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EP2015265B1 - Inclined shelf case - Google Patents

Inclined shelf case Download PDF

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Publication number
EP2015265B1
EP2015265B1 EP08158793A EP08158793A EP2015265B1 EP 2015265 B1 EP2015265 B1 EP 2015265B1 EP 08158793 A EP08158793 A EP 08158793A EP 08158793 A EP08158793 A EP 08158793A EP 2015265 B1 EP2015265 B1 EP 2015265B1
Authority
EP
European Patent Office
Prior art keywords
manipulator
objects
shelf
shelves
channel
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.)
Active
Application number
EP08158793A
Other languages
German (de)
French (fr)
Other versions
EP2015265A3 (en
EP2015265A2 (en
Inventor
Ulrich Willach
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.)
Gebr Willach GmbH
Original Assignee
Gebr Willach GmbH
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Filing date
Publication date
Application filed by Gebr Willach GmbH filed Critical Gebr Willach GmbH
Priority to PL08158793T priority Critical patent/PL2015265T3/en
Publication of EP2015265A2 publication Critical patent/EP2015265A2/en
Publication of EP2015265A3 publication Critical patent/EP2015265A3/en
Application granted granted Critical
Publication of EP2015265B1 publication Critical patent/EP2015265B1/en
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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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
    • A47F1/04—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs
    • A47F1/12—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs dispensing from the side of an approximately horizontal stack
    • 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
    • G07F11/28—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are inclined
    • 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
    • G07F11/34—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which the magazines are of zig-zag form
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
    • G07F9/026—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus for alarm, monitoring and auditing in vending machines or means for indication, e.g. when empty

Definitions

  • the invention relates to a slanted shelf shelf with sloping shelves on which channels are formed for receiving rows of objects.
  • a computer-controlled warehouse management makes it possible to store items at any free storage bins, whereby the respective storage bin is selected according to certain criteria.
  • a channel system such a freedom of choice is not possible because the order of removal of items from a channel is specified. Therefore, it is not possible, for example, to remove the "third article from below" from the warehouse, unless the first and second articles have not first been taken from below.
  • An inclined shelf shelf with the features of the preamble of claim 1 is also known from EP 1 439 502 A ,
  • the inclined shelving shelf has sloping shelves on which the tightly stacked items slide down to the lowest point.
  • a manipulator is movable, which can remove the respective foremost or lowermost object from a shelf and perform it an output.
  • the items are of the same format, so the problem of storage and inventory management of items of different sizes does not occur.
  • the invention has for its object to provide a sloping shelf shelf that requires no binding of an object to a particular channel in terms of storage options, so that a greater flexibility of the bearing organization is obtained.
  • the inclined shelf shelf according to the present invention is defined by claim 1. It has an approachable by the manipulator return position from which a return device leads to the rear side of the shelves.
  • articles can be removed from the manipulator at the removal side of the inclined shelves, ie at the front thereof, and these objects can first be returned to the shelf rear side in a return loop.
  • On the shelf back is either a device that stores the items arrived there again in a shelf, or a storage device that collects these items until they can be manually entered from the back into the storage rack.
  • a movable on the back of the oblique shelves second manipulator takes over the returned from the return device objects and enters into selected channels. This ensures a timely return of the recirculated objects in one of the channels.
  • This channel does not necessarily have to be the same from which the item was taken.
  • All actions of the manipulators are controlled by a warehouse management computer. This also contains information about the positions where the individual items are located, for example the channel in question and the serial number in the channel.
  • the computer contains the size information of the individual items.
  • the items are generally parallelepiped packs whose length, width and height are included in the calculator. Also stored are the widths of the individual channels. The computer can therefore select a channel of suitable size for each item to be stored.
  • the parameters of the packs are obtained by the computer by scanning a barcode contained on the pack.
  • the return device has at least one chute.
  • the chute runs in a plane parallel to the channels, but with an opposite slope.
  • the chute may also be a helical chute. In any case, it connects the withdrawal side of the machine with the component side.
  • the manipulator preferably has a tilting bottom, which is tiltable for dispensing the objects. But can also be used another manipulator, eg. B. with a gripping member.
  • the inclined tray shelf 10 is contained in a housing 11 having a front wall 12 with a removal window 13, a rear wall 14 and end walls.
  • a discharge opening 15 for dispensing articles from the inclined shelf shelf.
  • the objects discharged through the dispensing opening reach a chute 15a and are delivered by an unillustrated conveyor to a work station where the goods request has been placed.
  • the inclined shelf shelf contains numerous slanted shelves 16 facing the front (as shown in FIG FIG. 2 to the left) and inclined at such an angle that the articles 17 deposited on the inclined shelves 16, due to their weight, strike against a stop element provided at the lower end of the inclined shelf.
  • the inclined shelves are divided by longitudinal dividers 18 in parallel channels 19, in each of which a number of objects 17 can be arranged. The objects of a row are based on the lowest object of this series.
  • a manipulator 22 is movable.
  • the manipulator 22 has a vertical column 23 which is horizontally movable along guide rails.
  • a support floor 24 is mounted vertically movable.
  • the support floor 24 is normally in a position in which its surface is the surface of a Sloping shelf 16 extended, so the same inclination has.
  • the support floor 24 is formed as a tilting bottom, in the in FIG. 2 Dashed position 24a can be pivoted.
  • the support base 24 of the manipulator is driven by the warehouse management computer to a position in which it is located opposite the discharge end 21 of a selected channel 19.
  • the manipulator has a finger (not shown) which raises the foremost article A of this channel 19 at the front end over the abutment element of the shelf 16, so that the article is transferred to the support bottom 24 of the manipulator 22.
  • Subsequent items B, C and D then slip until they are supported by the stopper member of the shelf.
  • the stop element of the shelf can be moved under control in order to transfer the foremost object in a channel to the manipulator.
  • the manipulator 22 is moved to a dispensing position in which the support floor 24 passes behind the discharge opening 15, so that the product is discharged from the support floor 24 on the chute 15 a.
  • the manipulator 22 then moves to a return position 27, which is arranged here at the right end of the length of the shelves.
  • a frontal space 28 which receives the return device 29.
  • This consists of at least one chute 30, which drops from the front to the rear end.
  • the front end of the chute 30 adjoins the front free space 20 and the rear end adjoins a rear free space 31, in which a second manipulator 32 with a support floor 33 is movable.
  • the manipulator 32 is also controlled by the computer and its support floor 33 can be moved in front of the receiving end 34 of a shelf 16 to transfer an object to this shelf.
  • the support floor 33 is also pivotable about a horizontal axis between a receiving position and a dispensing position.
  • a single chute 30 is sufficient as the return device 29.
  • a plurality of chutes 30 are arranged one above the other to form a buffer which can receive objects in the event that the manipulator 32 is occupied with other tasks.
  • the manipulator 32 retrieves one of the articles from the return device 29 and moves it to a receiving position of one of the shelves 16. In this way, objects which have been removed from the front shelf can be guided back in the back.
  • the inclined shelf shelf according to the invention is particularly suitable as a dispenser for pharmacies, where a variety of different products is contained in packages, so that an extensive storage support is required.
  • the inclined shelf shelf is also suitable for other applications, for example, as a dispenser or vending machine for any objects.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Accounting & Taxation (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Vending Machines For Individual Products (AREA)
  • Vehicle Step Arrangements And Article Storage (AREA)
  • Packaging Of Machine Parts And Wound Products (AREA)
  • Centrifugal Separators (AREA)

Abstract

The arrangement has inclined shelves for accommodating rows of objects (17) and a manipulator (22) movable in a free space at the output end of the shelves for accepting the lowest object in a channel (19) and transporting it to a delivery position. The manipulator can move to a return position from which a return device (29) leads to the rear of the shelf.

Description

Die Erfindung betrifft ein Schrägfachbodenregal mit schrägen Fachböden, auf denen Kanäle zur Aufnahme von Reihen von Gegenständen gebildet sind.The invention relates to a slanted shelf shelf with sloping shelves on which channels are formed for receiving rows of objects.

In EP 0 991 037 B1 (Willach ) ist ein Warenausgabeautomat mit einem Schrägfachbodenregal beschrieben. Das Schrägfachbodenregal hat zahlreiche übereinander angeordnete schräge Fachböden mit Führungsschienen oder Teilern, die jeweils einzelne Kanäle seitlich begrenzen. Die Kanäle dienen zur Aufnahme einer Reihe von Waren, die durch die Schwerkraft in Richtung auf das untere vordere Ende des Schrägfachbodens bewegt werden. Vor den Abgabeenden der Schrägfachböden befindet sich ein Freiraum, in dem ein rechnergesteuerter Manipulator bewegbar ist. Der Manipulator kann vor einen der Kanäle gefahren werden, um den vordersten Gegenstand aus diesem Kanal zu entnehmen. Alle weiteren Gegenstände, die in demselben Kanal enthalten sind, rutschen dann nach. Üblicherweise werden in jedem Kanal Gegenstände gelagert, die einander gleich sind. Dies führt dazu, dass die Raumausnutzung des Schrägfachbodenregals eingeschränkt ist. Eine rechnergesteuerte Lagerverwaltung ermöglicht es, Gegenstände an beliebigen freien Lagerplätzen zu lagern, wobei der jeweilige Lagerplatz nach bestimmten Kriterien ausgewählt wird. Bei einem Kanalsystem ist eine solche Wahlfreiheit nicht möglich, da die Reihenfolge der Entnahme von Gegenständen aus einem Kanal vorgegeben ist. Es besteht daher nicht die Möglichkeit, beispielsweise den "dritten Gegenstand von unten" aus dem Lager zu entnehmen, bevor nicht zunächst der erste und der zweite Gegenstand von unten entnommen worden ist.In EP 0 991 037 B1 (Willach ) describes a vending machine with a sloping shelf shelf. The inclined shelving shelf has numerous superimposed sloping shelves with guide rails or dividers, each of which limits individual channels laterally. The channels serve to receive a series of goods which are moved by gravity towards the lower front end of the sloping shelf. Before the delivery ends of the Slanted shelves is a free space in which a computer-controlled manipulator is movable. The manipulator can be moved in front of one of the channels to remove the foremost object from this channel. All other items contained in the same channel then slip. Usually, in each channel objects are stored, which are equal to each other. As a result, the space utilization of the inclined shelving shelf is limited. A computer-controlled warehouse management makes it possible to store items at any free storage bins, whereby the respective storage bin is selected according to certain criteria. In a channel system such a freedom of choice is not possible because the order of removal of items from a channel is specified. Therefore, it is not possible, for example, to remove the "third article from below" from the warehouse, unless the first and second articles have not first been taken from below.

Ein Schrägfachbodenregal mit den Merkmalen des Oberbegriffs des Patentanspruchs 1 ist ebenfalls bekannt aus EP 1 439 502 A . Das Schrägfachbodenregal weist schräge Regalböden auf, auf denen die dicht an dicht gestapelten Gegenstände zum niedrigsten Punkt hinabgleiten. In einem Freiraum an den Abgabeenden der Fachböden ist ein Manipulator bewegbar, der den jeweils vordersten bzw. untersten Gegenstand aus einem Regalboden entnehmen und ihn einer Ausgabe zuführen kann. Die Gegenstände sind von gleichem Format, so dass das Problem der Lagerung und Lagerverwaltung von Gegenständen unterschiedlicher Größen nicht auftritt.An inclined shelf shelf with the features of the preamble of claim 1 is also known from EP 1 439 502 A , The inclined shelving shelf has sloping shelves on which the tightly stacked items slide down to the lowest point. In a free space at the discharge ends of the shelves, a manipulator is movable, which can remove the respective foremost or lowermost object from a shelf and perform it an output. The items are of the same format, so the problem of storage and inventory management of items of different sizes does not occur.

Der Erfindung liegt die Aufgabe zugrunde, ein Schrägfachbodenregal zu schaffen, das hinsichtlich der Lagermöglichkeiten keine Bindung eines Gegenstandes an einen bestimmten Kanal erfordert, so dass eine größere Flexibilität der Lagerorganisation erhalten wird.The invention has for its object to provide a sloping shelf shelf that requires no binding of an object to a particular channel in terms of storage options, so that a greater flexibility of the bearing organization is obtained.

Das Schrägfachbodenregal nach der vorliegenden Erfindung ist durch den Anspruch 1 definiert. Es weist eine von dem Manipulator anfahrbare Rückführposition auf, von der eine Rückführvorrichtung zu der rückwärtigen Seite der Fachböden führt.The inclined shelf shelf according to the present invention is defined by claim 1. It has an approachable by the manipulator return position from which a return device leads to the rear side of the shelves.

Bei dem erfindungsgemäßen Regal können Gegenstände von dem Manipulator an der Entnahmeseite der Schrägfachböden, also an deren Vorderseite, entnommen werden und diese Gegenstände können in einer Rückführschleife zunächst auf die Regalrückseite zurückgeführt werden. An der Regalrückseite befindet sich entweder eine Vorrichtung, die die dort angekommenen Gegenstände wieder in ein Regalfach einlagert, oder eine Speichervorrichtung, die diese Gegenstände so lange sammelt, bis sie manuell von der Rückseite her in das Lagerregal eingegeben werden können.In the case of the shelf according to the invention, articles can be removed from the manipulator at the removal side of the inclined shelves, ie at the front thereof, and these objects can first be returned to the shelf rear side in a return loop. On the shelf back is either a device that stores the items arrived there again in a shelf, or a storage device that collects these items until they can be manually entered from the back into the storage rack.

Auf diese Weise besteht die Möglichkeit, gezielt einen Gegenstand zu entnehmen, der beispielsweise in dem bestimmten Kanal erst an dritter Stelle verfügbar ist, so dass die Gegenstände der ersten und zweiten Stelle erst entnommen werden müssen, bevor der gewünschte Gegenstand die Ausgabeposition erreicht hat.In this way, it is possible to selectively remove an object that is available, for example, in the specific channel only in third place, so that the objects of the first and second place must first be removed before the desired object has reached the issue position.

Gemäß einer bevorzugten Ausgestaltung der Erfindung ist ein an der Rückseite der schrägen Fachböden bewegbarer zweiter Manipulator vorgesehen, der die von der Rückführvorrichtung rückgeführten Gegenstände übernimmt und in ausgewählte Kanäle eingibt. Dadurch wird eine zeitnahe Rückgabe der rezirkulierten Gegenstände in einen der Kanäle sichergestellt. Dieser Kanal muss nicht notwendigerweise derselbe sein, aus dem der Gegenstand entnommen wurde. Sämtliche Aktionen der Manipulatoren sind von einem Lagerverwaltungsrechner gesteuert. Dieser enthält auch Angaben über die Positionen, an denen sich die einzelnen Gegenstände befinden, beispielsweise den betreffenden Kanal und die laufende Nummer in dem Kanal. Ferner enthält der Rechner die Größenangaben der einzelnen Gegenstände. Bei den Gegenständen handelt es sich in der Regel um quaderförmige Packungen, deren Länge, Breite und Höhe im Rechner enthalten sind. Gespeichert sind ferner die Breiten der einzelnen Kanäle. Der Rechner kann demnach für jeden einzulagernden Gegenstand einen Kanal geeigneter Größe auswählen. Die Parameter der Packungen erhält der Rechner durch Abtasten eines auf der Packung enthaltenen Barcodes.According to a preferred embodiment of the invention, a movable on the back of the oblique shelves second manipulator is provided, which takes over the returned from the return device objects and enters into selected channels. This ensures a timely return of the recirculated objects in one of the channels. This channel does not necessarily have to be the same from which the item was taken. All actions of the manipulators are controlled by a warehouse management computer. This also contains information about the positions where the individual items are located, for example the channel in question and the serial number in the channel. Furthermore, the computer contains the size information of the individual items. The items are generally parallelepiped packs whose length, width and height are included in the calculator. Also stored are the widths of the individual channels. The computer can therefore select a channel of suitable size for each item to be stored. The parameters of the packs are obtained by the computer by scanning a barcode contained on the pack.

Gemäß einer bevorzugten Ausführungsform der Erfindung weist die Rückführvorrichtung mindestens eine Rutsche auf. Die Rutsche verläuft in einer zu den Kanälen parallelen Ebene, jedoch mit entgegengesetztem Gefälle. Alternativ hierzu kann die Rutsche auch eine Wendelrutsche sein. In jedem Fall verbindet sie die Entnahmeseite des Automaten mit der Bestückungsseite.According to a preferred embodiment of the invention, the return device has at least one chute. The chute runs in a plane parallel to the channels, but with an opposite slope. Alternatively, the chute may also be a helical chute. In any case, it connects the withdrawal side of the machine with the component side.

Der Manipulator weist vorzugsweise einen Kippboden auf, der zum Abgeben der Gegenstände kippbar ist. Verwendet werden kann aber auch ein anderer Manipulator, z. B. mit einem Greiforgan.The manipulator preferably has a tilting bottom, which is tiltable for dispensing the objects. But can also be used another manipulator, eg. B. with a gripping member.

Im Folgenden wird unter Bezugnahme auf die Zeichnungen ein Ausführungsbeispiel der Erfindung näher erläutert.In the following an embodiment of the invention will be explained in more detail with reference to the drawings.

Es zeigen:

Figur 1
eine schematische perspektivische Ansicht des Schrägfachbodenregals und
Figur 2
eine Stirnansicht aus Richtung des Pfeils II.
Show it:
FIG. 1
a schematic perspective view of the inclined shelf shelf and
FIG. 2
an end view from the direction of the arrow II.

Das Schrägfachbodenregal 10 ist in einem Gehäuse 11 enthalten, welches eine Vorderwand 12 mit einem Entnahmefenster 13, eine Rückwand 14 sowie Stirnwände aufweist. In der Vorderwand 12 befindet sich eine Ausgabeöffnung 15 zum Ausgeben von Gegenständen aus dem Schrägfachbodenregal. Die durch die Ausgabeöffnung ausgegebenen Gegenstände gelangen auf eine Rutsche 15a und werden von einem nicht dargestellten Förderer zu einem Arbeitsplatz geliefert, an dem die Warenanforderung aufgegeben worden war. Das Schrägfachbodenregal enthält zahlreiche Schrägfachböden 16, die zur Vorderseite hin (gemäß Figur 2 nach links) abfallen und unter einem solchen Winkel geneigt sind, dass die auf den Schrägfachböden 16 abgelegten Gegenstände 17 aufgrund ihres Gewichts gegen ein am unteren Ende des Schrägfachbodens vorgesehenes Anschlagelement stoßen. Die Schrägfachböden sind durch längslaufende Teiler 18 in parallele Kanäle 19 unterteilt, in denen jeweils eine Reihe von Gegenständen 17 angeordnet werden kann. Die Gegenstände einer Reihe stützen sich auf dem untersten Gegenstand dieser Reihe ab.The inclined tray shelf 10 is contained in a housing 11 having a front wall 12 with a removal window 13, a rear wall 14 and end walls. In the front wall 12 is a discharge opening 15 for dispensing articles from the inclined shelf shelf. The objects discharged through the dispensing opening reach a chute 15a and are delivered by an unillustrated conveyor to a work station where the goods request has been placed. The inclined shelf shelf contains numerous slanted shelves 16 facing the front (as shown in FIG FIG. 2 to the left) and inclined at such an angle that the articles 17 deposited on the inclined shelves 16, due to their weight, strike against a stop element provided at the lower end of the inclined shelf. The inclined shelves are divided by longitudinal dividers 18 in parallel channels 19, in each of which a number of objects 17 can be arranged. The objects of a row are based on the lowest object of this series.

In einem Freiraum 20, der an die unteren Abgabeenden 21 der Schrägfachböden 16 angrenzt, ist ein Manipulator 22 bewegbar. Der Manipulator 22 weist eine vertikale Säule 23 auf, die entlang von Führungsschienen horizontal verfahrbar ist. An der Säule 23 ist ein Tragboden 24 vertikal verfahrbar angebracht. Der Tragboden 24 befindet sich normalerweise in einer Stellung, in der seine Fläche die Fläche eines Schrägfachbodens 16 verlängert, also die gleiche Schrägstellung hat. Der Tragboden 24 ist als Kippboden ausgebildet, der in die in Figur 2 gestrichelte Position 24a geschwenkt werden kann.In a free space 20, which adjoins the lower discharge ends 21 of the inclined shelves 16, a manipulator 22 is movable. The manipulator 22 has a vertical column 23 which is horizontally movable along guide rails. On the column 23, a support floor 24 is mounted vertically movable. The support floor 24 is normally in a position in which its surface is the surface of a Sloping shelf 16 extended, so the same inclination has. The support floor 24 is formed as a tilting bottom, in the in FIG. 2 Dashed position 24a can be pivoted.

Zum Entnehmen eines Gegenstandes aus einem der Kanäle 19 wird der Tragboden 24 des Manipulators von dem Lagerverwaltungsrechner in eine Position gefahren, in der er sich gegenüber dem Abgabeende 21 eines ausgewählten Kanals 19 befindet. Der Manipulator weist einen (nicht dargestellten) Finger auf, der den vordersten Gegenstand A dieses Kanals 19 am vorderen Ende über das Anschlagelement des Fachbodens 16 hebt, so dass der Gegenstand auf den Tragboden 24 des Manipulators 22 überführt wird. Nachfolgende Gegenstände B, C und D rutschen dann nach, bis sie durch das Anschlagelement des Fachbodens abgestützt werden. Alternativ kann auch das Anschlagelement des Fachbodens gesteuert bewegt werden, um den vordersten Gegenstand in einem Kanal an den Manipulator zu übergeben. Nach Übernahme eines Gegenstandes auf den Tragboden 24 des Manipulators wird der Manipulator 22 in eine Ausgabeposition gefahren, in der der Tragboden 24 hinter die Ausgabeöffnung 15 gelangt, so dass die Ware von dem Tragboden 24 auf die Rutsche 15a abgegeben wird.To remove an object from one of the channels 19, the support base 24 of the manipulator is driven by the warehouse management computer to a position in which it is located opposite the discharge end 21 of a selected channel 19. The manipulator has a finger (not shown) which raises the foremost article A of this channel 19 at the front end over the abutment element of the shelf 16, so that the article is transferred to the support bottom 24 of the manipulator 22. Subsequent items B, C and D then slip until they are supported by the stopper member of the shelf. Alternatively, the stop element of the shelf can be moved under control in order to transfer the foremost object in a channel to the manipulator. After taking over an object on the support floor 24 of the manipulator, the manipulator 22 is moved to a dispensing position in which the support floor 24 passes behind the discharge opening 15, so that the product is discharged from the support floor 24 on the chute 15 a.

In den Zeichnungen ist der Fall dargestellt, dass in einem Kanal unterschiedliche Gegenstände 17 enthalten sind, die hier mit A, B, C und D bezeichnet sind. Es sei angenommen, dass der dritte Gegenstand C aus dem Regal ausgegeben werden soll. Bevor dies möglich ist, müssen erst die Gegenstände A und B entfernt werden. Dies geschieht dadurch, dass der Rechner veranlasst, dass die Gegenstände A und B auf den Tragboden 24 des Manipulators entlassen werden, bis der geforderte Gegenstand C auf dem Fachboden 16 in vorderster Stellung liegt.In the drawings, the case is shown that in a channel different objects 17 are included, which are designated here with A, B, C and D. It is assumed that the third object C should be output from the shelf. Before this is possible, first the items A and B must be removed. This happens because the computer causes the articles A and B to be discharged onto the support floor 24 of the manipulator until the required object C lies on the shelf 16 in the foremost position.

Der Manipulator 22 fährt dann zu einer Rückführposition 27, die hier am rechten Ende der Länge der Fachböden angeordnet ist. Hier befindet sich ein stirnseitiger Freiraum 28, welcher die Rückführvorrichtung 29 aufnimmt. Diese besteht aus mindestens einer Rutsche 30, die vom vorderen zum rückwärtigen Ende hin abfällt. Das vordere Ende der Rutsche 30 grenzt an den vorderen Freiraum 20 an und das rückwärtige Ende grenzt an einen rückwärtigen Freiraum 31 an, in welchem ein zweiter Manipulator 32 mit einem Tragboden 33 verfahrbar ist. Der Manipulator 32 ist ebenfalls von dem Rechner gesteuert und sein Tragboden 33 kann vor das Aufnahmeende 34 eines Fachbodens 16 gefahren werden, um einen Gegenstand auf diesen Fachboden zu übertragen. Der Tragboden 33 ist ebenfalls um eine horizontale Achse zwischen einer Aufnahmeposition und einer Abgabeposition schwenkbar.The manipulator 22 then moves to a return position 27, which is arranged here at the right end of the length of the shelves. Here is a frontal space 28 which receives the return device 29. This consists of at least one chute 30, which drops from the front to the rear end. The front end of the chute 30 adjoins the front free space 20 and the rear end adjoins a rear free space 31, in which a second manipulator 32 with a support floor 33 is movable. The manipulator 32 is also controlled by the computer and its support floor 33 can be moved in front of the receiving end 34 of a shelf 16 to transfer an object to this shelf. The support floor 33 is also pivotable about a horizontal axis between a receiving position and a dispensing position.

Generell reicht als Rückführvorrichtung 29 eine einzige Rutsche 30 aus. Im vorliegenden Fall sind mehrere Rutschen 30 übereinander angeordnet, um einen Puffer zu bilden, der in dem Fall, dass der Manipulator 32 mit anderen Aufgaben beschäftigt ist, Gegenstände aufnehmen kann. Der Manipulator 32 holt von der Rückführvorrichtung 29 einen der Gegenstände ab und fährt ihn an eine Aufnahmeposition eines der Fachböden 16. Auf diese Weise können Gegenstände, die aus dem Regal vorne entnommen wurden, hinten wieder hineingeführt werden.In general, a single chute 30 is sufficient as the return device 29. In the present case, a plurality of chutes 30 are arranged one above the other to form a buffer which can receive objects in the event that the manipulator 32 is occupied with other tasks. The manipulator 32 retrieves one of the articles from the return device 29 and moves it to a receiving position of one of the shelves 16. In this way, objects which have been removed from the front shelf can be guided back in the back.

Es besteht auch die Möglichkeit, mehrere Gegenstände gleichzeitig auf den Manipulator 22 zu überführen, beispielsweise die Gegenstände A, B in dieser Reihenfolge. Wenn die Gegenstände dann auf die Rückführvorrichtung 29 transferiert werden, liegen sie dort in der Reihenfolge B, A. Wenn sie von dem zweiten Manipulator 32 auf einen der Fachböden 16 übertragen wurden, liegen sie dort wieder in der Reihenfolge A, B. Durch das zweimalige Umsetzen wird also die ursprüngliche Reihenfolge wieder hergestellt.It is also possible to transfer several objects simultaneously to the manipulator 22, for example the articles A, B in this order. If the objects are then transferred to the return device 29, they are there in the order B, A. If they were transferred from the second manipulator 32 on one of the shelves 16, they are there again in the order A, B. By the two times Thus, the original order will be restored.

Das erfindungsgemäße Schrägfachbodenregal eignet sich insbesondere als Ausgabevorrichtung für Apotheken, wo eine Vielzahl unterschiedlicher Produkte in Packungen enthalten ist, so dass eine umfangreiche Lagerhalterung erforderlich ist. Prinzipiell ist das Schrägfachbodenregal auch für andere Anwendungen geeignet, beispielsweise als Ausgabe- oder Verkaufsautomat für beliebige Gegenstände.The inclined shelf shelf according to the invention is particularly suitable as a dispenser for pharmacies, where a variety of different products is contained in packages, so that an extensive storage support is required. In principle, the inclined shelf shelf is also suitable for other applications, for example, as a dispenser or vending machine for any objects.

Claims (5)

  1. Inclined shelf case comprising inclined shelves (16) on which channels (19) are provided to receive rows of objects (17), and comprising a manipulator (22) movable in a front free space (20), which borders the dispensing ends (21) of the shelves (16), in order to accept from a channel (19) the respective lowermost object (A) of the row of objects in the channel and to transport the same to a dispensing position,
    characterized in that
    the manipulator (22) is capable of traveling to a return position (27) from which a return device (29) leads to the rear side of the shelves (16).
  2. Inclined shelf case of claim 1, characterized in that a second manipulator (32), movable at the rear side of the inclined shelves (16), is provided, said manipulator accepting the objects (17) returned by the return device (29) and introduces them into selected channels (19).
  3. Inclined shelf case of claim 1 or 2, characterized in that the return device (29) comprises at least one slide (30) extending in a plane parallel to the channels (19) but with an oppositely directed inclination.
  4. Inclined shelf case of one of claims 1 to 3, characterized in that a computer controlling the manipulator (22) holds information about the size of the objects (17) and their storage position, and that, when an object (17) is called from a channel (19), the computer causes the other objects in the channel (19) located in front of the object called to be removed by the manipulator (22) and to be transported to the return position (27).
  5. Inclined shelf case of one of claims 1 to 4, characterized in that the manipulator has a support bottom (24) configured as a tiltable bottom that can be tilted to dispense the objects.
EP08158793A 2007-07-04 2008-06-23 Inclined shelf case Active EP2015265B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL08158793T PL2015265T3 (en) 2007-07-04 2008-06-23 Inclined shelf case

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202007009398U DE202007009398U1 (en) 2007-07-04 2007-07-04 Inclined shelf arrangement for accommodating rows of objects has manipulator that can move to return position from which return device leads to rear of shelf

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EP2015265A2 EP2015265A2 (en) 2009-01-14
EP2015265A3 EP2015265A3 (en) 2009-02-11
EP2015265B1 true EP2015265B1 (en) 2010-07-21

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EP08158793A Active EP2015265B1 (en) 2007-07-04 2008-06-23 Inclined shelf case

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EP (1) EP2015265B1 (en)
AT (1) ATE475159T1 (en)
DE (2) DE202007009398U1 (en)
ES (1) ES2349298T3 (en)
PL (1) PL2015265T3 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202007009398U1 (en) * 2007-07-04 2007-09-06 Gebr. Willach Gmbh Inclined shelf arrangement for accommodating rows of objects has manipulator that can move to return position from which return device leads to rear of shelf
DE102011002134B4 (en) * 2011-04-18 2022-02-17 Hartmut Lang Dispensing device for goods packed in packs, in particular medicines
US11389012B2 (en) * 2017-07-13 2022-07-19 Jorge Benitez Torres Automated multi-dispenser and multi-replenisher of products, and method for product unloading

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4867628A (en) * 1988-01-15 1989-09-19 Ammon J Preston Dispenser storage system
DE29817529U1 (en) * 1998-10-01 2000-02-17 Gebr. Willach GmbH, 53809 Ruppichteroth Dispenser
DE20204573U1 (en) * 2002-03-21 2003-08-28 Gebr. Willach GmbH, 53809 Ruppichteroth dispenser
IL154054A0 (en) * 2003-01-20 2003-07-31 Central Bottling Co Vending machine
DE202007009398U1 (en) * 2007-07-04 2007-09-06 Gebr. Willach Gmbh Inclined shelf arrangement for accommodating rows of objects has manipulator that can move to return position from which return device leads to rear of shelf

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DE502008000977D1 (en) 2010-09-02
ES2349298T3 (en) 2010-12-29
DE202007009398U1 (en) 2007-09-06
PL2015265T3 (en) 2010-12-31
EP2015265A3 (en) 2009-02-11
EP2015265A2 (en) 2009-01-14
ATE475159T1 (en) 2010-08-15

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