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EP2761605A1 - Dispositif de mise en réserve et de sortie entièrement automatique d'une pluralité de produits - Google Patents

Dispositif de mise en réserve et de sortie entièrement automatique d'une pluralité de produits

Info

Publication number
EP2761605A1
EP2761605A1 EP12769013.9A EP12769013A EP2761605A1 EP 2761605 A1 EP2761605 A1 EP 2761605A1 EP 12769013 A EP12769013 A EP 12769013A EP 2761605 A1 EP2761605 A1 EP 2761605A1
Authority
EP
European Patent Office
Prior art keywords
product
handling device
manipulator
storage
compartment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP12769013.9A
Other languages
German (de)
English (en)
Inventor
Michael Wolter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safelog GmbH
Original Assignee
Safelog GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Safelog GmbH filed Critical Safelog GmbH
Publication of EP2761605A1 publication Critical patent/EP2761605A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G07F11/1657—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements using suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area

Definitions

  • the present invention relates to a device for
  • Stocking and fully automatic dispensing of a plurality of different products of substantially parallelepiped geometry e.g. repackaged CD's, DVD's, printer cartridges, books, etc.
  • at least one fixed storage rack for storing the plurality of products
  • at least one selection station for selecting a product to be dispensed from the device at a product delivery point from the plurality of stored products
  • at least one relative to that at least one storage rack movable handling device for removing a selected product from the at least one storage rack and for transporting the product in question to a product delivery point of the device
  • at least one computerized control unit for controlling the device and its components.
  • the present invention relates to a handling device to be used in such a device for removing products from a storage rack.
  • Such devices are, e.g. in type of vending machines, basically known from the prior art, but are usually only for the storage and fully automatic output of a few hundred products. Basically, however, there is a need - e.g. around
  • Goods logistics or in sales shops - for a device of the type mentioned which advantageously at least a thousand, even more preferably even at least ten thousand or more products stored at the same time and can output fully automatically to appropriate request.
  • CONFIRMATION COPY or less complicated - gripper system for receiving a product can only insufficiently handle products of different external dimensions.
  • the products addressed by the present invention are of substantially parallelepipedic geometry, such as e.g. wrapped in plastic or cardboard sleeves CD's, DVD's, Blu-ray Disc's, printer cartridges, books, etc., usually still with the outermost packaging layer forming plastic or cellophane film are easily damaged by gripper systems or equipped with suction cups handling devices can be.
  • a separate is provided to a front side of the storage rack open compartment and that the handling device at least one storage surface for a product to be transported with the handling device and a movable manipulator for interacting with the products, wherein the handling device and the manipulator are configured and movable such that the manipulator with a flat-shaped free end above a product located in a compartment can be moved into, lowered into, and under the relevant compartment
  • simultaneous pressurization of the product from above together with this out of the tray is retractable, so that the product can be pulled by means of the manipulator from the tray on a directly positioned in front of the tray storage area of the handling device.
  • each product to be stored in the at least one storage rack is stored in a separate compartment of the (at least one) storage rack, constitutes a particular advantage of the present invention in conjunction with the inventive design of the handling apparatus and its manipulator
  • the at least one storage shelf of the device according to the invention can be constructed particularly simply by having a plurality of compartments open to a front side of the storage rack for storage of the products, which should advantageously have as smooth a shelf as possible in order to remove the products realized according to the invention to simplify the subject.
  • the individual compartments of the shelf or at least their floors, on which the stored products rest be made of plastic.
  • the term storage surface is to be understood in a broad sense as any device of the handling device, with which a product at least partially supported from below and thus for the purpose the transport can be held on or on the handling device.
  • the device advantageously has at least one drive unit with which the movement sequence of the manipulator required according to the invention is realized.
  • these are two drive units, of which a first drive unit moves the manipulator in a substantially horizontal direction (for extending and retracting the free end of the manipulator into or out of the compartment) and a second drive unit moves at least the free end of the manipulator subjecting a vertical component-containing movement.
  • the entire manipulator (with its free end) can be moved vertically and / or the manipulator subjected to a pivotal movement about a preferably horizontally extending axis of rotation, with which then also lowered the free end of the manipulator within a storage compartment on a lying therein product so that it can be used for the removal of necessary pressure (from above) can be exerted on the product.
  • the inventive device further preferably has at least one, advantageously two further drive units with which the at least one manipulator and the at least one storage surface of the handling device in front of the front of the at least one storage rack is horizontally and vertically movable, so that the (at least one) manipulator and the (At least one) storage surface positionable in front of each compartment of the at least one storage rack is positionable to remove a product from the relevant compartment or to - to transport a product lying on the support surface of the handling device in the relevant storage compartment - with suitable means.
  • the device for this purpose has suitable position determining means with which the exact position of the handling device in front of the at least one storage rack in the required accuracy can be determined.
  • This may advantageously be optical means for determining the position, for example suitable laser distance sensors for determining the horizontal and vertical position of the handling device in front of the storage rack known in its dimensions or in terms of its specific compartmentalization.
  • Manipulator and the (at least one) shelf for a product to be transported along a first horizontally extending Holmes horizontally displaceable and along a second vertically extending Holmes is guided vertically displaceable, it may also be attached to the respective spars a suitable scale on which the Handling device by appropriate (optical) means can determine their exact position in front of the front of the storage rack.
  • barcode strips extending along the respective spars along their length can be mounted, on the basis of which a barcode reader which is suitably aligned and can be moved with the handling device can determine the exact position of the handling device.
  • the manipulator at the bottom of its free end an elastic, in particular
  • the manipulator has a perforated plate on the underside, through whose holes elastic studs of rubber or silicone protrude downwards, wherein these studs are integrally formed in one piece on a silicone layer, which is located above the perforated plate, or in one piece was produced together with this in a casting process. Since the manipulator of a device according to the invention has to carry out a large number of product removal operations over its service life, the last-mentioned variant has proven to be advantageous over a silicon coating on the underside of the manipulator, since an e.g. glued-on silicone layer - after a large number of removal processes - if necessary
  • a total of the manipulator can solve while at a
  • the (at least one) handling device has a plurality of storage surfaces for products, so that a plurality of products can be transported simultaneously by means of the handling device.
  • the manipulator is movable so that a stored on a storage surface of the handling device product can be pushed down with the leading edge of the free end of the manipulator of the shelf to this example in a (immediate) Place the compartment of the at least one storage rack in the storage area or place it in a product discharge shaft leading to the product dispensing point.
  • the manipulator thus serves not only for the removal of products from a compartment of the storage rack, but also as a means for pushing or bringing in a product in a space provided for this purpose of the storage rack.
  • the handling device is, as already described above, in a vertical plane in front of - also vertically oriented - front side of the at least one storage rack horizontally and vertically movably arranged, wherein the storage rack facing front edge of the handling device a distance of advantageous always less than 20 mm, more preferably equal to or less than or equal to 10 mm, so that aforementionedzub istdes from the tray on the storage surface of the handling device or from the storage area in a compartment to be conveyed product between the handling device and the front of the storage rack fall through can.
  • the handling device advantageously has at least one identification means for identifying a product received on a storage surface, in particular at least one optical means, eg, in kind a CCD camera or a bar code reader, or at least one RFID reader for reading out of or attached to the products RFID tags.
  • the arrangement of such identification means on the handling device is of particular advantage, as a result, the number of required for the entire device identification means can be kept as low as possible.
  • Such identification means e.g. a barcode reader
  • control unit proceed as follows:
  • the individual compartments of (at least one) storage rack are manually equipped with the products stored therein, whereupon - in a fully automatic to be performed identification routine - successively each individual compartment the (at least one) storage rack of the
  • the handling device has a plurality of storage surfaces for products, ie, when several products can be transported on corresponding bearing surfaces of the handling device at the same time. Because then, for example, several products from the Nachbe Publishedungs Scheme of the storage rack from the respective compartments can be loaded one after the other on the respective storage surfaces of the handling device and then sorted by the handling device - in another area of at least one storage rack - in free shelves. A - again advantageous to idle times of the device to be carried out - automatic re-sorting of products between different subjects of the storage rack also makes sense, if necessary.
  • control unit of a device according to the invention is thus advantageously set up to carry out the above-mentioned identification, post-installation and sorting routines.
  • the device has a plurality of selection stations, each of which is assigned a product delivery point. This proves to be particularly advantageous if the device is provided in a shop, since then, for example, on a wall of the sales, behind which are not recognizable for customers storage shelves and the handling device, a plurality of selection stations can be provided so different customers at the different selection stations can simultaneously select one or more of you desired products, which then - on appropriate product request - immediately removed by means of the handling device from a compartment of at least one storage rack and transport to the respective selection station associated product delivery point.
  • Such a selection station can have, for example, a touch-sensitive screen on which the products available in the usual way can be displayed or searched for specific products and, finally, one or more products intended for dispensing can be selected. If necessary.
  • a touch-sensitive screen on which the products available in the usual way can be displayed or searched for specific products and, finally, one or more products intended for dispensing can be selected. If necessary.
  • it is appropriate to assign different product categories to different selection stations so that only books and at another selection station exclusively CD's, DVD's and / or Blu-ray discs can be selected at a selection station.
  • it goes without saying that in the at least one storage rack of a device according to the invention it is evident that different products can also be added.
  • control unit as part of the control of the device controls it so that the handling device for outputting the product in question that product from the Mahriere receives the same products, which is stored in a arranged as close to the product output tray of at least one storage rack.
  • the device is set up in such a way that a first number of selection stations only allow the output of a product if the product has been paid by means of a computer-aided payment process, and a second number of selection stations allow the issue of a product without performing a payment transaction.
  • the device according to the invention can be arranged so that a first part of the total existing selection stations for dispensing products is arranged within a cash sales area, the products of the customer in question then still have to pay at a checkout, while a second part of the selection stations outside the sales transaction is arranged, so that there selected products must first be paid prior to their issue at the product issuing office associated with the respective output station.
  • the EDP-based payment process may consist, for example, in a customary payment by bank or credit card or in a computer-aided monitored cash payment (using a conventional coin slot and / or a bill collection).
  • the device has at least two storage racks oriented parallel to each other and facing each other with a plurality of compartments, between which exactly one handling device is arranged, wherein the handling device has at least two manipulators which a first of the removal of
  • the handling device has a plurality of storage surfaces, of which advantageously a first storage surface of the handling device for receiving products from the first storage rack and a second storage surface for receiving products from the second storage rack is used.
  • either the storage surfaces or the products located thereon can be moved by suitable means such that a product removed from the first storage shelf by means of a first manipulator after corresponding repositioning of the product or the storage surface carrying the product by means of the second manipulator Direction of the second storage rack can be pushed down by the product bearing shelf.
  • a re-sorting of products between the arranged on different sides of the handling device storage shelves is made possible.
  • this provides the option, provided that a product delivery point exists only in the area of one of the two storage shelves arranged on different sides of the handling device, that a product removed from a compartment of the other storage shelf can be fed to the product delivery point.
  • the product delivery point is preferably formed by a product delivery shaft, which - like the compartments of a storage rack - handling device side at the level of the front of a storage rack has an opening facing the handling device into which a device to be dispensed by the device - eg by means of the manipulator - can be transported. From there, the product can advantageously automatically - for example, taking advantage of gravity - are transported to the actual product delivery point, where it can be taken for example by a customer in receipt.
  • the device comprises at least two angularly, in particular at an angle of 90 ° to each other running storage racks, each associated with a handling orcardi, wherein the two handling devices are movable in such a mutually adjacent position in that a product deposited on a depositing surface of the first or second handling device is conveyed by means of a
  • Manipulator of the first or second handling device can be spent on a storage surface of each other handling device. In this way, different room situations, which sometimes make an angular arrangement of the storage racks necessary, be taken into account and e.g. At the same time, it can be ensured that products are re-sorted between the angularly arranged storage racks and / or that products which are stored in a storage rack accessible only to the other handling device can be dispensed at a product dispensing point which may be accessible only to one of the two handling devices.
  • At least one, preferably all storage surfaces of the at least one handling device is formed by each one operable in two different directions conveyor belt.
  • each such two conveyor belts of a handling device tion which each define a support surface of the respective handling device, are connected to each other so directly that a product can be transferred by suitable control of the conveyor belts from a first to a second storage surface of the handling device.
  • care can be taken to ensure that a product transported from a compartment of the first storage rack by means of a manipulator to a first (first storage rack) support surface transported product.
  • under suitable control of the conveyor belts - fully automatically on the second (the second storage rack assigned) storage area can be transported, from which it can then be transported, for example, in a compartment of the second storage rack.
  • the storage surface is formed by rotatably mounted balls or rollers, which can be seen facilitated by a manipulator pulling out a product from a tray on the shelf. Also a promotion of the product of the
  • rollers should advantageously be rotatable about a horizontal and parallel to the front of the at least one storage rack oriented axis of rotation.
  • the present invention relates to a handling device for
  • embossing feature characterized in that it comprises at least one support surface for a product to be transported with the handling device and a movable manipulator for interacting with the products, wherein the manipulator is configured and movable such that the Manipulator with a flattened free end above one in a compartment of a warehouse gals located product in the compartment in question, can be lowered and while simultaneously pressurizing the product from above together with this out of the tray retractable, so that the product pulled by the manipulator from the tray to a directly positioned in front of the tray storage area of the handling device can be.
  • FIG. 2 shows a cross section through part of the device shown in FIG. 1,
  • FIG. 3 shows a cross section through a handling device shown in FIG. 2, FIG.
  • FIG. 4a-d show a side view of a handling device for demonstrating the interaction of a manipulator with a product during the transport of a product into a compartment of a storage rack
  • 5a-d show a side view of a handling device for demonstrating the interaction of a manipulator with a product when removing a product from a compartment of a storage rack
  • 6a-b show a side view of a handling device for demonstrating further functionalities of a handling device
  • FIG. 7 is a perspective view of a main body of a manipulator
  • FIG. 8 shows a view of an alternative embodiment of a handling device for use in a device according to the invention
  • 9 is a perspective view of another
  • a device 1 which is adjacent to a store L (or partially within the store L) and for storing a variety of products to be sold, in this case several tens of thousands of products, a total of six each about having a certain length extending storage shelves 2, 3, 4, 5, 6, 7, each having a plurality of - not shown in Fig. 1 - compartments.
  • Each of these two storage shelves 2/3, 4/5, 6/7 are installed parallel to each other with facing front faces Fl, F2, F3, F4, F5, F6, F7, the individual compartments of
  • Storage racks 2 - 7 are each open to the front side Fl - F7 of the respective storage rack 2 - 7.
  • the device 1 further comprises a total of three handling devices 8, 9, 10, each arranged exactly centered between two storage shelves 2/3, 4/5, 6/7 with facing front sides F2 / F3, F4 / F5, F6 / F7 and along the double arrows P in the horizontal direction and parallel to the front sides of the adjacent storage shelves 2/3, 4/5, 6/7 are displaceable, in each case together with a vertical beam 11, 12, 13 to which the respective
  • Handling device 8, 9, 10 is mounted vertically displaceable, so that the handling device is positioned by appropriate displacement in the horizontal and vertical direction in front of each compartment of their associated storage shelves.
  • each of the handling devices 8, 9, 10 has four storage surfaces A, B, C, D, designed on a type of turntable, for depositing products to be taken from the compartments of the adjacent storage racks or to be transported in their compartments the turntable ler is rotatably mounted together with the trained thereon storage surfaces A, B, C, D according to the respective double arrow R about a vertical, approximately centrally disposed between the storage surfaces A, B, C, D axis.
  • the depositing surface A is arranged directly adjacent to the front side F3 of the storage rack 3 and thus assigned to the storage rack 3 in such a way that, for example, by means of a first - in FIG. 1, a manipulator placed on the depositing surface A is conveyed into a compartment of the storage rack 3 arranged directly in front of the depositing surface A, or a product deposited within a compartment of the storage rack 3 can be pulled out of the compartment onto the depositing surface A.
  • the opposite storage shelf 2 adjacent storage area C for storing from a compartment of the storage rack 2 to be taken products or for transporting a product stored thereon in a compartment of the storage rack 2, for this purpose, for example, a second - not shown in Fig. 1 - Manipulator of the handling device 8 is used.
  • the two other shelves B, D are in the orientation of the turntable shown in Fig. 1 of the handling device 8 associated with any of the two adjacent storage compartments, but by suitable rotation of the turntable by 90 ° according to double arrow R in a directly to the respective storage rack 2 and 3 adjacent position, for example, there to receive a conveyed by means of a manipulator from a compartment product.
  • a first by means of a first manipulator from a compartment of the storage rack 3 on the shelf A promoted product - after rotation of the turntable by 180 ° and, if necessary.
  • Vertical and / or horizontal displacement of the handling device - by means of a second manipulator of the handling device 8 in a specific compartment of the opposite storage rack 2 or in a - in the front side F2 of the storage rack 2 accessible - product discharge chute 14 are conveyed, which leads to a product discharge point 15 respectively.
  • a total of new such product dispensers 15 are provided, which are each assigned to a selection station 16, 17, that is, they are arranged spatially close to the relevant selection station.
  • a first number, in the present case seven, of the selection stations 16 are located within the actual store L even before the checkout area 18, so that a product 19 requested by a customer K at a selection station 16 can be output directly at the local product delivery point 15 without it a payment process at the selection station 16 is required.
  • the customer K can accept the product 19 and, as indicated by the arrow S, pay for the completion of his shopping in the store L at a cash register of the local cash register area 18 before he leaves the store L through the exit 20. If necessary.
  • At least a part of the selection stations 16 may be set up such that different selection stations only allow the selection of a predefinable subarea of the total available product range.
  • a second number (namely, two) selection stations 17 are also provided outside the checkout area 18 or outside the outlet 20 of the store L, to which customers can also request products, which, however, then only after carrying out a computer-aided or EDP -monitored payment process at the local product issuing point 15. So customers can also outside the store opening hours or after leaving the Store L or without even having to enter one or more of the products stored in the device 1 purchase products.
  • the entire device 1 is controlled by means of (at least) a computer-aided control unit 21, which ensures in particular that (at least) one product 19 selected at a selection station 16, 17, if necessary after completion of a payment process in which the product in question assigned price was paid cash or cashless - by means of at least one handling device 8,9, 10 automatically removed from a compartment of at least one storage rack 2-7 and transported to one of the relevant selection station 16, 17 associated product delivery point 15, where it from the SelectionStation serving customer can be received.
  • a computer-aided control unit 21 ensures in particular that (at least) one product 19 selected at a selection station 16, 17, if necessary after completion of a payment process in which the product in question assigned price was paid cash or cashless - by means of at least one handling device 8,9, 10 automatically removed from a compartment of at least one storage rack 2-7 and transported to one of the relevant selection station 16, 17 associated product delivery point 15, where it from the SelectionStation serving customer can be received.
  • the handling device 9 which is assigned to the two storage shelves 4, 5 shown in FIG. 1 above, can, however, just like the handling device 10 shown on the right, which arranged the - in its course to the other four storage shelves 2 - 5 offset by 90 ° - Store shelves 6, 7 assigned, no product directly a product discharge shaft 14, so that in this respect a transfer of a product to be issued on the storage rack 2 associated handling device 8 must be made.
  • the handling device 10 and the handling device 8 are arranged in such an adjacent manner Position (see the dashed line position 8 of the handling device 8) can be brought that a lying on a storage surface of the handling device 10 product (eg by means of a manipulator of the two handling devices 8, 10) transferred to a suitably positioned storage surface of the handling device 8 and
  • Position see the dashed line position 8 of the handling device 8
  • the product output shaft 14 can be supplied.
  • the storage rack 5 of the device 1 further has a Nachbe conductedungs Scheme 23, which in turn has a suitable plurality of compartments, these compartments for replenishment of the at least one storage rack 2-7 can be manually equipped with other products.
  • a Nachbe conductedungsroutine these products are then removed by means of the handling device 9 successively from the Nachbe conductedungs Scheme 23 and then - transported by means of the at least one handling device 8, 9, 10 - in suitable subjects of at least one storage rack 2-7, where appropriate.
  • the products in question may by suitable, at least one, preferably at all
  • Handling means 8, 9, 10 provided identification means (for example, by one above at least one
  • Products that - for whatever reason - can not be identified by the identification means or a handling device can advantageously be sorted out by being automatically fed to an output shaft 24, where they are picked up by the operator and, for example, at a suitable location with a readable barcode provided and, if necessary, then re-sorted into a compartment of Nachbe Publishedungs- area 23. It is advantageous if the compartments of Nachbe Publishedungs Championship 23 from the rear, ie, the side facing away from the front F5 side of the storage rack 5, are accessible, since then the device 1 can be refilled with new products, without an operator the area between the storage shelves (in which the handling devices are moved) must be entered.
  • Fig. 2 shows a cross section through the two storage shelves 2, 3 and the handling device 8 of FIG. 1, wherein the section in the range of one of a customer K operable
  • Selection station 16 runs, which is associated with a product delivery point 15. It is easy to see that each of the two storage shelves 2, 3 is divided in the vertical direction into a plurality of individual compartments 27, in each of which - a substantially cuboid - product 31, 32, such as a packaged in the usual way CD or DVD, can be recorded. 2, the two manipulators 25, 26 of the handling device 8 can be seen, of which the manipulator 25 shown on the left serves in particular for removing products from compartments 27 of the left of the handling device 8 storage rack 3 and the manipulator 26 shown on the right in particular Removal of products from compartments 27 of the storage rack 2 shown on the right serves.
  • compartments 27 not all compartments 27 must have the same dimensions, but that, if necessary, differently sized and / or differently wide compartments 27 can be provided for stocking different products.
  • each compartment 27 should be so high (and wide) that it will accommodate the products to be stored in the device 1 31, 32 and that the manipulator 25, 26 of the associated handling device 8 - 10 with its free end while still above a lying therein product 31, 32 can be retracted into the relevant compartment 27.
  • Fig. 2 shows the manipulator 25 shown on the left in a position in which he is already retracted with its flat, present only about 10 mm high, free end in a product 31 stockpiling compartment of the storage rack 3 above the product 31.
  • the manipulator 26 shown on the right is arranged in a rest position above the product 32 resting on the depositing surface C of the handling device 8.
  • the manipulators 25, 26 are movably mounted on a mounting structure 28 in a horizontal direction, with their free end facing the respective storage shelf 2, 3 - above a product - into a compartment 27 drove and driven out of the compartment 27 back out. Furthermore, both manipulators 25, 26 and their respective free end in the vertical direction to be moved or pivoted to within a compartment 27 a product 31 stored therein under exercise of a certain pressure from above to be brought into abutment, whereupon they then together with the product 31 from the subject of the respective storage rack 2, 3 can be moved out again in the horizontal direction.
  • a product discharge shaft 14 which is open toward the front side F2 of the storage rack 2 and in which a product can be conveyed by means of the handling device 8, as in another compartment 27 of the storage rack, can be seen in FIG. whereupon it slips to the product dispenser 15 accessible to the customer K.
  • Front sides of the storage shelves can detect a projecting from a shelf product by the fact that at least one of the light beams is interrupted by the protruding product.
  • a Leist 33, 34, 35, 36 is advantageous for this purpose on the top and bottom of the storage shelves mounted with light emitting diodes 37 and optical sensors 38, as shown in Fig. 2.
  • a plurality of LEDs and sensors for example at a distance of a few centimeters each are arranged.
  • FIG. 3 shows a section through the handling device 8 from FIG. 2 according to the section line III-III there, ie in a plane parallel to the front sides F2 and F3 of the storage shelves 2, 3.
  • the manipulator 26 which on its underside - in particular in the region of its free end - a knob-like structure
  • manipulator 26 is pivotable in a rear area about a horizontal axis H, so that its free end can be lowered in the vertical direction and raised again, to which also an electric drive motor 43 is provided.
  • the manipulator 28 itself - together with its free end - designed to be flat overall and in the present case has only a height h of 12 mm.
  • FIG. 3 further shows two of the total of four storage surfaces B, D of the handling device 8, which can be rotated in the present case with the aid of a further drive motor 44 about a central axis of rotation Z of the turntable-like structure 45.
  • the two storage surfaces B, D are - as well as the two other in Fig.
  • a barcode scanner 51 is arranged above the storage area A lying behind the plane of the drawing in FIG. 3, on which the product 32 rests, in order to receive the product 32 from above by reading out a barcode (eg a 1-dim -dim. barcodes).
  • a barcode eg a 1-dim -dim. barcodes
  • the handling device 8 as a whole is mounted vertically movable on the spar 11 in accordance with the double arrow T.
  • FIGS. 4a-4d each illustrate, in a schematic (side) view of a section of a handling device 8, the operation of a manipulator 26 in interaction with a product 32 in connection with a possibility of conveying the product 32 from a storage area C into a compartment 27 of a - only partially shown - storage rack 2.
  • FIG. 4a shows the handling device 8 having a depositing surface C in a position in which the depositing surface C is directly, i. at a short distance from e.g. about 8 - 10 mm, is positioned in front of a compartment 27 of the storage rack 2.
  • the manipulator 26 was first brought into the position shown in FIG. 4 a, in which the front edge 75 of the free end 70 of the manipulator 26 - in view of the storage rack 2 - behind the product 32 and just above the level of the shelf C is.
  • the manipulator 26 of the handling device 8 is for this purpose on its mounting structure 28 - by means of a first in Figs. 4a-4d drive unit not shown - in the horizontal direction according to double arrow M perpendicular to the front side F2 of the storage rack 2 movable so that it in Fig. 4a shown position behind the product 32 can take.
  • a drive unit 43 which causes a tilting of the manipulator 26, according to double arrow V in the vertical direction movable.
  • the manipulator 26 can then be moved horizontally in the direction of the storage rack 2, whereby the product 32 is successively inserted into the compartment 27 of the storage rack 2, as shown in the further figures 4b and 4c.
  • the manipulator 26 - by horizontal movement - be withdrawn to take the rest position shown in Fig. 4d.
  • a - e.g.
  • By light or laser diode formed light curtain 40 can be monitored that the product 32 does not protrude further than permissible front of the tray 27.
  • FIGS. 5a-5d each illustrate, in a respective (schematic) side view of a section of a handling device 8, a further mode of operation of the manipulator 26 in interaction with a product 32 in connection with the removal of a product 32 from a compartment 27 of a product to be realized according to the invention Storage shelves 2.
  • the handling device 8 and the manipulator 26 of the handling device is first brought into the position shown in FIG. 5a, by means of the adjusting mechanisms already explained above, in which the front edge 75 of the free end 70 of the manipulator 26 in an upper region of the compartment 27 (FIG. slightly) extends into this. If necessary.
  • the free end 70 of the manipulator 26 - by suitable vertical adjustment - can be precisely aligned on the upper wall or ceiling 76 of the compartment 27 by this is brought from below to the plant.
  • the manipulator 26 is moved horizontally in the direction of the storage rack 2 until it with its free end 70th is arranged above the product 32 in the compartment 27, as shown in Fig. 5b.
  • the lower side a silicone coating or silicone nubs having free end 70 - in the present case by appropriate tilting of the manipulator 26 - vertically lowered within the shelf 27 until it comes to the product 32 with some (spring) pressure from above to the plant (see FIG. 5c), whereupon the manipulator 26 can then be moved out of the compartment 27 together with the product 32 by a horizontal method, so that the product 32 is pulled onto the storage area C positioned directly in front of the compartment 27 for the product 32.
  • FIG. 6a schematically shows the identification of a product 32 lying on the depositing surface C with the aid of a bar code reader 51 arranged above the depositing surface C for reading out a product top side 77
  • Fig. 6b further illustrates that a product 32 may be conveyed by means of the manipulator 26 of the handling device 8 into a product discharge chute 14 in the same way as already shown in Figs. 4a-4d for conveying a product into a product Tray 27 of the storage rack 2 has been shown.
  • FIG. 7 shows a perspective detail view of the main body 51 of a manipulator 25, 26, which is formed in an end region 52 by a perforated plate 53.
  • This perforated plate 52 forms the underside of the free end of a manipulator 25, 25, protruding through holes in the perforated plate through nubs of a rubber or silicone-like material down.
  • This can be realized by inserting the main body 51, at least with its end region 52, into a casting mold which forms the lower negative mold for the nubs, which should protrude through the holes of the perforated plate.
  • the bounded by the boundary 55 part of the base body 51 can be filled with silicone or rubber-like molding compound, so that - above the perforated plate 53 forms a layer of rubber or silicone-like material, which the knobs are integrally formed.
  • the nubs can be pushed down through the holes of the perforated plate by e.g. Protrude 3 - 5 mm.
  • a top cover (not shown in FIG. 7) can be screwed onto the thread 56 provided in the area of the perforated plate 52, which supports the silicone layer from above.
  • each storage surface A-E being assigned its own manipulator 57-62, each of which is provided by means of a first drive unit 63-68 can be moved in the horizontal direction according to double arrow U, in order to be able to move in and out of a compartment of a storage rack lying directly in front of a storage area A-F.
  • each manipulator 57 - 62 by means of a second drive unit 69, of which only one is shown for perspective reasons, tilting or pivoting such that the free end 70 of each manipulator performs a substantially vertical pivoting movement according to double arrow V.
  • the handling device 8 shown in FIG. 8 is arranged and guided between two storage racks in such a way that three adjoining storage surfaces A / B / C or D / E / F are always positioned directly in front of the front side of a storage rack - at a small distance therefrom ,
  • Each depositing surface A - F is formed by a conveyor belt movable in two opposite directions according to double arrow W, so that products 71, 72 resting on a depositing surface A - F can be moved by means of the respective conveyor belt in a direction perpendicular to the front side of an adjacent shelf , which supports the removal of a product from a compartment of the storage rack and the transport of a product in a compartment of a storage rack (or into a product discharge shaft) can even be effected or even supported.
  • FIG. 9 shows a three-dimensional representation of a detail of a device 1 according to the invention with a handling device 8 (according to the embodiment from FIG. 8) and a storage rack 2.
  • the handling device 8 is actually vertically displaceable between two storage racks with facing front sides on two vertical uprights 11 guided, for the sake of clarity, only a first storage rack 2 is shown. Further, the handling device 8 is also guided horizontally displaceable on a horizontal bar 73 together with the two vertical bars in front of the front side F2 of the storage rack 2, so that the handling device with at least one storage surface A - F before each compartment 27 of the storage rack 2 is suitably positioned.
  • Both the or the storage shelves 2 and the vertical and horizontal uprights 11, 73 are - indirectly or directly - mounted on a frame-like basic structure 74, which allows the fixed mounting of the storage shelves 2 and this always correct position positioning of the handling device 8 and facilitates ,
  • FIG. 10 shows, in a sectional view, an alternative type of product-output shaft 14 which is here in the form of an arc, in which the product is dispensed by means of a handling device from a front side F2 of the storage rack 2 into the
  • the product discharge chute 14 is reoriented so that at the end of the arcuate section the previously lower side of the product is at the top, so that the product 32 finally - after it is tilted according to arrow X to a product discharge point 15 leading ramp 78, there with the side facing up, the within the device the bottom of the product 32 had formed.
  • This is particularly advantageous in the case of the use of bar code readers for product identification within the device, since in the case of products to be stored according to the invention, such as packaged CDs, DVDs, books, etc., the barcode is usually mounted on the product back, so that the products must be stored and handled within the device with the back facing upwards.
  • the product dispensing shaft 14 shown in FIG. 10 the product can then be dispensed at the product dispensing point 15 in such a way that the customer can receive it with the product front facing upwards.

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

Abstract

L'invention concerne un dispositif servant à la mise en réserve et à la sortie entièrement automatique d'une pluralité de différents produits (31, 32) présentant essentiellement une géométrie de forme parallélépipédique. Ledit dispositif comprend : au moins une étagère de stockage installée à poste fixe (2, 3) servant à la mise en réserve de la pluralité de produits (31, 32); au moins une station de sélection (16) servant à la sélection d'un produit (31, 32) devant être sorti par le dispositif dans un poste de sortie de produit (15); au moins un dispositif de manipulation (8) mobile par rapport à l'étagère ou aux étagères de stockage (2, 3), servant au retrait d'un produit sélectionné (31, 32) de la ou des étagères de stockage (2, 3) et au transport du produit concerné (31, 32) vers un poste de sortie de produit (15); et au moins une unité de commande assistée par ordinateur servant à la commande du dispositif et de ses parties intégrantes. La ou les étagères de stockage (2, 3) comportent pour chaque produit (31, 32) un casier (27) séparé ouvert vers une face avant (F2, F3) de l'étagère de stockage (2, 3), et le dispositif de manipulation (8) comporte au moins une surface de réception (A, C) destinée à un produit (31, 32) à transporter sur cette dernière et un manipulateur mobile (25, 26). Le manipulateur (25) peut être introduit par une extrémité libre de forme plate dans un casier (27) au-dessus d'un produit (31, 32) se trouvant dans le casier concerné (27), peut être abaissé dans ledit casier et, après une application simultanée de pression sur le produit (31, 32), peut être ressorti du casier (27) par le haut conjointement avec ce produit de sorte que le produit (31, 32) puisse être tiré sur une surface de réception (A, C) du dispositif de manipulation (8) positionnée directement devant le casier (27).
EP12769013.9A 2011-09-28 2012-09-27 Dispositif de mise en réserve et de sortie entièrement automatique d'une pluralité de produits Withdrawn EP2761605A1 (fr)

Applications Claiming Priority (2)

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DE102011115663A DE102011115663A1 (de) 2011-09-28 2011-09-28 Vorrichtung zur Bevorratung und vollautomatischen Ausgabe einer Vielzahl von Produkten
PCT/EP2012/004059 WO2013045096A1 (fr) 2011-09-28 2012-09-27 Dispositif de mise en réserve et de sortie entièrement automatique d'une pluralité de produits

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US (1) US9728029B2 (fr)
EP (1) EP2761605A1 (fr)
DE (1) DE102011115663A1 (fr)
WO (1) WO2013045096A1 (fr)

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EP3236329B1 (fr) * 2016-04-22 2021-02-24 Siemens Aktiengesellschaft Entraînement linéaire et procédé de fonctionnement d'un entraînement linéaire
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US20140212250A1 (en) 2014-07-31
DE102011115663A1 (de) 2013-03-28
WO2013045096A1 (fr) 2013-04-04

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