System and method for supplying a dynamic shelf by means of a gantry robot

Abstract

System (10) for supplying a dynamic shelf (12) with articles (13), comprising: the dynamic rack (12), which is a paternoster rack (26) or a storage lift (28) and which is configured for storing and picking the articles (13), wherein the dynamic rack (12) comprises a stationary rack frame (24) and a plurality of vertically movable storage devices (18; 20, 22), such that the storage devices (18) are arranged vertically one above the other in a variable arrangement, wherein each of the storage devices (18) is adapted to directly receive one or more of the articles (13) or indirectly receive them in one or more load carriers (36), wherein the dynamic rack (12) has a circumferentially closed housing (32) which is open or openable at the top, wherein the housing (32) has an access opening (34) where stored articles (13) are provided on a picking output level (30) according to the goods-to-person principle; a gantry robot (14) for transporting the storage devices (20), articles (13) and / or load carriers (36) from the dynamic shelf (12) and into the dynamic shelf (12), wherein the gantry robot (14) comprises a gantry frame (42) and a gripping unit (44), wherein the gripping unit (44) is coupled to the gantry frame (42) and is movable along at least two axes (X, Y, Z); and a conveyor system (16) for supplying the gripping unit (44) of the gantry robot (14) with the storage devices (20), articles (13) and / or load carriers (36), wherein the conveyor system (16) has a first section in an upper section of the dynamic shelf (12), which is configured to supply the dynamic shelf with new articles from above and which extends completely along the longitudinal direction (X) of the dynamic shelf (12) directly adjacent to the dynamic shelf (12), so that the gripping unit (44) can exchange the storage devices (20), articles (13) and / or load carriers (36) with the first section of the conveyor system (16) essentially without a lift; wherein the portal frame (42) projects vertically above the dynamic shelf (12), so that the storage devices (20), articles (13) and / or load carriers (36) can be exchanged from above by means of the gripping unit (44) between the dynamic shelf (12) and the conveyor system (16).

Description

[0001] The present disclosure is used in intralogistics and generally relates to a storage and picking system for articles and a method for supplying the system with the articles. In particular, the present disclosure relates to a system for directly or indirectly (using load carriers) supplying a dynamic rack (paternoster or storage lift) with the articles via a gantry robot and a conveyor system, as well as to a corresponding method.

[0002] A "gantry robot" is generally understood to be an (industrial) robot coupled to a gantry-like frame (portal frame) in order to move its gripping unit (end effector) within a cubic workspace spanned by the robot's three translational (Cartesian) axes of motion (XYZ). In general, robots are universally applicable motion automatons with multiple translational and / or rotational axes. The robots' movements are freely programmable in terms of movement sequences and paths and, if necessary, sensor-guided. The robots can be equipped with grippers, tools, and / or other production equipment and can perform handling and / or production tasks.

[0003] In Fig. Figure 8 shows a conventional gantry robot, which in this case has a stationary (portal) frame with four stationary vertical supports, two stationary longitudinal beams, and two stationary cross beams, on which a movable cross beam is mounted, to which a vertically movable mast is coupled. The mast is coupled to a carriage. The carriage is coupled to the cross beam, which is movable in the longitudinal direction X. The three translational main axes (A1-A3, not shown) are designated X (longitudinal direction), Y (transverse direction), and Z (vertical direction) in gantry robots. Furthermore, Fig. 8 shows three rotation axes A4-A6 for the gripping unit. The carriages for the movable crossbeam and the mast are typically driven by electric motors, with power transmission via toothed belts, racks, or spindles, for example. Alternatively, linear motor direct drives or pneumatic drives can be used.

[0004] The Fig. 8 shows a full portal. Furthermore, there are half portals that stand on only two vertical supports, which can (optionally) be mounted on a movable floor. The full portal of the Fig. 8 is also called an area portal because a large horizontal area is covered.

[0005] "Dynamic shelving" generally refers to shelving that has a stationary racking structure and movable storage locations. A storage location is defined by a location (position) and the technical means (usually shelves) required to store one or more items at that location. Dynamic shelving is a self-contained unit used for order picking. Dynamic shelving operates on a "goods-to-person" principle, with the storage location being moved toward the (picking) person so that the person can retrieve items from the storage locations according to picking orders. The person moves away from the retrieval location.

[0006] Paternoster racks and storage lifts are typical examples of dynamic racking, featuring a housing with a single access opening, usually located at floor level. One advantage of these dynamic racks is the savings in floor space and the shortening or elimination of picking routes. In paternoster racks, the shelves rotate continuously. In storage lifts, the shelves are moved within a rigid rack frame to allow personnel access to the storage locations.

[0007] The supply of dynamic shelves with new items to be stored (replenishment), i.e. storage, traditionally takes place via the same location as the retrieval. This means that storage takes place at the location where the person usually removes the items for the purpose of picking. Therefore, conventional dynamic shelves can only be operated in either a retrieval or picking mode or in a storage or (re-)filling mode. Simultaneous operation in both modes is not possible. In other words, this means that different storage locations cannot usually be accessed simultaneously, even if more than one picking opening is fundamentally possible.

[0008] The document DE 36 31 602 A1 discloses a shelf arrangement.

[0009] The document DE 102 25 332 A1 discloses a storage buffer and a method for storing piece goods for an automated piece goods warehouse.

[0010] The document US 2008 / 0 213 080 A1 discloses a compact storage system and its application.

[0011] Document CH 688 821 A5 discloses a storage facility.

[0012] Therefore, one task is to provide a system and a method that improves the supply of a dynamic shelf.

[0013] This object is achieved by a system according to claim 1.

[0014] The dynamic rack is supplied with new items from above. New items can be stored either on the storage equipment itself (e.g., on a shelf) or in load carriers (e.g., storage containers). While picking is taking place in a lower area of the dynamic rack, replenishment with new items can be handled from above. The dynamic rack can therefore operate in both modes (picking / retrieval and filling / storage) simultaneously without the corresponding processes interfering with each other.

[0015] Since replenishment with new items occurs from above, no floor space is required for replenishment. This means that the technical equipment is located in an upper area or section of the dynamic shelving, whereas picking usually takes place in a lower section of the dynamic shelving. The (picking) personnel can still move freely. Collisions with the conveyor technology required for replenishment are eliminated. The space required for picking is not restricted.

[0016] Preferably, the gantry robot is configured to exchange those storage devices, articles, and / or load carriers that are positioned at the highest occupied storage level in the dynamic rack. The highest occupied storage level in the dynamic rack depends on the stock level. The highest occupied level does not necessarily have to be the highest possible (uppermost) storage level.

[0017] Particularly in the case of a storage lift, not all storage levels are necessarily equipped with shelves, i.e. occupied. If the storage lift is not fully filled, upper storage locations may be empty, meaning that the highest occupied storage level in terms of height may be lower than the highest possible, i.e. uppermost, storage level. In this case, the gripper unit of the gantry robot must be lowered deeper into the dynamic shelf to grip the items. For this purpose, the gantry robot can include a mast on which the gripper unit is mounted for vertical movement. In this case, the gripper unit can perform a greater stroke than normal.

[0018] It goes without saying that in this case, sufficient space must be provided above the dynamic rack to allow the mast to be moved accordingly when accessing the highest possible storage level.

[0019] In particular, the highest occupied storage level in the dynamic shelf is the highest possible storage level of the dynamic shelf, whereby the highest possible storage level is independent of the filling level.

[0020] This configuration applies to both types of dynamic racking, i.e., the vertical lift and the paternoster rack. All storage locations are equipped with storage equipment, although not every storage location is stocked with items. In this case, the gantry robot does not require a mast, as the gripper unit can only access the top storage level. In this case, a minimal lift is sufficient for the gripper unit, for example, to grab items from the top shelf in the vertical lift or to place them there.

[0021] If the exchange of items takes place only at the top storage level, no space needs to be provided above the gantry robot to provide an escape route for the (nonexistent) mast. This means that the total available space can be used to the maximum for storage purposes, i.e., by the dynamic rack.

[0022] In addition to the optimal use of space, the gantry robot can be built more simply because the gripping unit has to perform a smaller stroke.

[0023] In a further preferred embodiment, the dynamic rack is a storage lift which comprises a vertical conveyor with a vertically movable load-handling means on the inside, wherein the movable storage devices are, in particular, tray-like shelves, wherein the rack frame further comprises immovable receiving elements for holding the shelves, wherein the vertical conveyor is arranged stationary, preferably centrally, relative to the rack frame, so that the load-handling means can move the shelves horizontally into the receiving elements for storage and horizontally out of the receiving elements for removal, and so that the load-handling means can move the shelves vertically to the highest possible storage level of the dynamic rack.

[0024] In this configuration, the storage locations are realized by movable shelves on which the items can either be placed directly or stored in load carriers, such as storage containers.

[0025] The portal frame comprises in particular longitudinal beams, which are preferably supported by at least four stationary vertical supports, wherein a cross beam is movably supported by the longitudinal beams in the longitudinal direction of the dynamic rack.

[0026] This means that not only can items on the shelf be accessed essentially without lifting, but also items on the conveyor system. The conveyor system is located at the top of the shelves, so the gripper unit also essentially doesn't need to perform any lifting when picking up and removing items from the conveyor system.

[0027] Furthermore, it is advantageous if the conveyor system further comprises a vertical conveyor external to the rack, which connects the first section of the conveyor system in the upper section of the dynamic rack with a further second section of the conveyor system in a lower section of the rack.

[0028] In this case, the upper section of the conveyor system is used to supply the shelf, while the lower section is used for picking. This means that the upper section of the conveyor system transports items needed for replenishment to the shelf. The lower section of the conveyor system transports items removed from the shelf for picking away from the shelf. The two material flows do not interfere with each other, but can be merged at a remote location without the storage and retrieval processes interfering with each other.

[0029] In particular, the second section of the conveyor system in the lower section of the dynamic rack is directly connected to an access opening of the dynamic rack.

[0030] In this case, the picker can place the items they have taken from the shelf directly onto the conveyor system for removal. The picker requires minimal movement to retrieve the items during picking.

[0031] Furthermore, it is advantageous if the gantry robot comprises two gripping units, each of the gripping units being coupled to a different movable cross member, so that the gripping units are movable independently of each other and can jointly replace one of the shelves.

[0032] Since the shelves are a certain length in order to accommodate several load carriers side by side at the same time, the shelves are so long that they must be gripped, preferably at their ends, during a shelf exchange. For this purpose, two gripping units are required. During a shelf exchange, the gripping units act together, in particular synchronously, to lift the shelf out of the shelf and transfer it to the conveyor system or to lift it from the conveyor system and transfer it to the shelf. During the rest of the time, however, the gripping units can act independently of one another, for example to exchange individual load carriers between the shelves and the conveyor system.

[0033] Preferably, the system comprises a plurality of dynamic shelves arranged adjacent to one another in a longitudinal and / or transverse direction of the dynamic shelves, preferably without spacing, wherein the gantry robot is configured to exchange the storage equipment, articles, and / or load carriers between all dynamic shelves and the conveyor system. One or more of the additional dynamic shelves can also be equipped without any access openings and, in this case, serve purely as a replenishment warehouse for those dynamic shelves that have access openings.

[0034] In this case, the system is designed to supply several of the dynamic shelves. The system cannot supply just one dynamic shelf. The conveyor system is dimensioned and arranged accordingly to supply each of the dynamic shelves with the items. Preferably, the conveyor system is directly adjacent to each of the shelves, i.e., without any gaps, to keep the paths for the gripping unit as short as possible. Short paths reduce exchange times and thus increase throughput (number of storage / retrieval operations per unit of time).

[0035] In particular, the conveyor system further comprises a third section which is arranged in the upper section of the dynamic shelves and which extends, preferably completely, along the transverse direction of the dynamic shelves which are arranged adjacent to one another in the transverse direction.

[0036] If the conveyor system extends not only in the longitudinal direction adjacent to the shelves, but also in the transverse direction, a higher-level control system can move the gripping unit along the shortest path to the conveyor system, whereby the movement can take place both in the longitudinal direction and in the transverse direction.

[0037] In another particular embodiment, the gripping unit is movable along a mast in a vertical direction of the dynamic rack in order to grip the storage devices, articles and / or load carriers at any height from the dynamic rack and from the conveyor system, wherein the mast is movable by means of a carriage along a movable cross member.

[0038] This measure enables access to storage levels that are lower than the top storage level, as described above.

[0039] Each dynamic shelf has a circumferentially closed housing which is open at the top or can be opened at the top, preferably automatically.

[0040] The housing prevents stored items from falling into the picking area. The items are neatly organized and not visible from the outside.

[0041] Preferably, the dynamic rack is arranged to move the storage devices to at least one picking output level of the dynamic rack that is different from the highest possible, i.e. the topmost, storage level of the dynamic rack, the picking output levels being the only storage levels where stored articles may be removed from the dynamic rack for the purpose of ordinary picking.

[0042] However, this does not mean that the gantry robot cannot also be used for picking. The gantry robot can, for example, perform pre-picking or pre-sorting.

[0043] During pre-picking, for example, very heavy storage containers or very large and / or heavy items can be removed from the gantry robot and transferred to the conveyor system and later brought together, while the picker continues picking normally.

[0044] During pre-sorting, the gantry robot can transfer between different shelves of the same storage lift at night, reducing the number of movements required within the dynamic rack during the day, when normal picking takes place via the lower access opening. Storage containers that must be accessed according to the same picking order can be transferred to the same shelf at night using the gantry robot, which has a picking performance that may not be sufficient for normal daytime picking operations.

[0045] It goes without saying that such pre-picking or pre-sorting can generally be performed during periods of low utilization of the dynamic rack. However, the main function of the gantry robot is and remains to supply the dynamic rack with replenishment, even if the gantry robot is used exceptionally or temporarily for smaller picking tasks.

[0046] Furthermore, the object is achieved by a method according to claim 13.

[0047] Preferably, items are picked for picking purposes simultaneously at a picking output level of the dynamic shelf that is different from the upper storage level.

[0048] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present disclosure.

[0049] Exemplary embodiments are illustrated in the drawings and explained in more detail in the following description. They show: Fig. 1 a block diagram of a system for supplying a dynamic shelf; Fig. 2 a block diagram of a dynamic shelf; Fig. 3 a side view of a schematically illustrated paternoster shelf; Fig. 4 a side view of a schematically illustrated storage lift; Fig. 5 a block diagram of a gantry robot; Fig. 6 a plan view of a system with multiple dynamic shelves; Fig. 7 a side view of the system of Fig. 6; and Fig. 8 a conventional gantry robot.

[0050] Fig. 1 shows a block diagram of a system 10 configured to supply a dynamic shelf 12 with articles 13. In general, the system 10 comprises at least one dynamic shelf 12, at least one gantry robot 14 (see also Fig. 8) and a conveyor system 16. The Fig. 6 (top view) and 7 (side view) show an exemplary system 10, which has, for example, six shelves 12, a gantry robot 14 with two gripping units 44, and a conveyor system 16. It is understood that the system 10 can also be operated with only a single shelf 12.

[0051] The term "conveyor technology" 16 refers to technical devices with which goods are moved in any direction and over limited distances. The conveyor technology 16 includes, in particular, continuous conveyors, such as roller conveyors, belt conveyors, chain conveyors, overhead conveyors, and similar conveyors that are constantly (always) present in one location. The conveyor technology 16 can also be implemented in the form of a driverless transport system. In the following figures, the conveyor technology 16 is shown, for the sake of simplicity, in the form of roller conveyors, but this is not to be understood as a limitation.

[0052] As already explained above, a “dynamic shelf” 12 is to be understood as a shelf-like storage and order-picking system in which storage facilities 18, cf. Fig. 2, such as shelves 20 or receiving elements 22 (such as angles, rails or the like) are moved within the shelf 12 in order to deliver stored articles 13 according to the “goods-to-person” principle at a service opening 34, cf. Fig. 3 and Fig. 4, at a picking output level 30. The storage facilities 18 define mobile, i.e. dynamic, storage locations in the sense mentioned above.

[0053] As in Fig. 2, the dynamic rack 12 generally comprises, in addition to the storage devices 18, a stationary, i.e., immovable, rigid rack frame 24 and a movement device 25 (traction means, drives, guides, etc.) for moving the storage devices 18, i.e., the stored articles 13, - and thus the storage locations - within the dynamic rack 12. However, the dynamic racks 12 are to be regarded as self-contained units. The articles 13 do not leave the rack 12 to be transported to a remotely located picking location. The picking location is, in this sense, integrated into the rack 12, as described with reference to Fig. 3 will be explained in more detail.

[0054] In the Fig. 3 and Fig. 4, two exemplary types of a dynamic rack 12 are schematically illustrated, namely a paternoster rack 26 and a storage lift 28. The articles 13 are moved within the rack 12 to the service opening 34. The service opening 34 is located at a picking output level 30, which is different from a top storage level 52. The service opening 34 defines a rack-integrated picking station, which is usually arranged in a lower section of the rack 12 at floor level. It is understood that the picking station can also be arranged in a middle and / or upper area of the rack 12, for example by providing a platform (not shown) for the order picker 58 (not shown), which is exemplary in Fig. 7 is shown.

[0055] The Fig. 3 shows a schematic side view of the paternoster rack 26 and Fig. 4 shows a schematic side view of the storage lift 28 (right). Fig. 3 and Fig. 4 further illustrate their functional principles. The paternoster rack 26 and the storage lift 28 can be of equal height in the height direction Z and can each be separated from the outside world by an (optional) housing 32. Conventional paternoster racks 26 and storage lifts 28 are usually completely enclosed by the housing 32, apart from the access opening 34. In the present disclosure, however, the racks 12 are always open at the top. This means that an upper side of the racks 12 is freely accessible from above. In this case, the housing 32 has no top and no lid. Alternatively or additionally, movable covers (not shown), e.g., roller shutters or the like, can be provided to protect against contamination, which are preferably moved automatically.

[0056] However, the housing 32 has at least one access opening 34 through which the stored articles 13 can be accessed from the outside. Access is achieved at the level of the picking output level 30, with the desired articles 13 being automatically made available there by a corresponding movement of the storage location(s). The articles 13 can be stored directly on the storage devices 18 (e.g., on the shelves 20) or indirectly on the shelves 20 by means of load carriers (e.g., in storage crates, boxes, cartons, trays, trays, or containers 26). For the sake of simplicity, it is assumed below that the articles 13 are stored in storage containers 36, which in turn are stored on shelves 20.

[0057] In the paternoster shelf 26 of the Fig. 3, the storage containers 36, in which the articles 13 are stored and which are located on the shelves, rotate, for example, counterclockwise. The shelves 20 are held by (not shown) angular receiving elements 22 (storage devices 18 of the shelf 26). The angular receiving elements 22 are arranged in the paternoster shelf 26 of the Fig. 3 are firmly connected to a vertically endlessly rotating traction means and enable (manual) access to the storage containers 36 as well as an exchange of the storage containers 36 at the location of the service opening 34. In order to access another storage container 36, all storage containers 36 in the paternoster rack 26 are moved simultaneously until the desired storage container 36 is located at the picking output level 30 at the service opening 34, so that a picker (not shown) can access the articles 13 in the desired storage container 36. It is understood that the shelves 20 in the paternoster rack 26 can also be omitted, so that the storage containers 36 are held directly by the receiving elements 2 (interchangeably).

[0058] The one in the Fig. The storage lift 28 shown in Figure 4 differs from the paternoster rack 26 of the Fig. 3 essentially in the fact that in case of access not all articles 13 of the shelf 12 are moved (simultaneously). In the storage lift 28 of the Fig. 4 are the storage facilities 18 (compare Fig. 2) formed by the individually movable shelves 20, which are individually moved within the storage lift 28 by means of a centrally arranged vertical conveyor 38. The vertical conveyor 38 has a load-handling device 40 which is movable essentially in the vertical direction Z and which is configured to store the shelves 20 in a horizontal direction Y into the (stationary) rack 24 arranged laterally to the vertical conveyor 38 and to retrieve them from there. As an alternative to the vertical conveyor 38, lifting beams (not shown) can also be used, which have a load-handling device which is movable vertically along masts (not shown) and horizontally in the X direction by means of a carriage (not shown) along a longitudinal beam (not shown) in order to travel over several rows of shelves arranged next to one another in the longitudinal direction X.

[0059] In the Fig. 4, the load-handling device 40 transports a shelf 20, which is equipped with one or more storage containers 36, from its storage location in a left-hand storage row to the access opening 34 in the area of a right-hand storage row, so that the original storage location in the left-hand row is free. The storage locations in the storage lift 28 are arranged vertically one above the other in rows. It is understood that the storage lift 28 can also be operated with only a single row (left or right) of storage locations.

[0060] The general functionality of storage lifts 28 is described in the "White Paper 2 / 2019" entitled "STORAGE LIFTS - Functionality, Variants, Use," which can be accessed on the applicant's website (www.ssi-schaefer.com). This document explains the different functionality of paternoster racks 26 and storage lifts 28 in more detail. It also describes the advantages of dynamic racks 12 in general and the advantages of storage lifts 28 in particular.

[0061] Fig. 5 shows a block diagram of the gantry robot 14.

[0062] The portal robot 14 of the Fig. 5 generally comprises a preferably stationary gantry frame 42 and at least one gripping unit 44. The gripping unit 44 is movably coupled to the gantry frame 42. The gripping unit 44 is movable along at least two axes, as will be explained in more detail below. The gantry frame 42 projects vertically above the dynamic shelf 12 (cf. Fig. 7), so that the storage devices 18, the articles 13 and / or load carriers, such as the storage containers 36, can be picked up and delivered from above by means of the gripping unit 44.

[0063] The portal frame 42 of the Fig. 5 includes longitudinal beams 46, cross beams 48 and (optional) vertical supports 50. Not shown are the drives, slides, etc. already mentioned above.

[0064] In the top view of the Fig. 6 shows a system 10 with a gantry frame 42 comprising two longitudinal beams 46-1 and 46-2 and two cross beams 48-1 and 48-2. The gantry frame 42 can be supported directly on hall walls (not shown) with its longitudinal beams 46-1 and 46-2, so that no vertical supports 50 are required. The (movable) cross beams 48-1 and 48-2 are mounted on the longitudinal beams 46 for displacement in the longitudinal direction X and are each connected to one of the gripping units 44-1 and 44-2. The cross beams 48-1 and 48-2 can be moved independently of one another.

[0065] The longitudinal beams 46-1 and 46-2 are arranged in the transverse direction Y outside the six dynamic shelves 12-1 to 12-6.

[0066] In the Fig. 7, which is a side view of the Fig. 6 in the direction of arrows VII, it is illustrated that the portal frame 42 projects beyond the dynamic shelves 12 in the height direction Z, so that the gripping unit 44 can interact with the dynamic shelves 12 from above. The gripping unit 44 is movably mounted on the cross member 48 in the transverse direction Y by means of a carriage (not shown in detail). The gripping unit 44 is equipped with a lifting device (not shown in detail) in order to reach an uppermost storage level 52 with a minimal lift, cf. Fig. 3 and Fig. 4, to be able to access.

[0067] It is understood that the gripping unit 44 can also be equipped with a greater stroke. In this case, the gantry robot 14 preferably comprises a mast (not shown) that extends in the vertical direction Z and is movable and is coupled to the cross member 48. In this case, the gripping unit 44 can also access other storage levels 54 that are arranged lower than the highest possible (uppermost) storage level 52, provided that the storage locations above are not occupied. This access variant is only possible in the storage lift 28 of the Fig. 4 possible.

[0068] The gripping unit 44 can generally be used to directly grip one or more of the articles 13. However, the gripping unit 44 can also be used to grip one or more storage containers 36. The gripping unit 44 can be used to grip entire shelves 20, in which case preferably two gripping units 44 are used, which are attached to different cross members 48, as shown in the Fig. 6. The gripping device 44 is configured to grip different objects. The gripping device 44 can also be equipped with interchangeable grippers.

[0069] The Fig. 6 further shows that the conveyor system 16 is arranged externally (circumferentially) around the dynamic shelves 12. In the Fig. 6, the conveyor system 16 completely encloses, as an example, a combination of shelves 12-2 and 12-3, as well as a combination of shelves 12-5 and 12-6. Shelves 12-2 and 12-3 are directly adjacent to each other. Shelves 12-5 and 12-6 are directly adjacent to each other. The (individual) shelves 12-1 and 12-4 are only partially enclosed.

[0070] It is understood that the conveyor system 16 can be routed arbitrarily. The horizontal distance between the conveyor system 16 and the shelves 12 can also be chosen arbitrarily. However, a zero-distance arrangement is preferred because the movement paths of the gripping units 44 between the conveyor system 16 and the shelves 12 are shortened, resulting in optimized throughput (number of items exchanged per unit of time). Therefore, it is also advisable to provide sections of the conveyor system in the longitudinal direction X and in the transverse direction Y.

[0071] The arrangement of the conveyor system 16 in the upper area of the shelves 12 reduces the lift required to pick up the items 13 from the conveyor system 16 or to deliver the items 13 to the conveyor system 16. A mast is eliminated. The storage space is optimally utilized by the shelves 12.

[0072] The conveyor technology 16 of the Fig. 6 has sections that extend completely along the shelves 12 in the longitudinal direction X. The conveyor system 16 further comprises sections that extend completely along the shelves 12 in the transverse direction Y. These sections could also be selected to be shorter. However, these sections of the conveyor system 16 preferably extend over the entire length of the shelves 12 as well as over the entire width of the shelves 12, which allows the gripping unit 44 to be routed in an optimized manner by a controller 56 (cf. Fig. 1). In this case, the gripping unit 44 only needs to be moved in one direction (X or Y) to exchange an article 13 with the conveyor system 16.

[0073] The exchange takes place independently of picking operations, which can be carried out simultaneously via the operating openings 34.

[0074] In the Fig. 7, picking is carried out manually by the order picker 58, which could also be replaced by a robot (not shown). The order picker 58 moves on the floor of the system 10. The access openings 34 are arranged in a lower area of the shelves 12, so that the order picker 58 can remove items 13 there.

[0075] In addition to the sections of the conveyor system 16, which are preferably arranged in the upper region of the shelves 12, the conveyor system 16 further comprises further vertical conveyors 60, which are arranged outside the shelves 12 in order to transport goods between different levels of the conveyor system 16 in the height direction Z.

[0076] The System 10 of the Fig. 6 comprises, by way of example, two external vertical conveyors 60-1 and 60-2, which are preferably arranged directly adjacent to the shelves 12-3 and 12-6. The further vertical conveyors 60 connect an upper level of the conveyor system 16 with a lower level of the conveyor system, as shown in Fig. 7 is illustrated.

[0077] It is understood that the conveyor system 16 can, in principle, be arranged at any desired height. However, the conveyor system 16 preferably includes sections located in the upper region of the shelves 12 to avoid additional lifting movements of the gripping unit 44 when exchanging articles 13 between the shelves 12 and the conveyor system.

[0078] It is understood that the system 10 may also comprise only a single dynamic shelf 12, which is supplied with the articles 13 via the conveyor system 16.

[0079] Furthermore, it is understood that the Fig.6 can be replaced by other portal shapes. For example, linear portals are also possible, consisting of two vertical supports 50 connected to one another via a cross member 48, along which the gripping unit 44 is movably mounted in the transverse direction Y. These vertical supports 50 can be driven in the longitudinal direction X in order to be able to displace the corresponding portal frame in the longitudinal direction X as well. In this way, the gripping unit 44 can reach any point on the upper side of the shelves 12.

[0080] The articles 13 can be transported directly, or indirectly by means of load carriers or shelves 20, to a desired shelf 12 via the conveyor system 16. The gripping unit 44 is moved horizontally over the articles 13 on the conveyor system 16 and then lowered vertically to grip the articles 13. The gripping unit then lifts the articles 13 vertically and moves them horizontally over the desired shelf, whereby the vertical and horizontal movements can also occur at least partially simultaneously. The article 13 is then lowered by means of the gripping unit 44 at least to the uppermost storage level 52 in order to deliver the article 13 to a desired (empty) storage device 18, which was previously automatically moved by the shelf 12 to the uppermost free storage level. The storage of the article 13 is then complete.

[0081] It is understood that retrieval takes place in a reverse order, with empty load carriers and / or shelf bases in particular being moved from the shelves 12 to the conveyor system 16 by means of the gantry robot 14.

[0082] In this way, items 13 can also be exchanged between shelves 12. List of reference symbols 10 systems 12 (Dynamic) Shelf 13 articles 14 gantry robots 16 Conveyor technology 18 Storage facility 20 shelves 22 receiving element 24 shelf rack 25 Movement device 26 Paternoster shelf 28 storage lift 30 picking output level 32 cases of 12 34 Operating opening 36 storage containers 38 vertical conveyors 40 load handling devices 42 Portal frame 44 gripping unit 46 longitudinal members 48 cross members 50 vertical supports 52 Highest possible storage level 54 General storage level 56 Control 58 order pickers 60 additional vertical conveyors

Claims

[1] System (10) for supplying a dynamic shelf (12) with articles (13), comprising: the dynamic rack (12), which is a paternoster rack (26) or a storage lift (28) and which is configured for storing and picking the articles (13), wherein the dynamic rack (12) comprises a stationary rack frame (24) and a plurality of vertically movable storage devices (18; 20, 22), such that the storage devices (18) are arranged vertically one above the other in a variable arrangement, wherein each of the storage devices (18) is adapted to directly receive one or more of the articles (13) or indirectly receive them in one or more load carriers (36), wherein the dynamic rack (12) has a circumferentially closed housing (32) which is open or openable at the top, wherein the housing (32) has an access opening (34) where stored articles (13) are provided on a picking output level (30) according to the goods-to-person principle; a gantry robot (14) for transporting the storage devices (20), articles (13) and / or load carriers (36) from the dynamic shelf (12) and into the dynamic shelf (12), wherein the gantry robot (14) comprises a gantry frame (42) and a gripping unit (44), wherein the gripping unit (44) is coupled to the gantry frame (42) and is movable along at least two axes (X, Y, Z); and a conveyor system (16) for supplying the gripping unit (44) of the gantry robot (14) with the storage devices (20), articles (13) and / or load carriers (36), wherein the conveyor system (16) has a first section in an upper section of the dynamic shelf (12), which is designed to supply the dynamic shelf with new articles from above and which extends completely along the longitudinal direction (X) of the dynamic shelf (12) directly adjacent to the dynamic shelf (12), so that the gripping unit (44) can exchange the storage devices (20), articles (13) and / or load carriers (36) with the first section of the conveyor system (16) essentially without lifting; wherein the portal frame (42) projects vertically above the dynamic shelf (12) so that the storage devices (20), articles (13) and / or load carriers (36) can be exchanged from above by means of the gripping unit (44) between the dynamic shelf (12) and the conveyor system (16). [2] System (10) according to claim 1, wherein the gantry robot (14) is configured to exchange those of the storage devices (20), articles (13) and / or load carriers (36) that are positioned at a highest occupied storage level (54) in the dynamic shelf (12), wherein the highest occupied storage level (54) in the dynamic shelf (12) is fill-dependent. [3] System (10) according to claim 2, wherein the highest occupied storage level (54) in the dynamic rack (12) is a highest possible storage level (52) of the dynamic rack (12), wherein the highest possible storage level (52) is fill-independent. [4] System (10) according to one of claims 1 to 3, wherein the dynamic rack (12) is a storage lift (28) which internally comprises a vertical conveyor (38) with a vertically movable load-carrying means (40), wherein the movable storage devices (18), in particular tray-like, are shelves (20), wherein the shelf frame (24) further comprises immovable receiving elements (22) for holding the shelves (20), wherein the vertical conveyor (38) is arranged stationary, preferably centrally, relative to the rack frame (24), so that the load-handling means (40) can move the shelves (20) horizontally into the receiving elements (22) for storage and horizontally out of the receiving elements (22) for removal, and so that the load-handling means (40) can move the shelves (20) vertically to a highest possible storage level (52) of the dynamic rack (12). [5] System (10) according to one of claims 1 to 4, wherein the portal frame (42) comprises longitudinal beams (46) which are preferably supported by at least four stationary vertical supports (50), wherein a cross beam (48) is movably supported by the longitudinal beams (46) in the longitudinal direction (X) of the dynamic shelf (12). [6] System (10) according to one of claims 1 to 5, wherein the conveyor system (16) further comprises a vertical conveyor (60) connecting the first section of the conveyor system (16) in the upper section of the dynamic rack (12) with a further second section of the conveyor system (16) in a lower section of the dynamic rack (16). [7] System (10) according to claim 6, wherein the second section of the conveyor system (16) in the lower section of the dynamic shelf (16) couples directly to an operating opening (34) of the dynamic shelf (16). [8] System (10) according to one of claims 1 to 7, wherein the gantry robot (14) comprises two gripping units (44), each of the gripping units (44) being coupled to a different movable cross member (48) so that the gripping units (44) are movable independently of each other and can exchange one of the shelves (20). [9] System (10) according to one of claims 1 to 8, comprising a plurality of the dynamic shelves (12) which are arranged adjacent to one another in a longitudinal direction (X) and / or a transverse direction (Y) of the dynamic shelves (12), preferably without a spacing, wherein the gantry robot (14) is arranged to exchange the storage devices (20), articles (13) and / or load carriers (36) between all the dynamic shelves (12) and the conveyor system (16) or among the dynamic shelves (12). [10] System (10) according to one of claims 1 to 9, wherein the conveyor system (16) further comprises a further section which is arranged in the upper section of the dynamic rack(s) (12) and which extends, preferably completely, along the transverse direction (Y) of the dynamic rack(s) (12) which are arranged adjacent to one another in the transverse direction (Y). [11] System (10) according to one of claims 1 to 10, wherein the gripping unit (44) is movable along a mast in a vertical direction (Z) of the dynamic rack (12) in order to grip the storage devices (20), articles (13) and / or load carriers (36) at any height from the dynamic rack (12) as well as from the conveyor system (16), wherein the mast is movable by means of a carriage along a movable cross member (48) of the gantry frame. [12] System (10) according to one of claims 1 to 11, wherein the dynamic rack is arranged to move the storage devices (20) to at least one picking output level (30) of the dynamic rack (12) which is different from a highest possible storage level (50) of the dynamic rack (12), wherein the picking output levels (30) are the only storage levels where stored articles (13) may be removed from the dynamic rack (12) for the purpose of ordinary picking. [13] A method for moving articles (13) from a conveyor system (16) into a dynamic rack (12) by means of a gantry robot (14), wherein each of the dynamic racks (12) comprises a stationary rack frame (24) and a plurality of vertically movable storage devices (18; 20, 22), such that the storage devices (18) are arranged vertically one above the other in a variable arrangement, wherein each of the storage devices (18) is adapted to receive one or more of the articles (13) directly or indirectly in one or more load carriers (36), wherein the dynamic rack (12) has a circumferentially closed housing (32) which is open or openable at the top, wherein the housing (32) has an access opening (34) where stored articles (13) are provided on a picking output level (30) according to the goods-to-person principle;wherein the gantry robot (14) comprises a gantry frame (42) and a gripping unit (44), wherein the gripping unit (44) is coupled to the gantry frame (42) and is movable along at least two axes (XYZ), and wherein the gantry frame (42) projects vertically above each of the dynamic shelves (12), comprising the steps of: ; Moving a desired article (13) by means of the conveyor system (16) to the dynamic shelf (12) or within the dynamic shelf (12) to an upper, in particular uppermost, storage level (52, 54), wherein the conveyor system (16) has a first section in an upper section of the dynamic shelf (12), which is designed to supply the dynamic shelf with new articles from above and which extends completely along the longitudinal direction (X) of the dynamic shelf (12) directly adjacent to the dynamic shelf (12), so that the gripping unit (44) can exchange the storage devices (20), articles (13) and / or load carriers (36) with the first section of the conveyor system (16) essentially without lifting; Moving the gripping unit (44) over the desired article (13) and directly or indirectly picking up the desired article (12) by means of the gripping unit (44); and Moving the gripping unit (44) with the desired article (13) over the dynamic shelf (12) and delivering the desired article (13) to the dynamic shelf (12) when the desired article (13) has been picked up by the conveyor system (16). [14] Method according to claim 13, wherein articles (13) are simultaneously removed for picking purposes at a picking output level (30) of the dynamic shelf (12) which is different from the upper storage level (52, 54).

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