WO2007012099A1

WO2007012099A1 - Method and device for automatic supply to a goods dispenser device

Info

Publication number: WO2007012099A1
Application number: PCT/AT2006/000316
Authority: WO
Inventors: Rudolf Hansl
Original assignee: TGW Transportgeräte GmbH; Klug Gmbh Integrierte Systeme
Priority date: 2005-07-29
Filing date: 2006-07-26
Publication date: 2007-02-01
Also published as: AT501897B1; DE112006001870A5; AT501897A4

Abstract

The invention relates to a method and a device for automatic supply to a goods dispenser device. Goods (31) are supplied by means of a supply device (47) from a goods preparation device (58) to a goods transfer device (61) on a selected filling shaft (42) and stacked on a dispenser device through a filling opening in said filling shaft. The goods (31) are then individually transferred to a preparation position near the goods transfer device (61) on the goods preparation device (58) and before arriving at the preparation position thereof machine-readable data is automatically read off from a data support (210) provided on the goods (31) by a recorder module (200), in particular, a data reader device and transmitted to a computer system (206) which analyses the read data. Based on said analysis control, signals are generated by means of which the supply device (47) is controlled and the individual goods (31) either introduced to a selected filling shaft by the goods transfer device (61) or removed from the goods preparation device (58) by means of a goods return device (201).

Description

Method and device for automatically loading a goods issue device

The invention relates to a method and a device for automatically loading a goods issue device, as described in the preambles of claims 1, 5 and 15.

EP 1 075 439 B1 discloses a method and a picking system for the provision and storage of goods in a picking system. This comprises at least one order picking machine, which has a goods rack with juxtaposed and superimposed, inclined against the horizontal hopper in which stacked goods are stored. Each hopper is provided at its lower end with a means for stopping and dispensing the goods. The control operating device comprises a space-movable lifting platform on which a goods transfer device (goods stacking bracket) is arranged, which is positioned with a recorded therein vertical stack of goods at each upper end of a hopper, and having a displaceable in the stack transverse direction pusher, through which from the Goods stack the lowest commodity is occasionally inserted into the selected feed chute.

According to DE 198 12 147 A1, the goods transfer device described in EP 1 075 429 B1 additionally has a stacked longitudinal clamping plate with spring fingers arranged in a row, with which a stack of goods is clamped in the transverse direction of the stack before it is positioned relative to a selected hopper and finally after positioning in the set position in a selected feed chute the clamped stack of goods is released from the clamping or pushed out.

Furthermore, EP 0 795 495 A2 discloses a device for automatic loading of a goods dispensing device, which has a plurality of juxtaposed, substantially vertically extending hopper shafts and at a distance from these substantially horizontally extending storage shafts, the filling shafts facing the dispensing ends in a parallel to arranged the filling chutes parallel plane and provided with dispensing devices. Between the filling shafts and the discharge ends of the storage shafts, a chassis movable parallel to the plane of the filling shafts is provided which has a substantially parallel to the vertical axes of the filling shafts. fende leadership and along this vertically displaceable carriage has. On the carriage, a goods transfer device is arranged, which is designed as a conveyor, with which a stack of goods from the conveyor can be inserted into the hopper.

No. 6,377,867 B1 describes a picking system which has a picking machine and automatic storage systems arranged on both sides thereof. The storage systems each have two spaced apart shelving systems and a transport vehicle movable along a rail system between the shelving systems. This carries on a chassis a vertical mast, on which in turn can be raised and lowered a load-carrying means is guided by means of a goods container in or out of a

Shelf of shelf systems can be incorporated or outsourced. The order picking machine comprises along a belt conveyor arranged and inclined to the horizontal feed chutes for goods to be picked and at the lower ends of each controlled by the computer system dispensing device with which the lowest product from the hopper can be deported to the belt conveyor. The picking system additionally comprises a gantry robot, which is assigned to the picking machine and has a positioning carriage which can be moved between the shelving systems and the filling shafts. The latter is equipped with a goods transfer device in the form of a gripping unit, which manipulates stacks of goods between goods containers stored in the shelving system and the filling shafts.

The systems known from the prior art have the disadvantage that the goods transfer device, which is positioned just in front of the hopper to be filled or directly in the replenished Füllschaft, by their complex structure and to be manipulated high mass of the goods stack in dynamic movement authoritative

Vibrations is excited, whereby the transfer of the stack of goods from the goods transfer device to the hopper can be done only after the vibrations subsided. As a result of the significantly increased positioning time of the goods transfer device on a hopper, the loading process is more time consuming. As a result, the automatic order picking machine reaches its capacity limits at an early stage and there is a risk of a

Filling shaft is completely emptied and thus a Kornmissionierauftrag can not be met. Moreover, it is disadvantageous if the gripping unit is moved into the hopper, since then the hopper width forcibly increased. The present invention has for its object to provide a method and apparatus for automatically loading a goods dispensing device, with or a simple and rapid loading of the filling chutes of a goods issue device is possible. Furthermore, it is an object of the invention to control the flow of goods controlled within the device for automatic feeding and make comprehensible.

The object of the invention is achieved by the measures specified in spoke 1. It is advantageous that the goods are occasionally fed to an electronic detection module, whereby a reliable reading of the data is possible and even before the actual borrowing deposit of the goods in the goods issuing device on the basis of the data read out a coordinated onward transport of the goods. Only those goods are supplied to the goods issuing apparatus which fulfill the evaluation criteria set for them, such as, for example, a packaging size, quality requirements for the goods, in particular an expiry date.

According to the measures described in claim 2, the goods are uniquely identified and checked even before they are stored in the goods delivery device, which now also "erroneous" can be filtered out Usually, from the manufacturer at a goods receipt a bulk pack is delivered, sorted with a ho Although these bulk packs are filled by machine under all aspects of quality control, it can not be ruled out that a "wrong" product will mix with it. Although this may be the same type of goods, but a different package size. With the identification according to the invention, this "erroneous" can be detected and eliminated, thus reliably preventing the storage of a "false" product. Furthermore, an exact logging of the read-out data can be achieved and thus also occurring incidents, for example quality defects of the goods, can be tracked and evaluated. In addition, due to the wide range of comparative data, therefore the master and reference data, an improved distribution of goods in the goods issue device can take place.

However, the measures according to claims 3 and 4 are also particularly advantageous, as a result of which a delivery of already "expired" goods is avoided or the goods are still delivered on time.The computer system is suitable for a statistical evaluation - A -

on the consumption quantity of a product, from which a theoretical delivery time at which the goods are to be delivered can be determined. If this delivery time is above the expiration date of the goods, it will be discharged immediately before their storage or stored in an express hopper at which this product is issued before the actual delivery date.

However, the object of the invention is also achieved by the measures and features specified in claims 5 and 15. It is advantageous that the goods are supplied to the goods delivery device isolated to the goods transfer device and after a positioning of the goods transfer device with respect to a hopper, successively stacked on a hineinverstellte in the hopper between Füllschachwänden below a Nachfüllstapels edition of the stacking device. Thus, the width of the hopper can be designed only for the simple width of goods and the goods dispensing device can be formed with a high number of filling shafts. With the inventive measures, the operation of the goods transfer device compared to the aforementioned prior art is simplified, which has a favorable effect on a reliable operation of the device according to the invention and also allows gentle handling of the goods. In addition, the playing time for the infestation of a hopper with respect to the aforementioned prior art is reduced because again during the stacking process in the hopper goods of the goods transfer device are successively supplied and only once a positioning of the carriage and the goods transfer device to a hopper is necessary. Furthermore, the goods transfer device is characterized by its simple structure, which also contributes to a trouble-free operation of the device according to the invention, even at the highest throughput performance. Consequently, the playing time for the manipulation of the separated goods between goods transfer device and hopper can be kept low. Thus, in addition to a rapid filling of the hopper, an increased efficiency is achieved at the goods issuing device.

An advantageous measure is also described in claim 6, according to which the goods to be manipulated are exactly fixed in position and therefore even at high handling speeds between the provision and transfer position, an undesired offset of the product relative to the manipulation unit is avoided. The Maßnalime according to claim 7 is advantageous because the subsidized on the delivery device goods are gripped by the gripping element of the manipulation unit exclusively on a side opposite the hopper side and transversely offset to the conveying direction of the goods from the provision position in the transfer position. The goods are briefly stopped in their stowed position either without being stopped by the commodity supply device or, for the time being, on the commodity supply device, and then moved from the stowed position to the transfer position.

The measure according to claim 8 allows rapid filling of a selected filling shaft.

According to the measure specified in claim 9, a reliable stacking of goods on the support in the hopper is made possible.

According to the measure according to claim 10, a stack of goods already located in the feed chute or the dispensing device takes over the refill stack by returning the support. By gently depositing the refill stack on the stack of goods or the dispensing device, it is now also possible to pick particularly sensitive goods. In addition, the mechanical design of the goods delivery device is spared.

An advantageous measure is also described in claim 11, according to which the support and Rücldialtevorrichtung one hand, the position stabilized during its lowering process in the stacking transverse direction and on the other hand prevents the return of the support from the stacking position to the starting position unwanted displacement of the lowest stack goods in the stack transverse direction. In addition, it can be ensured with the help of the support and retaining element that the goods of the refill stack reliably abut against at least one guide surface in the hopper.

A high reliability of the device is achieved with the measure according to claim 12. This provision ensures that a transfer of the goods between the provision and transfer position or from the transfer position into the feed chute on a refill stack or the circulation takes place only when the exact positioning of the goods in relation to the manipulation unit in the supply unit by the monitoring device. Lung position and / or the monitoring device, the exact positioning of the product against a hopper in the transfer position is detected. If the exact positioning of the goods in the provision and / or transfer position can not be confirmed, for example, an error message is output to the computer system.

According to the measure and the features according to claims 13 and 38, a collision of the lowerable support with a stack of goods or the dispenser is prevented and can be determined from the distance measurement, the computer system still needed number of goods for refilling the hopper and exactly this amount fed to the hopper.

An undesirable, complete emptying of a hopper is avoided by the measure proposed in claim 14.

An advantageous embodiment of the device according to the invention is described in claim 16, whereby the already available above the goods issue device space is used and thereby results in a very space-saving arrangement of the device. In addition, the infilling of the filling shafts now takes place from above via the filling opening, with the advantage that over the goods transfer device positioned to be refilled, the goods intended for this filling shaft must be manipulated exclusively between a provisioning position and a transfer position, which is a considerable Simplification of the manipulation of goods.

The development according to claim 17 is advantageous, whereby the manipulation of the goods in front of the goods issuing device is carried out fully automatically and computer-controlled in a very efficient manner.

According to claim 18, the receiving capacity of goods in the goods issuing apparatus and the performance of the same are significantly increased.

Another advantage is the further development according to claim 19, in which it is provided that the distance between the uppermost stack of goods and an upper level limit in each hopper is detected by only one measuring device per shelf, and from this the filling level is determined. can be averaged, whereby the circuit complexity is kept low on the goods delivery device and a reliable operation of the device is achieved.

According to claims 20 to 23, at least two control carriages which can be controlled separately from one another are positioned independently of each other for stacking and goods transfer devices, so that several goods grouped together on the goods delivery device can be stored in different filling ducts at the same time , Thereby, the performance of the goods dispensing device can be raised without running the risk that one of the filling shafts is completely emptied. Furthermore, the performance of the feeder can be increased without having to operate a greater effort for this.

Advantageous embodiments and favorable arrangements of the support frame for the parking carriage are described in claims 24 and 25.

In accordance with claim 26 a particularly space-saving and favorable arrangement of a guide concept for the parking carriage is described.

Another advantage is the further development according to claim 27, since the clever arrangement of the goods transfer device above the conveying device favors the manipulation of the goods.

The embodiment according to claim 28 enables a particularly simple control of the gripping units, which is of great advantage, in particular with a high throughput rate at the goods transfer device.

An exact positioning of the product in the ready position as well as during its movement into the transfer position is described by the developments in the claims 29 to 31.

Also advantageous are the further developments according to claims 32 to 34, since all these manipulation units allow an exact positioning of the gripping unit with respect to the supply and transfer position, highest acceleration and speed values and operate reliably. The embodiments according to claims 35 and 36 are advantageous because the robust guide concept for the stacking device also allows the manipulation of goods with a higher dead weight.

In accordance with claim 37 is avoided by the support and retaining device on the one hand, an offset of the lowest stack goods when retracting the support and on the other hand, the refill stack laterally guided during its gradual lowering movement in the stack transverse direction. Moreover, it is advantageous if a support and retaining element is already adjusted in its extended support or retaining position when the goods are moved to the transfer position, since they can strike against the support and retaining element at higher transfer speed for the time being and only then at the takeover level.

Finally, the developments according to claims 39 and 40 are advantageous because in the ready position, the successively supplied goods are always positioned in the same place.

The invention will be explained in more detail below with reference to the embodiments illustrated in the drawings.

Show it:

1 is a plan view of a picking system with a device according to the invention for the automatic loading of an automatic goods issue device in a schematic representation;

2 shows the goods dispensing device and a loading device in a perspective view and a simplified representation;

3 shows the goods dispensing device and charging device according to FIG. 2 in end view, partly in section and in a simplified representation;

FIG. 4 shows the charging device according to FIG. 2 in a perspective view and a simplified illustration; FIG. Fig. 5 is a partial enlargement of Fig. 4;

Fig. 6, the charging device of Figure 2 in plan view.

FIG. 7 shows the loading device according to FIG. 2 in side view; FIG.

Fig. 8 is a view of a hopper with in this delivered deliveries for receiving a wide product, as shown in solid lines, or for receiving two smaller goods, which are incorporated via a Füllschachtwand in two separate Füllschächten, as shown in dashed lines ;

9 shows the goods delivery device and charging device according to FIG. 2 with another embodiment of the storage concept for a positioning carriage;

10 shows the Warenausgabe- and loading device with a further embodiment of a Stellwagens in front view, partially cut and simplified representation;

11 shows the goods dispensing and loading device with a further embodiment variant of the goods transfer device in end view, partially cut and simplified representation;

12 to 16 show another embodiment of the loading device, the goods delivery device and different embodiments of the goods transfer device in different views and simplified representation.

17 shows the goods dispensing device and a measuring carriage with detection devices for determining a filling level in a filling shaft of the goods racks, in end view, partially cut and simplified representation;

18 is an enlarged view of the movable along a guideway measuring carriage with a drive device, in perspective view, simplified representation and remote from the measuring van, front end wall. 19 is a plan view of a portion of the order picking with the goods dispenser and another embodiment of the feeder, in a simplified representation;

Fig. 20 is a plan view of a portion of a modified picking system with the goods dispenser and another embodiment of the feeder with reading station and goods return device, in a simplified representation.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as above, below, laterally, etc. related to the directly described and illustrated figure and are mutatis mutandis to transfer to a new position to the new situation. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

Fig. 1 shows a picking 1 in plan view and simplified representation. This comprises a goods issue device 2, which in the present exemplary embodiment is formed by a picking machine, a goods sorting device 3 which precedes it, and two automatic storage systems 4, 5 which are arranged on both sides of the goods issue device 2. Each storage system 4, 5 is connected to the goods separating device 3 via a conveyor system 6, 7 comprising a storage conveyor 8a, 8b and an outfeed conveyor 9a, 9b. In the goods receiving area 10, a delivery device 11a, 11b and a delivery device 12a, 12b are respectively assigned to the delivery system 6, 7, and according to this exemplary embodiment open into the storage conveyer devices 8a, 8b. At the delivery end of the goods delivery device 2 includes a transverse conveyor 13, succession on the order-based, empty Kornmissionierbehälter 14 placed and transported in the direction indicated by an arrow 15 conveying direction to the delivery end of the goods issuing device 2. The In the delivery position, the picking container 14 receives the different goods combined at the goods issue device 2 to form a picking order and, after being filled, is transported from the delivery end to a goods exit 16.

The storage system 4, 5 comprises two spaced-apart shelving systems 17a, 17b, 18a, 18b and a conveyor vehicle 19a, 19b, in particular a storage and retrieval unit, which can be moved along a rail system 20a, 20b in a rack aisle kept free between the shelving systems 17a to 18b. The conveyor vehicle 19a, 19b carries on a chassis 21 a vertical mast 22, on which in turn can be raised and lowered, a load-receiving means 23 is led.

At the goods receipt 10, the goods containers 24 emptied in the goods separating device 3 are conveyed via the discharge devices IIa, 11b to a refilling station, not shown, where the goods containers 24 are again filled manually or automatically. After that, the filled-up goods containers 24 are again returned to the storage conveyor 8a, 8b via the supply devices 12a, 12b.

In the jointly described FIGS. 2 to 8, the computer system-controlled device 30 for automatically feeding the goods issue device 2 with different goods 31 is shown in different views. The goods delivery device 2 has on both sides of a conveyor 32, in particular a horizontal conveyor, such as belt conveyors, arranged shelves 33 a, 33 b and forms a picking machine. A conveying member 34, in particular a conveyor belt, is coupled to a drive 35 and preferably uninterrupted at a uniform speed in the conveying direction - according to arrow 36 - driven. At the right delivery end of this conveyor 32, for example, the registered in Fig. 1, transverse further conveyor 13 is arranged, via which the combined to order, picked goods 31 are transported in the order picking 14.

The goods issuing device 2 is supported by a base frame 37, in particular uprights 38 on a horizontal footprint 39. The base frame 37 is formed by transversely to the conveying direction - according to arrow 36 - in pairs opposite and from bottom to top inclined towards each other uprights 38 and these connecting longitudinal members 40. The opposite in relation to a vertical plane of symmetry 41 of the goods dispenser 2 opposite goods shelves 33a, 33b each have in their longitudinal extent and along the conveyor 32 in a row aligned successively, elongated Füllschächte 42, each having an approximately L-shaped guide profile whose Legs 43, 44 include a right angle and vertex edge forms an angular root 45. The angular root 45 is located in each longitudinal cross-section of the guide profile at the lowest point and extends parallel to the longitudinal axis of a hopper 42. Both angle leg surfaces form guide surfaces for the goods to be stacked 31 from.

The filling shafts 42 are attached via a mounting plate 29 on the base frame 37, for example screwed. The goods shelves 33a, 33b each extend over a partial length of the conveying device 32 and preferably have the same length. In the preferred embodiment, the individual filling shafts 42 of the goods racks 33a, 33b are inclined towards the center of the belt conveyor as well as in the conveying direction - according to arrow 36 - of the belt conveyor. For example, the inclination of the guide profile in the longitudinal direction is about 18 ° and the inclination of the guide surface of the longer leg 44 in the transverse direction is also about 18 °. By the two inclinations it is achieved that the goods to be stacked 31 abut against the guide surface of the shorter leg 43 as well as on the guide surface of the longer leg 44 at least partially. Adjacent, longer legs 44 form filling shaft walls of a filling shaft 42.

The guide profiles are fastened to the mounting plate 29 via the legs 43, which are to be described in more detail later, for example screwed on.

On the other hand, the feed ducts 42 and the guide profiles may also be inclined only in the direction of the conveyor belt of the belt conveyor, but represents the double inclination, according to the angle of inclination, the preferred embodiment.

As can be seen in the figures, a filling opening 46 is bounded laterally by filling shaft walls of adjacent filling shafts 42 and extends over the entire height of the filling shafts 42. The filling shaft 42 is automatically loaded with goods 31 from above via a loading device 47 to be described below , The commissions ing goods 31 with preferably cubic spatial form, are thereby stacked in a hopper 42 on each other.

As shown in more detail in FIG. 3, a dispensing device 49 controlled by the computer system is preferably provided in the region of lower ends 48 of each filling chute 42. Each dispensing device 49 is attached to the base frame 37 and has at least one slidable transversely to the longitudinal extent of the conveyor 32 driver 50, with which the respective lowermost goods 31 of a stack of goods 51 from the respective hopper 42 to the short distance below a trained by the dispenser 49 Delivery level 52 arranged conveying member 34 or, as not shown further, is delivered to a via the conveying member 34 to the filling ducts 42 passed, to be picked transport container. The order-bound transport containers are transported by means of the conveyor 32.

For example, each dispensing device 49 is formed by at least one traction mechanism which comprises at least one endless flexible traction means 55, such as belt, chain and the like, circulating through a drive wheel 53 and diverter wheel 54, provided with the at least one driver 50 and of one Drive motor, in particular electric motor, can be driven in one direction only. The upper run of the traction means 55 forms the discharge plane 52. The drive wheel 53 is coupled to the drive motor. The drive motor of the dispensers 49 is connected to a control unit of the computer system. According to the embodiment shown, the drivable traction means 55 is provided with two offset drivers 50, so that when the driver 50 has a product 31 just pushed out of the hopper 42, the next driver 50 is either on standby or slipping out of the next product 31 prevented. If the drive motor is set in motion, it moves the driver 50 counterclockwise, so that the driver 50 located at the bottom right only after about half a turn on the goods 31 attacks and pushes them out. The product 31 is initially guided along the discharge plane 52 by a arranged in the leg 43 discharge opening 56 and after leaving on a slide plate 57 when pushing out in discharge direction - according to registered arrow, until a leading edge of the product 31 rests on the conveying member 34. The slide plates 57 are arranged on both sides of the conveyor 32 and parallel to its longitudinal extension and attached to the uprights 38. Another embodiment, not shown, is that the displaceable driver 50, for example, to a pressure medium cylinder, such as pneumatic or hydraulic cylinder and the like., Is arranged.

A first embodiment of the inventive device 30 for automatically loading the goods issue device 2 comprises at least one goods delivery device 58 and at least one of the computer system, in particular a computer (PC) controlled feed device 47 for automatically refilling a hopper 42 with goods 31 to be picked.

The loading device 47 comprises the goods separating device 3, a positioning carriage 59, a stacking device 60a, 60b associated with each goods rack 33a, 33b, optionally a support and rearlial device 62a, 62b and a goods transfer device 61.

The fabric supply device 58 has a continuous or intermittent drive conveyor, such as a belt conveyor, accumulation conveyor, and the like, disposed at least along the length of the shelves 33a, 33b in the vicinity of upper ends 63 of the hopper 42 and the upstream end thereof extending approximately to the Warenvereinzelungsvorrichtung 3 and downstream end extends beyond the longitudinal in the longitudinal direction of the goods shelf 33a, 33b, last Füllschachtwand addition. The conveyor is mounted on an unillustrated support frame on the base frame 37 of the goods delivery device 2.

The positioning carriage 59, as shown in FIGS. 3 and 4, comprises a support frame 64 with two uprising support beams 65 arranged on both sides of the goods delivery device 2 and a horizontal cross member 66 connecting them above the goods provision device 58. The support beams 65 each have a lower and upper side part 67, 68, wherein in each case the upper side part 68 is arranged in a direction parallel to the guide surface 69 (Fig. 3) of the hopper 42 extending plane. On the other hand, the lower side parts 67 are arranged parallel to one another and in a plane extending perpendicularly to the contact surface 39 in the longitudinal direction of the goods racks 33a, 33b. The positioning carriage 59 is guided via the support carrier 65 having guide assemblies 70 of a guide system on parallel to the longitudinal direction of the goods shelves 33a, 33b extending and fixed to the footprint 39 linear guides 71 a guideway and a dynamic drive 72 along the linear guides 71 between the individual NEN filling shafts 42 movable.

The goods transfer device 61 has a manipulation unit 75 designed in the manner of a turnstile and a disk-like platform, which are mounted on the support frame 64 of the control carriage 59, in particular on the cross member 66. The turnstile comprises a hub 76 on which gripping units 78 are mounted diametrically opposite one another in a predetermined pitch in one plane, above a provision plane 77 of the goods delivery device 58.

The disk-like platform has through apertures separated, segment-like guide plates 81 which extend between a supply and transfer position of the product 31 and of which on a commodity on the goods delivery device 5 incoming goods 31 side facing guide plates 81 optionally as a support for the serve the delivery position in the transfer position to be moved goods 31. Thus, the guide plates 81 form on an upper side facing the article 31 at least one subsection of a manipulation plane, which will be described in more detail below, which coincides with the delivery plane 77 in one plane. Two of these openings are transverse to the conveying direction - according to arrow 85 - arranged the goods delivery device 58 and located at least one of the openings at the transfer position above a hopper 42. The in the conveying direction - according to arrow 85 - the goods delivery device 58 oppositely arranged openings are of the conveyor the commodity delivery device 58 interspersed.

The gripping units 78 are coupled via the hub 76 to an intermittent dynamic rotary drive 79, through which the gripping units 78 intermittently between seeing see on the goods supply device 58 predetermined supply position and the refilling chute 42 overlapping transfer position moves or pivoted about a vertical axis 80 become. The goods 31 occasionally arriving at the goods provision device 58 are received by the gripping unit 78 at the goods transfer device 61 in the ready position and positioned or stopped against a goods stop 82 which can be brought out of the path of movement of the conveyed goods 31 , The goods stop 82 is arranged on the manipulation unit 75 and, like the gripping units 78, is moved from the area of the provision position into the area of the transfer position. For example, each gripping unit 78 is provided with a goods stop 82. By means of the goods stop 82, an exact positioning of the goods 31 occasionally arriving on the goods provision device 58 with respect to the gripping unit 78 in the longitudinal direction of the goods shelves 33 a, 33 b is ensured in the provisioning position. For this purpose, it must only be ensured that the product delivery device 58 designed as a conveyor 94 acts on the article 31 with a feed force such that it reliably runs against the goods stop 82. Thus, the successively one of the goods transfer device 61 isolated supplied goods 31 in the ready position are always in a sufficiently accurate takeover position. The conveyor 94 extends in the longitudinal direction of the goods output device 2 above the hopper 42 and at least over the entire length of the goods shelves 33 a, 33 b.

The gripping units 78 of the manipulation unit 75 each have two spaced-apart gripping elements 83, in particular gripping plates, which in a first embodiment are firmly connected to the manipulation unit 75, in particular the hub 76. The distance between the gripping elements 83 is dimensioned larger than a product dimension 84 perpendicular to the conveying direction - according to arrow 85 - the goods delivery device 58, so that on both sides of the product 31 each have a gap remains free.

In a second embodiment, the gripping elements 83 relative to each other adjustable on the manipulation unit 75, in particular the hub 76, stored. Here are the gripping elements

83 by a registered in Fig. 6 actuator 86 at right angles to the longitudinal extent to a limited extent between the goods 31 in the ready position receiving or releasing in the transfer position open position and the goods 31 fixing the closed position adjustable. In the open position, the clear width or the distance between mutually facing gripping surfaces 87 is greater than the goods dimension

84 and the gripping surfaces 87 are from the side walls of the goods 31 facing them. removed. In the closed position, the gripping surfaces 87 of the gripping elements 83 are applied against the side walls without deforming them. Preferably, in the closed position of the gripping elements 83, the goods 31 are frictionally engaged or the gripping elements 83 are clamped against the side walls. As a result, the gripping unit 78 also fulfills the function of a centering device with the advantage that the product 31 in the ready position of the gripping unit 78 perpendicular to the conveying direction - according to arrow 85 - the conveyor 94 and in the conveying direction - according to arrow 85 - the conveyor 94th centered between the gripping elements 83, aligned and recorded position-positioned. Thus, the goods 31 which are successively supplied one after the other to the goods transfer device 61 are always in an exact transfer position in the provision position.

The reliable emergence or the longitudinal positioning of the product 31 with its front side wall against the goods stop 82 and optionally the transverse positioning is controlled by a monitoring device 88, such as a sensor or a CCD camera system, which is located on the parking carriage 59 near the manipulation unit 75.

If the article 31 is now located in a secured delivery position, a sensor signal is transmitted to the computer system using the monitoring device 88 and the drive of the goods delivery device 58 is controlled by the control device and / or the supply of goods 31 from the goods separating device 3. If the commodity supply device 58 is formed by a accumulation conveyor track, then the upstream conveying zones are stopped in succession after the monitoring device 88 responds. This type of control of the flow of goods is used when a gap 89 between two successive goods 31 should be as small as possible and the highest possible number of goods 31 must be received at the goods delivery device 58. If, on the other hand, the gap spacing 89 is selected to be somewhat larger, the goods provision device 58 can be used with a continuously circulating conveyor member, whereby it must be ensured that a gripping unit 78 moved into the ready position is again ready to receive even before a next article 31 is moved into the ready position.

Only when the correct longitudinal positioning or transfer position of the goods 31 is signaled to the manipulation unit 75 by the monitoring device 88, the goods 31 moves from the ready position or takeover position in the transfer position.

In addition, however, a monitoring device 90, in particular a sensor or CCD camera system can also be arranged in the region of the transfer position, which monitors the correct position or a transfer position of the goods 31 to be transferred to the feed chute 42. This is arranged on the carriage 59 near the manipulation unit 75. If the monitoring device 90 detects the correct transfer position of the goods 31, it is deposited in its transfer position on the stacking device 60a, 60b to be described later.

Furthermore, a sensor system 91 is provided which comprises a sensor which detects a specific position of a reference mark 92 attached to the manipulation unit 75, e.g. a gripping element 83 of the gripping unit 78. If the sensor detects the presence of the reference mark 92 at this point, the rotary drive 79 of the manipulation unit 75 is switched off via a control signal. In this position, a gripping unit 78 is positioned in the ready position for receiving a separated product 31 again, wherein the plate-like

Gripping elements 83 have a symmetrical position to half the width of the conveyor 94 and parallel to the conveying direction - according to arrow 85 - the conveyor 94 extend, as shown in FIGS. 2, 4, 5 and 6 can be seen. The manipulation unit 75 is switched on using a signal triggered by the monitoring device 88, after the attachment of the goods 31 to the goods stop 82 has been detected. The sensor system is arranged on the positioning carriage 59 near the manipulation unit 75.

The stacking device 60a, 60b shown in the figures comprises a guide carriage 95, which can be raised and lowered step by step both in a plane parallel to the guide surface 69 and in a plane parallel to the guide surface 93 (FIG. 2). The side parts 68 are each provided with a guideway equipped, the two parallel spaced adjacent and parallel to the root 45 (Fig. 2) extending longitudinal guides 96 has.

The longitudinal guides 96 are arranged at longitudinal edges of one in the side parts 68

Breakthrough attached. The guide carriage 95 is likewise equipped with guide arrangements (not shown) which are complementary to the longitudinal guides 96, so that the guide carriage 95 can be moved by an actuator 97 in a direction parallel to the angled root 45 is adjustably arranged on the support frame 64 of the parking carriage 59. The actuator 97 is formed according to this exemplary embodiment by a traction mechanism comprising a drive roller 98 and deflection roller 99 fastened to the side part 68 and an endlessly circulating traction means 100, for example a toothed belt, chain, guided over the drive and deflection rollers 98, 99. The guide carriage 95 is connected to the traction means 100 via a clamping device 101. The drive roller 98 is coupled to an intermittent dynamic drive 102, in particular an electric motor.

As best seen in the synopsis of Figs. 3, 5 and 7, the stacker 60a, 60b and the support and restraint 62a, 62b are disposed on the guide carriage 95. According to the embodiment shown, the stacking device 60a, 60b comprises two tongue-like supports 103 which can be adjusted perpendicularly to the guide surface 69 by an actuator 126 from an initial position located outside a filling shaft 42 into a stacking position that can be fed into the filling shaft 42. The supports 103 each form a support surface 109 on which a refill stack 108 loads. Each actuator 126 has a guide 104 arranged on the drive 104, to which a drive pinion 105 is coupled, which engages in a toothed rack 106 connected to the support 103. The rack 106 is slidably mounted on the guide carriage 95, preferably slidably mounted. If the drive 104 is set in motion, it adjusts the support 103 between the initial and stacking position. In the extended stacking position of the support 103, its facing away from the guide carriage 95 end edge 107 is positioned at a small distance from the guide surface 69. The center of gravity of the lowest stacked goods 31 from the refill stack 108 formed on the stacking device 60a, 60b is offset relative to the front edge 107 in the direction of the guide carriage 95 so that a large-area support of the stacked goods 31 on the support 103 is achieved.

As can also be seen in the figures, the support and retaining device 62a, 62b has two support and retaining elements 110, which each form a contact surface 111 facing the refill stack 108. The bearing and contact surface 109, 111 enclose an angle of 90 °. The support and retention members 110 are each connected to a rack 112, which in turn is supported on the guide carriage 95 and moved by an actuator 127 between a retracted starting position removed from the refill stack 108 and a retracted support attached to some of the articles 31 from the refill stack 108. respectively. Retention position perpendicular to the guide surface 69 are movable. This actuator 127 has a guide 113 arranged on the drive 113, to which a drive pinion 114 is coupled, which engages in the rack 112 of the support and retaining element 109. The rack 112 is slidably mounted on the guide carriage 95, preferably slidably mounted. When the drive 113 is set in motion, it displaces the support and retaining element 110 between the starting and supporting or retaining position.

The stacking device 60a, 60b described above each comprises two juxtaposed supports 103 and support and retention elements 110. However, it is just as possible for the stacking device 60a, 60b to have only one support 103 and one support and retention element 110.

Usually, the goods issuing device 2 consists of standardized modules. One of these modules is formed by the dispensing device 49, which according to the embodiment in Fig. 8 has two transversely spaced to the discharge direction of the goods 31 mutually spaced traction drives, which are fixed to the base frame 37 (not shown in this figure). These each comprise an endless flexible traction means 55 circulating over the drive wheel 53 and the deflection wheel 54 (not visible in this figure), such as belts, chains and the like, which are arranged offset in the direction of rotation in the direction of rotation in FIG. Neten carriers 50 is provided. Each drive wheel 53 is coupled to a drive system controlled by the computer system, in particular an electric motor. On the other hand, the dispensing device 49 can also be formed by two separate carriers 50, which are adjustable perpendicular to the guide surface 69 and are arranged, for example, on a pressure medium cylinder, such as pneumatic or hydraulic cylinders and the like.

The dispensing device 49 is designed for a maximum product width 115. This allows a flexible design of the hopper width (B) between the parallel Füllschachwänden and an increase of the accommodated in this hopper 42 range of goods in relation to the fabric width 115th

If the filling shaft 42, as shown in FIG. 8 in full lines, designed for a maximum width of goods 115, the traction mechanisms are controlled synchronously by the computer system and the lowest goods 31 of a stack of goods 51 via two at the two traction means 55 in one to the discharge direction of the product 31 transverse plane arranged in pairs driver 50 is conveyed to the conveying member 34. Likewise, this wide hopper 42 two synchronously adjustable by the drives 104 both between the initial and stacking position as well as by the drive 102 raised and lowered guide carriage 95 between the takeover and Aufsetzstellung synchronously adjustable pads 103 assigned. Accordingly, the refill stack 108 is deposited on both supports 103. In addition, this wide hopper 42 two synchronously adjustable by the drives 113 both between the output and support or restraint position as well as by the drive 102 raised and lowered guide carriage 95 approximately between the transfer position of a commodity 31 and Aufsetzstellung the Nachfüllstapels 108 associated adjustable support and retaining elements 110 (Fig. 5). In the set-up position of the refill stack 108, both support and retention elements 110 are positioned in the support or retention position. This embodiment has the advantage that the refill stack 108 simultaneously loads on two supports 103 and thereby a high weight can be absorbed by a stacking device 60a, 60b even with a small construction of the supports 103.

If, however, the filling chute 42, as indicated in dashed lines in FIG. 8, is designed for a minimum product width 115, then the maximum hopper width (B) can be optimized such that two filling chutes 42 are formed by arranging a central guide profile between the two outer guide profiles are each filled with goods 31 smaller width. In this case, each narrow feed chute 42 is assigned a traction drive of the delivery device 49, the drive motors of which are controlled independently of one another by the computer system. A center distance 116 between the supports 103 or the support and retention elements 110 is now selected such that each support shaft 42 is assigned a support 103 or a support and retention element 110. In this case, the supports 103 are adjustable independently of one another between the starting and stacking positions by their drives 104 from the computer system. Likewise, the support and retaining elements 110 by their drives 113 from the computer system independently adjustable between the initial and support or restraint position. The other support 103 or the other support and retaining element 110 remain in their retracted initial positions during the automatic filling process of a filling shaft 42.

The division of the hopper width (B) into several feed chutes 42 allows an optimized Arrangement of the hopper 42 and housing the goods 31 in the goods issuing device 2, so that in this a high degree of filling is achieved.

From the above it can be seen that in the stacking position or support or restraint position always a support 103 or a support and Rückharteelement 110 operates a hopper 42.

Hereinafter, the method for automatically loading the goods issuing apparatus 2 for the apparatus 30 will be described. If a selected feed chute 42 of the goods issue device 2 is to be loaded with new goods 31, which are identical to the goods 31 still present in this feed chute 42 with respect to the size and / or shape and / or weight and the like, then it receives Control, for example, the conveyor vehicle 19b from the computer system a start command, the conveyor vehicle 19b moves to a shelf of the shelving system 17b, 18b and outsourced with the load receiving means 23 at least one goods container 24 from the shelf and takes on the load receiving means 23, whereupon the conveyor vehicle 19b in a transfer or takeover area at the Auslagerfördereinrichtung 9b of the conveyor system 7, as registered in Fig. 1, moved and the load receiving means 23 is positioned relative to the conveyor 9b, that the goods container 24 can be transferred from the load receiving means 23 to the conveyor 9b.

This goods container 24, which is filled with a plurality of identical goods 31, is transported along the conveyor 9b in the direction of the arrow to the computer system controlled Warenvereinzungsvorrichtung 3, emptied in this and emptied from the emptied amount required to fill the selected Füllschachtes 42 subset of a not shown conveyor system of the goods delivery device 58 isolated supplied.

If the quantity of goods 31 from a goods container 24 required for the forthcoming filling of at least one selected filling shaft 42 is too small, another goods container 24 with identical goods 31 is removed from the rack system 17a to 18b and fed to the goods separating device 3, emptied therein and the emptied amount from the previous goods container 24 added. Of the total amount of goods 31 from the goods containers 24, the filling required for filling the selected filling shaft 42 required subset fed via an unillustrated conveyor system of the goods delivery device 58 isolated.

The surplus goods 31 are still branched off in the goods separating device 3 from the goods flow supplied by the goods issuing device 2 and introduced into an empty goods container 24 provided in the goods separating device 3. This loaded with excess product 31 goods container 24 but also the empty goods container 24 are discharged from the Warenvereinzeitungsvorrichtung 3 and the Einlagerfordereinrichtung 8a, 8b of the conveyor system 6, 7 returned.

Optionally, the separated goods 31 can be aligned by an unillustrated alignment device in its transport position in and / or transversely to the conveying direction - according to arrow 85 - the goods delivery device 58 even before they are transported to the takeover position. This alignment device is part of the Warenvereinzvorvorvor- device 3 or commodity delivery device 58th

In order to be able to make the best possible use of the storage capacity of the control systems 17a to 18b, the goods containers 24, which are only partially filled with the excess goods 31, are supplied to the discharge device IIa, 11b and conveyed by the latter to a replenishment point (not further shown) Goods container 24 are completely filled with new goods 31 again. After the filling process, the full goods container 24 of the feed device 12a, 12b delivered and returned from this to the Einlagerfördereinrichtung 8a, 8b, from which the goods container 24 again transported to the transfer or takeover area of the conveyor vehicle 19a, 19b and there from the load receiving means 23 and then stored by this on a free shelf space in the rack system 17a to 18b again. Of course, via the conveyor 12a, 12b and new goods containers 24 which are filled with other goods 31, the order-picking 1 are supplied.

The goods 31 are separated on the conveyor 94 of the goods delivery device 58 and transported in the conveying direction - according to arrow 85 - with mutual, approximately constant gap distance 89 to the goods transfer device 61. As indicated in FIG. 1, a first group 117 of goods 31 is for refilling a first selected one Füllschachtes 42 determines while the first group 117 with a larger gap spacing 89 in the conveying direction - according to arrow 85 - subsequent, second group 118 of goods 31 for refilling a second, selected feed chute 42 is determined.

Even before arriving in the conveying direction - according to arrow 85 - foremost product 31 arrives at the goods transfer device 61, the stacking device 60a, 60b and goods transfer device 61 is positioned opposite to the refilling chute 42 to be refilled by the process controlled by the computer system of the carriage 59. Likewise, the nip-like pad 103 is moved from its retracted home position to its extended stacking position both in a direction parallel to the angular root 45 and into a transfer position and in a direction normal to the guide surface 69. The adjustment of the support (s) 103 in the transfer position is preferably made for game time during the movement of the carriage 59. However, the adjustment of the support (s) 103 in the stacking position is carried out only after the positioning of the carriage 59th

As shown, a manipulation plane 119 (Fig. 3) including the merchandise 31 is moved from the ready position to the transfer position, parallel to the horizontal footprint 39, while receiving the overlay (s) 103 in their transfer position Takeover plane 120 (Fig. 3, left stacking device 60a) is perpendicular to the longitudinal axis of the root 45 and just below the manipulation plane 119, so that the 31 to be manipulated by the staging position to the transfer position goods is gently pushed over. On the other hand, there is also the possibility that the manipulation plane 119 runs parallel to the transfer plane 120, as is not shown. The transfer plane 120 extends above the upper ends 63 of the feed ducts 42 or, as can be seen in FIG. 3, these and a parallel plane parallel to the upper ends 63 of the feed ducts 42 collects.

As described above, according to the first embodiment, the gripping elements 83 are arranged rigidly and at a fixed distance from one another, so that the product 31 automatically reaches the support 103 or the uppermost article 31 of the refill stack 108 in the selected feed chute 42 or secondly by gravity in the transfer position Execution by the actuator 86 to a limited extent towards each other and away from each other wegbewegbar, so that held in their transfer position between the gripping elements 83 (fixed) or clamped goods 31st is released by opening the gripping unit 78 from the clamping. If appropriate, the product 31 is kept clamped until it is loaded in the feed chute 42 on the transfer plane 120. On the other hand, in the transfer position but also the goods 31 are held by the gripping elements 83 in the clamping and pressed out, for example via a force acting from above in the direction parallel to the root 45 on the article 31 slide from the clamping.

After the first product 31 has been pushed onto the support 103 of one of the stacking devices 60a, 60b, the support 103 is lowered in a direction parallel to the angular root 45 by a measure corresponding to the goods height 122 in the direction of the dispensing device 49, so that the device facing away from the dispensing device 49 Top of the product 31 forms a takeover level 120 for the incoming goods 31 (Fig. 3, right stacking device 60b). The trailing commodity 31 is in turn moved from the provisioning position to the transfer position and pushed onto the first commodity 31 deposited thereunder on the support 103. This process is repeated until the support 103 a Aufsetzstellung (as shown in Fig. 9) just above a pile top 31 of goods optionally in this hopper 42 already located stack of goods 51 or, if the hopper 42 is to be completely refilled, a Delivery level 52 of the dispensing device 49 reached. Accordingly, the refill stack 108 is increased by one more product 31 after each lowering step.

The supporting and retaining element (s) 110 is moved from its initial position into the supporting or retaining position preferably applied against the side wall of the stack-bottomed goods 31 facing the latter. The delivery to the support or restraint position can still take place during the stacking process of the goods 31 on the support 103 or only at the end of the stacking process shortly before the refill stack 108 is positioned in its set-up position.

The support and retention member (s) 110 are held in the support or retention position and the support (s) 103 under the refill stack 108 are moved back from the extended stacking position to the retracted home position. As a result of the return of the support (s) 103 in the transverse direction of the stack, the stack of goods 51, which may already be located in the selected feed chute 42, or the delivery device 49, takes over the refill stack 108. Upon retraction of the support 103, for example, the three stack-bottomed goods 31 are retained by the support and retention member (s) 110, so that the orientation imparted to the goods 31 during the stacking operation can be maintained. It is advantageous that after the transfer of the product 31 of the goods providing device 58 in the refill 42, this product 31 both bottom side against the support 103 and laterally against the double-inclined hopper 42, as described above, is supported and the refill stack 108th during the lowering process on the guide surfaces 69, 93 slides along. As a result, an optimal positioning of the refill stack 108 within the feed chute 42 is achieved. An even better guidance of the refill stack 108 in the refill shaft 42 is achieved when the support and retention element (s) 110 are already extended into the support or restraint position during the stacking process and against some of the stacked bottom goods 31 of the refill stack 108 is (are) created.

The Aufsetzstellung the Nachfüllstapels 108 is preferably monitored by a sensor. The sensor has a preferably attached to the stacking device 60a, 60b, in particular the support 103, sensor 124, via which a distance between the underside of the support 103 and the top of the pile top product 31 in optionally existing stack of goods 51 or the discharge plane 52 of the dispenser 49 measured and determined therefrom, the current level 125 in the selected feed chute 42 and including the goods height 122 in the stacking direction, the oblique path 45 parallel Absenkweg the support 103 between the takeover position and Aufsetzstellung or the number of Absenkschritte the support 103 is predetermined. The sensor 124 is formed for example by an optoelectronic measuring system.

From this measured distance and incorporating the goods height 122, the number of goods 31 receivable by the selected feed chute 42 can be calculated, and the goods singling device 3 supplies exactly this calculated number of goods 31 to the delivery device 58.

If goods 31 are dispensed from the stack of goods 51 during the stacking process 49, a correction of the predetermined set-up position is required, for which again the distance between the support 103 and the stack-top product 31 in the stack of goods 51 is measured and from this the still required number of lowering steps determined and the support (s) 103 is lowered accordingly in the corrected placement position.

In another embodiment, the support 103 is equipped with a mechanical or electrical limit switch, via which the Aufsetzstellung will specify. If the support (s) 103 is lowered to such an extent that the uppermost article 31 of an existing stack of goods 51 or the delivery device 49 comes within the effective range of the limit switch, the placement position is reached and the drive 102 is stopped and the refill stack 108 is placed on the optionally existing stack of goods 51 or the dispensing device 49 discontinued.

After the first selected hopper 42 has been filled with new goods 31 of the first group 117, the carriage 59 moves again and positions the stacking device 60a, 60b and goods transfer device 61 at another, refilling hopper 42, within which the second group 118 associated, isolated Goods 31 are stacked on the goods transfer device 61 on one of the stacking devices 60a, 60b.

From the goods issuing device 2, the goods 31 to be picked are then deposited on the conveying member 34 in accordance with the picking orders entered into the computer system. For this purpose, during which the conveying member 34 is moved past the filling shafts 42, those dispensing devices 49 are actuated by the computer system, via which the lowest-stacked goods 31 are to be dispensed from the stack of goods 51 from the filling shafts 42. The delivered goods 31 are assembled on the conveying member 34 on an order-related basis. At the delivery end of the conveying device 34, the picked goods 31, which are combined to form picking orders, are conveyed forward into the picking container 14 stopped at the delivery device 13 and stopped at the delivery end.

Within a commissioning container 14, different goods 31 are usually received in accordance with the picking order. After the picking 14 has been filled, this is transported to the goods outlet 16.

9 shows the device 30 according to the invention for automatically loading the goods issue device 2, whose goods transfer device 61 comprises the manipulation unit 75 described in the preceding figures. According to this embodiment, however, the adjusting paths 59 via arranged on the support beams 65 guide assemblies 70 along guided on the base frame 37 of the goods issuing device 2 linear guides 128 and the traction drive 72 in the longitudinal direction of the goods shelves 33a, 33b movable.

Another embodiment of the carriage 59 for the device 30 according to the invention is shown in FIG. 10, the support frame 64 each in a plane parallel to the guide surfaces of the hopper 42 extending plane and the cantilever 66 freely projecting support beam 65 and a base frame 129 has. This base frame 129 comprises a transverse yoke 130 and at its ends a respective projecting and connected to the support beam 65 side rail 131 and extending between the cross member 66 and the transverse yoke 130 connecting bracket 132. At the transverse yoke 130 guide assemblies 133 are provided, on the basis of the 59th For example, guided on mounted on a ceiling 134 of a building linear guides 135 and the travel drive 72 along these linear guides 135 in the longitudinal direction of the goods shelves 33a, 33b is movable.

11 shows another embodiment of the goods transfer device 61 for the device 30 according to the invention for automatically loading the goods delivery device 2. This comprises a manipulation unit 136 attached to the cross member 66 of the support frame 64 by the carriage 59 with a horizontal direction perpendicular to the longitudinal direction of the goods shelves 33a, 33b The gripping unit 139 is rotatably mounted about a vertical axis on the guide carriage 138 by a pivot drive, not shown, and also has by a likewise not shown actuator to a limited extent between a Registered in dashed lines open position and a registered in full lines closed position, plate-like gripping elements 140. The gripper elements 140 are each provided with a goods stop 82a, 82b at their goods 31 on the goods arriving device 58 opposite ends. The goods 31 are delivered aligned in the direction of their longitudinal axis on the commodity delivery device 58 in the stowed position. In the ready position, the separated product 31 is again positioned with its front side wall against the goods stops 82a, 82b of the manipulation inlet 136. On the other hand, the gripping unit 139 can also be used to keep the arriving goods 31 positioned in the stowed position and to move the goods 31 from the stowed position into the right handover position or via the left gripping element 140. via the right gripping element 140, the product 31 is exclusively displaced from the ready position to the left transfer position. Accordingly, the two gripping elements 140 during the displacement of the goods 31 between their provision and transfer position, this detected each of only one gripping member 140 on a side wall and laterally deported to the goods delivery device 58 in the same position.

Also according to this embodiment, a monitoring device 88 is arranged in the vicinity of the provision position on the positioning carriage 59, for example on the cross member 66, via which an exact positioning of the product 31 with respect to the gripper unit 139 is monitored in the ready position. A further monitoring device 90 is arranged in the vicinity of the transfer position on the positioning carriage 59, for example on the support carrier 65, via which also the exact positioning of the article 31 with respect to the filling shaft 42 is monitored. Only after a signal has been triggered on the monitoring device 88, for example a sensor, the gripping elements 140 are moved from their open position into the closed position, the goods 31 are aligned between the gripping elements 140 and fixed in position, and the gripping unit 139 is moved through the gripper unit 139 Rotary drive in a clockwise or counterclockwise direction, depending on whether a hopper 42 in the left or right shelf 33a, 33b is to attack, pivoted by 90 °, so that the product 31 is in the transfer position above the filling chute 42 to be filled. In addition, the swivel drive can also be provided with a sensor system (not shown), by which the swivel angle is monitored.

The longitudinal transport, referred to in this figure, of the goods 31 on the conveyor 94 of the goods delivery device 58 permits a space-saving arrangement thereof above and between the goods racks 33a, 33b. On the other hand, however, it is also possible for the goods 31 to be transported to the conveying device 94 already in the position orientation intended for storage in a feed chute 42, thus transversely to the conveying direction - as indicated by arrow 85. Thus, the above-described pivot drive can be omitted and the goods 31 are separated only longitudinally separated from the supply position to the transfer position transversely to the conveying direction.

In the jointly described Figs. 12 to 14, the inventive device 30 for automatically loading the goods issuing apparatus 2 with another embodiment of Feeder 141 shown. The latter comprises two positioning carriages 142a, 142b, each of which can be displaced independently of one another in the longitudinal direction of the goods racks 33a, 33b, each of which supports both the stacking device 60a, 60b and the support and restraint device 62a, 62b. The actuators 142a, 142b are identically constructed and each L-shaped support frame 143 above the goods delivery device 2 arranged cross member 144 and projecting from this in the direction of the footprint 39 supporting support 145 and attached to the support frame 143 traction drive 72. At the free end of the support beam 145, a lower guide assembly 146 and at the free end of the cross member 144, an upper guide assembly 147 is provided. According to the arrangement in FIG. 12, the positioning carriages 142a, 142b are respectively mounted via their guide arrangements 146, 147 on linear guides 148, 149 fastened to the contact surface 39 and in the vicinity of the upper ends 63 of the filling shafts 42 on the base frame 37 and via the travel drives 72 along the linear guides 148, 149 in the longitudinal direction of the goods shelves 33a, 33b independently movable. In contrast, according to the embodiment in Fig. 13, both the lower and upper linear guides 148, 149 are fixed to the base frame 37 of the goods issuing apparatus 2.

As also indicated in the figures, the feeding device 141 also has a goods transfer device 150a, 150b and centering receptacle as well as a goods stop 151 for each positioning carriage 142a, 142b. The loader 141, the goods 31 are supplied via the goods delivery device 58 isolated. Each goods transfer device 150a, 150b has a manipulation unit 152a, 152b, which is designed as a stand-up robot with two axes of rotation, a horizontal and a vertical axis, which are adjustable by a plurality of unregistered drives in the direction of the double arrows. On the vertical axis, a gripping unit 153 is arranged, which in turn by a not shown actuator to a limited extent between an open and closed position movable gripping elements 154 comprises. In this case, the gripping unit 153 forms the goods stop 151 and the centering for the individual goods 31. If the article 31 strikes against the goods stop 151, the delivery position is reached, from which, by moving the individual axes of the stand robot, the article 31 is deposited on the transfer plane 120 of the support 103 or of the top stack 31 of the refill stack 108.

As indicated in the figures in dashed lines, each setting paths 142a, 142b with a goods stop 155a, 155b arranged separately from the manipulation unit 152a, 152b or gripping unit 153, which can be delivered by an actuator 156 into the movement path of the conveyed goods 31 and out of the movement path of the conveyed goods 31. This goods stop 155a, 155b is formed, for example, by a toggle which is rotatably mounted on a arranged on the cross member 144 of the parking carriage 142a, 142b pivot receptacle. In addition, according to this embodiment, in the direction of the longitudinal edges of the conveyor 94 and on both sides of a guide profile 157 is arranged, which extends as well as the conveyor 94 at least over the length of the goods shelves 33 a, 33 b and with the base frame 37 of the goods output device. 2 connected is. These guide profiles 157 fulfill two functions.

On the one hand, the goods 31 are guided laterally during their transport along the conveyor 94. On the other hand, these serve in conjunction with the respective one guide profiles 157 opposite goods stop 155a, 155b as a centering receptacle for the product 31 when it is in the ready position. Thus, from the in the movement path of the incoming goods 31 adjusted, in particular pivoted, goods stop 155 via a perpendicular to the conveying direction - according to arrow 85 - extending stop surface 158 and an angle thereto laterally to the conveyor 94 extending centering surface 159, the goods 31 in longitudinal and Transverse exactly positioned, wherein in the transverse direction, the centering surface 159 and one of these facing guide surface of the opposite guide profile 157 are applied against the side walls of the goods 31. This longitudinal and transverse positioning of the product 31 is shown in FIG. 13. As a result, it is now ensured that the separated product 31 can always assume the same position in the provisioning position and therefore simple gripping technology is also used. For example, the gripping unit 153 may be formed by a vacuum suction gripper.

As can be seen from FIG. 14, the separate arrangement of the positioning carriages 142a, 142b proves to be advantageous, since with the stacking and goods transfer device 60a, 150a of the first carriage 142a, the separated goods 31 of the first group 117 are arranged successively in a first filling shaft 42 and Preferably, at the same time, the separated goods 31 of the second group 118 are stored in a second filling chute 42 via the stacking and goods transfer device 60b, 150b of the second setting carriage 142b. Of course, several parking cars 142a, 142b per goods rack 33a, 33b are provided. In the embodiment shown, the goods 31 of the first group 117 are successively demanded in isolation to a first provision position, while the goods 31 of the second group 121 are successively transported individually to a second provision position. For this purpose, it is only necessary that a sufficiently large gap 89 be maintained between the first and second group 117, 118 of goods 31, and that the manipulation unit 152b of the goods transfer device 150b arranged on the second setting carriage 142b only after the last product 31 of the first Group 117 has been promoted from the work area of the same, with the processing of the second group 118 begins.

FIGS. 15 and 16 show the device 30 according to the invention for automatically loading the goods issue device 2 with another variant of the goods transfer devices 160a, 160b. These each have a manipulation unit 161a, 161b, which is formed by a articulated robot, and are arranged on the cross member 144 of the positioning carriage 142a, 142b above the goods shelves 33a, 33b. The device 30 has a loading device 162 and two goods provision devices 163a, 163b, each with a goods rack 33a, 33b associated and in the vicinity, in particular above or laterally of the upper ends 63 of the hopper 42 stationarily arranged conveyor 94a, 94b. These extend in parallel in the longitudinal direction and over the entire length of the goods shelves 33a, 33b and are independently controllable. The goods providing devices 163 a, 163 b can be supplied by only one Warenvereinzvorvor- device 3 or each of them with its own Warenzzelungsvorrichtung 3 with goods 31. The loading device 162 in turn comprises two positioning carriages 142a, 142b each movable independently of one another in the longitudinal direction of the goods racks 33a, 33b, each with a manipulation unit 161a, 161b, stacking device 60a, 60b and the support and restraint device 62a, 62b are equipped.

Each articulated robot is equipped with a gripping unit 164, which in turn via a not shown actuator to a limited extent between an open and closed position movable gripping elements 165 includes. For example, the gripping unit 164 has the goods stop 151a, 151b.

The goods 31 arriving at the goods providing devices 163a, 163b become one after the other in the provision position against the goods stop 151a, 151b of the gripping units 164 positioned and stopped in the conveying direction of the conveyors 94a, 94b and received between the gripping elements 165 and positioned transversely to the conveying direction of the conveyors 94a, 94b. Thereafter, the separated product 31 is moved along a programmed trajectory into the transfer position above a selected feed chute 42 and deposited on the support 103 or the topmost stack 31 of a refill stack 108. Due to the free mobility, which can be adjusted by a plurality of unregistered drives in the direction of the double arrows adjustable axes of the articulated robot, the product 31 can both be rotated about a vertical axis by 90 ° and pivoted in space so that in the transfer position, the manipulation plane 119 (not registered) of the product 31 parallel to the transfer plane 120 of the stacking device 60a, 60b runs and the goods 31 can be placed very gently on the support 103 or the top 31 of the refill stack 108.

As further enlisted in the figures, in the vicinity of the gripping unit 164, the monitoring device 88 is mounted directly on the axis carrying the gripping unit 164, which can monitor both the correct takeover of the goods 31 at the ready position and the correct delivery of the goods 31 at the transfer position ,

16 again shows an embodiment in which the positioning carriages 142a, 142b are displaceably mounted on the base frame 37 of the goods delivery device 2 and in the longitudinal direction of the goods racks 33a, 33b.

It proves to be advantageous that, according to the embodiments in FIGS. 12 to 16, the takeover plane 120 formed by the support 103 or the stacked top product 31 of a refill stack 108 lies above an upper end 63 of a selected feed chute 42, since the gripping unit 153 , 164 is not received within the selected hopper 42 and the hopper width (B) only on the fabric width 115 (Fig. 8) must be interpreted.

As shown for the sake of clarity only in Figs. 15 and 16, it is also possible that the device 30 adjacent to the charging device 47; 141; 162 and commodity delivery device 58; 163a, 163b at least one detection device 170 for running the determination of the levels 125 in each hopper 42 of the shelves 33a, 33b includes. The level measurement always refers to the stack of goods 51. Based on the detected levels 125, the device 30 for automatically loading the goods issuing device 2 can now be controlled. If a minimum fill level or setpoint stock, in particular for the processing of a picking order, is reached or fallen short in any filling shaft 42 of the goods racks 33a, 33b, this is detected by the detection device 170 and reported to the computer system, whereupon the computer system controls the (the) Stellwagen 59; 142a, 142b and positioned to that hopper 42, in which the minimum level is already reached or will be reached shortly. Likewise, the computer system, the number of refillable in this hopper 42 goods 31 is determined and accordingly this number provided by the Warenvereinzungsvorrichtung device (s) 3 as a group 117, 118 of goods 31, which thereafter on that of the carriage 59; 142a, 142b at the delivery position positioned goods transfer device 61; 150a, 150b; 160a, 160b successively isolated to the stacking device 60a, 60b or to the refilling shaft 42 to be refilled by the detection device 170.

The detection device 170 has, according to a not shown, first embodiment on each hopper 42 at least one stationary, arranged measuring device. This is at the upper end 63 with a small distance above the maximum, upper level limit 181 (Fig. 17) attached to each hopper 42 and are formed by opto-electronic measuring systems, such as laser or infrared measuring systems, or ultrasonic sensors, wherein a scanning or a Scanning shaft of the measuring device substantially parallel to the angular root 45 of the hopper 42 and substantially perpendicular to the discharge plane 52 of the dispenser 49 extends.

According to a second embodiment shown in FIGS. 17 and 18, the detection device 170 has at least one measuring carriage 171 which can be moved controlled by the computer system and, according to this embodiment, preferably two measuring devices 172 which are connected to a control unit of the computer system, arranged on the measuring carriage 171 and one each Goods shelf 33 a, 33 b are assigned. Between the measuring carriage 171 and a support profile 173 of the base frame 37, a guide device such as sliding or rolling guide is arranged, which is formed by arranged on the measuring carriage 171 guide assemblies 174a, 174b and attached to the support section 173 guide track 175. The measuring carriage 171 is with its guide Arrangements 174a, 174b guided on a guide track 175 on Grundr mens 37 and stored and about a still closer to describing drive device 176 along the guide track 175 between the individual filling chutes 42 substantially horizontally adjustable. The goods shelves 33a, 33b are provided on both sides of the guide track 175.

According to this embodiment, the guide track 175 is formed by two Linearfuhrungen 177 a, 177 b, which are preferably releasably attached to the support section 173. The support profile 173 is connected via a mounting member 178 with the upper ends of the uprights 38. The linear guides 177a, 177b extend at a distance parallel to each other and parallel to the longitudinal direction of the goods shelves 33a, 33b. These are formed, for example, by profiled rails, dovetail guides, flat guides, prism guides and the like, while the guide arrangements 174a, 174b provided on the measuring carriage 171 are complementary to the linear guides 177a, 177b sliding guides or rolling guides.

The measuring devices 172 on the measuring carriage 171 are arranged on both sides of the guide track 175 and at a short distance directly above the upper ends 63 of the series arranged in series successive filling shafts 42 of the goods shelves 33a, 33b. Accordingly, each measuring device 172 is arranged offset transversely to the guide track 175 or transversely to the longitudinal extension of the goods shelves 33 a, 33 b in the direction of the respective goods shelves 33 a, 33 b and aligned such that a scanned by the measuring device 172 scanning beam 179 or a radiated scanning wave in Substantially perpendicular to the discharge plane 52 of the dispenser 49 extends. The measuring devices 172 are formed for example by an optoelectronic measuring system, in particular laser or infrared measuring system or triangulation sensor and the like, or by an ultrasonic sensor.

If the measuring carriage 171 moves into a measuring position immediately above a filling space delimited by the shaft walls, then the scanning beam 179 or scanning wave of the measuring device 172 running inside the filling space strikes the uppermost article 31 from the stack of goods 51.

Depending on the picking orders entered in the computer system, it is only a distance 180 from some of the filling shafts 42 of the shelves 33a, 33b or optionally at each filling chute 42 of the shelves 33a, 33b detected sensory between an upper level limit 181 and a flat top 182 of the top product 31. After the distance 180 has been detected, the filling level 125 (FIG. 16) for the relevant filling shafts 42 or the actual stock of goods 31 in the respective filling shafts 42 can be calculated with the computer system. The filling level 125 is calculated from the difference between a maximum filling height 183 predetermined by the length of the filling shaft 42 and the distance 180. The maximum filling level 183 is defined by the upper filling level limit 181, predetermined by the frontal, upper end 63 of each filling shaft 42, and a lower level limit 184, defined by the frontal, lower end 48 of each hopper 42, limited. Preferably, only one type of product 31 is housed in each filling shaft 42, whose respective individual goods height 122 is detected electronically at least in the stacking direction in the computer system, whereby after the determination of the level 125, the number of goods 31 in each hopper 42 and the Actual stock of goods 31 in each hopper 42 is (are) calculated.

Since now the measuring devices 172 are adjustable together with the measuring carriage 171 relative to the filling shafts 42 of the goods shelves 33a, 33b, in a simple manner during the adjustment in the adjustment direction - according to double arrow - the measuring carriage 171 in the longitudinal direction of the goods shelves 33 a, 33b specifically of only one Füllschacht 42 of the level 125 or more filling shafts 42, the levels 125 are determined sequentially.

With regard to the procedures for determining the levels 125, the relevant detailed disclosure from AT 482/2004 (PCT / AT 2005/000082) is the subject of this disclosure.

In Fig. 18 of the positioning adjustable measuring carriage 171 is shown in an enlarged view. This includes a frame housing 185. For reasons of better understanding of the drive device 176, a front end wall of the frame housing 185 is removed. The frame housing 185 is formed, for example, by a sheet-metal bent construction and provided on the linear guides 177a, 177b facing bottom with the above-described guide assemblies 174a, 174b and points to the two sides of the guide assemblies 174a, 174b on the underside in the direction of the goods shelves 33a , 33b projecting housing parts 186, on each of which the measuring devices 172 are attached. As further shown, the frame housing 185 additionally has a space between the housing parts 186 from the bottom toward the top extending Aufnalimekanal 187 for an energy and signal transmission system 188 and extending between the bottom and top parallel to inner walls 189 supporting wall 190 on. At the end faces of the frame housing 185 end walls are attached.

The drive device 176 for the measuring carriage 171 is formed according to this embodiment by a traction mechanism comprising a finite traction means 191, in particular a toothed belt, chain and the like., Whose two free ends are fixed to the base frame 37, in particular on the support section 173. The traction means 191 is guided via a drive wheel 192, in particular a toothed disk, and deflected on wheels 193 arranged on both sides thereof. As registered, an Andrückrad 194 can be provided for the traction means 191. The drive wheel 192, the wheels 193 and the pressing wheel 194 are arranged axially parallel to each other and rotatably mounted on the support wall 190, wherein the drive wheel 192 with a drive motor 195, for example electric motor, is coupled. The drive motor 195 is fixed to an inner wall 189. Further variants of the drive device 176 are described in AT 482/2004 (PCT / AT 2005/000082).

As can also be seen in this figure, the goods delivery device 2, the energy and signal transmission system 188, via which the measuring carriage 171 is connected to the computer system. The electrical or fluidic lines are moved during the adjustment movement of the measuring carriage 171 and is therefore provided for guiding thereof a known energy chain 196.

With regard to the different embodiments of the energy and signal transmission system 188, the relevant detailed disclosure from AT 482/2004 (PCT / AT 2005/000082) is the subject of this disclosure.

In addition, the two measuring devices 172 can also be connected to the computer system by means of the energy and signal transmission system 188 described above and can be connected to electrical energy in a contacting manner, such as lines and / or a bus line connected to the control unit of the computer system and the measuring devices 172. or non-contact ways, such as electromagnetically, optically or inductively supplied. So that an exact assignment of the measuring positions to be approached of the measuring carriage 171 to each hopper 42 is possible, a positioning system 197, in particular a path measuring device, is provided for the measuring carriage 171. According to the embodiment shown, the drive motor 195 is provided, for example, with a resolver or incremental encoder as Wegmessvor- direction, by means of which the actual position of the measuring carriage 171 is permanently detected.

With regard to the different embodiments of the positioning system 197, the relevant detailed disclosure from AT 482/2004 (PCT / AT 2005/000082) is the subject of this disclosure.

A further advantageous embodiment of the device 30 for automatically filling a goods issue device 2 with goods 31 is shown in FIG. The device 30 comprises the loading device 47 and two goods providing devices 163a, 163b. The charging device 47 comprises two linear guides 71 arranged in each case via a travel drive 72 between the individual filling shafts 42 along two linear guides 71 arranged longitudinally of the goods shelves 33a, 33b, independently movable traversing carriages 59a, 59b according to the embodiment according to FIGS to 7. Each control carriage 59a, 59b is equipped with the respective goods rack 33a, 33b associated stacking device 60a, 60b and the hopper 42 charging goods transfer device 61. As entered in the figure, the loading device 47 comprises two Warenvereinzungsungs devices 3 a, 3 b and two independently controllable Warenbereitstellungsvorrichtungen 163 a, 163 b, each of a arranged at the upstream end of the conveyor 94 a, 94 b separating station 3 a, 3b with isolated and optionally oriented goods 31. The conveying devices 94a, 94b of the goods providing devices 163a, 163b each extend approximately over half the length of the goods issue device 2 and have opposite conveying directions - according to the arrows 85 - on.

In this way, a goods issue device 2 is subdivided into two successive sections 166a, 166b, of which the first section 166a the first positioning carriage 59a with stacking devices 60a, 60b and the goods transfer device 61 and the second section 166b the second positioning carriage 59b with stacking devices 60a, 60b and the goods transfer device 61 is assigned. Just as well, it is also possible that the first carriage 59a with stacking devices 60a, 60b and the goods transfer device 61 in the second section 166b and the second carriage 59b with stacking devices 60a, 60b and the goods transfer device 61 is moved into the first section 166a , If a plurality of filling shafts 42 are to be infested in one of the sections 166a, 166b within a short time window, then both positioning carriages 59b with stacking devices 60a, 60b and goods transfer devices 61 can only feed the filling shafts 42 in this section 166a, 166.

Through this strategically coordinated allocation and movement of the carriage 59a, 59b and the rapid transfer of the goods 31 to the first or second goods providing device 163 a, 163b, even at very long goods issue devices 2 or shelves 33a, 33b and highest output of goods 31 at the goods issuing device 2 emptying a hopper 42 can be avoided.

Of course, both goods transfer devices 61 of the parking carriage 59a, 59b of only one goods providing device and a Warenvereinzungsvorrichtung with grain to be measured goods 31 are supplied.

It should also be noted at this point that in another embodiment, not shown, the plate-like gripping elements of a gripping unit are arranged at a fixed or variable distance parallel to each other and deliverable with at least one in the trajectory of the conveyed goods 31 as well as from the trajectory of the subsidized goods 31 are provided removable take-off organ. The entrainment members are arranged in the longitudinal direction of the gripping elements at a distance from each other, which is greater than a parallel to the gripping elements dimension, and for example, each formed by a parallel to the longitudinal axis of the gripping elements rotatable pivot lever, which at the same time as goods stop for in the delivery item promoted goods 31 is used. Preferably, at least one of the gripping elements has at its opposite ends in each case a driving member. The gripping elements can each be provided with only one entrainment member, of which the entrainment member on the first gripper element on the longitudinal front end thereof and the entrainment member on the second gripping element on the longitudinal end of the same rear end are arranged. It is essential that the goods 31 are opposite to each other in their longitudinal direction of the gripping elements. ing, front and rear side walls in each case by at least one driving member is engaged behind a positive fit. Thus, the product 31 is fixed in position during the movement between the provisioning and transfer position via the entrainment members. It is advantageous that the gripping elements do not have to be applied against the parallel side walls in the longitudinal direction and thus also goods 31 made of more sensitive material can be manipulated.

Another, not shown embodiment of the goods delivery device 2 for providing stackable goods 31 is that this exclusively a goods shelf with the longitudinal direction in a row in a row arranged one behind the other, filling ducts 42 and preferably provided at the lower end 48 of each hopper 42 dispensing devices 49 and, if appropriate, the detection device 170 with only on one side of this product shelf adjacent to the measuring carriage 171 arranged measuring device 172 summarized. The goods issuing device 2 forms according to this embodiment, for example, a vending machine, in which the desired product 31 is discharged via a discharge opening directly to the consumer. The filling ducts 42 are, for example, aligned vertically according to this embodiment.

Fig. 20 shows a portion of a modified picking 1, in which the goods 31 before being stored in the goods issuing device 2 on an electronic detection module 200, in particular a reader, are passed. This is arranged along the goods delivery device 58 in front of the goods issue device 2, but could just as well be integrated in the goods singulation device 3.

In addition to the detection module 200, the loading device 47 additionally comprises a goods return device 201, which has a discharge device 202, at which, based on an evaluation of data to be described below, either a product 31 is forwarded to the goods issue device 2 or goods return device 201. The discharge device 202 comprises a switch element 203, which is represented by a positioning drive 204, for example an electrically or fluidically actuated linear drive, between a starting position which can be brought out of the movement path of the conveyed product 31, as indicated in full lines, and one in the movement path of the conveyed goods 31 deliverable Ausschleusstellung, as indicated in dashed lines, perpendicular to the direction of conveyance - According to arrow 85 - is movable. The goods return device 201 has an only indicated conveyor 205, for example a belt conveyor, which leads to the goods outlet 16.

As shown schematically as a block, the order-picking system 1 has a computer system 206 with a database 207 and a control unit 208. The detection module 200, a drive 209 of the conveyor 205 and the actuator 204 of the discharge device 202 are connected to the computer system 206 and the control unit 208, respectively. It goes without saying that, of course, all the other drives of the goods delivery device 58; 163a, 163b and feeder 47; 141; 162 are connected to this computer system 206 or this control unit 208.

Each product 31 is equipped with a data carrier 210, which is for example mounted on one of its sides wall outside. However, the product 31 may itself also be designed as a data carrier 210. The data carrier 210 can be formed both by a barcode label, a transponder, magnetic strip or an RFID label (Radio Frequency Identification Device) and by an embossing in alphanumeric form (plain text). This has a plurality of data fields 211, each of which is stored or stored in each different, machine-readable data. The RFID is a microchip with an antenna on which data is passively stored, so they do not emit any signals, but allow the reader to trigger radio waves and then disclose their information. The energy necessary for the transmission of the data is obtained by the radio signal received by them. The data transfer takes place on the basis of electromagnetic alternating fields without contact between the RFID tag and the reader. The microchip is designed as an electronic circuit which is equipped with a readable and optionally writable nonvolatile memory and a microprocessor. If the memory can also be described, the acquisition module 200 is combined with a write module. Accordingly, new data can also be written on the data carrier 210, which data can serve for the further processing of the product 31. For this purpose, the computer system 206 is equipped with an input device 212.

Depending on the type of data carrier 210, the detection module 200 is designed as a barcode reader, transponder reader, card reader or scanner. In the following example, the goods 31 to be picked are formed from the pharmaceutical industry and by a drug package. In the pharmaceutical industry, the trend is towards a uniform labeling of pharmaceutical packs, which is also depicted in the data carrier 210. In the data fields 211 of the data carrier 210 are machine-readable, goods-related data, such as a so-called unmistakable central pharmaceutical number, a unique batch number, an expiration date, distinctive identification data, a brand name of the drug, a manufacturer of the drug and / or an approval or registration number and the like, deposited. The machine-readable central pharmaceutical number is a Germany-wide identification code for pharmaceuticals and other pharmacy products. It's a seven-digit number, the medicines after

Designation, pharmaceutical form, active ingredient strength and package size clearly indicates. It is applied graphically in plain text and / or as a one- or two-dimensional barcode on the drug package. The lot number can be used to assign a drug to a specific production process.

The goods-related data are also electronically recorded as master data in the computer system 206 and stored in the database 207. In any case, this data is available electronically to the manufacturer for each drug package and therefore the electronic registration of the master data in the grain-issuing installation 1 can be carried out "online" by electronic transmission via a data transmission network (Internet) detected at the input device 212.

Hereinafter, a modified manner of automatic loading of the goods issuing device 2 will be described. For the time being, the goods 31 are singulated in the goods unification device 3 and preferably also aligned in their position so that they are fed to the goods provision device 58 in isolated and position-oriented fashion. Thereafter, the data collected from one or more data fields 211 of the data carrier 210 are read out from the acquisition module 200, supplied to the computer system 206 and evaluated by the latter.

The evaluation of the data is used for logging, identification of the goods 31 and / or control of the loading device 47 or the parking carriage 59 and the goods transfer device 61 and the goods return device 201. The logging relates both to the distribution of goods in the goods issue device 2 and to a sales quantity. If a product 31 with its data carrier 210 enters the effective range of the detection station 200, the data are first read out of it and the time of the goods receipt or storage of the product 31 in a feed chute 42 is detected by the computer system 206. This point in time can also be written to the data carrier 210 via the writing module, for example an RFID label. The consistent traceability of the distribution of goods from the goods receipt to the goods issue within the picking 1, allows the computer system 206 at any time the determination of the Einlagerungsortes (hopper 42) and the storage position of the goods 31 in the goods stack 51 and the number of pieces of a product type in a hopper 42nd From this knowledge, from the computer system 206, for example, an exact assignment of a batch to a hopper 42 and the goods 31 to a batch in a hopper 42, the allocation of goods 31 to different batches within a hopper 42, the affiliation of the goods 31 to a manufacturer , the specification of a maximum storage duration of a product 31 in the hopper 42 and the like., Be performed or determined, which goods 31 or which number of items 31 will soon reach their expiration date.

The merchandise distribution and sales volume of a product 31 can also be statistically evaluated by the computer system 206.

When reading out the goods-related data, the computer system 206 can for example unambiguously deduce a pharmaceutical from the central pharmaceutical number, which, for example, is used to determine the sales volume of this pharmaceutical product within a period of time. From the knowledge of the sales volume, the computer system 206 automatically compiles an order list. This allows the ordering system to be coordinated and simplified.

With the exact logging or on the goods-related data, such as the batch number, also occurring incidents, such as quality defects of a drug, and the like. Traced.

On the basis of the identification of each individual product 31, the computer system 206 determines, with the acquisition of the goods-related data, in which filling shaft 42 the goods 31 are inserted. store is. Accordingly, a distribution of the goods 31 in the goods issuing device 2, which is determined as a function of the capacity utilization or the provisioning purpose of individual filling shafts 42, can be carried out. This proves to be advantageous when "very critical" goods 31, for example with a short expiration date, have to be stored in the goods issuing device 2. After the data, in this application the expiration date at the acquisition module 200 and with reference data specified by the computer system 206, In this application, the current date of day has been compared, the goods transfer device 61 is initially positioned by the positioning carriage 59 on an express filling shaft 42 provided for "critical" goods 31 and then the identified product 31 is stored in this express filling shaft 42. Express filling shaft 42 is understood to mean a filling shaft 42 in which the filling level 125 is low and the goods 31 can be dispensed in the foreseeable future.

If, on the other hand, the goods are "usual" 31, the current utilization of individual filling shafts 42 receiving the same type of goods is first determined by the computer system 206. After the data relating to one or more data fields 211 has been read, a comparison module 213 of the computer system 206 arrives If one of the filling chutes 42 accommodating the same type of product is already completely filled up, the other filling chute 42 accommodating the same type of product is filled up with the goods 31 previously identified as the same type Goods 31, the level 125 is adjusted in the hopper 42 depending on their capacity between one or the other hopper 42. For this purpose, the goods transfer device 61 by the computer system 206 controlled Stellwagen 59 positi either one or the other hopper 42 oniert.

In addition, however, it is also possible to control the allocation of the goods 31 requested for refilling a filling shaft 42 reached the minimum filling level. If it is detected by the detection device 170 that the fill level 125 in a feed chute 42 drops to its minimum level, a control signal is supplied by the computer system 206 to the goods separating device 3, whereupon goods 31 are separated and supplied as a group to the goods-ready positioner 58 and the acquisition module 200 of each commodity 31 data are read out. These data are in turn compared in the comparison module 213 with the parent and / or reference data. Based on this comparison control signals are generated, based on which the charging device 47 is driven. If the data correspond to the product-related master and / or reference data, for example, the read identification data agree with the identification data previously stored in the database 207 or if the expiration date of the product 31 has not yet been reached, the computer system 206 inputs to the travel drive 72 of the parking carriage 59 Control signal fed, which is then moved to a refill chute 42 and the goods transfer device 61 relative to this hopper 42 positioned. Subsequently, the goods 31 of the goods transfer device 61 are supplied and passed from this in the hopper 42 successively. If a product 31 is included in this group whose data does not correspond to the product-related master and / or reference data, for example, the expiration date of the product 31 has already expired, the computer system 206 sends it to the actuator 204 of the goods return device 201 on the one hand and to the drive 209 on the other hand the conveyor 205 each supplied with a control signal, with the result that this "expired" product 31 is deported by the discharge device 202 of the goods supply device 58 to the conveyor 205 and transported away from the conveyor 205 to the goods outlet 16.

It is also advantageous if a theoretical delivery time in which a product 31 is to be dispensed from the dispensing device 49 from the feed chute 42 is determined by the computer system 206. This is possible insofar as a fill level 125 is determined via the detection device 170 in a feed chute 42 intended for this article 31, and it is therefore known in which storage position this article 31 is to be deposited on the stack of goods 51. From statistical evaluations can be a consumption amount within a period set by the computer system 206. From this, in turn, the period of time that is required until the storage position of the product 31 is lowered to the dispensing device 49 and the product 31 has reached its theoretical delivery time can be determined. If the theoretical delivery time exceeds the expiration date read from a data field 211, control signals for the actuator 204 of the goods return device 201 and the drive 209 of the conveyor 205 are generated, these drives 204, 209 are activated and the goods 31 are discharged. On the other hand, the computer system 206 may define an express hopper 42 from all hopper 42. In this express hopper 42, the level 125 is lower than in the previously intended for the storage of the product 31 hopper 42 so that the delivery time is corrected and moved forward. If the product 31 stored in the express hopper 42, the original delivery time is not reached and therefore the product 31st not discharged, but fed to the express hopper 42. For this purpose, the travel drive 72 initially receives a control signal and the Warenübergabevorrichtirag 61 via the positioning carriage 59 with respect to the express hopper 42 is positioned.

The above-described check of the read-out data and master and / or reference data is performed for each commodity 31 so that only those commodities 31 are supplied to the commodity-issuing apparatus 2 whose acquired data corresponds to the designated parent and / or reference data. If the check of a product 31 is negative, for example, the identification data read from a data field 211 is not stored as master data in the computer system 206, this is rejected.

In addition, it is also possible for "critical", in particular fragile, goods 31 to be specially treated, since it is ascertained from the read-out data, for example on the basis of the identification data, registration or registration number and the like by the computer system 206, that it is a "critical "Goods 31 is, but otherwise the

Correspondence between the read data and master and / or reference data is the drive 19 of the goods transfer device 61 and / or the actuators 86 of the gripping units 78 and / or the drives 102, 104 of the stacking device 60 a, 60 b and / or the drive 113th the support and restraint device 62a, 62b supplied with a control signal with which the transfer speed of the goods 31 between the supply and transfer position and / or the movement speed of the stacking device 60a, 60b and / or the support and restraint device 62a, 62b is regulated. As a result, a gentle handling of the goods 31 is achieved.

The embodiments show possible embodiments of the device 30, wherein it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are possible with each other and this possibility of variation due to the teaching of technical action representational invention in the skill of those skilled in this technical field. There are therefore also all possible embodiments, which are possible by combinations of individual details of the illustrated and described embodiment, the scope of protection. For the sake of order, it should finally be pointed out that for a better understanding of the construction of the device 30, these or their components have been shown partially unevenly and / or enlarged and / or reduced in size.

S u b e c u s e c tio n a tio n s

1 picking system 35 drive

2 goods dispenser 36 arrow

3 Warenvereinzungsvorrichtung 37 base frame

3 a goods separating device 38 upright 3b goods separating device 39 footprint

4 storage system 40 side member

5 storage system

41 symmetry plane

6 Conveyor system 42 Hopper

7 conveyor system 43 legs

8a Einlagerfördereinrichtung 44 legs

8b storage conveyor 45 angular root

9a Outfeed conveyor

9b Outfeed conveyor 46 filling opening

10 goods receiving area 47 loading device

48 lower end

I Ia discharge device 49 delivery device

I Ib discharge device 50 driver

12a feed device

12b feed device 51 goods stack

13 conveyor 52 discharge level

14 picking container 53 Drive wheel

15 arrow 54 diverter wheel

55 traction means

16 goods issue

17a Shelving system 56 Delivery opening

17b Shelving system 57 Slide plate

18a shelving system 58 goods delivery device

18b Shelving System 59 Stellwagen

19a transport vehicle 59a parking carriage

19b transport vehicle 59b Stellwagen

20a rail system 60a stacking device

20b rail system 60b stacking device

21 chassis 61 goods transfer device

22 Mast 62a Support and restraint

23 Load-carrying means 62b Support and restraint device

24 goods container 63 upper end

29 Mounting plate 64 Support frame

30 device 65 support carrier

31 goods 66 cross member

32 conveyor 67 side panel

33a goods shelf 68 side panel

33b goods shelf 69 guide surface

34 conveyor organ 70 guide arrangement 71 Linear guide 111 Contact surface

72 Drive 112 rack

113 drive

75 Manipulation unit 114 Drive pinion

76 hub 115 fabric width

77 deployment level

78 Gripping unit 116 Center distance

79 Multi-turn actuator 117 Group

80 vertical axis 118 group

119 manipulation level

81 guide plate 120 takeover plane

82 goods stop 82a goods stop 122 goods height 82b goods stop 124 Sensor

83 Gripping element 125 Level

84 Goods measurement 126 Actuator

85 arrow 127 Actuator

128 linear guide

86 Actuator 129 Base frame

87 gripping surface 130 transverse yoke

88 monitoring device

89 Gap spacing 131 side member

90 monitoring device 132 connection carrier

133 leadership arrangement

91 Sensor system 134 Ceiling

92 Reference mark 135 Linear guide

93 leadership

94 Conveyor 136 Manipulation Unit 94a Conveyor 137 Linear Drive 94b Conveyor 138 Guide Carriage

95 guide carriage 139 Gripping unit

140 gripping element

96 longitudinal guide

97 Actuator 141 Feeder

98 Drive roller 142a Stellwagen

99 Guide pulley 142b Actuator

100 traction means 143 supporting frame

144 cross member

101 clamping device 145 support carrier

102 drive

103 edition 146 leadership order

104 drive 147 guide arrangement

105 Drive pinion 148 Linear guide

149 linear guide

106 rack 150a goods transfer device

107 front edge 150b goods transfer device

108 refill stacks 151 goods stop

109 supporting surface 151a goods stop

110 supporting and retaining element 151b goods stop 152a manipulation unit 186 housing part

152b manipulation unit 187 receiving channel

153 gripping unit 188 energy and Signalübertragungs¬

154 gripper system

155 goods stop 189 inner wall 155a goods stop 190 supporting wall 155b goods stop

191 traction means

156 Actuator 192 Drive wheel

157 Guide profile 193 Wheel

158 stop surface 194 pressure wheel

159 Centering surface 195 Drive motor

160a goods transfer device

160b goods transfer device 196 energy chain

197 positioning system

161a manipulation unit 200 acquisition module

161b manipulation unit

162 Loading device 201 Goods return device

163a Goods provision device 202 Outfeed device 163b Goods delivery device 203 Switch element

204 actuator

164 Gripper 205 Conveyor

165 gripping element 166a section 206 computer system 166b section 207 database

170 detection device 208 control unit

209 drive

171 measuring carriages 210 data carrier

172 measuring equipment

173 Support profile 211 Data field

174a guide arrangement 212 input device

174b guide arrangement 213 comparison module

175 Guideway 176 Drive device

177a permanent management

177b business management

178 mounting element

179 scanning beam

180 distance

181 Level limit

182 top

183 filling height

184 level limit

185 frame housing

Claims

Patent claims

A method for automatically loading a goods issue device (2), in which goods (31) via a loading device (47; 141; 162) from a goods preparation position device (58; 163a, 163b) to a goods transfer device (61; 150a, 150b; 160a, 160b) to a selected hopper (42), in particular sorted supplied and stacked on a filling opening (46) in this hopper (42) on a dispenser (49), characterized in that the goods (31) isolated on the 150a, 150b, 160a, 160b) and even before reaching their provision position from a product (31) having data carrier (210) via a detection module (200), in particular data reader, machine-readable data is automatically read out and forwarded to a computer system (206) which stores the data read out evaluated and based on this evaluation generates control signals, by means of which the charging device (47; 141; 162) and the separated product (31) either via the goods transfer device (61; 150a, 150b; 160a, 160b) fed to a selected feed chute (42) or via a goods return device (201) from the goods providing device (58; 163a, 163b) removed becomes.

2. The method according to claim 1, characterized in that in the evaluation of the goods (31) is identified, checked or the data read in a database (207) deposited master data of the product (31) or by the computer system (206) compared predetermined reference data or logged.

3. The method of claim 1 or 2, characterized in that the data carrier (210) in several data fields (211) deposited different data and the acquisition module (200) data of one or more data fields (211) are read, of which in a data field (211 ) the expiration date of the commodity (31) is deposited and that the computer system (206) determines the current date as reference data and compares it with the expiration date of the commodity (31) read from the data field (211) and generates control signals based on the comparison of which the feed device (47, 141, 162) is actuated and the separated product (31) either via the goods transfer device (61, 150a, 150b, 160a, 160b) is fed to a selected feed chute (42) or via a Goods return device (201) is removed from the commodity supply device (58; 163a, 163b).

4. The method of claim 1 or 2, characterized in that the data carrier (210) in several data fields (211) deposited different data and the acquisition module (200) data of one or more data fields (211) are read, of which in a data field (211 ) the expiration date of the goods (31) is deposited and that from the computer system (206) in that with this product (31) to be charged hopper (42) a level (125) and taking into account a specified consumption of goods (31) a theoretical delivery time in which this product (31) would have to be dispensed from the delivery device (49) from the feed chute (42), and the reference data contains the theoretical delivery time which is compared with the expiration date of the product (31) read from the data field (211) is generated and based on the comparison control signals, based on which the feed device (47; 141; 162) driven and the separated product (31) either on the goods transfer apparatus (61; 150a, 150b; 160a, 160b) is fed to a selected feed chute (42) or discharged from the commodity supply device (58; 163a, 163b) via a goods return device (201).

5. A method for automatically loading a goods issue device (2), wherein the goods (31) via a feed device (47; 141; 162) from a goods delivery device (58; 163a, 163b) to a refillable chute (42), in particular sorted supplied and via a filling opening (46) in this hopper (42) on a preferably in the region of its lower end (48) arranged dispensing device (49) are stacked, characterized in that initially at least one in the longitudinal direction of the goods shelf (33a) controlled by the computer system movable Stellwagen (59; 59a, 59b, 142a, 142b) a stacking device (60a, 60b) and goods transfer device (61; 150a, 150b, 160a, 160b) moves to the refilling hopper (42) and positioned opposite to this, after which the goods (31) singulated on the commodity preparing device (58; 162a, 162b) to a provision position near the goods transferring device (61; 150a, 150b; 16 0a, 160b) and in this of a isolated, supplied product (31) receiving manipulation unit (75; 136; 152a, 152b; 161a, 161b) are moved into a transfer position substantially overlapping with the filling opening (46) and are subsequently moved on a support (103) of the stacking device (60a) which is displaced below the transfer position into the feed chute (42). 60b) are stacked on top of one another to form a refill stack (108), wherein the support (103) of the stacking device (60a, 60b) progressively increases with increasing stack height in the direction of the longitudinal axis of the feed chute (42) until approaching a chute (42) to be refilled Goods stack (51) or on the dispenser (49) is lowered.

6. Method according to claim 5, characterized in that the individually delivered goods (31) are received by the manipulation unit (75; 136; 152a, 152b; 161a, 161b) between two gripping elements (83; 140; 154; 165) which are adjustable relative to one another is centered by these and frictionally gripped in their deployment position.

7. The method according to claim 5, characterized in that the isolated delivered goods (31) in its provision position by the manipulation unit (136) via a transversely to the longitudinal direction of the goods rack (4) between the supply and transfer position adjustable gripping element (140) laterally gripped and is moved to the transfer position (42) substantially overlapping transfer position.

8. Method according to claim 5, characterized in that in a transfer cycle of the goods transfer device (61; 150a, 150b; 160a, 160b) a product (31) arriving on the goods delivery device (58; 163a, 163b) is in the ready position against the manipulation unit ( 75; 136; 152a, 152b; 161a, 161b) and a product (31) moved into the transfer position is dispensed into the refilling chute (42) to be refilled.

9. The method according to claim 5 or 8, characterized in that after transfer of the product (32) in the refill hopper (42) the support (103) of the Stapelvorrich- device (60a, 60b) to one of the individual goods height (122) corresponding Height is lowered and held in this height position until another product (31) in the refill hopper (42) is supplied.

10. The method according to claim 5, characterized in that the support (103) in an approximately on the stack top goods (31) of the refill in the chute (42) still located stack of goods (51) or on a discharge plane (52) of the dispenser (49) lowered deposition position under the refill stack (108) is pulled away in the stack transverse direction, so that this refill stack (108) on the in the refill hopper (42) still located stack of goods (51) or on the dispenser (49) is gently discontinued.

11. The method according to claim 10, characterized in that some of the refill stack (108) pile bottom goods (31) at least when returning the support (103) via a support and Rücldialtevorrichtung (62a, 62b) are kept positioned in the stack transverse direction.

12. The method according to claim 5, characterized in that by a monitoring device (88, 90) in the Berejtstellungs- and / or transfer position, the positioning of the product (31) relative to the manipulation unit (75; 136; 152a, 152b; 161 a, 161 b) and a signal to the computer system for controlling a drive (79, 86, 102, 137) of the manipulation unit (75; 136; 152a, 152b; 161a, 161b) and / or the stacking device (60a, j

60b) for the stepwise adjustment movement of the support (103) in the direction of the longitudinal axis of the hopper (43) is discharged as soon as the product (31) occupies a fixed position in the readjustment and / or transfer position.

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13. The method according to claim 5, characterized in that via a sensor (124) a distance between the support (103) and the stack top goods (31) of the refill (42) located in the goods stack (51) or the discharge plane (52) the dispensing device (49) is detected on the basis of the computer system, the refill quantity

Goods (31) for the. replenished feed chute (42) or the number of Absenkschritte the support (103) calculated between their takeover and Aufsetzstellung and therefore an intermittent drive (102) for the support (103) is driven.

14. The method according to claim 5, characterized in that detected by a detection device (170) in the filling shafts (42) fill levels (125), supplied to the computer system and upon reaching a minimum level in one of the filling shafts (42) the goods (31) via the charging device (47, 141, 162) to be replenished to a filling chute (42) are supplied sporadically.

15. Device (30) for automatically loading a goods issue device (2) with at least one goods shelf (33 a) arranged in the longitudinal direction in a row behind one another and filling openings (46) fillable filling shafts (42) to sta piling goods (31) comprising a computer system controlled feeding device (47; 141; 162) for automatically refilling the filling shafts (42) and at least one commodity supplying device (58; 163a, 163b), the filling shafts (42) each having a guide surface (69) for laterally guiding the goods (31) to be stacked in a hopper (42) and preferably in the region of their lower ends (48) provided by the computer system controlled delivery device (49) forming a discharge plane (52), characterized in that the loading device (47; 141; 162) has at least one positioning carriage (59; 59a, 59b; 142a) which can be moved in the longitudinal direction of the goods rack (33a) by means of a travel drive (72) between the individual filling shafts (47; 142b) and a stacking device (60a, 60b) and goods transfer device (61; 150a, 150b; 160a, Il 60b) mounted thereon, and in that the goods transfer device (61; 150a, 150b, 160a, 160b) between the commodity supply device (58; 163a, 163b) and the stacking device (60a, 60p) is arranged, and a manipulation unit (75; 136; 152a), which moves the separated product (31) between a receiving supply position and a transfer position substantially overlapping with the filling opening (46). 152b, 161a, 161b), and in that the stacking device (60a, 60b) has a second actuator (126) in the direction of the longitudinal axis of a feed chute (42) via a first actuator (97) and in a direction perpendicular to the guide surface (69). adjustable support (103) for the goods (31) to be stacked to form a refill stack (108), a transfer plane (120) having the support (103) running parallel to the delivery plane (52).

16. Device according to claim 15, characterized in that the goods provision device (58; 163a, 163b) has a conveyor device (94), in particular a belt conveyor, extending in the longitudinal direction of the goods rack (33a) above the filling shafts (42) and on a base frame (37) of the goods issue device (2) is stored.

17. The device according to claim 15 or 16, characterized in that the goods providing device (58; 163a, 163b) an automatic storage system (4, 5) for the goods (31) with a computer system controlled by the conveyor vehicle (19a, 19b) and a goods 3a, 3b) for the goods (31) supplied to them by the storage system (4, 5), wherein the storage system (4, 5) downstream of the storage device (31) and the conveyor (94) upstream Warenvereinzelungsvorrichtung (3, 3 a, 3b) via a conveyor system (6, 7) are interconnected.

18. The apparatus according to claim 15, characterized in that the goods delivery device (2) comprises a conveyor (32), in particular a belt conveyor, and a second goods shelf (33b) which is arranged opposite the first goods shelf (33a), wherein the second goods shelf (33 b) has in its longitudinal direction in a series successively arranged and fill openings (46) fillable filling shafts (42) for goods to be stacked (31) and preferably in the region of lower ends (48) of the filling shafts (42) each one computer system controlled dispensing device (49) is provided which forms a discharge plane (52), and that the conveyor (32) extends between the two shelves (33 a, 33 b) parallel to the longitudinal direction slightly below the lower ends (48) and a dispensing position of each dispenser (49) is transverse to the longitudinal direction of the conveyor (32). • '

19. The apparatus of claim 15 or 18, characterized in that the goods issue device (2) connected to the computer system detection means (170) for determining the levels (/ 125) of goods (31) in each hopper (42) of the goods shelf (33a, 33b), which at least one above the upper end (63) of the hopper (42) arranged and via at least one drive device (176) along an adjacent to the upper end (63) of the hopper (42) arranged guide track (175 ) between the individual Füllwaächten (42) in the longitudinal direction of the goods shelf (33a, 33b) movable measuring carriage (171) having at least one of the distance (180) between the farthest from the dispenser (49), top product (31) and a maximum, upper level limit (181) of a hopper (42) for determining the level (125) of goods (31) in at least one of the hopper (42) detecting Mess device (172) is provided.

20. The device according to claim 15, characterized in that the loading device (47; 141; 162) has a drive drive (72) between the individual filling shafts (42) along a guideway in the longitudinal direction of the goods rack (33a), independently movable positioning carriages (59a, 59b, 142a, 142b) each equipped with a stacking device (60a, 60b) and goods transfer device (61; 150a, 150b; 160a, 160b) and associated with the goods rack (33a).

21. Device according to claim 15, characterized in that the goods issue unit direction (2) comprises a second goods shelf (33b) and a between the first and second goods shelf (33a, 33b) arranged conveyor (32), wherein the second goods shelf (33b) the first goods shelf (33a) is arranged opposite and that the loading device (141) a plurality of in each case via a drive (72) between the individual filling shafts (42) along a guideway in the longitudinal direction of the goods shelves (33a, 33b) independently, movable positioning carriage (59a, 59b, 142a, 142b).

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22. The apparatus according to claim 21, characterized in that the control car

(142a, 142b) each with a stacked stacking device (60a, 60b) and Waren-

23. Device according to claim 20 or 21, characterized in that the one carriage (59a; 142a) along / the guideway between a in the longitudinal direction of the goods output device (2) first and last hopper (42) and the other positioning carriage (59b; 142b) along the guide track between a longitudinal direction of the goods output device (2) last and first hopper (42) is movable.

24. Device according to one of claims 15 to 23, characterized in that the positioning carriage (59; 59a, 59b; 142a, 142b) has a support frame (64; 143) with a cross member (66; 144) and above the goods delivery device (2) in the direction of a contact surface (39) of the goods dispensing device (2) projecting support beams (65; 145) and on the support frame (64; 143) fixed drive (72) and at least one guide arrangement (70; 146, 147) he is guided on a longitudinal direction of the goods shelf (33a, 33b) extending guideway.

25. Device according to claim 24, characterized in that the guideway is formed by linear guides (71) running parallel on both sides of the goods delivery device (2), which are mounted on the support surface (39) or the base frame (37) of the goods delivery device (2 ), and that the support frame (64) of the positioning carriage (59; 59a, 59b) is approximately U-shaped and the support beams (65) and connecting them, above the goods delivery device (2) arranged cross member (66) . wherein the support beams (65) on both sides of the goods delivery device (2) are arranged opposite each other and are each provided with a guide arrangement (70) via which the positioning carriage (59; 59a, 59b) is mounted on the linear guides (71).

26. The apparatus according to claim 24, characterized in that the guideway by a laterally to the goods shelf (33 a, 33 b) extending on the footprint (39) of the goods delivery device (2) fixed, first linear guide (148) and one in the vicinity of the upper Ends (63) of the hopper (42) extending, on the base frame (37) of the goods delivery device (2) fixed, second linear guide (149) is formed and that the support frame (143) from the carriage (142 a, 142 b) in about L- is formed and the side to the goods delivery device (2) 'arranged support carrier (145) and connected to this, above the Warenaύsgabeeinrichtung (2) arranged cross member (144), wherein the cross member (144) and ¹ support bracket (145) respectively its projecting end with a guide arrangement (146, ¹ 147) are provided, via which the positioning carriage (142a, 142b) on the linear guides (148, 149) is mounted.

I

27. Device according to one of claims 15 to 26, characterized in that the goods transfer device (61; 150a, 150b; 160a, 160b) on the support frame (64; 143) of the Stellwagens (59; 59a, 59b; 142a, 142b), in particular on the cross member (66; 144), mounted and above or laterally of the conveyor (94; 94a, 94b) is arranged.

28. Device according to claim 15, characterized in that the manipulation unit (75; 136; 152a, 152b; 161a, 161b) has a turnstile which, with predetermined pitch, has a plurality of gripping units (78) and its own intermittent dynamic drive (79). includes.

29. The device according to claim 15, characterized in that the goods transfer device (61; 150a, 150b; 160a, 160b) has a centering receptacle for the goods (31) arriving at the goods delivery device (58; 163a, 163b) and attached to the support frame (64 143) of the parking carriage (59; 59a, 59b; 142a, 142b) is mounted.

30. Device according to claim 29, characterized in that the centering receptacle is formed by the gripping unit (78; 139; 153; 164).

31. The device according to claim 30, characterized in that the gripping unit (78; 139; 153; 164) by an actuator (86) to a limited extent between the goods (31) receiving or releasing opening position and the goods (31) fixing Closed position movable gripping elements (83, 140, 154, 165).

32. Apparatus according to claim 15, characterized in that the manipulation unit (136) mounted on the cross member (66) of the carriage (59) and perpendicular to the longitudinal direction of the goods shelf (33a, 33b) arranged linear drive (137) and a guide carriage driven by this (138) and a mounted thereon gripping unit (139).

33. Apparatus according to claim 15, characterized in that the manipulation unit (136) by a carrier on the frame (143) of the parking (142 a, 142 b) fixed stand robot is formed, which is equipped with the gripping unit (153).

34. Apparatus according to claim 15, characterized in that the manipulation unit (136) by a on the support frame (143) of the carriage (142 a, 142 b) attached articulated robot is formed, which is equipped with the gripping unit (164).

35. Apparatus according to claim 15, characterized in that the stacking device (60a, 60b) has a guide carriage (95) which is mounted on a support frame (64; 143) of the carriage (59; 59a, 59b; 142a, 142b) and / or or arranged on the goods delivery device (2) and guided parallel in the direction of the longitudinal axis of a hopper (42) extending guideway and on the first actuator (97) along the guideway raised and lowered.

36. Apparatus according to claim 35, characterized in that the guide carriage (95) with the over the first actuator (97) between an upper takeover and lower Aufsetzstellung and on the second actuator (126) between one of the hopper (42) withdrawn Output and in the hopper (42) advanced stacking position adjustable support (103) is equipped.

37. Apparatus according to claim 35, characterized in that the guide carriage (95) is equipped with a support and retaining device (62a, 62b) which has at least one support and retaining element (110) which can be adjusted by means of an actuator (127) between a starting and supporting or retaining position perpendicular to the guide surface (69). which, in its supporting or retaining position in the transverse direction of the stack, is applied against at least some of the products (31) stacked in the refilling stack (108).

38. Apparatus according to claim 15 or 35, characterized in that the guide carriage (95) or the support (103) with a sensor (124) for determining the refilling amount of goods (31) for the selected hopper (42) or the number of Lowering steps of the support (103) between their takeover and Aufsetzstellung is equipped.

39. Apparatus according to claim 15, characterized in that the goods transfer device (61; 150a, 150b; 160a, 160b) at least one deliverable in the path of movement of the supplied goods (31) and from the movement path of the supplied goods (31). removable cloth stop (82; 151a, 151b; 155; 155a, 155b).

40. Apparatus according to claim 39, characterized in that the manipulation unit (75; 136; 152a, 152b; 161a, 161b) forms the goods stop (82).