WO2007012099A1 - Procede et dispositif d'alimentation automatique d'un dispositif de distribution d'articles - Google Patents

Procede et dispositif d'alimentation automatique d'un dispositif de distribution d'articles Download PDF

Info

Publication number
WO2007012099A1
WO2007012099A1 PCT/AT2006/000316 AT2006000316W WO2007012099A1 WO 2007012099 A1 WO2007012099 A1 WO 2007012099A1 AT 2006000316 W AT2006000316 W AT 2006000316W WO 2007012099 A1 WO2007012099 A1 WO 2007012099A1
Authority
WO
WIPO (PCT)
Prior art keywords
goods
support
hopper
carriage
transfer
Prior art date
Application number
PCT/AT2006/000316
Other languages
German (de)
English (en)
Inventor
Rudolf Hansl
Original Assignee
TGW Transportgeräte GmbH
Klug Gmbh Integrierte Systeme
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TGW Transportgeräte GmbH, Klug Gmbh Integrierte Systeme filed Critical TGW Transportgeräte GmbH
Priority to DE112006001870T priority Critical patent/DE112006001870A5/de
Publication of WO2007012099A1 publication Critical patent/WO2007012099A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor

Definitions

  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • the loading process is more time consuming.
  • the automatic order picking machine reaches its capacity limits at an early stage and there is a risk of a
  • 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.
  • 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
  • a bulk pack is delivered, sorted with a ho
  • 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.
  • this "erroneous” can be detected and eliminated, thus reliably preventing the storage of a "false” product.
  • 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.
  • the master and reference data an improved distribution of goods in the goods issue device can take place.
  • 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.
  • 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 hineinverêt in the hopper between Greschachherebyn below a Nach Stirllstapels edition of the stacking device.
  • 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.
  • 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.
  • 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.
  • 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.
  • an increased efficiency is achieved at the goods issuing device.
  • the measure according to claim 8 allows rapid filling of a selected filling shaft.
  • 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.
  • the mechanical design of the goods delivery device is spared.
  • 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.
  • 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.
  • 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.
  • 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 , whereby, 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.
  • 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.
  • 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.
  • FIG. 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;
  • FIG. 2 shows the goods dispensing device and a loading device in a perspective view and a simplified representation
  • FIG. 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. 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 Gearschachtwand in two separate Greiner, as shown in dashed lines ;
  • FIG. 9 shows the goods delivery device and charging device according to FIG. 2 with another embodiment of the storage concept for a positioning carriage
  • FIG. 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.
  • 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.
  • 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.
  • the goods delivery device 2 includes a transverse conveyor 13, succession on the order-based, empty Kornmissionier essenceer 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 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.
  • 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.
  • 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.
  • 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 Golfbulchte 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.
  • 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.
  • 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 °.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the drive motor 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.
  • 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.
  • PC computer
  • 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 Miningierzelungsvorraum 3 and downstream end extends beyond the longitudinal in the longitudinal direction of the goods shelf 33a, 33b, last Artschachtwand 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 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.
  • 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.
  • 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.
  • each gripping unit 78 is provided with a goods stop 82.
  • the 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.
  • 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.
  • 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.
  • the gripping elements 83 relative to each other adjustable on the manipulation unit 75, in particular the hub 76, stored.
  • the gripping elements 83 are the gripping elements
  • 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.
  • 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.
  • a monitoring device 88 such as a sensor or a CCD camera system
  • 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.
  • 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.
  • 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.
  • a sensor system 91 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 Greechcroftn and an increase of the accommodated in this hopper 42 range of goods in relation to the fabric width 115th
  • 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.
  • 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 Aufsetz ein synchronously adjustable pads 103 assigned. Accordingly, the refill stack 108 is deposited on both supports 103.
  • 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 Aufsetz ein the Nach Stirllstapels 108 associated adjustable support and retaining elements 110 (Fig. 5).
  • 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.
  • 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.
  • 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.
  • the supports 103 are adjustable independently of one another between the starting and stacking positions by their drives 104 from the computer system.
  • 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.
  • 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 Auslageranno worn 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.
  • 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
  • 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 Painschzungsvorraum 3, emptied in this and emptied from the emptied amount required to fill the selected Rudschachtes 42 subset of a not shown conveyor system of the goods delivery device 58 isolated supplied.
  • 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 Warrenierzeitungsvorraum 3 and the Einlagerforder worn 8a, 8b of the conveyor system 6, 7 returned.
  • 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 Warrenippozvorvorvor- device 3 or commodity delivery device 58th
  • 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.
  • the full goods container 24 of the feed device 12a, 12b delivered and returned from this to the Einlagerodor responded 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.
  • the order-picking 1 are supplied 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.
  • a first group 117 of goods 31 is for refilling a first selected one
  • Second group 118 of goods 31 for refilling a second, selected feed chute 42 is determined.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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 Aufsetzwolf (as shown in Fig.
  • 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.
  • 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.
  • the support and retention member (s) 110 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.
  • the Aufsetz ein the Nach Glapels 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 Aufsetz ein or the number of Absenk Coloure the support 103 is predetermined.
  • the sensor 124 is formed for example by an optoelectronic measuring system.
  • 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.
  • the support 103 is equipped with a mechanical or electrical limit switch, via which the Aufsetzwolf 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • FIG. 10 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.
  • 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.
  • FIG. 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.
  • the separated product 31 is again positioned with its front side wall against the goods stops 82a, 82b of the manipulation inlet 136.
  • 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.
  • 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.
  • 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.
  • 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.
  • the goods 31 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.
  • 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.
  • 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.
  • a lower guide assembly 146 and at the free end of the cross member 144, an upper guide assembly 147 is provided at the free end of the support beam 145.
  • 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.
  • both the lower and upper linear guides 148, 149 are fixed to the base frame 37 of the goods issuing apparatus 2.
  • 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.
  • 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.
  • 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.
  • 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.
  • a guide profile 157 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.
  • the goods 31 are guided laterally during their transport along the conveyor 94.
  • 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.
  • 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.
  • the gripping unit 153 may be formed by a vacuum suction gripper.
  • 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.
  • several parking cars 142a, 142b per goods rack 33a, 33b are provided.
  • 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.
  • 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 Stressippozvorvor- device 3 or each of them with its own Unezzelungsvortechnisch 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the number of refillable in this hopper 42 goods 31 is determined and accordingly this number provided by theressippozungsvortechnik 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.
  • opto-electronic measuring systems such as laser or infrared measuring systems, or ultrasonic sensors
  • 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.
  • 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.
  • the guide track 175 is formed by two Linearschreibungen 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.
  • 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.
  • 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.
  • 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 Drschacht 42 of the level 125 or more filling shafts 42, the levels 125 are determined sequentially.
  • Fig. 18 of the positioning adjustable measuring carriage 171 is shown in an enlarged view.
  • This includes a frame housing 185.
  • 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.
  • 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.
  • an Andschreibrad 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).
  • 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.
  • 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.
  • a positioning system 197 in particular a path measuring device, is provided for the measuring carriage 171.
  • 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.
  • FIG. 1 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.
  • the loading device 47 comprises two Entitieszungsungs devices 3 a, 3 b and two independently controllable Entitiessvorlegien 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.
  • 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.
  • 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.
  • both goods transfer devices 61 of the parking carriage 59a, 59b of only one goods providing device and a Painschzungsvortechnisch with grain to be measured goods 31 are supplied.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 Ausschleusgna, 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.
  • 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.
  • the computer system 206 is equipped with an input device 212.
  • the detection module 200 is designed as a barcode reader, transponder reader, card reader or scanner.
  • the goods 31 to be picked are formed from the pharmaceutical industry and by a drug package.
  • the trend is towards a uniform labeling of pharmaceutical packs, which is also depicted in the data carrier 210.
  • 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.
  • 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.
  • Internet data transmission network
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the travel drive 72 initially receives a control signal and the Tooübergabevorrichtirag 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.
  • 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.
  • a gentle handling of the goods 31 is achieved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

Procédé et dispositif d'alimentation automatique d'un dispositif de distribution d'articles. Selon ledit procédé, des articles (31) sont acheminés via un dispositif d'alimentation (47) d'un dispositif de fourniture d'articles (58) à un dispositif de transfert d'articles (61) pour être introduits dans une goulotte d'alimentation (42) sélectionnée et empilés les uns sur les autres dans cette goulotte d'alimentation par une ouverture d'alimentation, sur un dispositif de distribution. A cet effet, les articles (31) sont acheminés individuellement sur le dispositif de fourniture d'articles (58) jusqu'à une position de mise à disposition proche du dispositif de transfert d'articles (61). Avant que les articles aient atteint leur position de mise à disposition, des données lisibles par machine sont extraites automatiquement d'un support de données (210) placé sur l'article (31), à l'aide d'un module de détection (200), en particulier d'un appareil de lecture de données, et transmises à un système informatique (206) qui évalue les données extraites. Sur la base de cette évaluation, des signaux de commande sont produits, à l'aide desquels le dispositif d'alimentation (47) est commandé, et les articles individuels (31) sont soit acheminés vers une goulotte d'alimentation sélectionnée via le dispositif de transfert d'articles (61), soit évacués du dispositif de fourniture d'articles (58) par un dispositif de retour d'articles (201).
PCT/AT2006/000316 2005-07-29 2006-07-26 Procede et dispositif d'alimentation automatique d'un dispositif de distribution d'articles WO2007012099A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112006001870T DE112006001870A5 (de) 2005-07-29 2006-07-26 Verfahren und Vorrichtung zum automatischen Beschicken einer Warenausgabeeinrichtung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT12762005A AT501897B1 (de) 2005-07-29 2005-07-29 Verfahren und vorrichtung zum automatischen beschicken einer warenausgabeeinrichtung
ATA1276/2005 2005-07-29

Publications (1)

Publication Number Publication Date
WO2007012099A1 true WO2007012099A1 (fr) 2007-02-01

Family

ID=37395868

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2006/000316 WO2007012099A1 (fr) 2005-07-29 2006-07-26 Procede et dispositif d'alimentation automatique d'un dispositif de distribution d'articles

Country Status (3)

Country Link
AT (1) AT501897B1 (fr)
DE (1) DE112006001870A5 (fr)
WO (1) WO2007012099A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007007255A1 (de) * 2007-02-14 2008-08-21 Robert Bosch Gmbh Identifikationssystem
WO2011029659A1 (fr) * 2009-09-14 2011-03-17 SSI Schäfer PEEM GmbH Marqueur de produits, appareil automatique de préparation des commandes, et procédé de préparation de commandes
EP2450830A3 (fr) * 2010-11-06 2013-08-07 Michael Marquardt Reconnaissance de la date d'expiration
WO2018006966A1 (fr) 2016-07-07 2018-01-11 Abb Schweiz Ag Station de séquençage
CN108267742A (zh) * 2018-04-17 2018-07-10 北京交通大学 一种运输途中货物装载加固状态实时监测系统
CN112251693A (zh) * 2020-09-08 2021-01-22 徐州瑞马智能技术有限公司 一种只镀部分长度地脚螺栓垂直吹风式热镀锌装置
EP3832343A1 (fr) * 2019-12-05 2021-06-09 Adolf Würth GmbH & Co. KG Module de détection pour dispositif palier pourvu de dispositifs capteurs permettant de détecter une erreur ou un niveau de remplissage de marchandises entreposées au moyen de la mesure de distance optique
CN113581705A (zh) * 2021-07-21 2021-11-02 伟本智能机电（上海）股份有限公司 一种船用型材存放专用智能立体仓储解决方案
WO2022199448A1 (fr) * 2021-03-24 2022-09-29 北京极智嘉科技股份有限公司 Robot et procédé de détection de boîte de matériau basé sur un robot

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114212426B (zh) * 2021-11-24 2023-10-27 昆船智能技术股份有限公司 轨道贯通式密集货架的出入库货位分配方法及存储介质
CN114701791B (zh) * 2022-05-10 2022-11-25 南京林业大学 一种板材物料入库、上料、出库系统及板材物料运转方法
CN116692345B (zh) * 2023-07-27 2023-11-17 江苏环亚医用科技集团股份有限公司 一种用于药房配药系统的输送装置

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0795495A2 (fr) * 1996-03-13 1997-09-17 P.E.E.M. FÖRDERANLAGEN Ges.m.b.H. Dispositif de chargement

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3943395C2 (de) * 1989-12-30 1996-04-11 Vse Verpackungs Und Sondermasc Vorrichtung zum Verpacken von gefüllten Beuteln, insbesondere von in ihrer Dicke egalisierten gefüllten Schlauchbeuteln
DE4015935C2 (de) * 1990-05-17 1997-07-24 Ferdinand Christ Kommissioniervorrichtung für Artikel
JP2982111B2 (ja) * 1995-06-13 1999-11-22 株式会社岡村製作所 ピッキング集積装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0795495A2 (fr) * 1996-03-13 1997-09-17 P.E.E.M. FÖRDERANLAGEN Ges.m.b.H. Dispositif de chargement

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007007255A1 (de) * 2007-02-14 2008-08-21 Robert Bosch Gmbh Identifikationssystem
WO2011029659A1 (fr) * 2009-09-14 2011-03-17 SSI Schäfer PEEM GmbH Marqueur de produits, appareil automatique de préparation des commandes, et procédé de préparation de commandes
AT14006U1 (de) * 2009-09-14 2015-02-15 SSI Schäfer PEEM GmbH Produktmarker, Kommissionierautomat und Kommissionierverfahren
EP2450830A3 (fr) * 2010-11-06 2013-08-07 Michael Marquardt Reconnaissance de la date d'expiration
US11571715B2 (en) 2016-07-07 2023-02-07 Abb Schweiz Ag Sequencing station
WO2018006966A1 (fr) 2016-07-07 2018-01-11 Abb Schweiz Ag Station de séquençage
CN108267742A (zh) * 2018-04-17 2018-07-10 北京交通大学 一种运输途中货物装载加固状态实时监测系统
CN108267742B (zh) * 2018-04-17 2024-03-19 北京交通大学 一种运输途中货物装载加固状态实时监测系统
EP3832343A1 (fr) * 2019-12-05 2021-06-09 Adolf Würth GmbH & Co. KG Module de détection pour dispositif palier pourvu de dispositifs capteurs permettant de détecter une erreur ou un niveau de remplissage de marchandises entreposées au moyen de la mesure de distance optique
CN112251693A (zh) * 2020-09-08 2021-01-22 徐州瑞马智能技术有限公司 一种只镀部分长度地脚螺栓垂直吹风式热镀锌装置
CN112251693B (zh) * 2020-09-08 2023-09-01 徐州瑞马智能技术有限公司 一种只镀部分长度地脚螺栓垂直吹风式热镀锌装置
WO2022199448A1 (fr) * 2021-03-24 2022-09-29 北京极智嘉科技股份有限公司 Robot et procédé de détection de boîte de matériau basé sur un robot
CN113581705A (zh) * 2021-07-21 2021-11-02 伟本智能机电（上海）股份有限公司 一种船用型材存放专用智能立体仓储解决方案

Also Published As

Publication number Publication date
AT501897B1 (de) 2006-12-15
DE112006001870A5 (de) 2008-06-05
AT501897A4 (de) 2006-12-15

Similar Documents

Publication Publication Date Title
AT501897B1 (de) Verfahren und vorrichtung zum automatischen beschicken einer warenausgabeeinrichtung
EP3265406B1 (fr) Procédé de mise en stock de marchandises au détail dans un rayonnage de stockage et système de stockage
AT391671B (de) Verfahren und vorrichtung zum automatischen stapeln, lagern und entnehmen von stueckgut
AT508843A1 (de) Kommissioniersystem und verfahren zur beladung von ladungsträgern
EP2753559B1 (fr) Poste de préparation de commandes et procédé de préparation de commandes d'articles provenant de moyens de chargement
EP1867587B1 (fr) Dispositif et procédé de préparation de biens empilables
EP3172156A1 (fr) Dispositif de transport
EP2611718A1 (fr) Convoyeur de positionnement, système de stockage et procédé de reprise de charges isolées sur un convoyeur
EP2753558B1 (fr) Poste de préparation de commande et méthode de préparation de commande d'articles avec aide au chargement
EP2147877A1 (fr) Dispositif de palettisation et système de traitement doté d'un tel dispositif
EP2855282A1 (fr) Procédé et dispositif de transport d'objets de postes de délivrance dans des postes de réception
DE102015209618A1 (de) Transportvorrichtung
EP2456696B1 (fr) Procédé permettant de charger des unités de chargement sur un support de chargement
AT511860A2 (de) Kommissionierstation und verfahren zum bereitstellen von ladehilfsmitteln
AT507811B1 (de) Lagersystem und verfahren zum automatisierten verteilen von packeinheiten
EP2480468B1 (fr) Dispositif de stockage à grande vitesse
AT511598B1 (de) Automatisiertes warenumschlaglager
EP0416627B1 (fr) Procédé et dispositif pour stocker et reprendre automatiquement des sortes de marchandises de détail de rayonnages dans de grands entrepôts
EP1445215B1 (fr) Dispositif et procédé de stockage d'articles

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 1120060018701

Country of ref document: DE

REF Corresponds to

Ref document number: 112006001870

Country of ref document: DE

Date of ref document: 20080605

Kind code of ref document: P

122 Ep: pct application non-entry in european phase

Ref document number: 06760803

Country of ref document: EP

Kind code of ref document: A1