EP3861891B1 - Système de stockage et de préhension - Google Patents

Système de stockage et de préhension Download PDF

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Publication number
EP3861891B1
EP3861891B1 EP21158545.0A EP21158545A EP3861891B1 EP 3861891 B1 EP3861891 B1 EP 3861891B1 EP 21158545 A EP21158545 A EP 21158545A EP 3861891 B1 EP3861891 B1 EP 3861891B1
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EP
European Patent Office
Prior art keywords
storage
magazines
picking system
item
restraint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21158545.0A
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German (de)
English (en)
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EP3861891A1 (fr
Inventor
Philipp Hoening
Maximilian Ittermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Smark GmbH
Bizerba SE and Co KG
Original Assignee
Smark GmbH
Bizerba SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Smark GmbH, Bizerba SE and Co KG filed Critical Smark GmbH
Priority to EP21158545.0A priority Critical patent/EP3861891B1/fr
Publication of EP3861891A1 publication Critical patent/EP3861891A1/fr
Application granted granted Critical
Publication of EP3861891B1 publication Critical patent/EP3861891B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/10—Casings or parts thereof, e.g. with means for heating or cooling
    • G07F9/105—Heating or cooling means, for temperature and humidity control, for the conditioning of articles and their storage
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/22—Pushers actuated indirectly by hand, e.g. through cranks or levers
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/38—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/38—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal
    • G07F11/42—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are horizontal the articles being delivered by motor-driven means

Definitions

  • the invention relates to a storage and picking system as per the preamble of Claim 1 and to a method for delivering an item from a storage and picking system as per the preamble of Claim 9.
  • AS/RS automated storage and retrieval system
  • a crucial component of a storage and picking system is its so-called storage and retrieval machine.
  • a fixed-aisle machine is generally referred to as a "stacker crane".
  • the mast or masts of such crane support a carriage on which unit loads are carried.
  • one or more shuttles or telescopic extraction devices are attached to the carriage to retrieve items.
  • EP1541064B1 discloses an article display apparatus for articles which are arranged one behind the other on a shelf, comprising a capacitive sensor unit for detecting the position of an article slide and its distance to a front stop of the shelf.
  • US5499707 discloses a multi-product, self-service merchandising kiosk with a modular dry goods dispenser having multi-compartmented inventory shelfing and bottomless storage drawers. The merchandises are dropped out of the bottomless storage drawers into a transport bin.
  • US2005/0067426A1 discloses a vending machine for dispensing products including a slidable track.
  • EP2363841A1 discloses a product dispensing maschine comprising a motorized collection means and a plurality of product trays.
  • WO02/35484A1 discloses an automatic dispenser for products comprising a conveying means for moving a selected item. A delivery carriage is connected to a planar transfer mechanism for carrying the items to be dispensed.
  • US6755322B1 discloses a vending machine for the sale of food and non-food articles having a plurality of adjustable shelves and product dividers.
  • EP1186266A1 discloses a product carrier system for retail products comprising a product carrier tray slidably mounted to a support member.
  • WO2007/130528A2 discloses an automated storage and distribution system for storing and distributing articles.
  • the system includes means for controlling the entry of containers including articles into the system and means for retrieving articles from these containers.
  • US7316328B2 discloses a dispensing device including a device body, a cassette fixed removably to the device body and a pushing mechanism for pushing out the products out of the cassette.
  • US5123546 discloses a merchandiser assembly for storing and displaying products in a shelf-like manner.
  • the merchandiser assembly automatically maintains an organized and properly positioned stock of products.
  • US2008/0078778A1 discloses a vending machine including sophisticated positioning systems, grippers and trays for product retrieval and delivery.
  • US2012/0012607A1 discloses a product dispenser suited for relatively thin products including a housing with a front wall that pivots downwardly to allow the interior to be stocked with the products.
  • EP3081116A1 discloses a shelf divider comprising an elongated base member being arranged to be supported on a shelf.
  • the base member has a front edge provided with front fixation means arranged for fixation of the shelf divider to the front portion of a shelf.
  • US4756657 discloses a carriage for movement on an elevator of a stacker crane. Drive means are provided for moving the carriage back and forth into and out of contact with storage racks.
  • US2012/0029687A1 discloses a robotic storage and retrieval system including a three-dimensional storage rack, a set of article holders and a robot.
  • the robot is configured to store the article holders to the storage racks.
  • the problem to be solved is to provide a storage and picking system particularly suitable for the delivery of dry goods and packaged grocery store items.
  • a mobile magazine of a storage and picking system comprises a slide rail slidably guided along the magazine, a pusher slide mounted on the slide rail and a restraint affixed to a front end of the slide rail.
  • the pusher slide and the restraint are biased toward each other.
  • the mobile magazine comprises a catch affixed to the restraint.
  • the mobile magazine comprises an identification tag for identifying packaged goods contained in the mobile magazine.
  • the mobile magazine comprises a notch for retaining the mobile magazine within a shelving unit.
  • a storage and picking system comprises at least one stacker crane mobile within the storage and picking system and shelving units containing mobile magazines as descried above.
  • the shelving units grouped in coherent temperature zones, which are available across the storage and picking system.
  • the shelving units are accessible by the crane.
  • the storage and picking system further comprises a pickup terminal which is accessible from outside the storage and picking system.
  • a first goods issuing mechanism is arranged between a path running alongside the shelving units and the terminal.
  • the shelving units are mobile.
  • the storage and picking system comprises a second goods issuing mechanism arranged between the path and a dispatch zone.
  • the first goods issuing mechanism or the second goods issuing mechanism comprise a chute.
  • the storage and picking system comprises divider walls betwixt the temperature zones and sliding gates in the divider walls. The path runs through the gates.
  • the storage and picking system comprises a track defining the path.
  • the crane comprises a mast bound to the track and a carriage slidably guided along the mast.
  • the carriage comprises a tray for receiving the goods, a raising mechanism recessed complementarily to the catch and sloping toward the tray and an extendible hook for engaging the catch.
  • a mobile will-call store comprises a vehicle carrying a storage and picking system.
  • the terminal is accessible from outside the vehicle.
  • a computation and communications unit is electronically connected to the crane.
  • a heating and air conditioning unit is provided for maintaining a storage temperature of the goods.
  • a photovoltaic system is located at the top the vehicle.
  • use of the storage and picking system is rendered as follows:
  • the mast moves along the track to one of the shelving units.
  • the carriage slides along the mast to one of the magazines.
  • the hook extends and engages the catch of the respective magazine.
  • the hook retracts by the depth of an item contained in the magazine such that the rail projects beyond and the item protrudes from the magazine.
  • the raising mechanism raises the item above the restraint such that the item slides down the raising mechanism onto the tray.
  • the hook presses the rail back into the magazine.
  • the crane delivers the item to the first goods issuing mechanism.
  • Use of the proposed storage and picking system permits vendors to drastically reduce their customers' waiting time between placement of a purchase order and pickup or delivery of the ordered items.
  • a system as per the invention may be advantageously implemented as a fully automated interactive vending kiosk or mobile will-call store.
  • the latter embodiment allows for round-the-clock pickup, thus lifting the store's restriction to traditional opening hours.
  • a will-call store in the form of a parked and unmanned cargo van may offer an assortment of between 300 and 1,000 commodities grouped in up to four cooling zones. Located in a public parking lot or on private or factory premises, such a will-call store would be able to place goods at a caller's disposal within 30 seconds.
  • its fleet operator may take orders by smartphone, whereupon the buyer is directed to the nearest van, which dispenses the ordered items automatically upon call.
  • the storage and picking system permits vendors to narrow down the predicted time frame for individual deliveries.
  • an exemplary store of this type could keep in stock between 2,000 and 10,000 items arranged in three cooling sections across between 250 and 1,500 square meters of floor space. Suitable sites may be found in urban areas, railroad stations, etc., allowing for a 30-minute delivery in addition to automated goods issue within some 60 seconds.
  • Such stores may easily integrate additional facilities such as a coffee bar or even deli counter for perishable items.
  • Figure 1 shows a mobile magazine 11 comprising a slide rail 12 slidably guided along the magazine, a pusher slide 13 mounted on the slide rail 12, and a restraint 14 affixed to a front end thereof, the pusher slide 13 and the restraint 14 being biased toward each other.
  • the mobile magazine 11 comprises a catch 15 affixed to the restraint 14, an identification tag 16 for identifying packaged goods 17 contained in the magazine 11, and a notch 18 for retaining the magazine 11 within a shelving unit.
  • identification tag is used in a broad meaning, encompassing various means such as a barcode, quick response (QR) code, or radio-frequency identification (RFID) tag.
  • Figure 2 shows how an item 29 among the packaged goods 27 is extracted from the magazine 21.
  • the slide rail 22 projects beyond and the item 29 protrudes correspondingly from the front end of the magazine 11, the pusher slide 23 moving forward by an equal distance.
  • the item may thus be raised above the restraint 24 for extraction.
  • the magazine's housing is secured in place by a bar (not depicted) engaged with the notch 28.
  • Figure 3 shows a first storage and picking system 31 comprising a stacker crane 32 moving back and forth between eight shelving units 33 containing mobile magazines 34, the units being grouped in three coherent temperature zones 35 across the storage and picking system.
  • a pickup terminal 36 is accessible from outside the storage and picking system, wherein a path 37 runs alongside the shelving units up to a goods issuing mechanism 38 arranged next to the terminal.
  • Figure 4 shows a more expansive second storage and picking system 41.
  • This system in addition to its stacker cranes 42, temperature zones 43, multi-branched path 44, ten shelving units 45 populated with mobile magazines, and goods issuing mechanism 46, features a second goods issuing mechanism 47. While the first mechanism is arranged next to the customer pickup terminal 48, the second mechanism borders on a dispatch zone 49 for deliverymen and sales clerks.
  • the stacker cranes 42 may communicate via sliding contacts or wirelessly, especially if battery-powered. Suitable algorithms may be gathered from the emerging field of swarm robotics, allowing for individual cranes to be added to or removed from the scenario as needed.
  • FIG. 5 shows a third storage and picking system 51 for use in a mobile will-call store.
  • the stacker crane 52 comprises a carriage 53 slidably guided along a mast bound to a track 54 that defines the crane's path.
  • the four shelving units 55 each containing seven layers of magazines 56, are equipped with rolling frames, allowing the units to be moved outside their store for replenishing.
  • the system is partitioned by two divider walls 57 betwixt the temperature zones, wherein the track proceeds through a sliding gate 58 in each wall unto a chute 59 leading to the pickup terminal.
  • FIG. 6 The exterior view of Figure 6 shows a mobile will-call store 61 in the form of a cargo van carrying the storage and picking system 62, its pickup terminal 63 accessible from outside the vehicle through a graphical user interface.
  • a computation and communications unit 64 near the van's tailboard electronically connects the interface to the crane, while a heating and air conditioning unit 65 serves to maintain an adequate storage temperature inside the cargo bay.
  • These and other systems are supplied with electricity by a photovoltaic system 66 atop the vehicle.
  • Further roof structures may be conceived, such as a docking platform for unmanned aerial shuttles that deliver shopping baskets to customers as an alternative to personal pickup. Additional variants of the will-call may take the form of a trailer, freight container, or similar.
  • Figures 7 through 10 give an account of the stacker crane's interaction with a mobile magazine 71.
  • the crane's mast 72 supports a carriage 73 that, for receiving the goods, in turn comprises a tray 74 to which an adjacent raising mechanism 75 is sloped.
  • the carriage 73 slides along the mast 72 to match its height.
  • the carriage's hook 76 extends and engages the catch 15, 25 of the respective magazine 71, then retracts by the depth of an item 78 among the packaged goods 77, allowing the item 78 to be extracted as has been described above referencing Figure 2 .
  • the raising mechanism 75 which is recessed complementarily to the catch 15, 25 of the magazine, raises the item 78 above the restraint 14, 24 such that it slides down the raising mechanism 75 onto the tray 74.
  • the hook 76 presses the slide rail 12, 22 back into the magazine 71, whereupon the crane delivers the item 78 to the goods issuing mechanism.
  • the magazine and its slide rail are aligned vertically such that the latter's front end is indeed located at the bottom of the apparatus, the goods being stacked upon the restraint affixed at its lowest point.
  • the pusher slide is biased toward the restraint simply by gravity.
  • a mobile mechanism beneath allows the restraint - for instance, by releasing a snap joint - to drop or glide downward by the item's depth or height, respectively, instead of actively pulling the item out via the catch as in the horizontal embodiment described above.
  • a feeder functionally corresponding to the raising mechanism 75 of Fig. 7 , would push the item horizontally off the restraint before the restraint - and hence the packaged goods stacked thereupon - are pushed back into the magazine, allowing the snap joint to reengage.
  • the magazines may thus be used quite similarly to their horizontal equivalents.
  • the basic horizontal layout depicted in the figures however avoids any friction or compression issues associated with upright orientation of the device.
  • the invention may be applied, inter alia, throughout the retail industry.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (10)

  1. Système de stockage et de préhension (31, 41, 51, 62) comprenant au moins un pont roulant gerbeur (32, 42, 52) mobile à l'intérieur du système de stockage et de préhension (31, 41, 51, 62), des unités de rayonnage (33, 45, 55) contenant des magazines (11, 21, 34, 56, 71) accessibles par le pont roulant (32, 42, 52), un terminal de préhension (36, 48, 63) accessible depuis l'extérieur du système de stockage et de préhension (31, 41, 51, 62), un chemin (37, 44) passant le long des unités de rayonnage (33, 45, 55), un rail (54) définissant le chemin, un premier mécanisme de sortie de marchandise (38, 46) disposé entre le chemin (37, 44) et le terminal (36, 48, 63), chacun des magasins (11, 21, 34, 56, 71) comprenant des marchandises emballées (17, 27, 77), le pont roulant gerbeur (32, 42, 52) comprenant un mât (72) lié au chemin (54) et un chariot (53, 73) guidé de manière coulissante le long du mât (72), et le chariot comprenant un plateau (74) destiné à recevoir les marchandises (17, 27, 77), caractérisé
    en ce que chaque magasin (11, 21, 34, 56, 71) comprend une glissière (12, 22) guidée de manière coulissante le long du magasin (11, 21, 34, 56, 71), une glissière de poussée (13, 23) montée sur la glissière (12, 22), un dispositif de retenue (14, 24) fixé au niveau d'une extrémité avant de la glissière (12, 22), la glissière de poussée (13, 23) et le dispositif de retenue (14, 24) étant orientés l'un vers l'autre, et un loquet (15, 25) fixé au dispositif de retenue (14, 24), et
    en ce que le chariot (53,73) comprend un mécanisme de levage (75) encastré complémentairement au loquet (15, 25) et incliné vers le plateau (74), et un crochet extensible (76) pour venir en prise avec le loquet (15, 25) de l'un des magasins et pour rétracter la glissière (12, 22) dudit magasin de sorte que la glissière (12, 22) fasse saillie dudit magasin (11, 21, 34, 56, 71), après la rétraction de la glissière (12, 22) comprenant les marchandises emballées (17, 27, 77), le mécanisme de levage (75) servant à lever un article (29, 78) au-dessus du dispositif de retenue (14, 24) de sorte que l'article (29, 78) glisse le long du mécanisme de levage (75) sur le plateau (74), et
    en ce que chaque magasin (11, 21, 34, 56, 71), en particulier chaque dispositif de retenue (14, 24), comprend une étiquette d'identification (16, 26) destinée à identifier les marchandises emballées (17, 27, 77) contenues dans le magasin (11, 21, 34, 56, 71), et
    en ce que chaque magasin (11, 21, 34, 56, 71) comprend une encoche (18, 28) pour retenir le magasin (11, 21, 34, 56, 71) à l'intérieur d'une unité de rayonnage (33, 45, 55) au moyen d'une barre.
  2. Système de stockage et de préhension (31, 41, 51, 62) selon la revendication 1, caractérisé en ce que le crochet extensible (76) du pont roulant gerbeur (32, 42, 52) est destiné à rétracter la glissière (12, 22) comprenant le dispositif de retenue (14, 24) et la glissière de poussée (13, 23) et les marchandises emballées (17, 29, 27, 77, 78) contenues entre le dispositif de retenue (14, 24) et la glissière de poussée (13, 23) .
  3. Système de stockage et de préhension (31, 41, 51, 62) selon la revendication 1 ou 2, caractérisé en ce qu'un second mécanisme de sortie de marchandise (47) est disposé entre le chemin (37, 44) et une zone d'expédition (49) .
  4. Système de stockage et de préhension (31, 41, 51, 62) selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le premier mécanisme de sortie de marchandise (46) et/ou le second mécanisme de sortie de marchandise (47) comprend une goulotte (59).
  5. Système de stockage et de préhension (31, 41, 51, 62) selon l'une quelconque des revendications 1 à 4, caractérisé en ce que les unités de rayonnage (33, 45, 55) sont regroupées dans des zones de température cohérentes (35) à travers le système de stockage et de préhension (31, 41, 51, 62).
  6. Système de stockage et de préhension (31, 41, 51, 62) selon la revendication 5, caractérisé en ce que le système de stockage et de préhension (31, 41, 51, 62) comprend des parois de séparation (57) entre les zones de température (35) et des portes coulissantes (58) dans les parois de séparation (57), le chemin (37, 44) passant à travers les portes (58).
  7. Magasin mobile sur présentation (61) comprenant un véhicule transportant le système de stockage et de préhension (31, 41, 51, 62) selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le terminal (36, 48, 63) est accessible depuis l'extérieur du véhicule, le véhicule comprend une unité de calcul et de communication (64) connectée électroniquement au pont roulant (32, 42, 52) et une unité de chauffage et de climatisation (65) pour maintenir une température de stockage des marchandises (17, 27, 77).
  8. Magasin mobile sur présentation (61) selon la revendication 7,
    caractérisé en ce que les étagères (55) sont équipées de cadres roulants et sont mobiles.
  9. Procédé de livraison d'un article à partir du système de stockage et de préhension selon l'une quelconque des revendications 1 à 8, comprenant les étapes consistant à :
    déplacer le mât (72) le long du rail (54) jusqu'à une unité de rayonnage (33, 45, 55) parmi les unités de rayonnage (33, 45, 55) que comprend ledit magasin (11, 21, 34, 56, 71),
    faire glisser le chariot le long du mât (72) jusqu'audit magasin (11, 21, 34, 56, 71),
    étendre le crochet (76) et mettre en prise le loquet (15, 25) dudit magasin (11, 21, 34, 56, 71) avec le crochet (76),
    rétracter le crochet (76) de la profondeur d'un article (29, 78) contenu dans ledit magasin (11, 21, 34, 56, 71) de sorte que la glissière (12, 22) dudit magasin (11, 21, 34, 56, 71) fasse saillie et que l'article (29, 78) fasse saillie dudit magasin (11, 21, 34, 56, 71),
    lever par le mécanisme de levage (75) l'article (29, 78) au-dessus du dispositif de retenue (14, 24) de sorte que l'article (29, 78) glisse le long du mécanisme de levage (75) sur le plateau (74),
    repousser la glissière (12, 22) par le crochet (76) dans ledit magasin (11, 21, 34, 56, 71), et
    livrer l'article (29, 78) par le pont roulant (32, 42, 52) au premier mécanisme de sortie de marchandise (46) .
  10. Procédé de livraison d'un article à partir d'un système de stockage et de préhension selon la revendication 9, l'étape de rétraction du crochet (76) de la profondeur de l'article (29, 78) contenu dans ledit magasin comprenant l'étape consistant à rétracter le crochet (76) de sorte que la glissière (12, 22) dudit magasin (11, 21, 34, 56, 71), y compris le dispositif de retenue (14, 24) et la glissière de poussée (13, 23) et les marchandises emballées (17, 29, 27, 77, 78) contenues entre le dispositif de retenue (14, 24) et la glissière de poussée (13, 23) soient rétractés.
EP21158545.0A 2016-12-12 2016-12-12 Système de stockage et de préhension Active EP3861891B1 (fr)

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EP21158545.0A EP3861891B1 (fr) 2016-12-12 2016-12-12 Système de stockage et de préhension
EP16203490.4A EP3332672A1 (fr) 2016-12-12 2016-12-12 Magazine mobile

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WO2024104880A1 (fr) * 2022-11-14 2024-05-23 Pos Tuning Udo Vosshenrich Gmbh & Co. Kg Dispositif de séparation de marchandises et procédé de séparation de marchandises, caisse à claires-voies, dispositif de sortie et procédé pour enlever une marchandise d'une caisse à claires-voies

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EP3332672A1 (fr) 2018-06-13
EP3861891A1 (fr) 2021-08-11

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