivotally attached to the lifting device HE so that it can be pivoted through 90 ° or 180 ° in three positions I, II and III. In the first position I, indicated by dash-dotted lines, the gripping system GS is oriented in the transverse direction Z towards the first shelf system RS1, ie in position I the shelves RF of the first shelf system RS1 can be loaded or unloaded. In the second position II, likewise indicated by dash-dotted lines, the gripping system GS is oriented in the longitudinal direction X, ie in position II goods can be fed directly onto the output conveyor AF. In the third position III, shown by solid lines, the gripping system GS is oriented in the transverse direction Z towards the second shelf system RS2, ie in position III the shelves RF of the second shelf system RS2 can be loaded or unloaded. In position III, however, goods arriving on the input conveyor EF can also be picked up directly. The second embodiment of a commissioning cell shown in FIG. 2 differs from the first embodiment shown in FIG. 1 in that here the input conveyor EF arrives in the longitudinal direction X, while the output conveyor AF leaves in the transverse direction Z.

The third embodiment of a commissioning cell shown in FIG. 3 differs from the first two embodiments according to FIGS. 1 and 2 in that the input conveyor EF arrives in the longitudinal direction X and the output conveyor AF in the longitudinal direction X at the same time. This enables a larger number of order picking cells to be arranged side by side. The input conveyor EF and the output conveyor AF are arranged one above the other, so that, as in the first two embodiments, the rack aisle is accessible, for example, for maintenance work.

FIG. 4 shows a highly simplified schematic illustration of a side view of the first shelf system RS1 with the shelf compartments RF which are arranged next to one another in the horizontal longitudinal direction X and one above the other in the vertical Y direction. The Z direction indicated by a cross in FIG. 4 corresponds to the transverse direction running perpendicular to the plane of the drawing, ie it indicates the direction of the depth of the shelf compartments RF. At half the height H of the first shelf system RS1, a guide F extends in the longitudinal direction X for the carriage W of the storage and retrieval unit RBG, which is shown only schematically in FIG. On this carriage W there is arranged the lifting device HE to be explained in more detail in connection with FIGS. 5 and 6, the output member A of which is adjustable in the vertical Y direction and carries the gripping system GS which can be moved in the transverse direction Z. It can be seen that the gripping system GS can move to each individual rack compartment RF by moving the carriage W in the longitudinal direction X and by adjusting the lifting device HE in the Y direction. Goods WA shown in FIG. 4 by a broken line can then be moved in or out in the Z direction after moving to a predetermined shelf compartment RF by moving the gripping system GS pivoted here into position I (see FIGS. 1 to 3).

FIGS. 5 and 6 show the lifting device HE with the gripping system GS in a side view and the complete rack operating device RBG with trolley W, lifting device HE and a gripping system GS in a top view. The storage and retrieval machine RBG is located in the rack aisle between the two rack systems RS1 and RS2

(compare FIGS. 1 to 3) and thus comprises two U-shaped guides F which are arranged at a distance from one another at half the height of the associated shelf systems RS1 and RS2. In these two guides F the carriage W which is U-shaped in plan view is also included Helped by four rollers RO in the X direction. On the inside of the two legs of the carriage W, a crank KU is rotatably arranged on a first rotationally fixed joint axis GA1. The other two ends of the crank KU are connected to one another in a rotationally fixed manner via a second joint axis GA2. On this second hinge axis GA2, a coupling KO is rotatably mounted in the middle between the two cranks KU, which in turn carries a rotatably mounted third hinge axis GA3 at its other end. The fork-shaped output member A is rotatably connected to this third articulated axis GA3 and is thus rotatably mounted on the coupling KO.

The two cranks KU, the coupling KO and the output link A form an articulated chain, which is designed constructively and the links of which are driven in such a way that the third articulated axis GA3 performs a purely vertical movement in Y- when the cranks KU rotates. Executes direction, and that the output member A maintains its horizontal spatial orientation. For this purpose, the distances between the articulated axes GA1 and GA2 of the crank KU and the distance between the articulated axes GA2 and GA3 of the coupling KO are of equal length. In addition, the coupling is KO via two first chain or belt drives RT1 in a ratio of 2: 1 is driven by the cranks KU, while the output link A is driven by a second chain or belt drive RT2 in a ratio of 1: 2 by the coupling KO. In the case of heavier goods WA to be handled, such as the paper stacks to be handled in the exemplary embodiment shown, chain drives with single or double chains are preferred. Thus, each of the first two chain or belt drives RT1 comprises a large chain wheel KG1, which is non-rotatably connected to the first joint axis GA1, a chain KE1 and a small chain wheel KK1, which is rotatably mounted on the second joint axis GA2 and is rotatably connected to the coupling KO. The second chain or belt drive RT2 comprises a small sprocket KK2 arranged in a rotationally fixed manner on the second joint axis GA2, a chain KE2 and a large sprocket KG2 which is rotatably mounted on the third joint axis GA3 and is connected in a rotationally fixed manner to the output member A. The small chain wheel KK2 and the large chain wheel KG2 are arranged within the slotted end area of the coupling KO.

The gripping system GS is pivotally mounted on a slide SL through a total of 180 °, as is indicated in FIG. 6 by a double arrow DPF1. The gripping system GS shown in position III can thus be pivoted through a pivoting movement through 180 ° into position I (compare FIGS. 1 to 3). With a likewise possible pivoting movement by 90 °, the gripping system GS in position II (compare FIGS. 1 to 3) extends in the X direction, ie in the direction of the corresponding rack aisle. The carriage SL is in turn arranged to be movable in the transverse direction Z on a carriage guide SF attached to the forked output member A. The goods WA to be handled by the gripping system GS, which in the exemplary embodiment shown are stacks of paper indicated by dash-dotted lines, are received between a lower jaw BU and an upper jaw BO which is adjustable relative to this lower jaw BU. This enables active gripping, in which the gripping system GS firmly fixes the paper stacks. jams and thus guarantees absolutely safe handling. The lower jaw BU is designed as a fork with several tines, so that the goods WA can be lowered on a conveyor with appropriately spaced belts or can also be lifted from such a conveyor. The fork-shaped design of the lower jaw BU also has the advantage that when the shelves RF (see FIGS. 1 to 4) are loaded with goods WA, stripping and holding elements also forked the goods WA when the gripping system GS is retracted in the shelves Hold RF. The tines of the stripping and holding elements are pivoted or retracted between the tines of the lower jaw BU. For this purpose, the upper jaw BO can also be designed as a fork with several tines.

The drives of the carriage W, the lifting device HE, the slide SL and the gripping system GS are not shown in FIGS. 5 and 6 in order to simplify the drawing and to improve the overview. The carriage W can be driven, for example, via toothed belts or chains, or also via a pinion or a toothed rack. The lifting device HE can be driven via a geared motor arranged on the carriage W and driving the cranks KU. The carriage SL can be adjusted in the Z direction by means of a motor and a threaded spindle. The upper jaw BO relative to the lower jaw BU of the gripping system GS is adjusted pneumatically, for example.

FIG. 7 shows a picking cell for the intermediate storage and picking of paper stacks in accordance with the first embodiment shown in FIG. This spatially illustrated picking cell comprises the shelf systems RS1 and RS2 which have already been shown schematically in FIG. 1, the rack operating device RBG which can be moved in the rack aisle on the two guides F arranged at half the shelf height, and which are arranged in the rear area of the second shelf system RS2 Switching cabinet SS, the input conveyor EF and the output conveyor AF.

The goods WA which may be output in the form of paper stacks from a plurality of printing machines (not shown in FIG. 7) (see FIGS. 4 to 6) are collected on the input conveyor EF and a toothed belt-stroke converter via a curve piece KS ZHU fed. The goods WA arriving on the toothed belt stroke converter ZHU in the longitudinal direction X are fed to a first belt conveyor RIF1, which is arranged in a feedthrough DF of the second rack system RS2, by lifting the two toothed belts labeled ZR in the Z direction . This implementation DF is two normal shelves RF of the second shelf system RS2, between which the corresponding shelf has been removed. The toothed belt-stroke converter ZHU also enables manual input of the goods WA. For this purpose, a manual input conveyor HEF is provided which transfers the goods WA in the Z direction to the toothed belt stroke converter ZHU, which in turn then transfers the goods WA to the first belt conveyor RIF1 by lifting the toothed belts ZR.

The goods WA provided in the implementation DF of the second rack system RS2 on the first belt conveyor RIF1 can be gripped there by the gripping system GS of the rack operating device RBG. For this purpose, the gripping system GS is pivoted into position III (compare FIG. 1) and brought into a position on the inside of the feedthrough DF by moving the carriage W in the longitudinal direction X and by adjusting the lifting device HE in the Y direction . By proceeding the

Gripping system in the Z direction, the respective goods WA can then be clamped between the jaws BO and BU (see also FIG. 5). The individual tines of the lower jaw BU are in the gaps between the belts of the first belt conveyor RIF1 before the goods WA are actively gripped. The storage and retrieval machine RBG can now take the goods WA in in the present position III of the gripping system GS one of the shelf compartments RF of the second shelving system RS2. By swiveling the gripping system GS through 180 ° in the direction of the arrow PF2, the storage and retrieval device RBG can also store the seized goods WA in one of the control compartments RF of the first shelf system RS1.

When picking, i.e. when assembling goods WA in accordance with an order, the storage and retrieval device RBG moves the gripping system GS in position II (see FIG. 1) in front of the corresponding shelves RF of the first shelf system RS1 or in position III (see FIG. 1) ) in front of the corresponding shelf compartments RF of the second shelf system RS2, whereupon the goods WA temporarily stored there are actively gripped. FIG. 7 shows this gripping and the removal of a product WA from an upper rack compartment RF of the first rack system RS1. After the goods WA have been moved out of the rack compartment RF, the gripping system GS is then pivoted through 90 ° into position II (see FIG. 1) and then moved downward in the Y direction. In the lower position US of the gripping system GS, indicated by dashed lines in FIG. 7, the goods WA can then be transferred to a second belt conveyor RIF2, which is aligned in the longitudinal direction X and is arranged in the front end area of the rack aisle in front of the first rack system RS1 . The tines of the lower jaw BU are also located between the belts of the belt conveyor during this transfer. After the goods WA have been transferred to the second belt conveyor RIF2, they are transferred to the output conveyor AF which adjoins at the end and runs in the longitudinal direction X. The output conveyor AF then transports the goods WA through a wall opening MD to a pick-up location (not shown in FIG. 7). The goods WA which have been put together in accordance with a customer request can then be picked up at this collection point or passed on to the corresponding customer for dispatch.

Claims

claims

1. order-picking cell, in particular for stackable goods (WA), with two rack systems (RS1, RS2) arranged parallel to one another and each equipped with a plurality of rack compartments (RF),

- A shelf operating device (RGB) that can be moved in the longitudinal direction (X) in the rack aisle between the two rack systems (RS1, RS2) and is provided with a gripping system (GS) for storing and retrieving goods (WA),

- An input conveyor (EF) for the supply of goods (WA), and with

- An output conveyor (AF) for the output of the picked goods (WA), whereby

- The gripping system (GS) in a first position (I) in the transverse direction (Z) towards the first shelf system (RS1), in a second position (II) in the longitudinal direction (X) and in a third position (III) is pivotable in the transverse direction (Z) towards the second shelving system (RS2), and wherein

- The input conveyor (EF) and / or the output conveyor (AF) is aligned in the longitudinal direction (X) following the rack aisle.

2. Order picking cell according to claim 1, characterized in that the input conveyor (EF) is aligned in the transverse direction (Z) following an implementation (DF) of a rack system (RS2), and in that the output conveyor (AF) is connected to the Shelf aisle is aligned in the longitudinal direction (X).

3. Picking cell according to claim 1, characterized in that the input conveyor (EF) is aligned in the longitudinal direction (X) following the rack aisle, and that the output conveyor (AF) following a feedthrough (DF) of a shelf system stems (RS2) is aligned in the transverse direction (Z).

4. Picking cell according to claim 1, characterized in that the input conveyor (EF) and the output conveyor (AF) is aligned in the longitudinal direction (X) following the rack aisle.

5. order picking cell according to claim 4, characterized in that the input conveyor (EF) and the output conveyor (AF) are arranged one above the other.

6. order picking cell according to one of claims 1 to 5, characterized by a storage and retrieval unit (RBG) with

two guides (F) which extend in the horizontal direction (X) in the region of half the height (H) of the rack systems (RS1, RS2),

- a carriage (W) movable on the guides (F), - a lifting device (HE) arranged on the carriage (W), the output member (A) of which can be adjusted in the vertical direction (Y), and with

- A gripping system (GS) which is arranged on the output member (A) of the lifting device (HE), can be swiveled into the three positions (I, II, III) and can be moved in the transverse direction (Z).

7. order picking cell according to claim 6, characterized in that the lifting device (HE) is formed by an articulated chain.

8. Picking cell according to claim 7, characterized in that the lifting device (HE) two synchronously derehbar on the carriage (W) cranks (KU), a rotatably mounted between the cranks (KU) coupling (KO) and the rotatable on the coupling (KO) mounted output member (A).

9. order picking cell according to claim 8, characterized in that the coupling (KO) is driven such that the output member moves in the vertical direction (Y).

10. Picking cell according to claim 9, characterized in that the coupling (KO) is driven in a ratio of 2: 1 by the crank (KU).

11. Picking cell according to claim 10, characterized in that the coupling (KO) via a first chain or belt drive (RT1) is driven by the crank (KU).

12. Picking cell according to one of claims 7 to 11, characterized in that the output member (A) is driven such that it maintains its spatial orientation when the crank (KU) rotates.

13. Picking cell according to claim 12, characterized in that the output member (A) is driven in a ratio of 1: 2 by the coupling (KO).

14. Order picking cell according to claim 13, characterized in that the output member (A) is driven by the coupling (KO) via a second chain or belt drive (RT2).

15. Picking cell according to one of claims 8 to 14, characterized in that the distances between the joint axes (GA1, GA2, GA3) of cranks (KU) and coupling (KO) are each of the same length.

16. Order picking cell according to one of claims 6 to 15, characterized in that on the output member (A) a in the transverse direction (Z) verfahr¬ slide (SL) for the gripping system (GS) is attached, and that the gripping system (GS) in the three positions (I, II, III) is arranged pivotably on the carriage (SL).