DE29900899U1 - Storage system for a distribution center for goods - Google Patents

Description

Applicant:

KUKA. Welding Systems GmbH Blücherstrasse 144 8 6165 Augsburg

KUKA Robotics GmbH Blücherstrasse 144 8 6165 Augsburg

Representative:

Patent attorneys

Dipl.-Ing. H.-D. Ernicke

Dipl.-Ing. Klaus Ernicke

Schwibbogenplatz 2b

D-86153 Augsburg

Date:

File:

21.01.1999 772-897

DESCRIPTION Storage system for a distribution center of goods

The invention relates to a storage system for a distribution center for goods having the features in the preamble of the main claim.

Such a storage system is known from practice. It is used for distribution centers in which piece goods, such as food and department store goods, are handled. The goods are delivered to the distribution center in larger batches, e.g. as pallet loads, via a goods receiving area and stored there in one or more high shelves. In the distribution center, redistribution and picking into smaller and differently loaded loads takes place, which are delivered to department stores, supermarkets and other end points of sale via a goods dispatch area. To do this, individual goods or smaller batches must be taken from the shelves and the larger batches stored there and put together to form the required delivery. In known storage systems, this is sometimes done manually, with the operators working with forklifts or other hand-operated devices. This procedure is time-consuming and labor-intensive and causes problems in 24-hour operations. In addition, the storage systems are often integrated into cold storage halls, which places considerable strain on the staff.

In practice, storage systems are also known for industrial use, in which complete pallets of goods are stored and retrieved. Automatic storage and retrieval machines are used here, which collect the pallets from the warehouse and deliver them, or store delivered pallets again. Such storage systems are for

the distribution centers mentioned cannot be used effectively. Storing and retrieving complete pallets takes time and energy. This is particularly disadvantageous if only individual items from these pallets are needed. Separation must take place at a central location in front of the warehouse, which increases the distances and the time and energy required.

It is an object of the present invention to provide a better storage system for a distribution center.

The invention solves this problem with the features in the main claim.

The storage system according to the invention has the advantage that it enables fully automatic operation, whereby the use of personnel and energy is reduced. The distances and the time required are significantly reduced. The storage system according to the invention can also be used in ergonomically unfavorable environmental conditions, e.g. in cold storage halls or the like.

The storage system according to the invention is particularly suitable for the aforementioned distribution centers with high-bay warehouses and the goods handled there. It is particularly advantageous here that the storage system can also handle the large number of different goods that occur. These goods differ significantly from one another in terms of type, size, shape, weight, etc. In the storage system according to the invention, any type of goods can be managed and picked in any mixture.

With the automatic separation device, the separation of goods can take place in the immediate vicinity of the storage and retrieval machine, which shortens the distances and time required. The storage system according to the invention makes it possible to separate goods individually or in small quantities, sorted or not sorted, from the stored

Carriers or pallets can be removed. Conversely, it is also possible to load the carriers or pallets on the shelves with individual items. In addition, the individual items can be re-sorted fully automatically in the storage system. The available storage space can thus be managed and used optimally. Unnecessary empty areas or empty spaces are largely avoided. Transport routes and transport movements are reduced.

For the structural design, it is particularly advantageous if the separation device is designed as a multi-axis handling device and in particular as an industrial robot. Such a handling device or an industrial robot has a very favorable working area and can also solve difficult handling tasks with its sophisticated kinematics. Robots are also inexpensive and economical. Series devices can be used that only require customized application software.

There are different options for the structural design and allocation of the storage and retrieval machine and the separating device, in particular the industrial robot. In the preferred embodiment, the separating device is integrated into the storage and retrieval machine and moves with it in the storage aisles. This allows for minimal distances and shortest times. It is particularly advantageous if the separating device or the industrial robot is firmly mounted on the frame of the storage and retrieval machine and moves back and forth with it along the aisles. The gripping device of the storage and retrieval machine, which is also mounted on the frame and is intended for handling the carriers or pallets, then only needs to carry out lifting and lowering movements with the removed carriers or pallets in order to move the carrier to the

This vertical movement can take place very quickly, and there are no problems with the stability of the goods on the carriers. In the preferred embodiment, horizontal movements of the loaded carriers or pallets are largely avoided.

The separating device transfers the individual goods or small batches taken from the delivered carriers or pallets to a suitable goods conveyor, which transports them out of the shelf area and sends them to a picking center for further processing. Here, the individual goods on pallets or other carriers can be assembled into the desired deliveries or loads, packed and delivered via a goods issue.

The storage for the pallets or other parts can also be arranged on the storage and retrieval machine. This allows the essential and, if necessary, the entire logistics to be taken over from the singulation devices.

Further advantageous embodiments of the invention are specified in the subclaims.

The invention is illustrated by way of example and schematically in the drawings. In detail:

Figure 1: a top view of a distribution center with

a storage system,

Figure 2: a side view of the storage system of

Figure 1,
10

Figure 3: an enlarged and broken

Side view of the separating device from

Figure 1 and 2, and

Figure 4: a top view of the separating device

of Figure 3.

Figure 1 shows a schematic and broken-off top view of a distribution center (2) with a storage system (1). The distribution center (2) is designed for different goods (3), which are preferably piece goods, for example food or department store goods. These goods (3) are stored in the storage system (1) in larger batches or containers on carriers (4), for example pallets or containers.

From these larger containers or batches, smaller deliveries or commissions are put together in the distribution center (2), which consist of individual goods or smaller quantities of such individual goods. The larger containers enter the storage system (1) via a goods inlet (8). The assembled deliveries or commissions from the individual goods leave the distribution center (2) or the storage system (1) at a goods outlet (9). The delivery and dispatch are carried out in a suitable manner by trucks or other

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Mode of Transport.

The storage system (1) has at least one high rack (5) and one or more storage and retrieval machines (10) as well as one or more separating machines (11). In addition, the storage system (1) has goods conveyors (12,13,14,15) for the individual goods (3) and carrier conveyors (16) for the carriers, pallets or containers (4). In addition to the storage system (1), the distribution center (2) has one or more

&iacgr;&ogr; the storage system (1) has palletizing stations (17) and one or more storage locations (19) at the goods exit (9). In addition, one or more packaging stations (20) can be present in the area of the goods exit (9) and one or more unpacking stations (21) in the area of the goods receipt (8).

The aforementioned high racks (5) are preferably aligned parallel and arranged next to one another in a row at a distance, forming intermediate rack aisles (7). In this case, two high racks (5) can be arranged back to back. The high racks (5) have a large number of shelf compartments (6) which are arranged in several rows one above the other and next to one another. In the embodiment shown, the shelf compartments (6) each accommodate two supports (4) one behind the other. For this purpose, they have corresponding receptacles or supports on which the supports (4) rest. The supports (4) can each assume a position which is slightly inclined downwards towards the aisle (7). The storage system (1) can have several of the groups or rows of high racks (5) shown in Figure 1.

In the embodiment shown, a fully automatic storage and retrieval machine (10) is arranged in each rack aisle (7). It consists of a stand-like frame (22) which is attached to the ceiling (32) and/or the floor (33) of the building in the middle and in the longitudinal direction of the

The rack aisle (7) is movably guided via carriages (23). The rack (22) is moved back and forth along the aisle (7) via a drive (not shown).

The storage and retrieval machine (10) also has at least one gripping device (25) for the supports (4), which is mounted on the frame (22) so that it can move vertically and is raised and lowered using a lifting device (24). The gripping device (25) is designed, for example, as a laterally extendable fork-shaped pallet gripper with which the supports (4) can be removed from the shelf compartments (6) and returned again. The gripping device (25) can work on both sides and serve both high racks (5) adjacent to the aisle (7). It can have one or more pallet grippers on both sides. In addition, additional transport devices and intermediate storage spaces for the supports (4) can be present on the gripping device (25) or the storage and retrieval machine (10).

The separating devices (11) are arranged in the immediate vicinity of the storage and retrieval machines (10). In the preferred embodiment, each storage and retrieval machine (10) is assigned a separating device (11), which is also integrated into the storage and retrieval machine (10).

In the embodiment shown, the separating device (11) is arranged relatively stationary on a platform (26) at the upper end of the frame (22). The separating device (11) thus moves with the frame (22) in the rack aisle (7). The control (28) or the control cabinet is preferably also mounted on the platform (26). In addition, a suitable container (31) for the intermediate layers of pallets or for other parts of carriers, packaging or goods can be located on the platform (26). In

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As a variation of the embodiment shown, one or more intermediate storage locations for goods (3) or, if appropriate, also for carriers (4) can be provided on the platform (26) or on the separating device (11).

The separation device (11) consists of a suitable multi-axis handling device, preferably an industrial robot, which has, for example, six rotary axes. It consists, for example, of a frame attached to the platform (26) with a rotary plate mounted on it about a vertical axis, which carries a swing arm that can be pivoted about a horizontal axis, to which a boom is in turn attached so that it can pivot about a horizontal axis. At the front end of the boom there is a multi-axis robot hand, which has, for example, three rotary axes and three drive motors. The industrial robot (11) can therefore reach under objects.

The robot hand carries a suitable packing tool (27).

This can be an individual tool that is designed for specific packing or gripping tasks and for specific goods (3) or other parts, e.g. pallet interlayers. This individual tool can be held interchangeably on the robot hand using a suitable interchangeable coupling. Suitable tool holders for the packing tools that are not currently required are then located on the platform (26).

Alternatively, the packing tool (25) can also be designed as a multi-use combination tool that is suitable for several gripping or handling tasks and can grasp and handle different goods (3), intermediate layers or other parts.

The separating device (11) has a detection system (29) with which the type and arrangement of the goods (3) on the carrier (4) can be detected, preferably optically.

This is, for example, a suitable vision system (29) with at least one optical camera and a corresponding evaluation unit, which is connected to the controller (28) and a higher-level warehouse controller (not shown). The vision system (29) is arranged, for example, at the upper end of the frame (22) and above the industrial robot (11). It looks down at the gripping device (25) positioned below the platform (26).

On the underside of the platform (26) there is also a positioning device (30) for the lifting device (24). The positioning device (30) consists, for example, of a horizontal light barrier, a light barrier or another sensor that detects the upper edge of the stack of goods (3) that is located on the gripping device (25).

At least one goods conveyor (12) is assigned to the separating device (11). In the embodiment shown, this is a shelf conveyor in the form of a conveyor belt or the like, which runs on the top of a shelf (5) near and along the shelf aisle (7).

The various shelf conveyors (12) are connected to a further transverse goods conveyor (13) in the form of a collector at the front end of the aisle. The collector (13) running horizontally on the top of the shelf is in turn connected to a vertical goods conveyor (14), e.g. a spiral conveyor, which brings the goods (3) downwards to a further goods conveyor (15) in the form of a distributor. The conveyors (12, 13, 14, 15) mentioned can be designed in any suitable manner.

The palletizing stations (17) are connected to the distributor (15), which is guided in a closed circuit. They are used for picking the individual goods (3) that are supplied and for assembling the required deliveries. The distributor (15) has branches that lead to the palletizing stations (17). The palletizing stations (17) are each equipped with a suitable packing device, e.g. a multi-axis industrial robot. They can also have an intermediate storage area or an intermediate storage area (34) for sorting, etc. The industrial robot can be designed in a similar way to the separating device (11). It takes the individual goods (3) from the distributor (15) and places them on an empty pallet provided at a gate (18) or the intermediate storage area (34). One or more palletizing stations

(17) may also be manned by an operator who manually assembles the deliveries.

As soon as the ordered delivery has been assembled, the pallet is placed on the gate (18) on a carrier conveyor (16) and exchanged for a new empty pallet. The packed pallet is transported on the carrier conveyor (16) to one or more packaging stations (20), where the pallet and its load are wrapped in stretch film or in another suitable manner. The carrier conveyor (16) then takes the packed pallets to the goods exit (9), where they are taken to the storage locations (19) via one or more gates (18) leading off to the side. Here, the required truck loads are assembled from several pallets.

The carrier conveyor (16) in the goods outgoing area (9) is guided in a circuit. Storage locations for empty pallets (not shown) can be connected here. Another carrier conveyor (16) leads to the carrier conveyor (16), which runs laterally past the high racks (5) from the

Goods receipt (8). This latter carrier conveyor (16) can in turn be connected to a carrier conveyor (16) that is circulated at the goods receipt (8). The carriers (4) with the larger batches are unloaded onto this carrier conveyor (16) at the goods receipt (8) from trucks or other means of transport. They can then be guided to an unpacking station (21), where any packaging is removed. The carriers (4) then reach the rear ends of the rack aisles [I] via a conveyor branch, where they are taken over by the storage and retrieval machines (10) and transported to the high racks (5). In return, empty carriers (4) can also be transferred to the carrier conveyor (16) at the same point for removal from storage.

The picking of an ordered delivery in the warehouse system (1) or in the distribution center (2) takes place as follows: The order is entered into the higher-level warehouse control. This compares the order with the existing inventory and then passes the procurement orders to the storage and retrieval machines (10) and the singling machines (11). The goods (3) can be procured from different high racks (5). To do this, the storage and retrieval machine (10) moves the gripping device (25) in front of the shelf compartment (6) in which the currently required goods (3) are located and removes the carrier (4). The gripping device (25) then moves the carrier (4) up the frame (22) to the singling position shown in Figures 2 and 3, just below the platform (2 6). In this position, the carrier (4) with the goods (3) is in the working area of the industrial robot (11). This removes the required number of goods (3) and places them on the goods conveyor (12). If the carrier (4) is not loaded with a single type of goods, different goods (3) can be removed and separated. During the gripping and separating processes, the industrial robot (11) is controlled by the

detection system (29) and the associated control system.

As soon as the separation process is completed, the industrial robot returns to its starting position. The gripping device (25) moves downwards again and returns the carrier (4) to its shelf compartment (6). The storage and retrieval machine (10) with its separation device (11) can then be moved to another shelf compartment (6) for the next removal process, where the process described above is repeated.

The separated goods (3) are transported on the goods conveyors (12,13,14,15) to the palletizing stations (17). Additional suitable detection systems can be present here, which identify the incoming individual goods (3) and allow the palletizing stations (17) to remove the goods (3) from the distributor (15) in a targeted manner. Intelligent sorting is ensured by the intermediate storage (34), e.g. when palletizing goods of different types.

In the storage system shown (1), several order pickings can be processed simultaneously and in a free mix. The individual goods (3) arrive at the distributor (15) in any order and are only assembled into the required deliveries or orders after they have been identified at the palletizing stations (17).

The storage system shown (1) not only enables fully automatic separation and picking of goods stored in larger batches (3), but also optimized warehouse management. With the storage and retrieval machine (10) and the separation device (11), carriers can also

(4) and the goods (3) stored on it are rearranged in the high rack (5). If, for example, there are two carriers that are only half loaded, the goods (3) can be

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(4) can be reloaded onto the other carrier (4) using the separating device (11). The empty carrier (4) can then be removed from the high-bay warehouse (5) and replaced with a new full carrier (4). The re-sorting can be carried out by type or not by type.

Suitable intermediate storage locations for the carriers (4) can be provided on the storage and retrieval machine (10) or at another suitable location.

Modifications to the embodiment shown are possible in various ways. Firstly, the separating devices (11) can be arranged at any other suitable location near the storage and retrieval device (11). For example, they can be arranged at the bottom of the frame

(22), whereby the goods conveyor (12) is then also located near the floor. Furthermore, the separating devices (11) can be arranged in a fixed position at any point inside or outside the rack aisle (7). In a further modification, it is possible to install the separating device

(11) on the gripping device (25) and to move it up and down with it. In addition, it is possible to assign the functions of the gripping device (25) to the separating device (11) or to dispense with the gripping device (25) if the goods (3) in the shelves (6) are accessible to the separating devices (11) even without removing the carriers (4).

Furthermore, it is basically possible to carry out the assembly and picking of the required deliveries directly on the separating device (11) or on the storage and retrieval machine (10). In this case, appropriate carriers, in particular pallets, for the separated goods (3) would have to be provided on the separating device (11) or on the storage and retrieval machine (10). The goods (3) taken from the high rack (5) by the separating device (11) are then placed on the carrier. In this case, a partial assembly of

Deliveries are made if the goods (3) have to come from different high racks (5). The partially or fully loaded carriers are then taken out of the high rack (5) and transported to the goods exit (9) or to another high rack (5).

In a further modification, the separating devices (11) can be designed in any suitable manner. They do not have to be the multi-axis industrial robots shown. Furthermore, structural modifications of the storage and retrieval devices (10) and the other components of the storage system (1) or the distribution center (2) are also possible in accordance with the invention.

The design and arrangement of the storage system (1) is also variable. Any other shelf arrangement is possible here as an alternative to the exemplary embodiment. The separating device(s) (11) can be arranged differently accordingly and integrated into another means of transport, e.g. a floor-bound inductively guided vehicle, an AGV or the like. In addition, several storage and retrieval machines (10) with one or more separating devices (11) can be arranged in a rack aisle (7), which can work together if necessary and exchange goods (3) or carriers (4) with one another.

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LIST OF REFERENCE SYMBOLS

1 storage system

2 Distribution center

3 Goods, food, department store goods

4 Carrier, pallet, container

5 high shelf

6 shelves

7 Rack aisle, aisle 8 Goods receipt

9 Goods outgoing, truck dock

10 storage and retrieval machine

11 Separation device, robot

12 Goods conveyor, shelf conveyor 13 Goods conveyor, collector

14 Goods conveyors, spiral conveyors

15 Goods conveyors, distributors

16 carrier conveyors

17 Palletizing station 18 Gate

19 Storage space

20 packaging station

21 Unpacking station

22 _ Frame, stand 23 Chassis

24 Lifting device

25 gripping device, pallet gripper

26 Platform

27 Packing tool

28 Control, control cabinet

29 Recognition system, vision system

30 Positioning device, light curtain

31 Container Interlayers

32 Ceiling
33 Floor

34 Intermediate storage, intermediate storage

Claims (15)

1. Storage system for a distribution center for goods, in particular for foodstuffs and department store goods, the storage system having a goods entrance, a goods exit and one or more high racks for receiving carriers for the goods, characterized in that the storage system ( 1 ) has at least one automatic storage and retrieval device ( 10 ) for handling the carriers ( 4 ) and at least one adjacent automatic separating device ( 11 ) for the goods ( 3 ). 2. Storage system according to claim 1, characterized in that the separating device ( 11 ) has a multi-axis handling device, preferably an industrial robot. 3. Storage system according to claim 1 or 2, characterized in that at least one conveyor ( 12 ) for the separated goods ( 3 ) is assigned to the separating device ( 11 ). 4. Storage system according to claim 1, 2 or 3, characterized in that each storage and retrieval machine ( 10 ) is assigned a separating device ( 11 ). 5. Storage system according to one of claims 1 to 4, characterized in that the separating device ( 11 ) is integrated into the storage and retrieval device ( 10 ). 6. Storage system according to one of claims 1 to 5, characterized in that the storage and retrieval device ( 10 ) has a frame ( 22 ) which can be moved along a rack aisle ( 7 ) and on which the separating device ( 11 ) is mounted. 7. Storage system according to one of claims 1 to 6, characterized in that the separating device ( 11 ) is mounted relatively stationary at one end of the frame ( 22 ), wherein the storage and retrieval device ( 10 ) has a gripping device ( 25 ) for the carriers ( 4 ), which is mounted on the frame ( 22 ) in a height-adjustable manner by means of a lifting device ( 24 ). 8. Storage system according to one of claims 1 to 7, characterized in that the separating device ( 11 ) is mounted relatively stationary at the upper end of the frame ( 22 ), the goods conveyor ( 12 ) being arranged on the adjacent shelf ( 5 ). 9. Storage system according to one of claims 1 to 8, characterized in that the separating device ( 11 ) together with its control ( 28 ), a holder for the packing tool ( 27 ) and a container ( 31 ) for intermediate layers of pallets is arranged on a platform ( 26 ) on the frame ( 22 ). 10. Storage system according to one of claims 1 to 9, characterized in that the platform ( 26 ) has a positioning device ( 30 ) for the lifting device ( 24 ). 11. Storage system according to one of claims 1 to 10, characterized in that the separating device ( 11 ) has a recognition system ( 29 ) for the goods ( 3 ). 12. Storage system according to one of claims 1 to 11, characterized in that the industrial robot ( 11 ) has a reusable combination packing tool ( 27 ) for goods ( 3 ) and other parts or several exchangeable packing tools ( 27 ) for individual use. 13. Storage system according to one of claims 1 to 12, characterized in that the storage system ( 1 ) has several conveyors ( 12 , 13 , 14 , 15 ) for the separated goods ( 3 ) and one or more conveyors ( 16 ) for the carriers ( 4 ). 14. Storage system according to one of claims 1 to 13, characterized in that at one end of the aisles ( 7 ) a collecting conveyor ( 13 ) for the separated goods ( 3 ) is arranged and at the other end of the aisle a conveyor ( 16 ) for the carriers ( 4 ) is arranged. 15. Storage system according to one of claims 1 to 14, characterized in that the storage system ( 1 ) has one or more palletizing stations ( 17 ) and one or more unpacking and packaging stations ( 20 , 21 ).