EP2921449B1 - Stacker crane for filling shelves with goods and accompanying tray - Google Patents

Description

The invention relates to a shelf control unit for equipping shelves with goods. The invention also relates to a tray for such a shelf control unit, which serves for receiving goods to be stored.

In practice, there is a need to automatically fill or reclassify shelves. Especially in food markets and distribution centers for goods and goods for food markets, shelves are currently stocked by skilled workers. On the one hand, this is very cost-intensive, on the other hand, the loading is also comparatively slow. In addition, when the shelves are staffed by staff, these shelves are not accessible to customers, for example.

For operating shelves, robotic systems, for example cable robot systems, are known with which a gripping unit can be moved relatively quickly in a plane extending perpendicular to the floor to a specific shelf (cf. Tobias Bruckmann, Christian Sturm, Christopher Reichert: Storage and retrieval machine based on a rope robot: no rails, no commuting, in: Hoisting Conveyor, Berlin 53 (2013), page 366 to page 369 ). However, such a robotic robotic system can not be installed in distribution centers or in food markets because these types of robotic robotic systems would hinder traffic, and especially customers.

Other rope robot systems are known from the DE 10 2009 056682 A1 or the DE 10 2011 009739 A1 ,

GB 915 252 A discloses a shelf operating device according to the preamble of claim 1.

The present invention is based on the object to provide a storage and retrieval device of the type mentioned above, which can be found especially in distribution centers and food markets, where customer traffic prevails.

This object is achieved with a shelf control device having the features of claim 1.

Due to the fact that the gripper system is displaceable and in particular pivotable from an inoperative position above the shelves, it can be achieved that, when customer traffic prevails, the gripper system can remain in the non-use position and then, if there is no customer traffic, in particular during the Night, the gripper system displaced into the operating position and in particular can be pivoted to equip the respective shelf with appropriate goods. In the non-use position is the gripper system in a substantially horizontal orientation and in particular in the plane of the support elements. The support elements may in particular be arranged above a plurality of mutually parallel shelves, so that the gripper system from the non-use position depending on the position of the gripper system with respect to the support elements, can be pivoted in front of the respective shelf. The gripper system is then oriented substantially vertically. In the operating position, therefore, the gripping unit of the gripper system can be moved perpendicular to the bottom surface of a corresponding shelf. By means of the gripping means provided on the gripping unit, it is then possible, for example, to grasp an item located in the shelf and to remove it from the respective shelf. On the other hand, it is conceivable that the shelf, or its shelves, are equipped with corresponding goods via the gripping unit.

In the above orientation information of the non-use position and the operating position, the term "substantially" is understood to mean that deviations of +/- 10 ° are possible. In other words, a deviation of +/- 10 ° from the given orientation, for example, the horizontal or the vertical, to be included.

In particular, such a shelf operating device has the advantage that it can be safely and unobtrusively, for example, below the ceiling of a food market, stowed when not in use. Only then, when the food market is closed for customers, the gripper system can be pivoted into the operating position. Advantageously, the trajectory within which the gripping unit can be moved, larger and in particular wider than the shelf to be served. In particular, the traverse plane is so large that in addition to the shelf to be transported with goods, such as Rollkollis, pallets, trucks or the like can be placed next to the shelf, so that they can also be approached by the shelf control device, or by their gripping unit. In order for goods that are placed on the transport facilities can be automatically removed from the shelf control device and used in the shelf.

The storage and retrieval device is preferably also designed so that it can be re-sorted with her on the shelf existing goods, such as goods whose durability has expired, can be removed from the shelf, or goods whose durability is about to expire, can be placed in the front level of the shelf ,

The gripper system has a frame which at least partially encloses the traverse plane in which the gripping unit can be moved. The trajectory is therefore within the framework.

With regard to the space requirement of the gripper system, it is advantageous if the frame of the gripper system is telescopic. It is conceivable that two parallel sides of the frame, in particular the vertical position in use position, are telescopic. These can be driven for example by an electric motor with a cable transmission or with a gear spindle. It is advantageous if the frame size can be reduced by telecopying by about 50 percent, in particular by retracting the two legs in the position of use vertical, so that these only half have their telescoped, so extended length. Thus, the space requirement of the gripper system can be reduced not only in its non-use position, but also during the displacement of the gripper system from the non-use position to the position of use. Thus, the necessary by the relocation process distance between two adjacent shelves can be kept low.

In concrete terms, the gripper system can be designed as a robot system. For a completely or largely automatic operation, in particular a placement of shelves is possible.

The robot system can be designed as a linear axis robot. Linear axis robots have the advantage that they require only a small amount of space in the normal direction of the traversing plane. In addition, goods with high loads can be supported in a small space and with simple structural means.

Alternatively, the robot system may also be designed as a cable robot. Cable robots have the advantage that they are relatively simple, yet high conversion speeds can be achieved. In addition, cable robots have a comparatively low weight, as a result of which the gripper system can therefore advantageously be accommodated in the non-use position above the shelf.

It is also advantageous if the gripping means are designed to be displaceable perpendicular to the traverse plane on the gripping unit, so that the goods can be grasped and inserted or removed from the shelf. The gripping unit can thus be moved within the traversing plane in front of the shelf to a corresponding shelf.

About the gripping means is then carried out a movement perpendicular to the traversing plane in the respective shelf in order to grab there existing good or to deposit a good there.

The gripping means can be moved toward each other and away from each other for gripping the goods. The gripping means may for example have correspondingly formed gripping fingers.

It is also conceivable that the gripping means have locking elements for locking the goods to the gripping unit. This can ensure that the goods can be safely gripped with the gripping means and can not be lost when moving in or out of the shelf.

The locking means can interact in particular mechanically, pneumatically or magnetically with the goods. Mechanically a catch or a mechanical grip is conceivable. It is conceivable pneumatically that the goods are held by means of negative pressure on the gripping means. Magnetically, it is conceivable that an electromagnetic force is provided via the corresponding energization, which holds the respective good on the gripping means.

In addition, it is conceivable that the gripping means are designed as a preferably cylindrical tube, which is divided in the axial direction into at least two sections which are displaceable in the radial direction relative to each other. Thus, the tube can be spread by displacing the two sections in the radial direction and thus the goods are secured to the gripping unit. The tube may also be divided into more than two sections in the axial direction, For example, in four sections. For a secure handling of goods is advantageous if the gripping unit has two tubes. Thus, goods or goods carrying trays or loading equipment can be seized safely. A spreading of the pipe sections can be done by a coupled to the pipe sections electric motor, a hydraulic cylinder or arranged for example in the pipe interior rotatable wedge.

The locking means may also be designed as drivable rollers or chains, with which the goods can be moved relative to the gripping means and locked in a predetermined position.

In addition, a control unit is preferably provided with which the movement of movement of the gripper system in the non-use position along the support elements, the displacement or pivoting movement of the gripping system from the non-use position into the operating position, the position of the gripping unit in the movement plane, the displacement and / or gripping movement of Gripping means and / or the movement of the locking elements is controllable. Consequently, a fully automated loading of shelves with a storage and retrieval device according to the invention can be provided via such a control unit.
Advantageously, the control unit is designed such that when moving the gripper system from the non-use position into the operating position a telescoping of the frame takes place only after the beginning of the pivoting operation of the gripper system. Thus, a telescoping of the frame only take place when the gripper system or the frame are already pivoted into the shelf gap, for example, starting at an angle of 45 ° between the path formed by the frame and the underground. As a result, the space required for pivoting can be kept low, so that the shelf gap also kept low and the shelves can be made tight even with large rack height.

Alternatively, a telecopying of the frame can also take place immediately after a start of the pivotal movement of the gripper system or the frame, for example almost simultaneously with a start of the pivoting process. This has the advantage that the pivoting of the frame or the gripper system and the telescoping of the frame takes place almost simultaneously. As a result, the time required for displacing the gripper system or the frame between non-use position and operating position can be kept low.

Furthermore, it is advantageous if a reading unit is provided with which goods or their labels can be identified or read out and / or that a writing unit is provided with which labels of goods can be described. This also allows a fully automated assembly of shelves can be achieved.

In order to be able to move the gripper system to different locations, it is advantageous if the carrier elements are designed to be EHB rails (electric suspended track rails) or suspension crane rails or compatible therewith. As a result, the shelf control unit can be used very flexibly; In particular, the gripper system can be moved in the non-use position to the respective shelf via a corresponding arrangement of the support elements. There it can then be pivoted into the operating position for operating the respective shelf.

In order to enable a secure gripping of the goods is advantageous if the goods have gripping recesses for receiving the gripping means. The gripping recesses are preferably formed at least partially complementary to the gripping means. For example, the gripping means can provide a triangular contour in cross section, which engage in a correspondingly formed gripping recess on the goods.

In an advantageous manner, a sorting device can be provided for sorting, resorting and / or intermediate buffers of goods. Such a sorting device can be associated with a shelf or several shelves and, in particular, can be arranged next to the shelves, for example standing on the floor. The sorting device can have at least one roller conveyor and at least one slide which can be moved transversely or obliquely to the roller conveyor. In addition, the sorter can have a turntable. By means of the sorting device, buffering or intermediate buffering of goods stored on the sorting device can take place.

In addition, the sorting device can have at least one reading device with which goods or their labels can be read out. This can not only be identified, which goods it is, but it can also information, such as the best before date can be determined. If this has already expired or only a small amount of time before expiry, the goods can be sorted out and taken out of the sale, for example, or promoted to special offers.

In addition, can be done by the sorting a re-sorting of goods, so that they after the "First In First Out" sorted, so that older or shorter durable goods are on the front shelf and behind the younger or longer durable goods. Thus, before operating a shelf with new goods, the same goods in the rack can be removed and stored on the sorting device and thus buffered. Expired or expiring products may be sorted out by the sorter. During or after, new items can be positioned on the shelf. Thereafter, the same goods remaining on the sorting device can be put back on the shelf, for example, be positioned in front of the new goods.

For receiving falsely stored in foreign shelves goods can be arranged on the gripping unit an additional gripping device for gripping individual goods. This may be a pin gripper or a gripper with a staple function. This ensures that individual and diverse goods can be received. In this way, for example, by customers after a non-purchase decision in a foreign shelf, which is not the actual goods position or "home shelf", take stored goods and sorted back to the actual goods position or in the "home shelf". An identification of the goods can be carried out by a reading unit with which goods or their labels can be identified.

According to a further advantageous embodiment of the invention, the goods forming trays are at least partially provided with or without goods located on the trays, wherein the trays are designed so that they can be gripped by the gripping unit. The trays On the one hand, this can be firmly connected to the goods, on the other hand, it is conceivable that the goods are on the trays.

The invention also relates to a tray for a storage and retrieval device according to the invention, wherein such a tray has gripper recesses for the gripping means of the gripping unit. The tray can also be referred to as a loader or transport container.

The tray may in particular have a cover layer, a bottom layer and a middle layer arranged between the cover layer and the bottom layer, wherein the middle layer is formed from multiply folded paper strips, cardboard strips or any other metal-coated strips, in particular from paper or cardboard. Such trays can have a comparatively high strength with a comparatively low weight.

The paper or cardboard strips forming the middle layer can run vertically between cover layer and bottom layer. The folding webs are advantageously arranged so that the gripping means can intervene between two adjacent paper strips and / or strips of metal-coated paper and / or strips of paper composite material. As a result, a secure gripping of the trays can be realized.

Alternatively, the paper or cardboard strips forming the middle layer can run horizontally or parallel to the cover layer and the bottom layer. The paper or cardboard strip are folded several times, so that they alternate between top layer and bottom layer, for example zigzag, sinusoidal, meandering or with any other folding structure. To the on Deckoder Floor position adjacent wrinkles, the middle layer is attached to each deck or bottom layer, for example glued. Between top layer, bottom layer and middle layer cavities are formed, for example, triangular cross-section, in which the gripping means can intervene. This also allows a secure gripping of the trays can be realized. In addition, this design can carry high loads at low height of the tray. For example, the tray may have a height of less than 10 millimeters, for example between 6 and 10 millimeters, wherein pressure loads between 25 and 100 kilograms can be picked up or carried.

Preferably, the cover layer, the bottom layer and / or the middle layer are formed from a paper material. In particular, paperboard has been found to be particularly suitable. Such trays are also relatively inexpensive to manufacture, can be reused, and can be properly recycled.

The invention will be described and explained in more detail below with reference to FIGS.

Figur 1:

eine schematische perspektivische Ansicht auf eine erfindungsgemäße Regalbedieneinrichtung;

Figur 2:

die Einrichtung gemäß Figur 1 in Seitenansicht;

Figur 3:

eine Greifeinheit einer Einrichtung nach Figur 1 mit zugehörigem Tray;

Figur 4:

eine mögliche Ausführungsform des Greifmittels der Greifeinheit gemäß Figur 3 in Seitenansicht;

Figur 5:

das Greifmittel gemäß Figur 4 in Vorderansicht;

Figur 6:

eine andere Greifeinheit einer Einrichtung nach Figur 1 mit zugehörigem Tray;

Figur 7:

eine vergrößerte Ansicht der Verriegelungsmittel der Greifeinheit gemäß Figur 6;

Figur 8:

eine weitere Greifeinheit einer Einrichtung nach Figur 1 mit zugehörigem Tray,

Figur 9:

einen Ausschnitt der Greifeinheit gemäß Figur 8 ohne Tray mit ausgefahrenem Greifmittel;

Figur 10:

die Vorderansicht eines erfindungsgemäßen Trays;

Figur 11:

ein Schnitt durch das Tray gemäß Figur 10 entlang der Linie XI;

Figur 12:

die Vorderansicht eines weiteren erfindungsgemäßen Trays;

Figur 13:

eine schematische, teilweise geschnittene Ansicht einer weiteren Ausführungsform einer erfindungsgemäßen Regalbedieneinrichtung; und

Figur 14:

eine schematische und perspektivische Ansicht einer Sortiereinrichtung der Regalbedieneinrichtung.

Show it:

FIG. 1:

a schematic perspective view of a storage and retrieval device according to the invention;

FIG. 2:

the device according to FIG. 1 in side view;

FIG. 3:

a gripping unit of a device according to FIG. 1 with associated tray;

FIG. 4:

a possible embodiment of the gripping means of the gripping unit according to FIG. 3 in side view;

FIG. 5:

the gripping means according to FIG. 4 in front view;

FIG. 6:

another gripping unit of a device FIG. 1 with associated tray;

FIG. 7:

an enlarged view of the locking means of the gripping unit according to FIG. 6 ;

FIG. 8:

another gripping unit according to a device FIG. 1 with associated tray,

FIG. 9:

a section of the gripping unit according to FIG. 8 without tray with extended gripping means;

FIG. 10:

the front view of a tray according to the invention;

FIG. 11:

a section through the tray according to FIG. 10 along the line XI;

FIG. 12:

the front view of another tray according to the invention;

FIG. 13:

a schematic, partially sectioned view of another embodiment of a shelf control device according to the invention; and

FIG. 14:

a schematic and perspective view of a sorting device of the shelf operating device.

The in the FIG. 1 Shelf operating device 10 shown comprises two above a shelf 12, parallel to each other arranged support elements 14. Die Carrier elements 14 may be formed as rails, and in particular as electric suspended track rails (E + B rails). The rails 14 are arranged such that they have a sufficient distance from the upper edge of the shelf 12. In addition to in the FIG. 1 shown shelf 12 may be provided more, in particular parallel thereto arranged shelves. Such shelves are in the FIG. 2 indicated by the reference numerals 12.1 and 12.2.

The shelf operating device 10 comprises a gripper system 16 which can be moved along the carrier elements 14 in the form of a robot system, namely a cable robot system. The gripper system 16 comprises a peripheral frame 18. In the FIG. 1 the gripper system 16 is shown in a substantially parallel to the shelf 12 extending operating position. The frame 18 extends substantially perpendicular to a plane spanned by the carrier elements 14 level.

As in the FIGS. 1 indicated by the arrows 20, the gripper system 16 from the in the FIG. 1 shown operating position shifted in a non-use position, in particular pivoted, telescoped or folded. For this purpose, the gripper system 16, or its frame 18, pivotable about a pivot axis 24 via not shown in detail pivot bearing. The pivot axis 24 is preferably in the plane of the support elements 14, or slightly below. The pivot axis 24 also extends transversely to the support elements 14 and parallel to the ground. In the non-use position, the gripper system 16 is located above the shelves 12 and preferably within the plane defined by the carrier elements 14. To stabilize the system also cross members 26 are provided, which connect the respective support members 14 together.

The frame 18 is telescopic, namely by telescoping the vertical in operating position pages, as indicated by the arrow 19. In this way, the frame 18 can be reduced in size, in particular, to half of its size, wherein the sides of the frame 18 that are vertical in the operating position have only half of their length relative to the telescoped, ie extended, position. Thus, the space requirement of the gripper system 16 can be significantly reduced, on the one hand in its non-use position and on the other hand during the pivoting between non-use position and use position. As a result, the space required between the shelves 12 is low, so that they can be placed relatively close to each other.

In the non-use position, the shelf 12 is therefore freely accessible from both sides; on the shelf prevailing customer traffic is not affected by the gripper system 16 in the non-use position.

If there is no customer traffic on the shelf 12 before, as is the case, for example, outside of opening hours at food markets, the gripper system 10 from the non-use position in the in the FIG. 1 shown operating position to be pivoted.

In FIG. 2 the panning operation is shown illustrated; Preferably, the pivoting movement of the frame 18 is superimposed on a movement of the frame 18 with respect to the support elements 14, so that comparatively little space for pivoting the gripper system 16 from the non-use position is required in the operating position. In FIG. 2 reference numeral 18.1 shows the frame in the non-use position. At 18.4, the frame is in the Operating position shown. The reference numerals 18.2 and 18.3 show two intermediate positions of the frame 18 during the pivoting movement. It is clear that during the pivoting movement, the axis 24 changes its position from the position 24.1 up to the position 24.4. By telescoping the frame 18, namely by reducing the size of the frame 18 to about half (not shown here for reasons of clarity), the space for pivoting can be further reduced. The shelves 12, 12.1 and 12.2 can be placed with comparatively little clearance.

In order to operate individual shelves 28 of the shelf 12, the gripper system 16 on a gripping unit 30 which is movable within a spanned by the frame 18 traverse plane 32 in the X and Y directions. For moving the gripping unit 30, it is coupled in a motion-coupled manner via preferably eight cables 35 with cable drives 34 present in the corner regions of the frame 18. Depending on the control of the individual cable drives 34, the distance of the gripping unit 30 to the respective cable drives 34 changes; Thus, any position within the movement plane 32 can be approached.

For loading the shelf 12 consequently the gripping unit 30 is approached to the corresponding shelf 28. To remove a good from the respective shelf 28, or for insertion of a good in a respective shelf 28, the gripping unit 30 gripping means 36 on. In the FIGS. 3 to 9 different gripping units 30 are shown with different gripping means 36.

The in the FIG. 3 shown gripping unit 30 has two perpendicular to the traverse plane 32 extending gripping means 36 in the form of gripping fingers 38 which in cross section the Contour of an isosceles triangle. The gripping fingers 38 are arranged in the gripping unit 30 such that they are movable toward and away from one another in the X direction and can be moved perpendicularly to the traverse plane 32 in the Z direction.

Like also out FIG. 3 As can be seen, the product 40 to be gripped comprises a tray 42 and goods 42 housed in the tray 42. The tray 42 has gripping recesses 46 which are formed complementary to the triangular contour of the gripping fingers 38. By shifting the gripping fingers 28 in the z direction, the gripping fingers 38 can be inserted into the gripping recesses 46. Thereafter, the gripping fingers 38 can be moved towards each other in the X direction; thereby the good 40 is seized. By pulling the gripping fingers 38 in the Z direction, the gripped Good 40 can be removed from the respective shelf 28. Thereafter, by moving the gripping unit within the traverse plane 32, the goods can be moved to another location, or to a transport unit, which is provided next to the shelf 12.

The gripping fingers 38 according to FIG. 3 In addition, as in FIGS. 4 and 5 shown, movement or locking elements 48 include. In the FIGS. 4 and 5 these elements 48 are designed as drivable and braked rollers. By means of these elements 48, after contact with these elements 48, the goods 40 can firstly be moved toward the gripping unit 30 or moved away from the gripper unit 30. On the other hand, by setting these elements 48, a movement of the goods 40 relative to the gripping unit 30 can be prevented.

When in the FIGS. 6 and 7 In the embodiment shown, the gripping unit 30 has gripping means 36 in the form of Gripping fingers 50, which have a fixed distance from each other. The gripping fingers 50 are axially displaceable in particular in the Z direction.

For movement coupling of the gripping fingers 50 with the goods 40, the trays 42 of the goods 44, as in FIG. 6 shown, cylindrical gripping recesses 46. The gripping fingers 50 can then dive into these Greifausnehmungen 46 to take away the goods 40. For locking the goods 40 on the gripping unit 30, the free ends of the gripping fingers 50 may provide locking elements in the form of displaceable clamping bolts 52 in the radial direction. After immersing the gripping fingers 50 in the gripping recesses 46 consequently the clamping bolts 52 can be displaced radially outward; the goods 40 are then locked in a clamping manner on the gripper fingers 52.

The in the FIGS. 8 and 9 illustrated gripping unit 30 includes a gripper frame 54 in which the material to be gripped 40 can be accommodated, as in FIG. 8 shown. For displacing the goods 40 in the Z direction, the frame has mutually displaceable gripping means 56 on opposite sides in the Z direction, which are displaceable in the Z direction via guide rails 58 provided on the frame 54. The guide rails 58 with the gripping means 56 may be formed telescopically to be able to travel a corresponding path in the Z direction.

The gripping means 56 are, according to the gripping fingers 38 according to FIG. 3 formed in cross-section, for example, triangular or any other fittings and interact with the trays 42 complementary thereto formed Greifausnehmungen 46 together.

On the gripper fingers 56, as in the FIGS. 8 and 9 For example, movement and locking means 48 as shown in FIGS FIGS. 4 and 5 are shown, can be arranged.

For displacing the gripping fingers 38, 50 and 56 shown in the figures, correspondingly designed drives are provided in or on the respective gripping unit 30. For corresponding control of the movement of the gripping system 16 in the non-use position along the support members 14 for pivotal movement of the gripping system 16 from the non-use position in the operating position, for moving the gripping unit 30 in the trajectory, for moving the gripping means 36 and / or moving the movement and Locking elements 58 is provided in a control unit, not shown in the figures. In addition, the respective gripping unit 30 comprises a reading unit with which goods to be gripped or their labels can be identified. If the goods, or their labels, can be described, then the gripping unit 30 may have a corresponding writing unit.

In the FIG. 10 an advantageous tray 42 is shown in front view. The tray 42 comprises a cover layer 60, a bottom layer 62 and a middle layer 64. The bottom layer 62, the middle layer 64 and the cover layer 60 are each made of a paper material and / or strips of metal coated paper and / or strips of paper composite. These forms are also referred to as folded honeycomb structures. The cover layer 60 runs parallel to the bottom layer 62. The middle layer 64 is made of folded paper strips which run perpendicular to the bottom and top layers 62, 60.

As from the section according to FIG. 11 becomes clear, the individual paper strips 66 of the center layers 64 are folded zig-zag, with individual paper strips 66 are arranged to extend parallel to each other. In the areas in which the gripping recess 46 are provided, the adjacent paper strips 66 are arranged so far apart from each other that the gripping fingers 50 can intervene between them. In the areas where no gripping recesses 46 are provided, the individual paper strips 66 may be arranged overlapping each other.

Trays 42 formed in this way are comparatively light, are comparatively stable and are relatively easy to recycle.

In FIG. 12 A further embodiment of an advantageous tray 42a or an advantageous loading aid 42a is shown. The tray 42a includes a topsheet 60, a bottom layer 62, and a center layer 64a. The bottom layer 62, the middle layer 64a and the cover layer 60 are each made of a paper material and / or strips of metal coated paper and / or strips of paper composite. These forms are also referred to as folded honeycomb structures. The center layer 64a is made of folded paper strips which extend horizontally or parallel to the bottom and top layers 62, 60. The paper strip 66a of the middle layer 64a is folded in a zig-zag, wherein between cover layer 60, bottom layer 62 and center layer 64a cavities with a substantially triangular cross-section are formed, which serve as gripping recess 46a for gripper fingers 50 of the gripping unit 30. In embodiments not shown, the paper strip or strips of the middle layer 64a may also be folded sinusoidally, meander-shaped or with any other folding structure.

In FIG. 13 a further embodiment of a storage and retrieval device 10a according to the invention is shown. The shelf operating device 10a largely corresponds to the in connection with the preceding figures, in particular the Figures 1 and 2 , described first embodiment of the storage and retrieval device 10, so that may be referred to the statements there to avoid repetition first.

Notwithstanding the local storage and retrieval device 10, the storage and retrieval device 10a has a movable along the support elements 14 gripper system 16a in the form of a linear robot system. The frame 18 of the gripper system 16a is telekopierbar, by telescoping the vertical in operating position sides of the frame 18, as indicated by the arrows 19.
In order to be able to operate individual shelves of a shelf (not shown), the gripper system 16a has a gripper unit 30 which is disposed within a traverse plane 32 spanned by the frame 18 in the x and y directions. For moving the gripping unit 30, it is coupled to a carrier 35a which can be moved and driven relative to the frame 18 along the y-direction. The gripping unit 30 is coupled to the carrier 35a in such a way that it can be moved and driven along the x-direction, ie in the longitudinal direction of the carrier 35a. By moving the carrier 35a relative to the frame 18 and by moving the gripper unit 30 relative to the carrier 35a, any points within the traverse plane 32 defined by the frame 18 can be approached.

In FIG. 14 a sorting device 70 of a storage and retrieval device 10, 10a is shown. The sorting device 70 is used for sorting, resorting and / or intermediate buffers of goods. The sorting device 70 is associated with a shelf 12 and positioned next to the shelf 12 on the floor, for example by means of a sorter 70 carrying frame or frame (not shown).

The sorting device 70 has a first roller track section 72, a second roller track section 74 and a third roller track section 76. Between the first roller conveyor section 72 and the second roller conveyor section 74, a turntable 78 is arranged, by means of which goods can be rotated.

On the second roller conveyor section 74, a first slider 80 is arranged, with which goods can be moved transversely to the longitudinal direction of the second roller conveyor section 74. On the third roller conveyor section 76, a second slider 82 is arranged, with which goods can be moved transversely to the longitudinal direction of the third roller conveyor section 76.

In addition, the sorting device 70 may have at least one reading device (not shown), which is arranged, for example, on one of the slides 80, 82. Also conceivable is an arrangement of the reading device on the turntable 78. By the reading device goods or their labels can be read. This not only identifies which goods it is, but also determines its date of minimum durability.

The sorter 70 operates as follows:

Goods are deposited on the first roller conveyor section 72, for example by the gripper system 16, 16a with the gripper unit 30. By the roller conveyors the goods are guided to the turntable 78, which can be followed by the reading device identifying the goods, for example by reading the label. If the expiration date of the goods has already expired or only a short period of time before expiry, the goods can be sorted out and, for example, taken out of the sale or promoted special offers. This can be done, for example, by moving the goods along the second roller conveyor section 74 to a rejection point 84.

If the expiration date of the goods has not yet expired or the goods are durable for more than a defined minimum period of time, they can be buffered on the third roller conveyor section, for example by the first slider 80 shifting the goods from the second roller conveyor section 74 to the third roller conveyor section 76 , These goods are in a waiting position. Thereafter, the goods can be displaced by the second slider 82 from the third roller conveyor section 76 to the first roller conveyor section 72. By the gripper system 16, 16 a with the gripper unit 30, the goods can then be parked in the shelf 12.

In this way, can be made by the sorter 70, a sorting of goods, so that they are sorted on the principle "First In First Out", so that older or shorter durable goods stand on the shelf 12 and the younger or longer durable goods behind.

Thus, prior to operating the shelf 12 with new goods on the shelf 12 located similar goods removed and on the sorter 70, in particular the first Roller track section 72, stored and buffered, for example, in the third roller conveyor section 76. Expired or soon-to-be-expired products may be sorted out by the sorter 70, as described above. Meanwhile or subsequently new goods can be positioned on the shelf 12. Thereafter, the goods buffered on the sorting device 70 can be stored again on the shelf 12 and in particular positioned in front of the new goods.

Claims (14)

1. A shelf-stocking device (10, 10a) for stocking shelves (12) with goods (40), having supporting elements (14) that can be located above the shelves (12), having a gripper system (16, 16a) that can travel along the supporting elements (14) and has a frame (18), characterized in that the gripper system can be pivoted out of a non-use position located above the shelves (12), in which position the frame (18) is in an essentially horizontal orientation, into a position for use located in front of the respective shelf (12) to be stocked, in which position the frame (18) is oriented essentially vertically, and the gripper system (16, 16a) has a gripper unit (30), which can travel in a travel plane (32) formed by the frame (18), the gripper unit having gripper means (36, 38, 50, 56) with which, in the position for use, the shelf (12) can be stocked.
2. The shelf-stocking device (10, 10a) of claim 1, characterized in that the frame (18) can be telescoped.
3. The shelf-stocking device (10, 10a) of claim 1 or 2, characterized in that the gripper means (36, 38, 50, 56) are embodied as shiftable on the gripper unit perpendicular to the travel plane (32), so that the goods (40) can be grasped and inserted into or removed from the shelf (12).
4. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized in that the gripper means (36, 38, 50, 56), for grasping the goods, are movable toward and away from one another.
5. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized in that the gripper means (36, 38, 50, 56) have moving and/or locking means (48, 52) for moving and/or for locking the goods on the gripper unit (30).
6. The shelf-stocking device (10, 10a) of claim 5, characterized in that the moving and/or locking means (48, 52) cooperate mechanically, pneumatically or magnetically with the goods (40).
7. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized in that a control unit is provided, with which the travel motion of the gripper system (16, 16a) along the supporting elements (14) in the non-use position, the shifting motion of the gripper system (16) out of the non-use position into the position for use, the position of the gripper unit (30) in the travel plane (32), the shifting and/or grasping motion of the gripper means (36, 38, 50, 56), and/or the motion of the moving and/or locking elements (48, 52) can be controlled.
8. The shelf-stocking device (10, 10a) of claims 7 and 2, characterized in that the control unit is embodied in such a way that upon shifting of the gripper system (16, 16a) from the non-use position into the position for use, telescoping of the frame (18) takes place only after the onset of the pivoting process of the gripper system (16, 16a).
9. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized in that a reading unit is provided, with which goods (40) or their labels can be identified or read out, and/or that a writing unit is provided, with which labels of goods (40) can be written upon.
10. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized by a sorting device (70) for sorting out, resorting, and/or buffer-storing goods.
11. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized in that an additional gripper device for grasping individual goods is located on the gripper unit (30).
12. The shelf-stocking device (10, 10a) of one of the foregoing claims, characterized in that at least partially, trays (42, 42a) forming the goods (40) are provided with or without products (44) located on the trays (42, 42a), and the trays (42, 42a) are embodied such that they can be grasped by the gripper unit (30).
13. A tray (42, 42a) for a device (10, 10a) of one of the foregoing claims, in particular claim 12, characterized in that it includes gripper recesses (46, 46a) for the gripper means (36, 38, 50, 56) of the gripper unit (30).
14. The tray (42, 42a) of claim 13, characterized in that the tray (42, 42a) has a ceiling layer (60), a floor layer (62), and a middle layer (64, 64a) located between the ceiling layer (60) and the floor layer (62), and the middle layer (64) is formed of multiply folded paper strips (66, 66a), which are located extending vertically or horizontally between the ceiling layer (60) and the floor layer (62).

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