Patent Application
20230348192
The invention relates to a method and a picking warehouse for storing and picking article carriers that contain articles, in particular groceries from the fresh food sector, and are stackable, as described in claims 1 and 17.
From the prior art, picking warehouses are known in which goods-out units with different articles are formed from goods-in units with identical articles (goods-in units with articles of just one type).
The goods-out units with different articles are for example required in the supply of retail stores and/or branches of food retailers, where articles delivered to a central warehouse in large goods-in units are divided into smaller consumption units and assembled with other articles for distribution.
The articles are stored in article carriers (containers, cartons). The goods-in units comprise article carrier stacks, which are placed on loading aids (pallets, roll containers), of multiple article carriers arranged on top of one another. For example, on a euro pallet (1200 mm×800 mm) four article carrier stacks each with a base area of 600 mm×400 mm or six article carrier stacks each with a base area of 300 mm×400 mm are stacked.
The picking warehouse comprises a delivery zone for the goods-in units, a storage zone, an order processing zone and a distribution zone for the goods-out units. In the delivery zone, automatically operated depalletizing devices are provided in which article carrier stacks from the goods-in units are separated. Subsequently, the article carrier stacks are stored in the storage zone. In the order processing zone, picking orders are processed by the required article carrier stacks being retrieved from the storage zone and being transported to the reloading devices (palletizing devices). At the reloading devices, individual article carriers or the entire article carrier stack are loaded onto a target loading aid (pallet, roll container) according to the picking order. The transport between the delivery zone and the storage zone of the article carrier stack to be stored is carried out by means of a storage conveyor system and the transport between the storage zone and the order processing zone of the article carrier stack to be picked is carried out by means of a retrieval conveyor system. Such a picking warehouse is described for example in WO 2015/144139 A1. This known picking warehouse is predominantly suitable for transporting containers, less for transporting cartons. This is due to the fact that usually it is to be expected that the cartons absorb humidity and lose stability such that a stack of multiple cartons stacked on top of one another is at risk of falling over, in particular where there are acceleration forces. To counteract this, cartons may more or less be manipulated individually only, which strongly minimizes the power of such a picking warehouse.
WO 2012/127102 A1 discloses a picking warehouse which comprises a delivery zone for the goods-in units, a storage zone and a distribution zone for the goods-out units. The goods-in units are provided in the delivery zone and container stacks are separated therefrom. The separated container stacks are transported into the storage zone by a storage conveyor system and are provided at different storage buffer tracks in the storage zone. A gantry robot, which can remove individual containers or partial container stacks from the container stacks and place them on specified storage places on the base, is arranged in the storage zone. At each storage place, there is a stack of multiple containers arranged on top of one another with identical articles. Picking is carried out by a gantry robot by individual containers or partial container stacks being removed from the container stacks and being assembled to order-related container stacks (goods-out units) on free storage places in the storage zone. Subsequently, the order-related container stacks are dispatched onto different retrieval buffer tracks and are transported from the storage zone into the distribution zone by the retrieval buffer tracks and a retrieval conveyor system. This picking warehouse is designed merely for storing and picking containers, not cartons.
Picking warehouses in which mobile storage racks are transported by autonomously movable, driverless transport vehicles are also known, for example from US 2017/022010 A1 or WO 2018/039423 A1. The storage racks comprise compartment bases, which are arranged in superimposed storage planes, on which articles are placed. Receiving an article carrier stack of multiple article carriers stacked on top of one another in the respective storage rack is not provided.
WO 2018/090081 A1 discloses a picking warehouse for storing and picking article carriers that contain articles and are stackable, in which article carrier stack groups are transferred to transport racks in a loading station and then transported from the loading station to a storage zone by autonomously movable, driverless transport vehicles. To process a picking order, loaded transport racks are transported from the storage zone to an unloading station by autonomously movable, driverless transport vehicles and are transferred to a target loading aid by an automatically operated unloading device (jointed-arm robot) there. The target loading aid is transported onto a transport rack together with the order stack. The transport racks merely have a transport frame and a base. However, the transport racks do not have side walls to stabilize the position of the article carrier stack group, such that the transport vehicles can only be moved with low dynamics. To still create an effective picking warehouse, the number of transport vehicles must be increased significantly. The “traffic density” and the investment costs increase significantly. Irrespectively thereof, it must be expected that article carriers will fall from the article carrier stack during transport if the hall floor has the slightest unevennesses.
EP 2 746 194 A1 discloses a method for storing and picking articles on pallets, in which the pallets are transported within the picking system by means of autonomously movable, driverless transport vehicles (without transport loading aids).
DE 10 2017 000 274 A1 discloses a mobile transport loading aid with support rails inclined in a downward direction and arranged in parallel, on which a large load carrier can be placed. In the large load carrier, there are structural elements for the production of a vehicle. However, the structural elements are not picked.
WO 2012/116 690 A1 discloses a mobile stack loading aid for transporting a picked stack of tires, which comprises a floor inclined in a direction and a stack support vertically aligned with the floor, against which the stack of tires can be leaned. Mobile transport loading aids for transporting the articles to the stacking robot are not used. Rather, the stacking robot connects to a production line for stacking the tires on the stack loading aid and the transport of the produced tires is performed by a stationary conveying system (for example, a roller conveyor) from the production line to the stacking robot.
It is one object of the invention to create an improved method for storing and picking article carriers which contain articles and are stackable and a corresponding picking warehouse. In particular, largely trouble-free operation and fast article handling should be possible regardless of the article carrier used (containers made of plastic materials or cartons).
The object of the invention is achieved by the following steps:
In this regard, it is advantageous that regardless of which article carrier is used, the article carriers can be stacked directly on top of one another in larger numbers. The article carriers can be made of different materials, for instance containers made of plastic materials or cartons can be used. In the picking warehouse, either containers or cartons are picked. However, a combination of containers and cartons is also conceivable. Likewise, the article carrier can form different dimensions. Usually, a base surface of the article carriers is 600 mm×400 mm or 300 mm×400 mm. The transport trips can be performed more efficiently since a higher number of article carriers can be transported per transport trip.
For transporting the empty transport loading aids and transport loading aids loaded with article carrier stack groups, autonomously movable, steerable transport vehicles (of a driverless transport system) are used, which are automatically controlled by a superordinate main computer. Such transport vehicles are known to the person skilled in the art as “automated guided vehicles (AGV in short)” or as “autonomous mobile robots (AMR in short)”. Such a transport system comprises the transport vehicles, means for determining the location and detecting the position of the transport vehicles and means for transmitting data to and from the transport vehicles in the transport system. Each transport vehicle comprises a chassis having a drive unit and a loading platform for receiving/discharging/transporting a mobile (non-stationary) transport loading aid arranged on the chassis. Different technologies are known for navigating the transport vehicles. Hence, besides the track-guided, inductive or optical navigation, laser navigation is also used in which each transport vehicle is equipped with a laser scanner that detects stationary reference points in the environment and navigates the transport vehicle on the basis of the detected environmental features. Navigation is also possible by means of a GPS system, in particular a differential global positioning system (dGPS).
Such a transport system can be integrated into existing picking warehouses without any problems and can be very well adjusted to fluctuating power requirements.
Although, advantageously, the transport vehicles are configured to have the same performance data (travel speed, acceleration values, load suspension and the like), groups of transport vehicles having different performance data can be used as well. This can prove advantageous where different temperature zones are provided in the picking warehouse. In this case, the transport vehicles of the first group and of the second group can have different control electronics or wheels with different material properties.
The provision of article carrier stack groups comprises the provision of article carrier stack groups preferably containing articles of just one type. The article carrier stack groups comprise (stacked) article carriers arranged next to one another and on top of one another. In particular, the article carrier stack groups comprise stack layers located above one another which each comprise multiple article carriers arranged next to one another. The article carriers within one stack layer are oriented either equally or differently. The stack layers can in turn have the same or different compositions or be oriented differently. If the article carrier stack group contains articles “of just one type”, the article carriers of this article carrier stack group are the same articles. Although this is rather an exception, the provision of article carrier stack groups can also comprise the provision of mixed article carrier stack groups. A mixed article carrier stack group comprises article carriers with different articles. In this regard, the lower article carriers in the article carrier stack group can contain a first article and the upper article carriers can contain a second article.
To ensure transport safety of high article carrier stack groups and also dynamic travel movements of the transport vehicles, transport safeguards are used. Moreover, an unloading operation can be carried out more reliably by the use of the transport safeguards.
The transport safeguards can be provided on at least some of the autonomously movable, driverless transport vehicles or on at least some of the mobile transport loading aids. The respective transport safeguard serves to stabilize the position of an article carrier stack group when it is accommodated on the mobile transport loading aid and is transported and/or unloaded.
A transport loading aid can also be understood as a source loading aid.
According to a first embodiment, the transport loading aid can have side walls and a base wall part. One (single) article carrier stack group is accommodated between the side walls on the base wall part. When the (single) article carrier stack group is transported by a transport vehicle or when the article carriers are unloaded from the transport loading aid, a displacement of the article carriers or article carrier stack group can be prevented or at least limited.
According to a second embodiment, the transport loading aid can have a base wall part and the transport vehicle can have side walls. One (single) article carrier stack group is accommodated between the side walls on the base wall part. When the (single) article carrier stack group is transported by a transport vehicle or when the article carriers are unloaded from the transport loading aid, a displacement of the article carriers or article carrier stack group can be prevented or at least limited.
According to both embodiments, the side walls form the transport safeguard and accordingly serve to stabilize the position of the article carriers/article carrier stack group. Only by the use of the described transport safeguard, article carriers of bad quality, for example due to moisture absorption, damage and the like, can be transported as article carrier stack group on the one hand between a delivery zone and a storage zone and on the other hand between a storage zone and an order processing zone.
In one of the method steps, it is provided that empty transport loading aids are transported to a loading station by the autonomously movable, driverless transport vehicles and, there, are provided either at one or multiple automatically operated loading device(s) or on a buffer surface close to the loading device(s). The buffer surface is formed on a base.
The transport loading aids are transported from the unloading station back to the loading station after removal of the last article carrier/article carrier stack and, there, the empty transport loading aids are provided either at an automatically operated loading device or on the buffer surface. However, in principle, a supplier can also deliver empty transport loading aids, which are taken over in the delivery zone and transported to the loading station.
Loading an empty transport loading aid with one (single) article carrier stack group can be carried out in a particularly simple and efficient manner.
The article carrier stack group(s) is transported to the one or multiple loading device(s) on a conveying system and is transferred “unchanged” to the empty transport loading aid(s) by one or multiple loading device(s), but article carrier stacks or individual article carriers of the article carrier stack group are not manipulated. This proves advantageous in several aspects:
The transport loading aid is loaded with a preferably “unpacked” article carrier stack group. An “unpacked” article carrier stack group is an article carrier stack group without additional packaging film (stretch film or shrink film) with which the article carrier stack group can be packed or without additional strapping tape with which the article carrier stack group can be strapped. A packaging film or a strapping tape can, for example, have been removed prior to loading the transport loading aid.
After loading, the transport loading aid, which is now loaded (preferably with an “unpacked” article carrier stack group), is transported from the loading station in the delivery zone to the storage zone by means of one of the transport vehicles and is placed on a free storage place there. The transport vehicle comprises a loading platform, by means of which the transport loading aid can be taken over on the transport vehicle and by means of which the transport loading aid can be discharged from the transport vehicle and supported on the transport vehicle during the travel movement. For this purpose, the loading platform can for example be designed such that it can be lifted and lowered in relation to the chassis.
The transport loading aids can be placed on storage places in the storage zone. The storage places are preferably formed on a base in the storage zone on a storage surface. In the storage zone, there are transport loading aids which are still loaded with one article carrier, some article carriers or with an entire (preferably “unpacked”) article carrier stack. While some of the partially unloaded transport loading aids are transported from the order processing zone back into the storage zone after unloading, the completely loaded transport loading aid are transported from the delivery zone directly into the storage zone.
The storage zone is connected, in respect of a conveying stream, to the loading station in the delivery zone via some of the transport vehicles of the transport system and to the unloading station in the order processing zone via some of the transport vehicles of the transport system. The unloading station in the order processing zone can additionally be connected, in respect of a conveying stream, to the loading station in the delivery zone via some of the transport vehicles.
Lastly, for processing one of multiple picking orders (which are electronically detected in an order-processing computer), at least one transport loading aid containing the required (equal) articles/article carriers is transported from the storage zone to the unloading station by means of one of the transport vehicles. Where different articles/article carriers are required, the transport loading aids containing these articles/article carriers are transported from the storage zone to the unloading station by means of multiple transport vehicles. The unloading station comprises one or multiple automatically operated unloading devices, by means of which unloading of one or multiple ones of the target loading aid(s) is performed automatically by removing the article carriers required for processing the mentioned picking order and gathering the article carriers on one or multiple target loading aids, thus without any manual processing steps.
For example, a picking order comprises a article carriers with a first article 24 and article carriers with a second article 18.
A first transport vehicle transports a transport loading aid with the article carrier stack group containing the first article from the storage zone to the unloading station and a second transport vehicle transports a transport loading aid with an article carrier stack group containing the second article from the storage zone to the unloading station.
The transport loading aid are provided one after the other at a single unloading device or next to one another at a single unloading device or in parallel at multiple unloading devices.
If a previous picking order is still processed at the unloading device(s), the transport loading aid(s) can be first placed on a buffer surface close to the unloading device(s) by the transport vehicle(s). As soon as the unloading device has unloaded a transport loading aid of the previous picking order and the transport loading aid has been transported away from said unloading device, a transport loading aid of the present picking order can be transported from the buffer surface to the unloading device by means of a transport vehicle and can be provided there.
Then, the transport loading aid, which is (are) provided at the automatically operated unloading device(s), is unloaded by the unloading device by removing the article carriers required for processing a picking order.
Unloading one or multiple ones of the transport loading aid(s) can comprise removing an individual article carrier. If the article carrier is located in an article carrier stack, the uppermost article carrier in the stack is removed. Unloading one or multiple ones of the transport loading aid(s) can comprise removing a partial article carrier stack of at least two article carriers stacked on top of one another. If the article carrier is located in an article carrier stack, the uppermost article carriers in the stack are removed as a partial stack. Unloading one or multiple ones of the transport loading aid(s) can optionally even comprise removing an entire article carrier stack of all article carriers stacked on top of one another.
According to the latter embodiments, a partial stack or an entire article carrier stack of the article carrier stack group can be unloaded from the transport loading aid by the unloading device “unchanged”, but individual article carriers of the article carrier stack group are not manipulated. This proves advantageous in several aspects:
After or while unloading the transport loading aid(s), the article carriers are gathered on one or multiple target loading aids for the mentioned picking order.
Unloading the transport loading aids for a picking order can also be performed in an order (sequence) determined by the control system. The article carriers/article carrier stacks are provided at the unloading station in this order and are transferred onto the target loading aid in this order. On the other hand, an order in the provision of the transport loading aids at the unloading station can also be established via the transport vehicles.
Either article carriers of a single article or article carriers of different articles can be assembled on a target loading aid (goods-out unit) according to a picking order.
Despite the fact that the invention is not to be understood as being restricted to use in the fresh food sector, this is the preferred field of application. This is mainly because perishable articles, such as fruit and vegetables, require a fast turnover of articles and usually only a limited number of different types have to be picked at the same time. In general, the advantages of this application can also be well implemented in the area of “general merchandise” or in the textile sector.
It can also be advantageous if the provision of article carrier stack groups comprises the provision of article carrier stack groups on delivery load carriers and loading one of the empty transport loading aids with one of the article carrier stack groups comprises loading one of the empty transport loading aids with one of the article carrier stack groups on a delivery load carrier. By this measure, loading the empty transport loading aids can be facilitated again and the stability of the article carrier stack group remains unchanged. Costly and time-consuming depalletizing can be dispensed with.
A particularly simple embodiment results if assembling the article carriers for the mentioned picking order is carrier out such that an individual article carrier removed from the article carrier stack group (preferably containing articles of just one type) at the unloading device or an article carrier stack removed from the article carrier stack group (preferably containing articles of just one type) is transferred onto a target loading aid by the unloading device. Such a variant is particularly suitable if the picking warehouse has to be set up in a particularly compact manner According to this embodiment, the one or multiple unloading device(s) forms/form a picking device for unloading the transport loading aid(s) and for assembling (loading) one or multiple target loading aid(s) with article carriers according to the picking order/picking orders.
The following method steps also prove favorable
The main computer controls the transport vehicles depending on the picking orders that are actively being processed. If not all articles are required for a first picking order and the remaining articles are sufficient for a second picking order, a transport vehicle can transport the transport loading aid containing these articles/article carriers from the respective unloading device for instance to another unloading device if these are soon required. Moreover, an intermediate buffering of the transport loading aid on the one hand on a buffer surface close to the unloading device is possible and on the other hand in a waiting zone comprising the unloading station, which is located at a shorter distance from the unloading device than the storage zone. Empty transport loading aids are instead transported to the loading station directly and via the shortest way. Thus, path-optimized trips of the transport vehicles result.
The following steps also prove advantageous
By selectively storing the articles depending on the article group, the high quality requirement is met. For example, in the food sector (fresh food sector), the first temperature zone can have a temperature range of 2° C. to 7° C. and the second temperature zone can have a temperature range of 10° C. to 15° C.
The following steps are also advantageous
Regardless of the temperature zone from which the articles/article carriers are retrieved, they can be manipulated at the same removal station. This simplifies the complexity of the picking system and also reduces the acquisition costs.
The method measures comprising the following steps are also advantageous
According to an embodiment, the first stack loading aid and/or the second stack loading aid can serve merely for receiving an order stack assembled of the article carriers according to the mentioned picking order and merely have a base wall part, but no side walls projecting therefrom. According to this embodiment, the side walls are formed on at least some of the transport vehicles, as described above, which serve for stabilizing the position of an order stack assembled of the article carriers according to the mentioned picking order if the order stack is received on the base wall part.
The use of the first stack loading aid or second stack loading aid allows for the reliable transport of the order stack regardless of which article carriers have been stacked. Hence, article carriers, in particular containers and cartons can be stacked mixed. Practice has shown that it is sufficient if the first stack loading aid/second stack loading aid have a first stack wall and a second stack wall. A stack layer is filled starting from the corner from back to front and from left to right or from right to left. On the other hand, a stack layer can be filled starting from the corner from left to right or from right to left and back to front. An article carrier can be positioned and stacked precisely in the corner by the transfer device. In this way, the order stack is given a high degree of stability.
A first stack loading aid can be used in the picking warehouse when the target loading aid with the order stack is delivered to the customer. A second stack loading aid can be used in the picking warehouse if the target loading aid is to be exchanged by a distribution load carrier, preferably a roll container, a pallet and the like. The distribution load carrier is for example loaded with the order stack in the load securing station and then delivered to the customer.
The first stack loading aid can comprise a transport rack, a base and, according to a possible embodiment, side walls project therefrom, wherein the transport rack forms a transport frame, against which a loading platform of the transport vehicle can be positioned, and wherein the base forms a base wall part onto which a target loading aid, in particular a pallet, with the order stack stacked thereon can be placed, and the side walls form a transport safeguard for stabilizing the position of an order stack when it is received on the base wall part with the target loading aid.
The second stack loading aid can comprise a transport rack, a base and, according to a possible embodiment, side walls project therefrom, wherein the transport rack forms a transport frame, against which a loading platform of the transport vehicle can be positioned, and wherein the base comprises a base wall part, which forms placing blocks projecting on its upper side and being separated from one another by receiving channels, onto which the article carriers of the order stack can be placed, such that the at least one second stack loading aid forms the target loading aid and the side walls form a transport safeguard for stabilizing the position of an order stack when it is received on the base wall part.
Preferably, the transport vehicle is positioned below the first/second stack loading aid and such with respect to the first/second stack loading aid that the loading platform of the transport vehicle can be positioned against the transport frame.
The following steps also prove advantageous
Like the transport loading aids, the stack loading aids can also be transported between the loading station and the unloading station by means of the autonomously movable, driverless transport vehicles. Either those transport vehicles that also transport the transport loading aids can be used, or additional autonomously movable, driverless transport vehicles are provided, which assume the transport of the stack loading aids.
In the picking warehouse, article carriers (which cannot be picked automatically), so-called “ugly article carriers”, can also be picked manually. While a large part of the article carrier, namely more than 90% of the overall article carrier assortment, is automatically picked by means of the automatically operated unloading device(s), the remaining part of the article carriers is manually picked at the partially automated unloading device(s). Automatic picking of article carriers is in particular possible if these have a first longitudinal dimension of approx. 600 mm or a second longitudinal dimension of approx. 300 mm or a third longitudinal dimension of between 600 mm and 300 mm A width can amount to between 300 mm and 400 mm. If the article carriers have a longitudinal dimension of less than 300 mm and/or if the article carriers have a lower dimensional stability, they are picked manually.
Processing a picking order can advantageously comprise the steps
Providing the mentioned transport loading aid(s) at one or multiple partially automated loading device(s) may comprise the following steps
This enables ergonomic working even during manual picking (unloading the article carriers from the transport loading aid and loading the target loading aid with article carriers).
According to an embodiment of the invention, the method comprises the following steps
In this case, different article carriers (articles) are assembled to a picking order on a target loading aid.
According to an embodiment of the invention, the method comprises the following steps
The picking order comprises article carriers (articles) which can be automatically picked at an automatically operated unloading device, and article carriers which have to be picked manually at a partially automated unloading device. First, the article carriers (articles) on the target loading aid are picked at the automatically operated unloading device. Then, the target loading aid with the “opened” order stack is transported to the partially automated unloading device by an autonomously movable, driverless transport vehicle. Then, picking of the order stack is finished there manually.
The following steps according to the invention are also advantageous
As already described above, reliable transport of the order stack is possible by means of the first stack loading aid/second stack loading aid, irrespective of which article carriers have been stacked. In case of manual picking, a stack layer is also filled starting from the corner from back to front and from left to right or from right to left. On the other hand, a stack layer can be filled starting from the corner from left to right or from right to left and back to front. An article carrier can be positioned and stacked precisely in the corner by the picker. In this way, the order stack is given a high degree of stability.
It also proves advantageous if the method comprises the following steps
Transporting the unloaded stack loading aids by means of the autonomously movable, driverless transport vehicles, comprising:
A “central” load securing station is provided, to which the order stacks with a first stack loading aid/second stack loading aid are transported by means of the autonomously movable, driverless transport vehicles. There, the order stack is secured by means of a securing means, for example a winding film or a fastening tape. The “secured” order stacks can preferably be transported away by means of the autonomously movable, driverless transport vehicles.
The object of the invention is also achieved by a picking warehouse for storing and picking articles containers that are stackable and contain articles, comprising
It proves advantageous if the transport loading aid comprises a transport rack and a base, wherein the transport rack forms a transport frame against which a loading platform of the transport vehicle can be positioned, and wherein the base forms a base wall part on which the article carrier stack group can be placed.
It can prove favorable if the transport loading aid comprises additional side walls which form the transport safeguard for stabilizing the position of the article carrier stack group while it is placed on the base wall part, and comprise a first side wall and a second side wall, wherein the first side wall and the second side wall enclose an angle, in particular a right angle.
It can prove favorable if at least some of the autonomously movable, driverless transport vehicles in each case comprises the loading platform and side walls arranged adjacent thereto, and that the side walls form the transport safeguard for stabilizing the position of the article carrier stack group when one of the transport vehicles and one of the transport loading aids are positioned to one another and the article carrier stack group is placed on the loading platform with the transport loading aid, and comprise a first side wall and a second side wall, wherein the first side wall and the second side wall enclose an angle, in particular a right angle.
Preferably, the transport vehicle is positioned below the transport loading aid and such with respect to the transport loading aid that the loading platform of the transport vehicle can be positioned against the transport frame.
It can prove favorable if the base wall part is both inclined downwardly at a first inclination angle (α1) with respect to a horizontal plane spanned between the first side wall and the second side wall in the direction towards the first side wall, and inclined downwardly at a second inclination angle (α2) with respect to a horizontal plane spanned between the first side wall and the second side wall in the direction towards the second side wall, wherein the first side wall and the second side wall are aligned perpendicularly to the base wall part.
According to this embodiment, the article carrier stack group, i.e. the order stack, can be transported with the transport loading aid, i.e. the stack loading aid, particularly reliably.
An advantageous embodiment results if the picking warehouse comprises a device for detecting data relating to the article carrier stack group and/or detecting data relating to the article carrier and/or detecting data relating to the article, said device being connected to the control system by a data line in order to transmit to it the data relating to the article carrier stack group and/or the data relating to the article carrier and/or the data relating to the article, wherein the control system comprises a control logic and processes the data relating to the article carrier stack group and/or the data relating to the article carrier and/or the data relating to the article in accordance with the control logic and generates control commands, by means of which the unloading device(s), in particular a gripping unit of the unloading device, is (are) controlled and/or transport commands are generated by means of which the autonomously movable, driverless transport vehicle(s) is (are) controlled.
The data relating to the article carrier stack group can contain data selected from the group comprising a position scheme of the article carriers in the stack layers, a position image in the uppermost stack layer and a height of the article carrier stack group. The article carriers within a stack layer can be oriented either equally or differently. The stack layers arranged on top of one another can also be composed equally or differently. Based on this data, control commands for different gripping positions for gripping article carriers by the gripping system of the unloading device result.
Based on this data, on the other hand, transport commands for different transport movements for transporting the transport loading aid with the article carrier stack group by the autonomously movable, driverless transport vehicles can be generated. For example, it can be advantageous if the article carriers in one stack layer are oriented differently, such that the transport vehicle first provides the transport loading aid at the unloading device in a first service position in order to remove article carriers of a first orientation and then provides it in a second service position in order to remove article carriers of a second orientation. The first service position and the second service position are rotated in relation to one another for example by a rotational angle of 90°.
The data relating to the article carrier can be data selected from the group comprising a dimension (length, width, height) of the article carriers, material of the article carrier, design of the article carrier and a quality of the article carrier. For example, the article carriers can have different dimensions which can be determined to generate control commands for different gripping positions for gripping article carriers by the gripping system of the unloading device based on this data. The design of the article carrier can result in restrictions in the gripping positions when the order stack is formed. While a first design of an article carrier may, for example, comprise stacking lugs/stacking recesses on long sides, a second design of an article carrier may, for example, comprise stacking lugs/stacking recesses on short sides. A third design of an article carrier may, for example, not comprise any stacking lugs/stacking recesses. The same applies to article carriers with or without carrying handles, ventilation holes, additional insert boxes, additional lining with plastic film and the like. The data on a quality of the article carrier can relate to an inadmissible deformation, damage and the like.
The data relating to the articles can contain data selected from the group comprising quality features relating to the articles, number of articles in an article carrier and a position of the articles, for example in a blister. The quality features can, for example, contain data on a check of the articles for mold infestation, data on a check of the articles for damage, as also described above for the checking station.
An advantageous embodiment results if the picking warehouse comprises a checking station in the delivery zone, with
If the picking warehouse and method for storing and picking articles are used in the fresh food sector of groceries, where perishable articles, such as fruit and vegetables, quality features such as mold, damage and the like can be optically detected at the testing device. At the input and/or output device, the result of the check of the quality features is detected, for example the warehouse staff can electronically detect the quality feature by inputting “quality okay” or “quality deficient”. Moreover, the input of the number of removed article carriers is also possible if individual article carriers were removed from the article carrier stack group because these, for example, contain spoiled articles.
According to an embodiment of the invention, the checking station can comprise an automatically operated clamping and lifting device along the conveying system for inwardly transporting an article carrier stack group and outwardly transporting an article carrier stack group, by means of which clamping and lifting device the article carrier stack group can be separated into an upper article carrier stack and a lower article carrier stack and an access region is created between the upper article carrier stack and the lower article carrier stack, said access region allowing the removal of at least one article carrier from the lower article carrier stack or of an article from an article carrier of the lower article carrier stack.
Thereby, checking the quality of the articles can be carried out not only in the uppermost stack layer but also in a lower stack layer. This is particularly advantageous for picking groceries in the fresh food sector. Ventilation is usually poorer in the lower stack layers, which is why the quality of the articles there tends to be poorer than in the upper stack layers.
In order to take safety aspects into account, automatically operated protective plates can be moved into the access region between the upper article carrier stack and the lower article carrier stack in order to preclude any risk to a warehouse worker during manual removal of articles or article carriers.
It is also advantageous if the clamping device comprises clamping jaws movable by at least one drive device relative to one another between an opened position and a clamping position, said clamping jaws in the clamping position clamping the article carrier stack group along the circumference of at least one article carrier layer (stack layer) and on at least two sides, and the lifting device comprises a lifting frame movable by at least one drive device in the vertical direction relative to the conveying system for inward transport of an article carrier stack group and outward transport of an article carrier stack group, with the clamping jaws being mounted on said lifting frame and by which lifting frame the clamping jaws can be moved from a lower height position into an upper height position in which the upper article carrier stack of the article carrier stack group are lifted off the lower article carrier stack of the article carrier stack group.
For the purpose of better understanding of the invention, it will be elucidated in more detail by means of the figures below.
These show in a respectively very simplified schematic representation:
First of all, it is to be noted that in the different embodiments described, equal parts are provided with equal reference numbers and/or equal component designations, where the disclosures contained in the entire description may be analogously transferred to equal parts with equal reference numbers and/or equal component designations. Moreover, the specifications of location, such as at the top, at the bottom, at the side, chosen in the description refer to the directly described and depicted figure, and in case of a change of position, are to be analogously transferred to the new position.
It should be noted at this point that the articles 2 are not shown in the figures for the sake of better overview. However, in fact, the article carriers 3 are filled with articles 2.
The picking warehouse 1 comprises a delivery zone 4, a storage zone 5, an order processing zone 6, a plurality of transport loading aids 7a, 7b, 7c each for receiving an article carrier stack group 8a, 8b, 8c and a plurality of autonomously movable, driverless transport vehicles 9 for transporting transport loading aids 7a, 7b, 7c, a loading station with at least one or multiple automatically operated loading device(s) 10 for loading the transport loading aids 7a and an unloading station with at least one or multiple automatically operated unloading device(s) 11 for unloading the transport loading aid(s) 7b, 7c.
The article carrier stack group 8a, 8b, 8c forms a goods-in unit and can comprise a delivery load carrier 17a, 17b, 17c.
The transport loading aids 7a are, for example, empty (unloaded) transport loading aids. The transport loading aids 7b are, for example, completely loaded transport loading aids. The transport loading aids 7c are, for example, partially loaded transport loading aids.
As schematically depicted in
In the delivery zone 4, the provision of article carrier stack groups 8a, 8b, 8c (goods-in units) is provided. Such article carrier stack groups 8a, 8b, 8c are most times made up of article carriers 3 containing articles of just one type. The article carrier stack groups 8a, 8b comprise article carriers 3 that are arranged on top of one another (stacked). In particular, the article carrier stack groups 8a, 8b, 8c comprise stack layers located above one another which each comprise multiple article carriers 3 arranged next to one another. The article carriers 3 within one stack layer are oriented either equally or differently. The stack layers can in turn have the same or different compositions.
The article carrier stack group 8a shown in
The article carrier stack group 8b shown in
According to an embodiment shown in
Usually, the article carriers 3 are delivered to the delivery zone 4 on delivery load carriers 17a, 17b, 17c as an article carrier stack group 8a, 8b, 8c. According to the statements above, the article carrier stack group 8a, 8b, 8c can accordingly comprise the delivery load carrier 17a, 17b, 17c. Even if the article carrier stack groups 8a, 8b are provided on delivery load carriers 17a, 17b, 17c, a separation into article carriers 3 or article carrier stacks at a depalletizing station is not provided. The article carrier stack group 8a, 8b, 8c is fed to the loading station essentially unchanged. In this context, essentially unchanged means that no depalletizing operation is carried out before loading an empty transport loading aid 7a.
The delivery load carriers 17a, 17b, 17c are preferably pallets which are used in practice in different designs and dimensions. For example, these are Euro pallets, industrial pallets, Düsseldorfer pallets. Of course, other pallets may also be used in the context of the invention. The Euro pallet has an outer dimension of 1,200 mm×800 mm. The industrial pallet has an outer dimension of 1,200 mm×1,000 mm. The Düsseldorfer pallet has an outer dimension of 800 mm×600 mm or 600 mm×400 mm.
However, in general, it is also possible that the article carriers 3 are provided in the delivery zone 4 as an article carrier stack group 8a, 8b, 8c without an additional delivery load carrier 17a, 17b, 17c. According to this embodiment, the article carrier stack group 8a, 8b, 8c comprises no additional delivery load carrier 17a, 17b, 17c. Such an article carrier stack group 8a, 8b, 8c is also fed to the loading station essentially unchanged. In this context, essentially unchanged means that no depalletizing operation is carried out before loading an empty transport loading aid 7a.
According to the embodiment shown, the article carrier stack group 8a, 8b, 8c is conveyed on the conveying system 21 for inwardly transporting an article carrier stack group 8a, 8b, 8c and outwardly transporting an article carrier stack group 8a, 8b, 8c on a delivery load carrier 17a, 17b, 17c. The conveying system may comprise a roller conveyor, belt conveyor, chain conveyor and the like.
As shown in
The detection device 22 for identifying the article carrier stack group 8a, 8b, 8c can be formed by a mobile or stationary scanner. As is shown, for example, in
According to the embodiment shown, the identification of the article carrier stack group 8a, 8b, 8c is carried out at the testing device 20, although it can also be carried out before the testing device 20. This can be the case if the article carrier stack group 8a, 8b, 8c is fed to an unpacking station before the testing device 20, where, for example, a packaging film (stretch film or shrink film) with which the article carrier stack group 8a, 8b, 8c is packed, or a strapping tape with which the article carrier stack group 8a, 8b, 8c is strapped, is removed. For example, a data carrier (RFID, barcode) can be placed on the packaging film, via which the article 2 or the article carrier 3 or the article carrier stack group 8a, 8b, 8c is identified.
If the picking warehouse and method for storing and picking articles are used in the fresh food sector of groceries, where perishable articles 2, such as fruit and vegetables, quality features such as mold, damage and the like can be optically detected at the testing device 20.
At the input and/or output device 23, the result of the check of the quality features is detected, for example the warehouse staff can electronically detect the quality feature by inputting “quality okay” or “quality deficient”.
Moreover, the input of the number of removed article carriers 3 is also possible if individual article carriers 3 were removed from the article carrier stack group 8a, 8b, 8c because these, for example, contain spoiled articles 2.
According to this embodiment, the input of data from the check of the quality features is carried out manually by the warehouse worker.
However, it is also possible that the check of the quality features is carried out automatically, for example by an image processing system by which images of the articles 2 are detected by a camera system and the images are compared with standard values of the articles 2 stored in a computer system by an image processing program, in order to perform an evaluation on the quality features from the comparison. According to this embodiment, the camera system forms an input device and the image processing program forms an output device.
The checking station comprises an automatically operated clamping and lifting device 24 along the conveying system for inwardly transporting an article carrier stack group 8a, 8b, 8c and outwardly transporting an article carrier stack group 8a, 8b, 8c, by means of which clamping and lifting device 24 the article carrier stack group 8a, 8b, 8c can be separated into an upper article carrier stack 26a and a lower article carrier stack 26b and an access region is created between the upper article carrier stack 26a and the lower article carrier stack 26b, said access region allowing the removal of at least one article carrier 3 from the lower article carrier stack 26b or of an article 2 from an article carrier 3 of the lower article carrier stack 266b.
The clamping device comprises clamping jaws 27a, 27b movable relative to one another between an opened position and a clamping position by at least one drive device (which is not shown in further detail). In the clamping position, the clamping jaws 27a, 27b clamp the article carrier stack group 8a, 8b, 8c along the circumference of at least one stack layer and/or article carrier layer and on at least two sides. The lifting device comprises a lifting frame 28 movable by at least one drive device (which is not shown in further detail) in the vertical direction relative to the conveying system 21, on which lifting frame 28 the clamping jaws 27a, 27b are mounted and by which the clamping jaws 27a, 27b can be moved from a lower height position into an upper height position. In the upper height position, the upper article carrier stack 26a of the article carrier stack group 8a, 8b, 8c is lifted off the lower article carrier stack 26b of the article carrier stack group 8a, 8b, 8c.
It should be noted at this point that the checking station is not obligatorily required in the embodiment above. If the checking station is not provided, there still is a detection device 22 for identifying the article carrier stack group 8a, 8b, 8c which is connected to the control system 16 (
The loading device(s) 10 is/are preferably connected to an automatically operated conveying system, referred to by number 30, for inward transport of article carrier stack groups 8a, 8b, 8c. The conveying system may comprise a roller conveyor, belt conveyor, chain conveyor and the like.
If the optional checking station is provided, the loading device(s) 10 and the testing device (s) are additionally connected, in terms of conveyance, via a conveying system, referred to by number 31, for inwardly transporting article carrier stack groups 8a, 8b, 8c (goods-in units). In the embodiment shown, the conveying system comprises a transport trolley movable along a guideway in x direction. However, the conveying system 31 may also comprise a roller conveyor, belt conveyor, chain conveyor and the like.
As will be described below, the loading station comprises one or multiple automatically operated (schematically indicated) loading device(s) 10 for loading empty transport loading aids 7a each with a (preferably unpacked) article carrier stack group 8a.
The loading device 10 comprises a service location 40 for an article carrier stack group 8a, 8b, 8c, a service location 41 for an empty transport loading aid 7a and a transfer device 42 for transferring the article carrier stack group 8a, 8b, 8c from the service location 40 onto an empty transport loading aid 7a, which is provided at the service location 41.
Specifically, the automatically operated loading device 10 comprises a transfer device 42 movable relative to the service location 40 in order to move an article carrier stack group 8a, 8b, 8c provided on the service location 40 in a transfer position to the transport loading aid 7a “unchanged”.
Even though, in the depicted embodiment, the loading station is shown having a single loading device 10 for reasons of clarity, the number of loading devices 10 may vary depending on the required picking performance. For example, the loading station and/or the picking warehouse 1 may have a second loading device 10, third loading device 10 etc. These loading devices 10 are preferably constructed identically.
It also proves advantageous if the loading station has a separate buffer surface 43 near the one or near the multiple loading device(s) 10. However, in principle, the loading station may also comprise only one buffer surface 43. The buffer surface 43 is preferably formed on a base of the picking warehouse 1.
This way, it is possible that the empty transport loading aid(s) 7a are buffered on the buffer surface 43, near the loading device(s) 10, and are transported as needed to the respective service location 41 of the loading device(s) 10 over a short distance by means of the transport vehicles 9.
According to the invention, consequently, the loading station i) either comprises one or multiple automatically operated loading device(s) 10 or ii) one or multiple automatically operated loading device(s) 10 and a buffer surface 43 close to the loading device(s) 10. The loading device 10 is embodied for loading one of the empty transport loading aids 7a with an article carrier stack group 8a, 8b, 8c (with or without delivery load carrier 17a, 17b, 17c). The empty transport loading aid 7a is provided at the automatically operated loading device 10 for loading with an essentially unchanged article carrier stack group 8a, 8b, 8c (with or without delivery load carrier 17a, 17b, 17c).
As depicted in
However, in principle, it is also possible that the autonomously movable, driverless transport vehicle 9 transports an empty transport loading aid 7a to the service location 41 and places it there, however, remains at the service location 41 while the empty transport loading aid 7a is loaded. If an empty transport loading aids transport loading aid 7a is already placed at the service location 41 or if the empty transport loading aid 7a is currently being loaded, the empty transport loading aid 7a can be buffered on the buffer surface 43 provided near the loading device 10.
After being loaded with at least one article carrier stack group 8a, 8b, 8c, the (now loaded) transport loading aid 7b is transported from the loading station, in particular from the loading device 10 or the loading devices 10, to the storage zone 5 by means of the autonomously movable, driverless transport vehicle 9 and are placed on a storage surface 45 in the storage zone 5. The storage surface 45 is preferably formed on a base of the picking warehouse 1. As will be described below, by means of the autonomously movable, driverless transport vehicles 9, also at the unloading station, not completely unloaded (partially loaded) “opened” transport loading aids 7c are transported from the unloading station back to the storage zone 5 and placed on the storage surface 45 in the storage zone 5.
The loading device 10 comprises the service location 40 for an article carrier stack group 8a, 8b, 8c, the service location 41 for an empty transport loading aid 7a (or a loaded transport loading aid 7b after loading) and the transfer device 42 for transferring the article carrier stack group 8a, 8b, 8c from the service location 40 onto an empty transport loading aid 7a, which is provided at the service location 41.
Specifically, the service location 40 for an article carrier stack group 8a, 8b, 8c is formed on a conveying system, referred to by number 50, for example a multiple track conveyor, which connects to the conveying system, referred to by number 30, and provides the article carrier stack group 8a, 8b, 8c in the transfer position on the service location 40.
The transfer device 42 comprises telescopic forks 51, see
In
Irrespectively of how the loading device 10 is designed, it can be advantageous if the service location 41 comprises tilting and back tilting devices 52 by which the empty transport loading aid 7a can be tilted such prior to loading that a base wall part 171 is moved into an essentially horizontal transport plane (take-over plane). Such an embodiment can be applied if the transport loading aid 7a, 7b, 7c is embodied according to
As can be seen in
As described in the following, the unloading station comprises the at least one automatically operated unloading device 11 (schematically adumbrated). Even though, in the depicted embodiment, the unloading station is shown having a single unloading device 11 for reasons of clarity, the number of unloading devices 11 may vary depending on the required picking performance. For example, the unloading station and/or the picking warehouse 1 can comprise a second unloading device 11, third unloading device 11, and so on. These unloading devices 11 are preferably constructed identically.
The schematically shown embodiment of the automatically operated unloading device 11 comprises a first service location 71a for the loaded first transport loading aid 7b, 7c, an (optional) second service location 71b for the loaded second transport loading aid 7b, 7c and a transfer device 72 movable relative to the service location 71a, 71b for unloading the transport loading aid 7a, 7b provided at the service location 71a, 71b. If the unloading station has more than one automatically operated unloading devices 11, each unloading device 11 comprises a first service location 71a for the loaded first transport loading aid 7b, 7c, and an (optional) second service location 71b for the loaded second transport loading aid 7b, 7c and a transfer device 72 movable relative to the service location 71a, 71b for unloading the transport loading aid 7b, 7c provided at the service location 71a, 71b.
It also proves advantageous if the unloading station has at least one separate buffer surface 73 near the unloading device 11 or near each unloading device 11. In the depicted embodiment, the unloading device 11 is assigned one buffer surface 73 per service location 71a, 71b. However, in principle, the unloading station may also comprise only one buffer surface 73. The buffer surface 73 is preferably formed on a base of the picking warehouse 1. This way, it is possible that the loaded transport loading aid(s) 7b, 7c are buffered on the buffer surface 73, near the unloading device(s) 11, and are transported as needed to the respective service location 71a, 71b of the unloading device(s) 11 over a short distance by means of the transport vehicles 9.
The unloading station can also comprise one or multiple waiting zone(s) 74 (shown in
The unloading device 11 shown in further detail in
The gantry robot comprises
The shown gantry robot proves advantageous if the available ceiling height is low.
In the course of the unloading movement, the article carrier 3, partial article carrier stack or article carrier stack is picked up from the transport loading aid 7b, 7c, which is provided at the service location 71a, 71b, by the transfer device 72, and subsequently transferred onto a target loading aid, 70, 170.
In this context, it can be advantageous if the picking warehouse 1 uses stack loading aids, which comprise first stack loading aids 100a (see
If instead of the first stack loading aids 100a second stack loading aids 100b (see
If the picking warehouse 1 comprises the first stack loading aids 100a, the article carrier 3, partial article carrier stack or article carrier stack is picked up by the transfer device 72 from the transport loading aid 7b, 7c, which is provided at the service location 71a, 71b, and subsequently transferred onto the target loading aid 70.
If the picking warehouse 1 comprises the second stack loading aids 100b, the article carrier 3, partial article carrier stack or article carrier stack is picked up by the transfer device 72 from the transport loading aid 7b, 7c, which is provided at the service location 71a, 71b, and subsequently transferred onto the target loading aid 170.
The transfer device 72 may for example be formed by a gripping system. The gripping system may comprise for example a base body, a vacuum suction unit with at least one suction gripper or multiple suction grippers arranged on top of one another and/or next to one another and a support base movably mounted on the base body. Unloading the transport loading aid 7b, 7c with this gripping system is carried out such that an article carrier 3 or a partial article carrier stack is first lifted on one side by the suction unit so that a gap opens between the top article carrier 3 and the one below it and the support base is then pushed in under the article carrier 3 lifted on one side or the partial article carrier stack lifted on one side by means of the suction unit in a horizontal direction so as to accommodate said article carrier 3 or partial article carrier stack. Such a gripping system thus makes it possible to unload an individual article carrier 3 but also a partial article carrier stack. In principle, it is also conceivable that the number of suction grippers arranged on top of one another is selected such that an entire article carrier stack can be lifted on one side and the support base can accommodate the entire article carrier stack.
Moreover, the gripping system may also be configured such that a gripping unit acts according to the positive engagement principle and/or friction principle and grips an individual article carrier 3, partial article carrier stack or article carrier stack in a positively engaging or friction-type manner.
According to a second embodiment, which is not depicted, the unloading device 11 may comprise a jointed-arm robot. The jointed-arm robot has a gripping system which is movable relative to a robot base and by means of which an individual article carrier 3, a partial article carrier stack or an article carrier stack 8 is removed from the transport loading aid 7b, 7c and then transferred onto a target loading aid 70, 170.
The schematically shown embodiment of the automatically operated unloading device 11 comprises a service location 91a for a first stack loading aid 100a (or second stack loading aid 100b) or multiple service locations 91a, 91b for first stack loading aids 100a (or second stack loading aids 100b) and the transfer device 72 that is movable relative to the service location 91a, 91b for loading the transport loading aid 70, 170 provided at the service location 91a, 91b.
If the unloading station has more than one automatically operated unloading device 11, each unloading device 11 comprises a service location 91a for a target loading aid 70, 170 or multiple service locations 91a, 91b for target loading aids 70, 170 and the transfer device 72 that is movable relative to the service location 91a, 91b for loading the transport loading aid 70, 170 provided at the service location 91a, 91b.
As described above, the (additional) target loading aid 70 with the first stack loading aid 100a may be provided at the service location 91a, 91b or the target loading aid 170 (which is formed by the second stack loading aid 100b) may be provided at the service location 91a, 91b.
It also proves advantageous if the unloading station has at least one separate buffer surface 92 near the unloading device 11 or near each unloading device 11. In the depicted embodiment, the unloading device 11 is assigned one buffer surface 92 per service location 91a, 91b. However, in principle, the unloading station may also comprise only one buffer surface 92. The buffer surface 92 is preferably formed on a base of the picking warehouse 1. This way, it is possible that the empty target loading aids 70 with the first stack loading aid 100a and the target loading aid 170 with the second stack loading aid 100b are buffered on the buffer surface 92, near the unloading device(s) 11, and are transported as needed to the respective service location 91a, 91b of the unloading device(s) 11 over a short distance by means of the transport vehicles 9.
According to the shown embodiment, the target loading aids 70 with the first stack loading aid 100a and the target loading aid 170 with the second stack loading aid 100b are transported to the respective service location 91a, 91b of the unloading device(s) 11 and are transported away from the respective service location 91a, 91b of the unloading device(s) 11 by means of the transport vehicles 9.
As evident in
According to the embodiment shown, the one or multiple partially automated unloading device(s) 100 at the same time forms one or multiple reloading device(s) and/or picking device(s) for assembling the article carriers 3 on the target loading aid(s) 70 according to the picking order.
At the unloading device(s) 100, article carriers 3 are picked, which cannot be automatically picked at the unloading device(s) 11 because the article carriers 3 have a base surface smaller than 300 mm×400 mm or the article carriers 3 have a dimensional stability that is too low to be manipulated automatically.
The partially automated unloading device(s) 100 each comprise a first service location 101a for a transport loading aid 7b, 7c, a second service location 101b for a first stack loading aid 100a (or second stack loading aid 100b) and a working area 102 for a picker/a warehouse worker (not depicted for reasons of clarity). The working area 102 may also comprise a working surface 103 with wheels and the like in order to make an ergonomic manipulation of the article carriers 3 possible. The first service location 101a and the second service location 101b are arranged so as to be located opposite one another. Additionally, the unloading device 100 may comprise an input and/or output device (not depicted), by means of which picking instructions for the picker are output and at which picking commands are entered by the picker.
As described above, the (additional) target loading aid 70 with the first stack loading aid 100a may be provided at the service location 101b or the target loading aid 170 (which is formed by the second stack loading aid 100b) may be provided at the service location 101b.
While, according to the embodiment described above, an automated picking operation takes place at the unloading device(s) 11, a manual picking operation is carried out at the unloading device(s) 100.
In the mentioned context, “partially automated” means that transporting transport loading aids 7b, 7c to the unloading device 100, transporting transport loading aids 7a, 7c away from the unloading device 100, transporting first stack loading aids 100a (or second stack loading aid 100b) to the unloading device 100, transporting first stack loading aids 100a (or second stack loading aid 100b) away from the unloading device 100 is carried out automatically and picking is carried out manually by a picker.
The transport loading aid 7b, 7c is transported to the first service location 101a by means of the transport vehicle 9 and transferred to said service location 101a so as to provide the transport loading aid 7b, 7c at the service location 101a, or transferred from the first service location 101a onto the transport vehicle 9 so as to transport the transport loading aid 7a, 7c away from the service location 101a.
Likewise, the first stack loading aid 100a (or second stack loading aid 100b) is transported by means of the transport vehicle 9 to the second service location 101b and transferred onto it so as to provide the first stack loading aid 100a (or second stack loading aid 100b) at the service location 101b, it is transferred from the second service location 101b onto the transport vehicle 9 so as to transport the first stack loading aid 100a (or second stack loading aid 100b) away from the service location 101b.
It also proves advantageous if the unloading station has at least one separate buffer surface 104a for the transport loading aid 7b, 7c and at least one separate buffer surface 104b for the first stack loading aid 100a (or second stack loading aid 100b) near the unloading device 100 or near each unloading device 100. In the depicted embodiment, the unloading device 100 is assigned one buffer surface 104a per service location 101a or one buffer surface 104b per service location 101b. However, in principle, the unloading station may also comprise only one buffer surface 104a or buffer surface 104b. The buffer surface 104a, 104b is preferably formed on a base of the picking warehouse 1. This way, it is possible that the loaded transport loading aid(s) 7b, 7c and the first stack loading aid 100a (the second stack loading aid 100b) are buffered on the buffer surface 104a, 104b, near the unloading device(s) 100, and are transported as needed to the respective service location 101a, 101b of the unloading device(s) 100 over a short distance by means of the transport vehicles 9.
According to the depicted embodiment, the first service location 101a is formed on a lifting platform 105a, on which the transport loading aid 7b, 7c is placed and the article carrier stack group 8a, 8b, 8c can be lifted to a service level in order to make ergonomic working possible, and the second service location 101b is formed on a lifting platform 105b, on which the first stack loading aid 100a (or second stack loading aid 100b) can be placed and the target loading aid 70, 170 (of the target loading aid 70, 170 is not loaded yet) or an order stack 106 (if the target loading aid 70, 170 has already been loaded by means of one or multiple automatically operated loading device(s) 11) can be lifted to a service level in order to make ergonomic working possible.
It should be noted at this point that irrespectively of how the unloading device 11, 100 is embodied, it can be advantageous if the service location 71a, 71b, 101a can also comprise the tilting and back tilting device 52 described above, by which the transport loading aid 7a, 7b, 7c can be tilted such prior to its unloading that the base wall part 171 is moved into an essentially horizontal transport plane (take-over plane). Such an embodiment can be applied if the transport loading aid 7b, 7c is embodied according to
Likewise, it can be advantageous if the service location 91a, 91b, 101b can also comprise the tilting and back tilting device 52 described above, by which the first target loading aid 70 or the second target loading aid 170 (and/or the first stack loading aid 100a or the second stack loading aid 100b) can be tilted such prior to their loading that the base wall part 206 is moved into an essentially horizontal transport plane (take-over plane).
Such an embodiment can be applied if the first target loading aid 70 or the second target loading aid 170 is embodied according to
The lading device(s) 110 each comprise a service location 111 for an empty first stack loading aid 100a and a transfer device 112 for loading the stack loading aid 100a provided on the service location 111, which transfer device 172 is movable relative to the service location 111.
It also proves advantageous if the lading station has at least one separate buffer surface 113 near the lading device 110 or near each lading device 110. In the depicted embodiment, the lading device 110 is assigned one buffer surface 113 per service location 111. However, in principle, the lading station may also comprise only one buffer surface 113. The buffer surface 113 is preferably formed on a base of the picking warehouse 1.
An empty first stack loading aid 100a is transported to the lading station by means of an autonomously movable, driverless transport vehicle 9 and provided at the lading device 110 or on a buffer surface 113. After being laded by means of a target loading aid 70, the stack loading aid 100a is transported from the lading station, in particular from the lading device 110, to the unloading station by means of an autonomously movable, driverless transport vehicle 9.
The load securing device(s) 120 each comprise a service location 122 for a loaded first stack loading aid 100a (or a loaded second stack loading aid 100b), a target loading aid lifting device and a securing means wrapping tool or a securing means strapping tool. The target loading aid lifting device comprises a vertically adjustable lift frame 123 and telescopic forks 124 mounted thereon, the latter being movable between a retracted initial position and a protruding receiving position.
It should be noted that in the receiving position, the telescopic forks 124, on the one hand, receive a target loading aid 70 together with the order stack 106 if no stack loading aids are used, or, if the first stack loading aid 100a is used (with additional target loading aid 70), and on the other hand, only the order stack 106 if the second stack loading aid 100b is used (without additional target loading aid 70), wherein the target loading aid 70 together with the order stack 106 or the order stack 106 may be lifted/lowered with a lifting movement of the lift frame 123.
It also proves advantageous if the order stack load securing station has at least one separate buffer surface 125 near the load securing device 120 or near each load securing device 120. In the depicted embodiment, the load securing device 120 is assigned one buffer surface 125 per service location 122. However, in principle, the order stack load securing station may also comprise only one buffer surface 125. The buffer surface 125 is preferably formed on a base of the picking warehouse 1.
According to the embodiment shown, the load securing device 120 comprises a wrapping tool, which wraps a thermoplastic film in a force-fit manner in the circumferential direction around the order stack 106 while the order stack 106 is lifted from the first stack loading aid 100a or the second stack loading aid 100b by means of the target loading aid lifting device. The thermoplastic film constitutes the securing means 121.
In the alternative, a strapping tool may also be used in the load securing device 120, which is configured to fasten at least one sealing strap in a substantially horizontal direction circumferentially at the order stack 106 while the order stack 106 is in the load securing device 120. The sealing strap constitutes the securing means 121.
A first stack loading aid 100a loaded with the (finished) order stack 106 (or second stack loading aid 100b) is transported to the order stack load securing station by means of an autonomously movable, driverless transport vehicle 9 and provided at the load securing device 120 or on a buffer surface 125.
After the order stack 106 has been removed from the first stack loading aid 100a, the empty first stack loading aid 100a may be transported by means of an autonomously movable, driverless transport vehicle 9 from the order stack load securing station, in particular from the load securing device 120 to the lading station.
If the stack loading aids comprise the second stack loading aid 100b, after the order stack 106 has been removed from the second stack loading aid 100b, the empty second stack loading aid 100b may be transported by means of an autonomously movable, driverless transport vehicle 9 from the order stack load securing station, in particular from the load securing device 120 to the unloading station.
The control system 16 may comprise said main computer.
The transport vehicle 9 (mobile robot) comprises a chassis 150 with a drive unit and a loading platform 151 arranged on the chassis 150 for picking up/discharging/transporting a mobile (non-stationary) transport loading aid 7a, 7b, 7c and/or a mobile (non-stationary) stack loading aid 100a and/or a mobile (non-stationary) stack loading aid 100b. The drive unit comprises wheels 152, 153 rotatably mounted on the chassis 150, of which at least one of the wheels 152 is coupled with a drive (not depicted) and at least one of the wheels 153 can be steered. It is also possible for both wheels 152 to be coupled with the drive and be driven by it. However, the transport vehicle 9 may also comprise four wheels, of which two wheels can be steered.
According to the shown embodiment, the loading platform 151 is mounted on the chassis 150 so as to be adjustable between an initial position (represented in continuous lines) and a transport position (represented in dashed lines). In the initial position, a transport loading aid 7a, 7b, 7c placed on the base of the picking warehouse 1, in particular on a buffer surface, the storage surface, in the waiting zone or on the service location, or a stack loading aid 100a, 100b placed on the buffer surface or on the service location, can be driven under, in order to receive said transport loading aid 7a, 7b, 7b, or said stack loading aid 100a, 100b, on the loading platform 151. If the loading platform 151 is adjusted out of the initial position in the direction of the transport position, a transport loading aid 7a, 7b, 7b or stack loading aid 100a, 100b placed on the base can be lifted and subsequently transported. In the transport position, the transport loading aid 7a, 7b, 7b or stack loading aid 100a, 100b is lifted off the base of the picking warehouse 1 and it can be transported between the delivery zone 4, storage zone 5 and the order processing zone 6. If the loading platform 151 is adjusted out of the transport position in the direction of the initial position, the transport loading aid 7a, 7b, 7b or stack loading aid 100a, 100b can be placed on the base.
The transport vehicle 9 further comprises a drive control 154, represented schematically in dashed lines, for receiving commands from the superordinate main computer and for controlling/regulating the movements of the autonomous transport vehicle 9. The drive control 154 may also comprise means for (wirelessly) transfer data to and from the transport vehicle 9. Finally, the transport vehicle 9 comprises sensors, which are not shown, for detecting the environment of the autonomous transport vehicle 9 and for spatial orientation. The drive of the drive unit and the sensors are connected to the drive control 154.
Specifically, the transport vehicle 90 comprises the loading platform 151 described above and side walls arranged adjacent thereto. The side walls form the transport safeguard 160 and comprise a first side wall 161a and a second side wall 161b. Preferably, the transport safeguard 160 comprises merely the first side wall 161a and the second side wall 161b. The first side wall 161a and the second side wall 161b enclose an angle, in particular a right angle.
According to a first embodiment shown in
According to an embodiment which is not shown, the first side wall 161a and the second side wall 161b can each vertically project from a loading plane receiving the loading platform 151 at an angle greater than 90°. Such an embodiment can be advantageous if the transport loading aid (without side walls) or the stack loading aid (without side walls) have a base wall part which extends inclined downwardly by a first inclination angle (α1) with respect to a horizontal plane (i.e. loading plane) in the direction towards the first side wall 161a as well as inclined downwardly by a second inclination angle (α2) with respect to a horizontal plane (i.e. loading plane) in the direction towards the second side wall 161b. As soon as the transport loading aid (without side walls) or the stack loading aid (without side walls) was received on the loading platform 151, the first side wall 161a and the second side wall 161b are each oriented perpendicularly to the base wall part.
The transport loading aid 7a, 7b, 7c comprises a transport rack and a base, wherein the transport rack forms a transport frame 172, against which the loading platform 151 of the transport vehicle 9 can be placed, and wherein the base forms a base wall part 171 on which the article carrier stack group 8a, 8b, 8c (with or without delivery load carrier 17a, 17b, 17c) can be placed.
According to the embodiment shown, the transport loading aid 7a, 7b, 7c additionally comprises side walls which form a transport safeguard 174 for stabilizing the position of the article carrier stack group 8a, 8b, 8c when it is placed on the base wall part 171, and comprise a first side wall 173a and a second side wall 173b. The first side wall 173a and second side wall 173b are connected to the base wall part 171. Preferably, the transport safeguard 174 comprises merely the first side wall 173a and the second side wall 173b. Preferably, the first side wall 173a and second side wall 173b enclose an angle, in particular a right angle.
Additionally, the transport loading aid 7a, 7b, 7c may comprise feet 175 which are affixed to the transport rack. The transport loading aid 7a, 7b, 7c is placed on the base or a conveying system (as will be described below) of the picking warehouse 1 via the feet 175. In an embodiment that is not shown, wheels instead of feet 175 may also be provided on the transport rack.
It can prove advantageous if the base wall part 171 is both inclined downwardly at a first inclination angle (α1) with respect to a horizontal plane spanned between the first side wall 173a and the second side wall 173b in the direction towards the first side wall 173a, and inclined downwardly at a second inclination angle (α2) with respect to a horizontal plane spanned between the first side wall 173a and the second side wall 173b in the direction towards the second side wall 173b. The first side wall 173a and second side wall 173b are oriented perpendicularly to the base wall part 171. The inclination angles α1, α2 preferably each amount to between 3° and 6°.
The base wall part 171 is preferably adapted in base area to the dimensions of the article carrier stack group 8a, 8b, 8c and/or the delivery load carriers 17a, 17b, 17c described above. To increase flexibility in the use of the transport loading aid 7a, 7b, 7c, the base surface can be adapted to the dimension of the largest article carrier stack group 8a, 8b, 8c and/or of the largest delivery load carrier 17a, 17b, 17c. However, the transport loading aid 7a, 7b, 7c, can also be adapted to the dimension of one single article carrier stack group 8a, 8b, 8c and/or of one single delivery load carrier 17a, 17b, 17c.
The transport loading aid 7a, 7b, 7c comprises a transport rack and a base, wherein the transport rack forms a transport frame 172, against which the loading platform 151 of the transport vehicle 9 can be placed, and wherein the base forms a base wall part 171 on which the article carrier stack group 8a, 8b, 8c (with or without delivery load carrier 17a, 17b, 17c) can be placed.
According to the embodiment shown, the transport loading aid 7a, 7b, 7c additionally comprises side walls which form a transport safeguard 174 for stabilizing the position of the article carrier stack group 8a, 8b, 8c when it is placed on the base wall part 171, and comprise a first side wall 173a and a second side wall 173b. The first side wall 173a and second side wall 173b are connected to the base wall part 171. Preferably, the transport safeguard 174 comprises merely the first side wall 173a and the second side wall 173b. Preferably, the first side wall 173a and second side wall 173b enclose an angle, in particular a right angle.
Additionally, the transport loading aid 7a, 7b, 7c may comprise feet 175 which are affixed to the transport rack. The transport loading aid 7a, 7b, 7c is placed on the base of the picking warehouse 1 via the feet 175. In an embodiment that is not shown, wheels instead of feet 175 may also be provided on the transport rack.
However, as opposed to the first embodiment, the base wall part 171, which was described in further detail above, is oriented horizontally and extends in a horizontal plane spanned between the first side wall 173a and the second side wall 173b. The first side wall 173a and the second side wall 173b are oriented perpendicularly to the base wall part 171 and connected to the base wall part 171.
The transport loading aid 7d comprises a transport rack and a base, wherein the transport rack forms a transport frame 172, against which the loading platform 151 of the transport vehicle 9 can be placed, and wherein the base forms a base wall part 171 on which the article carrier stack group 8a, 8b, 8c (with or without delivery load carrier 17a, 17b, 17c) can be placed. According to the embodiment shown, the transport loading aid 7d comprises no additional side walls; these are provided by the transport vehicle 90, as is described above in
Additionally, the transport loading aid 7d may comprise feet 175 which are affixed to the transport rack. The transport loading aid 7d is placed on the base or a conveying system (as will be described below) of the picking warehouse 1 via the feet 175. In an embodiment that is not shown, wheels instead of feet 175 may also be provided on the transport rack.
In the embodiment shown, the base wall part 171, which was described in further detail above, is oriented horizontally, although it is also possible that said base wall part 171 extends both inclined downwardly by a first inclination angle (α1) with respect to a horizontal plane in the direction of a first longitudinal edge 176a of said base wall part 171 and inclined downwardly by a second inclination angle (α2) with respect to a horizontal plane in the direction of a second longitudinal edge 176b of said base wall part 171, as indicated in dashed lines in
The first stack loading aid 100a comprises a transport rack and a base, wherein the transport rack forms a transport frame 205, against which the loading platform 151 of the transport vehicle 9 can be placed, and wherein the base forms a base wall part 206 on which the target loading aid 70 with the order stack 106 can be placed.
According to the embodiment shown, the first stack loading aid 100a additionally comprises side walls which form a transport safeguard 207 for stabilizing the position of the order stack 106 when it is placed on the base wall part 206, and comprise a first side wall 208a and a second side wall 208b. The first side wall 208a and second side wall 208b project from the base wall part 171. Preferably, the transport safeguard 207 comprises merely the first side wall 208a and the second side wall 208b. Preferably, the first side wall 208a and second side wall 208b enclose an angle, in particular a right angle.
Additionally, the first stack loading aid 100a may comprise feet 209 which are affixed to the transport rack. The first stack loading aid 100a is placed on the base of the picking warehouse 1 via the feet 209. In an embodiment that is not shown, wheels instead of feet 209 may also be provided on the transport rack.
It can prove advantageous, as shown in
The base wall part 171 is preferably adapted in base area to the dimensions of the target loading aids 70, in particular a pallet, for example a Euro pallet, industrial pallet or Düsseldorfer pallet. To increase the flexibility in use of the first stack loading aid 100a, the base area can be adapted to the dimension of the largest target loading aid 70. However, the first stack loading aid 100a can also be adapted to the dimension of a single target loading aid 70.
According to the embodiment shown in
According to the embodiment shown, the first stack loading aid 100a additionally comprises side walls which form a transport safeguard 207 for stabilizing the position of the order stack 106 when it is placed on the base wall part 206, and comprise a first side wall 208a and a second side wall 208b. Preferably, the transport safeguard 207 comprises merely the first side wall 208a and the second side wall 208b. Preferably, the first side wall 208a and second side wall 208b enclose an angle, in particular a right angle.
The first stack loading aid 100a comprises a transport rack and a base, wherein the transport rack forms a transport frame 205, against which the loading platform 151 of the transport vehicle 9 can be placed, and wherein the base forms a base wall part 206 on which the order stack 106 with the target loading aid 70 can be placed. According to the embodiment shown, the first stack loading aid 100a comprises no additional side walls; these are provided by the transport vehicle 90, as is described above in
Additionally, the first stack loading aid 100a may comprise feet 209 which are affixed to the transport rack. The first stack loading aid 100a is placed on the base or a conveying system (as will be described below) of the picking warehouse 1 via the feet 209. In an embodiment that is not shown, wheels instead of feet 209 may also be provided on the transport rack.
According to this embodiment, the base wall part 206 is oriented horizontally, although it is also possible that said base wall part 206 extends both inclined downwardly by a first inclination angle (α1) with respect to a horizontal plane in the direction of a first longitudinal edge 210a of said base wall part 206 and inclined downwardly by a second inclination angle (α2) with respect to a horizontal plane in the direction of a second longitudinal edge 210b of said base wall part 206, as indicated in dashed lines in
The second stack loading aid 100b can be embodied according to the embodiments of the first stack loading aid 100a according to
Even if merely the first side wall 173a, 208a and the second side wall 173b, 208b are provided, a sufficient stabilization of the position and a secure transport of the article carrier stack group 8a, 8b, 8c are allowed for with the transport loading aid 7a, 7b, 7c and/or a sufficient stabilization of the position and a secure transport of the order stack 106 are allowed for with the first stack loading aid 100a and the second stack loading aid 100b. It is also advantageous that a gripping system can grip the article carriers 3 on the transport loading aid 7a, 7b, 7c from two sides at the unloading device 11, which significantly facilitates the unloading operation. It is also advantageous that the load securing device 120 may be operated with high performance as the first/second stack loading aid 100a, 100b may already be transported away from the load securing device 120 as soon as the target loading aid 70 with the order stack 106 has been slightly lifted from the base wall part 206 of the first stack loading aid 100a, or the order stack 106 has been slightly lifted from the base wall part 206 of the second stack loading aid 100b. Therefore, it is not necessary to lift the order stack 106 completely and over the entire height of the first/second stack loading aid 100a, 100b before the first/second stack loading aid 100a, 100b may be transported away.
As schematically shown merely in
It can also prove advantageous if the picking warehouse 1 comprises a device for detecting data relating to the article carrier stack group 8a, 8b, 8c and/or detecting data relating to the article carrier 3 and/or detecting data relating to the article 2 in the article carrier 3. According to the embodiment shown, it can be provided in the delivery zone 4, in particular the checking station, for example the one or multiple testing device(s) 20, and/or in particular the loading station, for example the one or multiple loading device(s) 10. In
However, such a device for detecting data relating to the article carrier stack group 8a, 8b, 8c and/or detecting data relating to the article carrier 3 and/or detecting data relating to the article 2 in the article carrier 3 can also be provided in the order processing zone 6, in particular the unloading station, for example the one or multiple automatically operated unloading device(s) 11 or the one and/or multiple partially automated unloading device(s) 11. In
The device for detecting data can comprise a camera system with one or multiple cameras or one or multiple barcode readers.
The device for detecting data is connected to the control system 16 via a data line, in order to transmit the data relating to the article carrier stack group 8a, 8b, 8c and/or the data relating to the article carrier 3 and/or the data relating to the article 2 in the article carrier 3 to it.
The control system 16 comprises a control logic by which the data relating to the article carrier stack group 8a, 8b, 8c and/or the data relating to the article carrier 3 and/or the data relating to the article 2 in the article carrier 3 are processed and control commands are generated, by means of which the unloading device(s) 11 is (are) controlled, and/or transport commands are generated, by means of which the autonomously movable, driverless transport vehicle(s) 9; 90 is (are) controlled. Specifically, a transfer device 72 (gripping unit) of the unloading device(s) 11 can be controlled and/or a drive unit of the transport vehicles 9; 90 can be controlled.
Based on this data, transport commands can be generated by means of which the autonomously movable, driverless transport vehicle(s) 9; 90 is (are) controlled. For example, a transport vehicle 9; 90 can receive a transport command by which an article carrier stack group 8a, 8b, 8c containing damaged articles 2 is transported to a clearing place (preferably in the checking station) to remove the article carriers 3 with the damaged articles 2 there (if this was not already done at the testing device).
Below, the method for storing and picking article carriers 3 that contain articles 2 and are stackable in the picking warehouse 1 will be described.
The method comprises the steps:
Providing autonomously movable, driverless transport vehicles 9; 90 according to step i) may comprise providing transport vehicles 9; 90, which are used exclusively for transporting the transport loading aid(s) 7a, 7b, 7c, 7d between the delivery zone 4 (loading station) and the storage zone 5, and may comprise providing transport vehicles 9; 90, which are used exclusively for transporting the transport loading aid (s) 7a, 7b, 7c, 7d between the storage zone 5 and the order processing zone 6 (removal station—automatically operated unloading device 11 and/or partially automated unloading device 100).
The provision of autonomously movable, driverless transport vehicles 9; 90 according to step i) may comprise the provision of transport vehicles 9; 90, which are used in the removal station and merely for transporting the first stack loading aid(s) 100a and/or second stack loading aid(s) 100b between the automatically operated unloading device 11 and the partially automated unloading device 100.
Likewise, however, step i) may also comprise the provision of transport vehicles 9; 90 which are used for transporting the transport loading aid(s) 7a, 7b, 7c, 7d between the delivery zone 4 (loading station) and the storage zone 5 and transporting the transport loading aid(s) 7a, 7b, 7c, 7d between the storage zone 5 and the order processing zone (removal station), as well as for transporting the first stack loading aid(s) 100a and/or the second stack loading aid(s) 100b between the automatically operated unloading device 11 and the partially automated unloading device 100.
Providing mobile transport loading mobile aids 7a, 7b, 7c, 7d according to step ii) may comprise providing structurally identical transport loading aids 7a, 7b, 7c, 7d or structurally different transport loading aids 7a, 7b, 7c, 7d.
According to a first embodiment, the provision of a transport safeguard 160 according to step iii) may comprise the provision of a transport safeguard 160 on at least some or all of the autonomously movable, driverless transport vehicles 90. According to a second embodiment, the provision of a transport safeguard 174 according to step iii) may comprise the provision of a transport safeguard 174 on at least some or all of the mobile transport loading aids 7a, 7b, 7c. According to both embodiments, the transport safeguard 160, 174 serves for stabilizing the position of an article carrier stack group 8a, 8b, 8c when it is received on a base wall part 171 of the mobile transport loading aid 7b, 7c, 7d and the mobile transport loading aid 7b, 7c, 7d is transported or unloaded.
In the present context, “stabilizing the position of an article carrier stack group” according to steps iii), vii) and x) means that lateral slipping of individual article carriers 3 in the article carrier stack group 8a, 8b, 8c or lateral slipping of the article carrier stack group 8a, 8b, 8c in relation to the transport loading aids 7b, 7c, 7d is prevented or at least limited by the transport safeguard 160, 174.
When the article carriers 3 of the article carrier stack group 8a, 8b, 8c are supported against the transport safeguard 160, 174, for example against side walls of the transport safeguard 160, 174, lateral slipping of individual article carriers 3 in the article carrier stack group 8a, 8b, 8c or lateral slipping of the article carrier stack group 8a, 8b, 8c in relation to the transport loading aid 7b, 7c, 7d is prevented from the outset. The article carrier stack group 8a, 8b, 8c can be reliably transported by the transport safeguard 160, 174 even if the mobile transport loading aid 7b, 7c, 7d is moved highly dynamically with the transport vehicle 9; 90.
Moreover, a stabilization of the position of the article carrier stack group 8a, 8b, 8c by the transport safeguard 160; 174 can also be provided during storage of the loaded transport loading aid 7b, 7c, 7d. This applies in particular if the transport safeguard 174 is formed on the mobile transport loading aid 7b, 7c.
The mobile transport loading aids 7b, 7c, 7d can also be unloaded reliably (automatically) at the unloading device 11. During the unloading operation of individual article carriers 3 or an article carrier stack, the transport safeguard 160; 174 prevents or at least limits lateral slipping of individual article carriers 3 in the article carrier stack group 8a, 8b, 8c or lateral slipping of the article carrier stack group 8a, 8b, 8c in relation to the transport loading aids 7b, 7c, 7d.
Although this is not at all obligatory, it can prove advantageous if the mobile transport loading aids 7b, 7c, 7d are loaded such that individual article carriers 3 or the article carrier stack group 8a, 8b, 8c are supported against the transport safeguard 160, 174, for example against the side walls 161a, 161b of the transport vehicle 90 or the side walls 173a, 173b of the mobile transport loading aids 7b, 7c, 7d.
Step iv) may, firstly, comprise the provision of article carrier stack groups 8a, 8b, 8c with a delivery load carrier 17a, 17b, 17c or the provision of article carrier stack groups 8a, 8b, 8c without a delivery load carrier 17a, 17b, 17c. The delivery load carrier 17a, 17b, 17c is predominantly a plate.
For example, the article carriers 3 may carry fruit or vegetables, wherein, for example, a first article carrier stack group 8a, 8b, 8c contains a first type of vegetable and a second article carrier stack group 10 contains a second type of vegetable.
Step v) may comprise transporting empty transport loading aids 7a by means of the autonomously movable, driverless transport vehicles 9; 90 to a loading station and directly providing (an) empty loading aid(s) 7a on one or multiple automatically operated loading device(s) 10.
However, step v) may also comprise transporting empty transport loading aids 7a by means of the autonomously movable, driverless transport vehicles 9; 90 to a loading station onto a buffer surface 43 close to the loading device(s) 10 and transporting said empty transport loading aid(s) 7a by means of the autonomously movable, driverless transport vehicles 9; 90 to the loading device(s) 10 and providing said empty transport loading aid(s) 7a on one or multiple automatically operated loading device(s) 10.
Providing an empty transport loading aid 7a on one or multiple automatically operated loading device(s) 10 according to step v) may comprise the following steps:
Loading the empty transport loading aids 7a according to step vi) may comprise loading one of the empty transport loading aids 7a with a (single) article carrier stack group 8a, 8b, 8c. The article carrier stack group 8a, 8b, 8c is fed to the loading station essentially unchanged. In this context, “essentially unchanged” means that no separation of the article carrier stack group 8a, 8b, 8c into article carrier stack or individual article carriers (depalletizing operation) is carried out before loading an empty transport loading aid 7a. “Essentially unchanged” also means that prior to loading an empty transport loading aid 7a a removal of a packaging film (stretch film or shrink film) and/or checking quality features in the manner described above is possible, even if individual article carriers 23 (for example with damaged articles) are removed from the article carrier stack group 8a, 8b, 8c in the course of the quality check.
Step ix) may comprise the storage of transport loading aids 7b which are loaded with an unchanged (complete) article carrier stack group 8a, 8b, 8c after loading at the loading station, and/or comprise transport loading aids 7c which are loaded with an unchanged (complete) article carrier stack group 8a, 8b, 8c after processing of a picking order.
Step x) may comprise transporting loaded transport loading aids 7b, 7c by means of the autonomously movable, driverless transport vehicles 9; 90 from the storage zone 5 (but possibly also from the loading station in the delivery zone 4) to an unloading station and directly providing (a) loaded loading aid(s) 7b, 7c on one or multiple automatically operated unloading device(s) 11.
However, step x) may also comprise transporting loaded transport loading aids 7b, 7c by means of the autonomously movable, driverless transport vehicles 9; 90 from the storage zone 5 (but possibly also from the loading station in the delivery zone 4) to an unloading station onto a buffer surface 73 close to the unloading device(s) 11 and transporting said loaded transport loading aid(s) 7b, 7c by means of the autonomously movable, driverless transport vehicles 9; 90 from the buffer surface 73 to the unloading device(s) 11 and providing said loaded transport loading aid(s) 7b, 7c on one or multiple unloading device(s) 11.
The transport vehicles 9; 90 may also be controlled by the main computer such that they arrive at the unloading station in an order provided by the packing order of the article carriers 3 at the target loading aid 70, 170. Thus, a sequencing of the transport loading aids 7b, 7b is achieved.
Providing a loaded transport loading aid (s) 7b, 7c on one or multiple automatically operated unloading device(s) 11 according to step x) may comprise the following steps:
The transport of loaded transport loading aids 7b, 7c in step x) comprises stabilizing the position of the article carrier stack group 8a, 8b, 8c by the transport safeguard 160; 174 during the transport movement, as described above.
The unloading operation of one or multiple loaded transport loading aids 7b, 7c in step x) may comprise stabilizing the position of the article carrier stack group 8a, 8b, 8c by the transport safeguard (160; 174) during the unloading movement. This may be the case if the gripping system carried out unloading movements, which were initially accordingly programmed, in the direction towards the transport safeguard 164, 170, to move at first one or at the same time multiple article carriers 3 against the transport safeguard 164, 170 and to thus enable a safe reception of one or at the same time multiple article carrier(s) 3. Such an automatic unloading operation may, for example, be applied in case of article carriers 3 that are difficult to grip. However, this is not to be understood as obligatory, but rather the unloading operation can also be embodied in such a way that the gripping system carries out unloading movements, which were initially accordingly programmed, in the opposite direction to the direction of the transport safeguard 164, 170 in order to enable rapid pick-up of one or at the same time multiple article carrier(s) 3. Such an unloading operation may, for example, be applied in case of article carriers 3 that are simple to grip.
The method for storing and picking articles 2 can comprise the following steps:
If the article carrier stack groups 8a, 8b, 8c are provided on delivery load carriers 17a, 17b, 17c in the delivery zone 4, these are transferred to empty transport loading aids 7a essentially “unchanged” in the manner described above, i.e. the article carrier stack group 8a, 8b, 8c is transferred with a delivery load carrier 17a, 17b, 17c onto an empty transport loading aid 7a by the loading device 10.
The method for storing and picking articles 2 can comprise the following steps:
According to this embodiment, the one or multiple automatically operated unloading device(s) 11 at the same time forms one or multiple reloading device(s) and/or picking device(s) for assembling the article carriers 3 for a picking order. The article carrier stack comprises multiple article carriers 3 arranged on top of one another.
The method for storing and picking articles 2 can additionally comprise one of the steps x):
In the present context, “stabilizing the position of an “opened” article carrier stack group according to step x) means that lateral slipping of individual article carriers 3 in the “opened” article carrier stack group 8a, 8b, 8c or lateral slipping of the “opened” article carrier stack group 8a, 8b, 8c in relation to the transport loading aids 7b, 7c is prevented or at least limited by the transport safeguard 160, 174. The “opened” article carrier stack group 8a, 8b, 8c can be reliably transported by the transport safeguard 160, 174 even if the mobile transport loading aid 7b, 7c is moved highly dynamically with the transport vehicle 9; 90.
In the present context, an “opened” article carrier stack group 8a, 8b, 8c means that at least one article carrier 3 was removed from the article carrier stack group 8a, 8b, 8c which was “provided unchanged”. Accordingly, the article carrier stack group 8a, 8b, 8c was changed (in terms of the number of article carriers).
As indicated merely in
The method for storing and picking articles 2 can additionally comprise the following steps:
The method described above for storing and picking articles 2 in the picking warehouse 1 may additionally comprise the following steps:
Providing the stack loading aids in the picking warehouse 1 may comprise providing one or multiple first stack loading aid(s) 100a and/or one or multiple second stack loading aid(s) 100b. The first stack loading aid 100a and the second stack loading aid 100b each comprise a base wall part 206 and side walls 208a, 208b projecting therefrom.
On the one hand, the side walls 208a, 208b form the transport safeguard 207 for stabilizing the position of an order stack 106 when it is received, with the target loading aid 70, on the base wall part 206 of the first stack loading aid 100a.
On the one hand, the side walls 208a, 208b form the transport safeguard 207 for stabilizing the position of an order stack 106 when it is received on the base wall part 206 of the second stack loading aid 100b.
However, in principle, it would also be conceivable that the first stack loading aid(s) 100a and/or second stack loading aid(s) 100b are formed without the side walls 208a, 208b described above. In this case, the transport safeguard 207 for stabilizing the position of an order stack 106, when it is received by the first stack loading aid 100a or the second stack loading aid 100b, in particular on the base wall part 206, is formed by the transport vehicle(s) 90 described above in
In the present context, “stabilizing the position of an order stack” means that lateral slipping of individual article carriers 3 in the order stack 106 or lateral slipping of the order stack 106 in relation to the stack loading aid 100a, 100b is prevented or at least limited by the transport safeguard 207.
The order stack 106 can be reliably transported by the transport safeguard 207 even if the mobile stack loading aid 100a, 100b is moved highly dynamically with the transport vehicle 9; 90.
The mobile stack loading aids 100a, 100b can also be loaded with article carriers 3 reliably (automatically) at the unloading device 11. During the loading operation (picking operation), lateral slipping of individual article carriers 3 in the order stack 106 or lateral slipping of the order stack 106 in relation to the stack loading aid 100a, 100b is prevented or at least limited by the transport safeguard 207.
Although this is not at all obligatory, it can prove advantageous if the mobile stack loading aids 100a, 100b are loaded such that individual article carriers 3 or the order stack 106 are supported against the transport safeguard 207, for example against the side walls 161a, 161b of the transport vehicle 90 or the side walls 208a, 208b of the mobile stack loading aids 100a, 100b.
If the first stack loading aids 100a are used in the picking warehouse 1, the method may additionally comprise the following steps:
If the second stack loading aids 100b are used in the picking warehouse 1, the method may additionally comprise the following steps:
If the first stack loading aids 100a and the second stack loading aids 100b are used in the picking warehouse 1, the method may additionally comprise the following steps:
The method for storing and picking articles 2 can additionally comprise the following steps:
The method for storing and picking articles 2 described above may additionally comprise the following steps for processing a picking order at one or multiple partially automated unloading device(s) 100:
In the present context, “stabilizing the position of an article carrier stack group” means that lateral slipping of individual article carriers 3 in the article carrier stack group 8a, 8b, 8c or lateral slipping of the article carrier stack group 8a, 8b, 8c in relation to the transport loading aids 7b, 7c is prevented or at least limited by the transport safeguard 160, 174. The article carrier stack group 8a, 8b, 8c can be reliably transported by the transport safeguard 160, 174 even if the mobile transport loading aid 7b, 7c is moved highly dynamically with the transport vehicle 9; 90, as described above.
The mobile transport loading aids 7b, 7c can also be unloaded reliably (manually) at the unloading device 100. If a stabilization of the position of the article carrier stack group 8a, 8b, 8c during the unloading movement of individual article carriers 3 or an article carrier stack is provided, the transport safeguard 160; 174 can prevent or at least limit lateral slipping of individual article carriers 3 in the article carrier stack group 8a, 8b, 8c or lateral slipping of the article carrier stack group 8a, 8b, 8c in relation to the transport loading aids 7b, 7c.
This can prove advantageous if the warehouse worker moves one or multiple article carriers 3 at the same time initially against the transport safeguard 164, 170, thereby enabling safe pick-up of one or multiple article carrier(s) 3 at the same time. Such a manual unloading operation may, for example, be applied in case of article carriers 3 that are difficult to grip. However, this is not to be understood as obligatory, but rather the unloading operation can also be embodied in such a way that the warehouse worker initially performs an unloading movement in the opposite direction to the direction of the transport safeguard 164, 170 in order to enable rapid pick-up of one or at the same time multiple article carrier(s) 3. Such an unloading operation may, for example, be applied in case of article carriers 3 that are simple to grip.
Likewise, the aforementioned advantages for “stabilizing the position of an order stack” at the automatically operated loading device(s) 11 also apply to the use of the mobile stack loading aids 100a, 100b at the partially automated loading device 100.
Providing loaded transport loading aid(s) 7b, 7c at one or multiple partially automated unloading device(s) 100 may comprise the following steps:
The method for storing and picking articles 2 may additionally comprise the following steps for processing a picking order at one or multiple partially automated unloading device(s) 100:
The method for storing and picking articles 2 may additionally comprise the following steps for processing a picking order at one or multiple partially automated unloading device(s) 100:
The method for storing and picking articles 2 may additionally comprise the following steps for processing a picking order at one or multiple partially automated unloading device(s) 100:
The method for storing and picking articles 2 can additionally comprise the following steps:
According to the first embodiment, the target loading aid 70 with the order stack 106 is lifted relative to the first stack loading aid 100a, and the order stack 106 lifted from the first stack loading aid 100a is simultaneously wrapped with the securing means 121 for stabilization. Subsequently, the secured order stack 106 is lowered again by means of the lifting device and transferred to a stationary conveying system (not shown) or to an autonomously movable, driverless transport vehicle 9; 90. The order stack 106 now secured may be transported from the load securing station to a distribution zone (consolidation area or goods-out point). In this case, the target loading aid 70 forms the distribution load carrier.
According to the second embodiment, the order stack 106 is lifted relative to the second stack loading aid 100b, and the order stack 106 lifted from the second stack loading aid 100b is simultaneously wrapped with the securing means 121 for stabilization. Subsequently, the secured order stack 106 is lowered again by means of the lifting device and transferred to a distribution load carrier, preferably a roll container, a pallet and the like. The distribution load carrier is transported by means of a stationary conveying system (not shown) or an autonomously movable, driverless transport vehicle 9; 90 from the load securing station to a distribution zone (consolidation area or goods-out point).
Transporting the unloaded stack loading aids 100a, 100b by means of the autonomously movable, driverless transport vehicles 9; 90 may comprise the following steps:
The method for storing and picking articles 2 in the picking warehouse 1 can additionally comprise the following steps:
It should also be noted that the service locations 41, 71a, 71b, 101a may also be formed on an automatically operated stationary conveying system for transporting the transport loading aids 7a, 7b, 7c to the service location 41, 71a, 71b, 101a and transporting the transport loading aids 7a, 7b, 7c away from the service location 41, 71a, 71b, 101a, wherein transport sections of this stationary conveying system form the service locations 41, 71a, 71b, 101a for the provision of the transport loading aids 7a, 7b, 7c. Additionally, this stationary conveying system can form a take-over location and a transfer location in a transport section.
Below, this will be described using an example in which a transport loading aid 7a, 7b, 7c is to be provided at an automatically operated unloading device 11.
One of the autonomously movable, driverless transport vehicles 9 transports a transport loading aid 7b, 7c to the stationary conveying system, where, then, the transfer of the transport loading aid 7b, 7c from the transport vehicle 9 to the take-over location is carried out. Then, the transport loading aid 7b, 7c is transported from the take-over location to the service location 71a, 71b. After removal of the article carriers 3 from the transport loading aid 7b, 7c, when it is provided at the unloading device 11, in particular on a service location 71a, 71b, the transport loading aid 7b, 7c is transported from the service location 71a, 71b to the transfer location, where, then, the transfer of the transport loading aid 7b, 7c from the transfer location onto the transport vehicle 9 is carried out.
Likewise, a transport loading aid 7a, 7b, 7c can be provided at a partially automated unloading device 100.
Likewise, service locations 91a, 91b, 101b, 111, 122 may also be formed on an automatically operated stationary conveying system for transporting the stack loading aids 100a, 100b to the service location 91a, 91b, 101b, 111, 122 and transporting the stack loading aids 100a, 100b away from the service location 91a, 91b, 101b, 111, 122, wherein transport sections of this stationary conveying system form the service locations 91a, 91b, 101b, 111, 122 for the provision of the stack loading aids 100a, 100b. Additionally, this stationary conveying system can form a take-over location and a transfer location in a transport section.
Below, this will be described using an example in which a stack loading aid 100a, 100b is to be provided at an automatically operated unloading device 11.
One of the autonomously movable, driverless transport vehicles 9 transports a stack loading aid 100a, 100b to the stationary conveying system, where, then, the transfer of the stack loading aid 100a, 100b from the transport vehicle 9 to the take-over location is carried out. Then, the stack loading aid 100a, 100b is transported from the take-over location to the service location 91a, 91b. After loading of the stack loading aid 100a, 100b with article carriers 3, when these are provided at the unloading device 100, in particular on a service location 91a, 91b, the stack loading aid 100a, 100b is transported from the service location 91a, 91b to the transfer location, where, then, the transfer of the stack loading aid 100a, 100b from the transfer location onto the transport vehicle 9 is carried out.
Likewise, a stack loading aid 100a, 100b can be provided at a partially automated unloading device 100.
In summary, it can be noted that service locations 41, 71a, 71b, 101a for the transport loading aids 7a, 7b, 7c, 7d and/or the service locations 91a, 91b, 101b, 111, 122 for the stack loading aid 100a, 100b can be formed on the base or on the automatically operated stationary conveying system and are not driven or are driven.
The described picking warehouse and method for storing and picking is particularly suitable for the fresh food sector where perishable articles, such as fruit and vegetables, require a fast turnover of articles and usually only a limited number of different types have to be picked at the same time. The articles 2/article carrier 3 may be handled particularly efficiently with a high picking performance in short periods of time.
Finally, it should also be noted that the scope of protection is determined by the claims. Nevertheless, the description and drawings are to be used for construing the claims. Individual features or feature combinations from the different exemplary embodiments shown and described may represent independent inventive solutions.
In particular, it should also be noted that the devices shown may in reality comprise more or fewer components than those shown. In some cases, the shown devices and/or their components may not be depicted to scale and/or be enlarged and/or reduced in size.
| Number | Date | Country | Kind |
|---|---|---|---|
| A 50035/2020 | Jan 2020 | AT | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/AT2021/060009 | 1/12/2021 | WO |
