Classification device

Abstract

The invention relates to a system for storing and sorting materials, comprising:-a storage system; at least a first layer comprising a plurality of storage locations, preferably arranged in rows in two mutually perpendicular horizontal directions, for receiving the stacked cartridges; at least one transport device having a receiving area for receiving individual cartridges or stacked cartridges in and out of the storage system; a transport system, in particular a rail device, on which at least one transport device is mounted so as to move towards and within the storage system, thereby achieving the purpose of independently stacking the cartridges; and a reclassification device having at least one gripper, which is connected to the storage system by means of the transport system and is designed to receive a subset or all of the stacked cartridges on the transport device, to lift the received cartridges and to transfer it to the transport device or to a further transport device.

Description

Technical Field

[0001] The present invention relates to the reclassification device described in claim 1. Background Art

[0002] In order to better understand the nature of the proposed technical solution, the following is a description of a specific implementation example, which is not a limiting example of the actual implementation of an automatic system for storing materials and collecting material sets.

[0003] JPS6371026A discloses a device which is intended to keep the number of stacked feeding boxes constant. It is equipped with a sensor which controls the operation of the lateral conveying mechanism of the feeding boxes for continuous feeding when the number of the feeding boxes is detected to reach an integral multiple of a preset value.

[0004] As a significant difference from the present invention, it should be noted that the feeding box is guided through a conveyor belt, which is equipped with soil, water and seeds for the feeding box. Subsequently, the individual pallets on the conveyor belt 5 are stacked again by the lifting mechanism 10 in the same order in which they arrive on the conveyor belt 5, and are transferred to the transport device 13 by stacking by the downwardly open shelf 12, wherein the box in the shelf is transferred to the transport device by the opening to 12a. In the process, the pile will not be reclassified. Similarly, the box 12a is not designed to receive the box from the transport device 13 and return it to the transport device 13. In addition, JPS6371026A does not have two independently operated grippers, each gripper is designed to independently pick up the box from the transport device and return it to the transport device, thereby realizing reclassification according to the present invention. In addition, a positioning area is not provided, and the stacked boxes located on the transport device can be fed into the gripper by vertical movement on the positioning area, and then taken over by the gripper.

[0005] JPH07291455A provides a supporting element utilizing liquid pressure and provides a pressure control device to continuously control the liquid pressure of the supporting component in conjunction with the movement of the vertical frame, so that a small motor applying low torque is used to exchange containers to support the weight of the vertical frame, the horizontal moving element and the retaining element.

[0006] CN111153220B discloses a stacking mechanism for stacking packaging boxes, belonging to the field of packaging processing machinery. A stacking container feeding bracket, a stacking container stacking bracket, and a stacking container unloading bracket are firmly arranged in sequence in the horizontal conveying direction of the packaging box, a plurality of rotating rollers for front box transportation are rotated in sequence in the horizontal direction and connected to the position of the front box transportation bracket on the top of the stacking container feeding bracket, and a lifting adjustment mechanism, a box clamping and fixing mechanism, and a stacking container lifting mechanism are firmly arranged in sequence in the vertical direction from top to bottom on the stacking container stacking bracket, and a plurality of rear box conveying rollers are rotatably connected in sequence in the horizontal direction at the position of the rear box conveying bracket on the top of the stacking container unloading bracket. The stacking mechanism has a reasonable structure, can efficiently and stably stack packaging boxes of various sizes and specifications continuously, has reliable operation, ensures the stacking performance and quality of the packaging boxes, improves the automation degree of the packaging box stacking, and meets the production requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The claimed invention is explained in more detail with reference to the accompanying drawings. They show:

[0008] Figure 1 shows a general diagram of the automation system;

[0009] Figure 2 shows a front perspective view of an automated system;

[0010] Figure 3 A schematic diagram of a mobile transport device is shown;

[0011] Figure 4 A general diagram of a mobile transport unit is shown;

[0012] Figure 5 A mobile transport device is shown with stacked pallets thereon;

[0013] Figure 6 A schematic diagram of an apparatus for lifting and lowering stacked pallets is shown;

[0014] Figure 7 A general diagram of an apparatus for raising and lowering stacked pallets is shown;

[0015] Figure 8 The interaction of the device for lifting and lowering stacked pallets with the pallets and the mobile transport device is shown;

[0016] Figure 9-11 An alternative embodiment with a gripper and a movable storage area / storage device is shown, which can replace the second gripper with an advantageous movement sequence;

[0017] Fig.12 A combination of the first and second embodiments is shown, i.e. with at least one additional holder and at least one movable storage area / storage device;

[0018] Fig.13 shows a perspective view of an automatic device for re-sorting stacked pallets;

[0019] Fig.14 shows a front view of an automatic device for re-sorting stacked pallets;

[0020] Fig.15 shows a side view of an automatic device for re-sorting stacked pallets;

[0021] Fig.16 shows a top view of an automatic device for re-sorting stacked pallets;

[0022] Fig.17 Two perspective views of a tray used in the system are shown: an upper left view and a lower right view;

[0023] Fig.18 shows a perspective view of a pair of clamps in an initial state;

[0024] Fig.19 showing a perspective view of one of the two clamps in an extended state;

[0025] Figure 20-31 The step of aligning the stacked pallets 101 is shown, which are sent to the re-sorting devices 310 , 320 by the transport device 130 . DETAILED DESCRIPTION

[0026] like Figure 1 and Figure 2 As shown, the automatic box storage system and / or the sorting system preferably includes a control module 50 and / or a storage system 110 and / or a box / tray sorting area 120. The control module 50 includes a central control processor 51 and / or an order processing unit 52 and / or an interface 53 and / or a wireless interface 54, preferably an interface to the device 120 and / or 140. According to the present invention, the terms tray, box, tray and flat plate can be used synonymously as the medium to be transported by the mobile transport device 130.

[0027] A plurality of mobile transport devices 130 may be controlled by the central processor 50 via the wireless interface 54 and / or used to transport empty and full boxes / trays and stacked boxes / trays / panels 101 within the storage system 110 and / or between sorting areas of the trays 120 and between the two areas. Figure 5 ).

[0028] like Figure 2As shown, there are at least one, preferably at least two, devices 140 / 142 for lifting and lowering stacked boxes / trays / flat plates 101 in the box / tray sorting area 120. In particular, the devices 140 / 142 can be designed to lift and lower boxes / trays from a transport device, preferably in a sorting area. All boxes / trays or a subset of boxes / trays can be lifted or picked up from a transport device. In addition, the box / tray sorting area 120 can contain multiple buffer spaces to accommodate multiple MTUs 130 or their boxes if they arrive early and wait for further processing.

[0029] The pallets within the storage system 110 are stored in stacks of preferably n pallets, in the particular case n>=5, as shown.

[0030] like Figure 2 As shown, the storage area of ​​the stacked pallets 110 may be designed to have multiple layers, wherein a plurality of individual pallets 110 are stacked one on top of another.

[0031] like Figure 3-Figure 5 The transport device 130 shown preferably comprises a lifting platform 131 designed to pick up and transport a pallet / box 101 or stacked pallets / boxes and two sets of drive wheels 132 and 133 intended to move the device in two horizontal directions perpendicular to each other.

[0032] The structural design of the MTU 130 or the storage area 110 is such that an empty / unequipped unit 130 and its lifting table 131 without placed / transported trays / boxes can move freely underneath the stacks in the storage area 110. This allows the MTU to be transported also to stacks located in the further back areas of the storage area without having to make a detour through the storage area itself.

[0033] The mobile transport device 130 is preferably part of the storage and sorting system of the present invention, which can be controlled in any known manner. In particular, an embedded (industrial) controller 134 with a wireless interface 135 can be used for control, which communicates with the central processor 51 of the automatic system. The controller 134 controls the drive 136 of the wheels 132 and 133 so as to preferably move in two directions on the plane along the track and / or controls the drive 137 of the vertical position of the wheels 132, 133, by which the wheels can be raised and lowered so that the lower side of the lifting platform can touch the ground and / or adjust the state of the lifting platform 131 (height adjustability). The track can be present in the storage area 110 and / or the sorting area, and can therefore also be connected between the areas, and can be provided as a basis for the movement of the transport device 130.

[0034] Figures 6 to 8A device 140 for lifting single or stacked boxes / trays is shown, which has a (base) body 141 and at least two grippers 142, which are vertically movable relative to the body 141 and are able to grip / pick up and lift any number of boxes / trays 101 from the MTU 130 in the operating area of ​​the grippers 142, or place any number of boxes / trays 101 on the MTU 130. Typically, the MTU is located below the grippers for picking up / gripping the boxes / trays by means of the grippers. The grippers can be provided with a frame, the dimensions of which are set to be placed on the stack of boxes. The grippers can be equipped with holding devices / holding lugs / holding brackets or other devices that can be adjusted to the tray / box, which are designed to hold the boxes / trays 101 placed on the grippers (placed on them, see for example Figure 8 ) is held on the clamp 142.

[0035] The device 140 for lifting and lowering the stacked trays can also be controlled in any known manner. In particular, an embedded industrial controller 143 can be used, which has an interface 144 for communicating with the central processor 51 of the automatic storage system 100. Preferably, the controller 143 controls the drives 145 and 146 of the corresponding grippers 142, one for picking up and lifting the (stacked) trays / boxes 101 in the vertical direction.

[0036] Figure 8 The interaction of the device 140 for lifting and lowering stacked trays with the trays / boxes 101 placed on the mobile transport device 130 is shown. It can be seen that the mobile transport device 130 first approaches the first (right) gripper 142 of the device 140, thereby selecting the first gripper 142 in this example to lift and lower the stacked four upper boxes / trays 101 placed on the MTU 130.

[0037] Afterwards, the MTU 130 is moved in a first horizontal direction under the second (left) gripper 142 of the device 140. Then, the second gripper 142 lifts the (remaining) tray / box 101 from the MTU 130.

[0038] Subsequently, the MTU moves under the first gripper 142 of the device 140, wherein the first lifted stacked tray / box 101 is placed on the MTU 130. Then, the MTU 130 moves again under the second (correspondingly lifted) gripper 142 of the device 140, which now places the previously bottom tray / box 101 of the stack on top of the stack. According to the present invention, the described and claimed "system" may be both a device and an apparatus.

[0039] Alternatively or additionally, as an alternative or in addition to the second holder, a movable storage area / storage device may be provided adjacent to the holder ( Figure 9-11A movable component 152 of the storage area / storage device 150, such as a movable shelf or a (removable / repositionable) conveyor belt, can be moved toward the gripper 142 to allow the gripper to transfer the picked boxes to the storage area / storage device (e.g., place them on it, see Fig.11 b).

[0040] The storage device may have a fixed base 151 on which a movable part 152 of the storage device is movably mounted and / or rests.

[0041] The movable storage area / storage device can then be moved away from the holder (under the holder) ( Fig.11 c, 11d), thereby releasing the loading area of ​​the gripper (below), i.e., a transport device 130 ( Fig.11 d) so that the gripper can take over its box or transfer it into it.

[0042] For example, the gripper may first take over one or more boxes from the transport unit ( Fig.10 b, 11c), and then transfer these boxes to the storage area / storage device ( Fig.11 a, 11b, 11c), thereby being free to pick up additional boxes. If an empty transport is located next to / at a movable storage area / storage device and / or at the loading area of ​​a gripper, the movable storage area / storage device can transfer the temporarily stored boxes (subset) back to the transport. Alternatively, the storage area / storage device can transfer the boxes back to the gripper 142 at a given time, thereby enabling the boxes of one or more transports to be re-sorted as a whole.

[0043] According to the invention, re-sorting may in particular mean being able to change the order of boxes in an existing stack of boxes using the device of the invention.

[0044] According to the invention, a stack of boxes is preferably a set of boxes comprising at least two, preferably three, four, five or more boxes placed one on top of the other.

[0045] According to the invention, the subset of boxes of a stack may be at least one less than the number of boxes present in the respective stack.

[0046] Subsequently, the transport device with the subset of boxes can be removed for further processing, or additional boxes picked up by the grippers can be loaded onto the subset. This makes it possible to re-sort the boxes / stacks on the transport device using at least two grippers or at least one gripper in combination with the movable storage area / storage device described above. The invention relates to a corresponding device and a corresponding method.

[0047] In principle, it is also conceivable to provide a combination of the first and second embodiments, such as Fig.12 This allows Figure 9-11 The cartridge exchange in the embodiments also allows for cartridge exchange between different transporters 130 or transfer of cartridges from one transporter to a second transporter.

[0048] Use according to Fig.11 A possible reclassification method of the embodiment can be performed as follows:

[0049] The first transport device 130 is moved to an area below one of the two shown grippers 142. The first gripper 142 takes over any number of boxes from the transport device 130. The first gripper 142 then transfers the boxes or a subset of the boxes to a movable part 152 of the storage area / storage device, which can be moved towards the first gripper for this purpose.

[0050] On the other side, at the second gripper 142, this gripper can now take over the boxes from the storage area / storage device, for which purpose this storage device is moved towards the second gripper 142, or the gripper is already loaded with boxes, which the gripper can place on the stacked boxes of the storage area / storage device, as long as the storage area / storage device is moved towards the gripper. Subsequently, the gripper can lift all boxes or a subset of the combined boxes again and, after removing the storage area / storage device (if applicable, together with the remaining boxes) from the loading area of ​​the second gripper, transfer the boxes of the second gripper to the transport device 130, which is located in the loading area of ​​the second gripper 142.

[0051] This enables a rearrangement between different transporters 130 and / or a change of the box sequence of a transporter 130 .

[0052] Fig.13 A portion of a frame of a storage system 100 is shown, in which a re-sorting device for stacked trays / boxes is integrated. In the representation shown, the storage system 100 preferably comprises a shelf section 440 with a plurality of storage locations 110, at which stacked trays 101 are stored. The storage locations 110 of the storage system 100 are preferably arranged in two horizontal directions a and b, which are perpendicular to each other, and in a plurality of vertical layers.

[0053] In order to enable the movement of pallets or stacked pallets (stacked boxes) 101, for example, rails 420 are provided below the storage location 110, which rails can be interconnected in passages between sections 440 via rail crossings 430. The combination of rails 420 and crossing rails 430 can form a transport network on which the automated mobile transport units 130 (MTU) move.

[0054] The mobile transport device 130 is designed to pick up or put down stacked boxes / trays 101 between storage locations 110 of the automated storage system 100. The mobile transport device 130 can move along the transport network in two mutually perpendicular horizontal directions a and b.

[0055] The stacker re-sorting device 300 is also shown in FIG. Fig.13 In the representation shown, it has a loading area 310 with a vertically movable storage area and two (pairs of) clamps 320, which are preferably arranged on both sides of the movable storage area of ​​the loading area 310 in the horizontal plane of the storage system 100, preferably at the intersection 430.

[0056] like Figure 13-16 As shown, the loading area 310 of the re-sorting device includes a slide / storage area 310, which is preferably vertically movable along a column 311 and can be driven by an electric drive 312. In its lower position, the storage area of ​​the loading area 310 can be aligned with the transport network of the lower storage level. The upper working surface of the loading area 310 preferably follows the geometry of the adjacent track intersection 130 so that the MTU 130 can be moved towards the loading area or away from it in a first horizontal direction (along the passage to the adjacent track intersection 130) and in a second horizontal direction (where the column 311 is not present). In addition, a battery charger (not shown in the figure) can be installed on the storage area of ​​the loading area 310, which charger charges the battery of the MTU 130 during the entire time that the MTU 130 is located in the storage area of ​​the loading area.

[0057] The vertical movement of the storage area of ​​the loading area 310 in the embodiment shown in the figure allows the MTU 130 to be moved between the first and second storage levels either empty or with stacked pallets 101 thereon. That is, by aligning the storage area of ​​the loading area 310 with the transport network of the second storage level, the MTU 130 can enter or exit in the same (three) directions as the first storage level.

[0058] The grippers 320 of the automatic stacking box sorting device 300 are arranged so that when the MTU 130 moves to the storage area of ​​the loading area 310, they can grab any number of pallets 101 placed on the MTU (1, 2, 3, 4 or (all) 5 pallets stacked as shown in the example in the figure).

[0059] The two grippers (pairs) 320 of the automatic stacking box sorting device 300 are preferably equivalent and have the same function. Their working sequence is preferably only dependent on the software operated by the control device 300, which is preferably located in the control cabinet 330.

[0060] like Fig.15 As shown, the pair of grippers 320 is preferably arranged above the second storage layer so that an MTU 130, empty or with stacked trays 101, can reach the stacked boxes on the MTU in the first horizontal direction through the area of ​​the grippers 320. In order to allow the MTU 130 to pass in this way, each pair of grippers 320 preferably has its own drive element.

[0061] Fig.17 Two views of a variation of a tray 101 for use in this system are shown. Fig.17 a shows a perspective view of the tray 101 from the upper left corner, and a perspective view from the lower right side. Fig.17 b. As shown in both views, support bars 11 are preferably located on the longitudinal sides of the pallet for removing the pallet 101 from the stack. The support bars can be used to center the pallet 101 with the gripper 320 during removal and to bear the weight of the removed pallet. For centering, the support bars 11 preferably have a pair of grooves 12 into which the elements of the gripper 320 are drilled before removal and, for the removal of the load, preferably rest against the lower edge 13 on the corresponding gripping pad during removal.

[0062] like Fig.17 As shown in FIG. 1 b , the bottom surface of the pallet 101 preferably has a groove 14 to center and secure the bottom pallet 101 of the stack of MTUs 130 during removal and transportation.

[0063] Fig.18 and 19 An embodiment of one of the grippers 320 of a pair of grippers is shown. Fig.18 The clamp 320 is shown in its initial / retracted state (holding position) when the clamp is in its positioning area. In this position, a box or multiple boxes can be temporarily stored on the clamp. Fig.21 In the embodiment, the movable part of the gripper 320 extends to the working area / pick-up position of the loading area. The working area can be located in a vertical channel where the storage area of ​​the loading area 310 moves up and down.

[0064] exist Fig.18 and Fig.19 In the figure, it can be seen that each gripper 320 can have a fixed base 321 and a module 322 that moves relative to it, which module 322 can be moved by an electric drive 323. On the bottom side of the movable module 322, a clamp 324 with two centering fingers 325 and a support pad 326 is preferably attached. The centering fingers 325 and the support pad 326 are preferably extended from the projection of the movable module 322 by an actuator 327, which is also connected to the bottom of the movable module 322 and moves with it. The second gripper 320 in the pair of grippers can be a mirror image of the gripper shown in the figure.

[0065] The automatic stacking container reclassification device is operated as follows:

[0066] The MTU 130 with the stacked pallets 101 is moved onto a work surface / storage device in a loading area 310 located at a lower level of the transport network at the first storage level of the system.

[0067] The storage device, also called lifting carriage, of the loading area 310 is lifted to the height of the gripper, on which carriage the MTU 130 with the stack of boxes 101 is located, to pick up the required number of upper boxes 10 in the stack. The storage device stops.

[0068] The pair of grippers 320 is moved from its initial / retracted position to the working area of ​​the storage device of the loading area 310. After moving the movable module 322 of the pair of grippers 320, the gripper 324 is preferably placed in a position to pick up the pallet 10 using its actuator 327. The centering pin 325 of the gripper 324 can fall into the groove 12 of the support bar 11 of the pallet 10, and the support pad 326 can be located under the lower edge 13 of the pallet 10.

[0069] The carriage is then lowered slightly (preferably by 30-50 mm) and the desired box (or stack of boxes) is lowered onto the support surface 326 of the pair of grippers 320, thereby separating the box from the remaining stack on the MTU 130. Afterwards, the movable modules 322 / grippers together with the tray 101 (or stack of trays) clamped by them are returned to their initial state (initial / retracted position).

[0070] The carrier / storage device then moves to the required height to pick up the required box 101 of the stack placed on the MTU 130. The storage device / (lift) carrier stops.

[0071] The second gripper(s) 320 then picks up the desired box 101 from the stack in the same manner as described in the above paragraph and moves it / them to the second side of the working area of ​​the loading area 310 (the initial / retracted position of the second gripper(s)).

[0072] Afterwards, the first gripper (pair) 320 / its removable module 322 is moved together with the removed box 101 (or tray) to the working area of ​​the storage device of the loading area 310. The storage device of the loading area 310 can be raised by 30-50 mm and / or the weight of the boxes 10 is transferred from the two grippers 320 to the stack placed on the MTU 130. The clamps 324 of the gripper 324 can be brought to their initial state by the actuator 327, and then the removable module 322 of the gripper 320 itself, which is already empty, can be restored to its initial state and leave the working area of ​​the gripper or the storage device of the loading area 310.

[0073] The depository of the loading area 310 moves vertically to a position where the boxes 101 are placed on top of the stack of trays on the MTU 130, ie, moves down far enough for the second gripper to bring the box it is carrying back to the work area and place it on the stack of boxes. The depository stops.

[0074] The second gripper 320 moves its movable module 322 with the initially picked-up box 101 into the storage device or the working area of ​​the pair of grippers of the loading area 310. The bracket 310 / storage device of the loading area 310 is raised by 30-50 mm and the weight of the box 101 is transferred from the second gripper (pair) 320 to the stacked boxes placed on the MTU 130. The clamp 324 of the gripper can be brought to its initial state by the actuator 327, and then the gripper 320 itself can restore the empty movable module 322 to its initial state and leave the working area of ​​the lifting bracket 310.

[0075] The resorting process is completed by moving the lifting carriage / loading area 310 vertically to the desired storage level (e.g., first or second), and then the MTU 130 with the resorted stacked boxes 101 is moved in one of the possible directions in the storage system's transport network for further operation as part of the automated storage system.

[0076] It should also be understood that the previously described method of operation of the automatic stack re-sorting device is not the only possible method, but only describes one of the most common special cases of operation of the re-sorting device in the system, when any box in its stack should be placed on the top. The working area can also be called the pick-up position of the gripper. The retracted position can also be called the holding position.

[0077] In addition to the functions 310, 320 already described, i.e. re-sorting the stacked pallets 101 and moving the transport units 130 between the storage levels, a further function may alternatively or additionally be provided, which involves aligning the relative positions of the boxes 101 in the stack with each other and / or with the MTU in which the boxes are located. The aim is to align all the boxes of the stack parallel to each other in order to ensure that the position of the boxes in the stack is particularly secure and stable.

[0078] By stacking the boxes on the MTU, relative displacements of the boxes between and / or with respect to the MTU occur. These are preferably compensated, in particular before a call for help occurs. This prevents the boxes from falling from the stack.

[0079] therefore, Fig. 20 A zero-step operation of the re-sorting devices 310, 320 is shown, wherein the transport device 130 with the stacked boxes 101 moves to the lifting platform 310 of the device on the lower storage level of the system.

[0080] Figure 21-23 The first step of the resorting device 310, 320 is shown, wherein the lifting platform 310 with the transport device 130 and the stack of boxes 101 standing thereon are moved to the height of the stacked box displacement so that the plane of the sensor 340 is preferably located 10-30 mm below the top of the top box 101 of the stack, which sensor detects the relative displacement of the boxes with respect to each other or the relative displacement of the box / stack of boxes to the MTU 130 or the displacement of the storage device of the loading area 310. Fig.21 The height of the storage device 310 and the position of the sensor plane 340 are shown in the side view.

[0081] Fig. 22 The sliding stacked trays 101 are shown in a top view.

[0082] Fig.23 is an approximate top view showing a sliding stack of boxes 101, or a single box sliding relative to each other, and one of the possibilities for arranging sensors that determine the degree of sliding / rotation of the boxes 101 in the stack relative to each other or the MTU. In the proposed variant, preferably 4 sensors are used, for example to measure the distance to the 4 corners of the upper box 101. Based on the difference in the measured distances, it can be determined whether the stacked boxes or the single box needs to be aligned or reclassified relative to the other boxes. It should also be understood that the number of sensors, their type and the range of arrangement may be different from that proposed in the figure, and the arrangement shown in the figure does not limit the invention in any way. Preferably, the sensors are arranged to detect the alignment relative to the stack, the MTU and / or the other boxes in the storage area that deviate from the required alignment.

[0083] Fig.24 Shown a working step, wherein, the box 101 in the stack is aligned.For this reason, the lifting platform 310 as shown in the figure can move the transport device 130 equipped with the box 101 of the stack to the position where one of the grippers 320 can clamp the bottom box 101 in the stack.

[0084] Fig.25The next step in aligning the stacked boxes 101, ie aligning the bottom box 101 of the stack, is shown in a side view, and the pair of grippers 320 is moved to the working area of ​​the storage area of ​​the loading area 310.

[0085] Figures 26 to 29 The working steps of the pair of grippers 320 are shown in a top view, which grippers align the lower box 101 of the stack, preferably before the grippers pick up the box for re-sorting.

[0086] therefore, Fig.26 Only the top view shows Fig.25 , which shows the tray 101 offset and tilted relative to the base surface.

[0087] exist Fig.25 In the embodiment, the movable module 322 of the pair of clamps 320 preferably extends into the working area of ​​the lifting platform 310, and preferably the clamp clamps 324 and / or the centering fingers 325 and / or the support pads 326 can be in their initial state (under the projection of the movable module).

[0088] Fig. 27 It is shown that the gripper clamp 324 can move its working elements, centering fingers 325 and support pads 326 into position to grip the lower tray 101 of the stack, thereby aligning it.

[0089] The holder can have laterally retractable elements that can move, preferably laterally move, towards the box in the stack. Alternatively, the holder itself can move laterally towards the box. Through the contact movement of the element / holder with the box, it is aligned parallel to the holder from the sliding / rotating position. The retractable element can be the same element that the holder is used to pick up or hold one or more boxes. The element / holder is repeatedly applied / moved to each box of the stack so that the boxes are aligned parallel to each other.

[0090] The position of the bottom tray 101 after aligning the stack is as follows Fig.29 As shown. It can be seen that the gripper clamp 324 has brought its working elements, centering fingers 325 and support pads 326 back to its initial position under the projection of the movable module 322, and the stacked bottom tray 101 is aligned after this process.

[0091] Fig.29 The final position of the grippers 320 after alignment with the stacked bottom tray 101 is shown, and the top view shows that the pair of grippers 320 has pulled its movable module 322 out of the working area of ​​the lifting platform 310.

[0092] Fig.30The next working step of the re-sorting device 310, 320 is shown. The side view shows that the lifting platform 310 has been moved down to the alignment plane of the stacked second box 101. The gripper is thus ready to align the bottom second box.

[0093] Fig.31 The working steps of the re-sorting device 310, 320 are shown, wherein it uses the gripper 320 to align the stacked second box 101 in the same manner as Figure 28-31 The process shown in is similar.

[0094] According to the proposed method, the remaining boxes of the stack are then aligned successively from bottom to top so that they are preferably parallel to each other and / or to the MTU and / or to the storage device, such as Figure 5 The position of the upper tray of the stack of aligned trays 101 can be controlled and measured and the further tasks of the devices 310, 320 can be determined.

[0095] In this case, alignment from bottom to top is the only possible correct solution, because when aligning in a different order (e.g., any middle pallet or the top pallet of the stack), the bottom of the aligned pallet may jump out of the pallet below and the entire pallet stack may be destroyed.

Claims

1. A system (100) for storing and organizing materials, comprising: Storage area with: a plurality of layers, each layer comprising a plurality of storage locations (110), the plurality of storage locations being preferably arranged in rows in at least one horizontal direction, preferably in two mutually perpendicular horizontal directions and being used to accommodate stacked boxes (101) as storage locations for materials, at least one transport device (130) having a receiving area (131) for a single box (101) or a stack of boxes (101), a transport system, in particular a track device, along which the at least one transport device (130) can be moved from and / or to the storage system (100) and / or within the storage system (100) and is arranged to be able to move to a single box or a stack of boxes in the storage system (100) in order to pick them up, and The reclassification device (310 / 320), in particular the reclassification device according to claim 7, comprises: a loading area (310) designed to take over the transport device (130) with or without cassettes (101) from the storage system (100), in particular via the transport system, at least one first gripper (320) and at least one second gripper (320) designed to be able to independently pick up and hold at least one, preferably at least two, particularly preferably any number / subset of boxes from the stack of boxes of the transport device (130) in the loading area (310), and also designed to be able to return the respectively picked-up box (101) to the transport device (130) located in the loading area (310) or to another transport device (130) in the loading area (310), a movable storage device, which is arranged in the loading area (310) or is part of the loading area (310) and is vertically movable so as to be accessible by the first gripper and the second gripper (320), and -The first clamp and the second clamp (320) are mounted to be able to move, preferably horizontally, between a retracted holding position in which at least one box can be temporarily stored on one of the clamps (320) and a picking position accessible to the storage device for picking up at least one box (101) from the storage device and storing at least one box (101) to the storage device.

2. The system for storing and organizing materials according to claim 1, It is characterized in that The first gripper and the second gripper (320) are arranged at an angle of 90° or 180° to each other relative to the loading area.

3. A system for storing and organizing materials according to claim 1 or 2, It is characterized in that The first clamp and the second clamp (320) are arranged on a common horizontal plane.

4. A system for storing and organizing materials according to any one of claims 1 to 3, It is characterized in that The loading area (310) is horizontally aligned with the transport system in a starting position, thereby providing a transition of the transport device (130) from the transport system (420) to the loading area.

5. The system for storing and organizing materials according to claim 4, It is characterized in that The starting position is arranged above or below the pick-up position of the gripper (320).

6. System for storing and organizing materials according to any one of claims 1 to 5, It is characterized in that The gripper (320) is designed to be able to access the boxes in the loading area laterally or has elements that are able to access the boxes in the loading area laterally, so that the boxes can be picked up by the gripper (320) or aligned relative to the boxes below.

7. A reclassification device, in particular for use in a storage system (100) according to any one of claims 1 to 6, the reclassification device comprising: a loading area (310) designed to take over the transport device (130) with or without stacked boxes (101) from the storage system (100), in particular via the transport system or from the transport system, at least one first gripper (320) and at least one second gripper (320) which are designed to be able to independently pick up and hold at least one, preferably at least two, particularly preferably any number / subset of boxes from the stack of boxes of the transport device (130) in the loading area (310), and are also designed to be able to return the respectively picked-up boxes (101) to the transport device (130) located in the loading area (310) or to another transport device (130) in the loading area, a movable storage device, which is arranged in the loading area (310) or as a part of the loading area (310) and can be moved vertically to be accessible by the first clamp and the second clamp (320), and The first clamp and the second clamp (320) are mounted to be able to move, preferably horizontally, between a retracted holding position in which at least one box can be temporarily stored on one of the clamps (320) and a picking position accessible to the storage device for picking up at least one box (101) from the storage device and storing at least one box (101) to the storage device.

8. The reclassification device according to claim 7, It is characterized in that The gripper (320) is designed to be able to access the boxes in the loading area laterally or has elements that are able to access the boxes in the loading area laterally, so that the boxes can be picked up by the gripper (320) or aligned relative to the boxes below.

Images