Handling system for the automatic transfer and singulation of load carriers

Abstract

Handling system (1) for the automatic transfer and singulation of load carriers (50-52), comprising a flow rack (12) and a receiving unit (32) which can be joined to it on the discharge side for receiving load carriers, wherein the flow rack (12) and the receiving unit (32) each have a retention mechanism (15, 35) with an axially rotatable shaft (16), wherein a front retention element (17) and a rear retention element (18) on the discharge side, which are arranged in a respective retention position for retaining load carriers (50-52), and at least one engagement element (19) are each connected to the shaft (16) in a rotationally secure manner, characterized in that at least one elastic return element engages laterally on the shaft (16) and is attached to a base plate (21), wherein a wedge-shaped deflection element (40) is provided for this purpose.When the flow rack (12) and the consumer (32) are brought together, the shaft (16) interacts with the attack element (19) via at least one contact surface (K) extending obliquely to the axial direction (A) in order to rotate the shaft (16) against a restoring force of the elastic restoring element from a retaining position of the front retaining element (17) to a retaining position of the rear retaining element (18).

Description

[0001] The invention relates to a handling system for the automatic transfer and singulation of load carriers, comprising the features of the preamble of claim 1.

[0002] The systematic storage, handling, and transport of load carriers such as boxes, packages, or pallets is important in various sectors. These include logistics as well as production, for example, in automotive manufacturing. Flow racks are used in this context, where the load carriers move along a slightly inclined track, following gravity, from a receiving side to a discharging side. According to the FIFO (first-in, first-out) principle, the load carrier added first on the receiving side can also be removed first on the discharging side. Simple designs of the track, which is usually a roller conveyor, only have a fixed restraint device on the discharging side that prevents the load carriers from moving further and falling off the flow rack.In addition, designs are known in which a movable retaining device releases the foremost load carrier on the discharge side when it is to be picked up by a customer. Systems with a retaining or separating device are also known, which serves to hold the subsequent load carrier away from the foremost load carrier until the foremost load carrier has been removed. However, these systems are generally designed for manual operation and not for a fully automated process. Furthermore, they lack the capability to approach the flow rack on the discharge side to pick up the load carrier.

[0003] For efficient industrial production, load carriers, such as small load carriers, are transported between different stations within the production plant using self-driving robot units. The robot unit, which may consist of a mobile, self-steering base and a platform or rack mounted on it, autonomously navigates to the stations where load carriers are to be picked up and / or delivered. While loading and unloading at each station could theoretically be done manually, this would reduce the efficiency of the entire process and introduce additional potential errors, as a worker would have to interrupt their other tasks. Therefore, automating the load carrier pickup (or delivery) process is highly desirable.For this purpose, a reliable mechanism is required in the case of a flow rack system. This mechanism holds back the foremost load carrier on the outbound side until it is picked up when the mobile robot unit approaches the respective station. This applies both to cases where the station has a flow rack and cases where the robot unit has a flow rack from which one or more load carriers are to be transferred to the station. The system should support a frontal approach to the flow rack for load carrier transfer. To prevent subsequent load carriers from being unintentionally picked up, the mechanism can also include a separating device, which must also be reliably triggered. In addition to reliability, the mechanism should ideally also be simple in design and highly robust.

[0004] DE 20 00 016 A discloses a metering device for flow racks, e.g., in conveyor systems used to supply workstations with workpieces, comprising a plurality of rack tracks designed as gravity conveyors for receiving conveyor boxes and a removal device arranged at the end of the rack, on which the actuating elements for the metering devices are arranged. It is proposed that the actuating element be made of a magnet or the like.The system consists of an actuated bolt with a return spring, which, in its extended position, is operatively connected to the allocation lock. The allocation locks consist of two levers pivoting about an axis running parallel to the respective shelf track of the flow rack. These levers are arranged at a distance corresponding to the box length, offset by a pivot angle of approximately 90°. The front lever is connected via an intermediate link to another double lever with two parallel lever arms pivoting about a common pivot sleeve. The free lever arm of these parallel lever arms is operatively connected to the actuating element on the picking device. Finally, the axis is subject to the restoring force of a torsion spring. The magnetically actuated bolts are circular and are extended approximately 100 mm before reaching the selected picking point. They actuate during the last part of the upward or downward movement.As the conveyor belt of the removal device descends, the corresponding levers of the allocation locks are engaged. The front stop is designed as a two-armed lever and, with its lever arm extending outside the conveyor belt, is connected via an intermediate link to another lever. This second lever is mounted on a pivot sleeve that runs parallel to the axis of the shaft and has a further lever at its front free end, parallel to the first lever. The intermediate link and the aforementioned levers all have straight edges.

[0005] US Patent 7,261,511 B2 discloses a pickup and delivery system for use with mobile robots, each of which has at least one rack. Each rack has a stop bar with a holding device. The system uses multiple stations, each with at least one pallet holding area to accommodate at least two pallets. The pallet holding areas are equipped with a holding device in both the pickup and delivery areas. The pallets are used to hold the items to be transferred, each pallet having a securing device that interacts with the holding device and the restraint device. The mobile robot picks up a pallet from a first station and delivers the pallet to a second station.

[0006] From WO 2020 / 050 309 A1, an automated transport system is known, comprising a goods rack mounted on an automated transport robot. Stop mechanisms located at the front of the goods rack can assume a restraint state, restricting the forward movement of goods from the shelves forming the goods rack, and a release state, by removing this restriction. The stop mechanisms have operating parts that project forward from the front of the goods rack. When these operating parts contact the receiving plates on a goods receiving opening side of the second shelves and are pushed backward relative to the goods rack, the stop mechanisms are switched from the restraint state to the release state.

[0007] US Patent 9,637,318 B2 discloses a mobile robotic device with a conveyor configured to connect to another conveyor of a second mobile robotic device. In this way, the mobile robotic devices can form integrated, flexible conveyors and allow conveyors to be connected to create an aggregate conveyor of any shape or size. The mobile robotic device is configured to receive a conveyor from a storage unit and move the conveyor to another point within physical space. The mobile robotic device also has the capability, when docked, to rotate the conveyor around the axis of the mobile robotic device (e.g., for sorting and other operations).

[0008] US Patent 4,004,701 A discloses a system for storing and singulating cylindrical items, such as carpet rolls. The system comprises an inclined rack on which the rolls are conveyed by gravity to the dispensing side, and a driven, rotating shaft with attached retaining elements. The retaining elements are designed as a front dispensing element and a rear retaining element, which, through rotation of the shaft, alternately release a front roll and retain the following roll. The singulated roll is dispensed onto a pallet, which can be picked up and transported by a forklift.

[0009] WO 2021 / 151 529 A1 concerns a logistics arrangement for the automated conveying of objects between a stationary loading structure and a mobile robot. A protective module is located at the interface between the loading structure and the robot, and this module has an open and a closed operating state. The protective module switches to the open state to allow object transfer when the correct positioning of the mobile robot is detected by a proximity sensor. After a successful transfer, which is recorded by a conveying system sensor, the module switches back to the closed state to prevent further transfers.

[0010] DE 28 25 949 A1 discloses a pallet flow rack equipped with a mechanical feed mechanism. The mechanism comprises a longitudinally movable and rotatable wooden bar on which a plurality of pivotable carriers are arranged. Pulling out the foremost pallet moves the wooden bar forward and rotates it in such a way that the carriers pivot upward and engage the subsequent pallets. The further forward movement of the bar results in a positively guided advance of the entire pallet row by one pallet position.

[0011] Given the current state of the art, the automatic transfer of load carriers from a flow rack still offers room for improvement.

[0012] The invention is based on the objective of providing improved means for singulating and automatically transferring load carriers from a flow rack.

[0013] According to the invention, the problem is solved by a handling system with the features of claim 1, wherein the dependent claims relate to advantageous embodiments of the invention.

[0014] It should be noted that the features and measures listed individually in the following description can be combined in any technically sensible way and demonstrate further embodiments of the invention. The description further characterizes and specifies the invention, particularly in conjunction with the figures.

[0015] The invention provides a handling system for the automatic transfer of load carriers. In this context, the term "handling" refers to the storage, transport, transfer, and singulation of load carriers. The load carriers can be, in particular, small load carriers, such as boxes containing components used in a production plant. The handling system comprises a flow rack and a receiving unit that can be connected to it on the receiving and discharging side. In a known manner, the flow rack has an inclined track extending from a receiving side to a discharging side. To assist the gravity-driven movement of the load carriers from the receiving side to the discharging side, the track is preferably designed to minimize friction and is configured as a roller or ball conveyor.In this context, a recipient is generally any type of device designed to receive at least one load carrier from the flow rack. The recipient may itself have a second flow rack or be designed as a second flow rack. To receive a load carrier, i.e., to take at least one load carrier from the flow rack, the recipient must be able to be brought close to the flow rack. This means that the recipient and the flow rack are brought close together, which can be achieved through movement of the recipient and / or movement of the flow rack. Generally, either the recipient or the flow rack is mobile, but both could also be mobile. For load carrier receipt, the recipient is brought close to the flow rack on the discharge side, i.e., on the discharge side of the flow rack.

[0016] The flow rack features a retention mechanism with an axially rotatable shaft. The retention mechanism is designed to hold at least one load carrier on the flow rack; that is, the movement of at least one load carrier towards the dispensing side is restricted by the retention mechanism. The precise design of the retention mechanism is described below. It features an axially rotatable shaft. This shaft is rotatably mounted relative to a frame of the flow rack, for example, by means of plain bearings or roller bearings. Here and in the following, "frame of the flow rack" refers in the broadest sense to all rigidly connected parts of the flow rack and, if applicable, to a supporting structure. The shaft is preferably formed in one piece, although a design with several parts rigidly connected to one another would also be conceivable. Here and in the following, "axial" refers to..."Axial direction" refers to the direction of the shaft's axis of rotation, which generally coincides with its axis of symmetry. The axial direction also defines the tangential and radial directions. The axial direction typically lies within a vertical plane with the direction of travel of the flow rack and can, in particular, coincide with this direction. That is, in this case, the shaft runs parallel to the flow rack.

[0017] The shaft is connected to a front and a rear retention element on the discharge side, each configured in a retention position to hold load carriers, as well as to at least one engagement element, in a rotationally secure manner. These elements are connected to the shaft in a rotationally secure manner, meaning they can only be rotated relative to the shaft to a limited extent, for example, due to an elastic connection. Normally, the connection can be considered rotationally fixed, so that no (significant) rotation relative to the shaft is possible. In some cases, at least one (or even all) of these elements may be integrally formed with the shaft. In any case, the elements are connected to each other via the shaft, such that a rotation of one element in the axial direction causes a rotation of the other elements.In a preferred embodiment, the attack element is arranged diametrically, i.e., exactly opposite the front retaining element on the shaft.

[0018] At least two retaining elements are provided, one of which is located at the front with respect to the discharge side and is thus referred to as the front retaining element, while the other is located further back with respect to the discharge side (i.e., towards the receiving side). Each of the retaining elements is designed to hold a load carrier in a retaining position, thus restricting its movement within the flow rack. Various options exist regarding the design of the retaining elements. According to one embodiment, for example, each retaining element can be rod-shaped and project radially from the shaft, with the two retaining elements being offset from each other both axially and tangentially.The front retaining element is designed to hold at least the foremost charge carrier, while the rear retaining element is designed to hold at least one charge carrier located behind it (towards the receiving side). The distance between the front and rear retaining elements typically corresponds approximately to the length of one or more charge carriers. The rear retaining element can also be considered a separating element, capable of separating at least one rear charge carrier from at least one front charge carrier. In this respect, it serves to isolate the charge carriers. In addition to the retaining position, each retaining element can also assume a release position to permit the movement of the respective charge carrier. It is understood that the retention position depends on the respective angle of rotation of the shaft to which the retaining elements are connected.The rotation of the shaft can, in turn, be caused by the application of an external force or torque. The intended point of application or surface for this external force is located on the at least one attachment element, which, as explained, is connected to the shaft in a rotationally secure manner.

[0019] According to the invention, at least one elastic restoring element engages the shaft laterally and is attached to a base plate. A wedge-shaped deflection element is configured to interact with the engagement element via at least one contact surface extending obliquely to the axial direction when the flow rack and the consumer are brought together. This interaction rotates the shaft against a restoring force from a retaining position of the front retaining element to a retaining position of the rear retaining element. As will be explained below, the deflection element can be associated with either the flow rack or the consumer. In each case, it is configured to interact with the engagement element via a contact surface extending obliquely to the axial direction.The contact surface, which can be flat or non-flat (i.e., curved and / or angled), runs obliquely to the axial direction, meaning it is neither parallel nor perpendicular to it. In the case of a curved contact surface, the angle to the axial direction is defined by the angle between the axial direction and the tangential plane in the area of ​​contact between the deflecting element and the loading element. This angle is typically between 10° and 60°. The corresponding contact surface is formed on the deflecting element. Alternatively, appropriately oriented contact surfaces could be provided on both elements. Since the contact surface is formed on the deflecting element, and this element is associated with the receiving element, the specification regarding the orientation of the contact surface refers to the state in which the receiving element and the flow rack are approached as intended for load carrier transfer.When the flow rack and the consumer are brought together, a relative movement occurs, which causes a rotation of the shaft.

[0020] The deflecting element is designed such that, as a result of this relative movement, it interacts with the striking element via the contact surface. Since the contact surface is inclined to the axial direction, a force redirection can occur, so that an axial force or force component exerted on the deflecting element results in a tangential force on the striking element. The striking element and the deflecting element can slide along each other parallel to the contact surface, while a compressive force is transmitted perpendicular to the contact surface. This corresponding force, in turn, generates a torque that rotates the shaft.

[0021] The shaft is rotated against a restoring force from a retaining position of the front retaining element to a retaining position of the rear retaining element. This means that before the flow rack and the receiving unit merge, the front retaining element is in its retaining position, thus preventing the movement of at least the foremost load carrier. Through the interaction of the deflection element and the engagement element, the shaft is rotated so that the front retaining element rotates from its retaining position to a release position, while the rear retaining element rotates from a release position to a retaining position. In this retaining position, the rear retaining element can prevent the gravity-induced movement of at least one rear load carrier.The interaction of the two retaining elements allows at least one front load carrier to move from the flow rack towards the recipient and thus be taken over, while simultaneously preventing the unintentional movement of one or more load carriers located further back. This enables the controlled transfer of one or more load carriers. The shaft rotates against a restoring force, which can be generated by at least one elastic restoring element, such as a spring, acting directly or indirectly on the shaft. This restoring force ensures that the shaft rotates back when the recipient and the flow rack have moved apart again. In this case, the rear retaining element returns to its release position, and the front retaining element returns to its restraint position.This allows load carriers held by the rear restraint element to move towards the discharge side, where they are ultimately stopped by the front restraint element. They can then be taken over by the recipient, for example, during a later transfer.

[0022] The handling system according to the invention enables the reliable, controlled transfer of one or more load carriers from the flow rack to the recipient. Due to the connection of the retaining elements and the at least one engagement element via the shaft, reliable coordination of the individual movements is ensured. It is also considered advantageous that the movement is initiated by the interaction of the deflection element and the engagement element via the inclined contact surface. As described, the engagement element and deflection element typically slide along the contact surface parallel to it, while a compressive force is transmitted perpendicular to the contact surface. Such a compressive force usually allows for a more immediate and reliable response of the mechanism than, for example, a tensile force transmitted via a cable.Overall, the retention mechanism can be implemented simply and robustly, making it both cost-effective and reliable and low-maintenance.

[0023] According to a preferred embodiment, the flow rack and / or the recipient are part of a self-propelled robot unit. In this case, the restraint mechanism described above enables, for example, the robot unit with the recipient to autonomously approach a stationary rack unit containing the flow rack and reliably transfer load carriers to the robot unit. Alternatively, the recipient can also be part of a stationary rack unit, and the flow rack part of a self-propelled robot unit that autonomously approaches the rack unit to transfer one or more load carriers to it. As mentioned above, the recipient can itself also be designed as a (second) flow rack. It is also possible, for example, that both the stationary rack unit and the robot unit each have two flow racks arranged one above the other with opposite inclinations. For example,During merging, the upper flow rack of the racking unit could transfer at least one load carrier to the (acting as recipient) upper flow rack of the robot unit, while the lower flow rack of the robot unit transfers at least one load carrier to the (acting as recipient) lower flow rack of the racking unit.

[0024] In one embodiment, the deflection element has a contact surface and is associated with the pickup, with the attack element projecting radially from the shaft. The deflection element is associated with the pickup and can, for example, be stationary relative to it, either directly on the pickup or together with the pickup on a higher-level unit. It can also be considered part of the pickup. For example, in the embodiment mentioned above, the deflection element can be part of the self-propelled robot unit and move with it. When the pickup is moved towards the flow rack (or vice versa), the attack element thus approaches the deflection element and interacts with it. The attack element projects radially from the shaft and can, for example, be rod-shaped or bar-shaped. It can run parallel to the radial direction or at an angle to it.The deflecting element that interacts with this is wedge-shaped and has an inclined contact surface on one side. Upon contact with the attacking element, the latter is deflected, with the contact surface sliding along the attacking element.

[0025] There are various ways to generate the aforementioned restoring force. According to one embodiment, a tension spring acting at least indirectly on the shaft generates the restoring force. In this case, the at least one elastic restoring element is designed as a tension spring. The tension spring is normally already pre-tensioned in the retaining position of the front retaining element, and when the spring is moved into the retaining position of the rear retaining element, it is stretched, thus increasing the tensile stress in the spring. In an ideal embodiment, the spring acts directly on the shaft on one side and on a stationary frame of the flow rack on the other.

[0026] In one possible embodiment, the flow rack includes a deflection element, which is mounted to be axially displaceable relative to the shaft. In this embodiment, the deflection element can also be considered part of the retention mechanism. It is mounted to be axially displaceable relative to the shaft, and a guide may be provided to at least limit the rotation of the deflection element relative to a reference frame of the flow rack. In this case, the deflection element can displace axially, but it cannot rotate with the shaft about its axial axis of rotation. Preferably, the deflection element surrounds the shaft at least predominantly in the tangential direction, for example, in the manner of a sleeve or casing.Since both the deflection element and the attack element are associated with the flow rack in the embodiment described here, the forces acting on the contact surface are internal forces with respect to the flow rack and therefore cannot displace it entirely. The lateral force components generated at the contact surface cannot destabilize the flow rack. The same applies to the consumer, on whom no lateral counterforces act in this configuration.

[0027] Preferably, at least one contact surface is formed on a helical guide track with which a radially extending projection interacts. The guide track is helical or helix-shaped. In the case of an ideal helix, the axial axis of rotation of the shaft normally forms the central axis of the helix. The guide track can be formed either on the side of the deflection element or on the side of the engagement element, with the projection corresponding to the other element. The guide track is a recess, e.g., a groove or a slot, into which the aforementioned projection engages. The contact surface is always located at the edge of the guide track. Advantageously, a plurality of such guide tracks can also be provided. In particular, this embodiment can be combined with the aboveIn this embodiment, the deflection element is designed in a sleeve-like manner and surrounds the shaft at least predominantly, and in particular completely, in the tangential direction. For example, one or more guide tracks can be formed as grooves on the inside of the deflection element, with a projection formed on the outside of the shaft engaging in each guide track, forming an engagement element.

[0028] As mentioned above, rotation of the deflection element about the axial axis of rotation of the shaft is preferably limited or prevented. According to one embodiment, this is achieved by the deflection element having a guide pin that engages in an axially extending guide groove. Such a guide pin can, for example, project radially outwards from a sleeve-like deflection element. It engages in the guide groove and is thus guided within it. The guide groove can, for example, be designed as a groove or slot. It can run parallel to the axial direction. The guide groove can, in turn, be formed on a frame of the flow rack. The guide groove can, for example, be arranged below the deflection element, with the guide pin projecting downwards from the deflection element.

[0029] In one embodiment, the guide pin terminates within the guide track, for example, if the guide track is designed as a groove. In another embodiment, where the guide track is designed as a guide slot, a contact section of the guide pin projects through the guide track, so that a contact element associated with the user can exert at least a partial axial compressive force on the guide pin via this contact section when the flow rack and user are brought together. The contact section is normally an end section of the guide pin and can, for example, correspond to its lowest section. Since it projects through the guide track, it is accessible and can be actuated, in a sense, by a contact element on the user side. In doing so, the contact element exerts at least a partial axial compressive force on the guide pin.The contact element is normally fixed to the receiver, so its relative movement with respect to the conveyor belt corresponds to that of the receiver. The pressure force displaces the guide pin within the guide track, which in turn causes a displacement of the entire deflection element. This, in turn, through the interaction of the deflection element and the contact element, leads to the rotation of the shaft.

[0030] Advantageously, a spring acts on the deflecting element, and the deflecting element interacts with the engagement element to generate the restoring force on the shaft. In this embodiment, not only the rotation of the shaft from the retaining position of the front retaining element to the retaining position of the rear retaining element is based on the interaction of the deflecting element and the engagement element, but also the reverse rotation. For this purpose, the deflecting element can interact with the engagement element via a restoring surface that also runs obliquely to the axial direction. In the case of the aforementioned helical guide track, the contact surface and the restoring surface are formed on opposite sides of the guide track. The spring can be designed as a tension spring or, in particular, as a compression spring. It can be attached directly or indirectly to the deflecting element and / or to a frame of the flow rack.

[0031] Preferably, the spring is designed as a helical spring and surrounds the shaft. For example, the spring can be arranged axially adjacent to a sleeve-shaped deflection element mentioned above, which in turn also surrounds the shaft. The design described here allows for a compact construction and, at the same time, promotes a symmetrical force distribution on the deflection element, which can facilitate its axial movement along the shaft. Furthermore, when arranged around the shaft, the spring is always straight and not, for example, guided in an arc or bent, which could impair its function.

[0032] Further advantageous details and effects of the invention are explained in more detail below with reference to exemplary embodiments illustrated in the figures. These show Fig. 1 a schematic side view of a first embodiment of a handling system according to the invention in a first state; Fig. 2 a schematic sectional view corresponding to line II-II in Fig. 1; Fig. 3 a perspective view of a retention mechanism of the handling system Fig. 1 in the first state; Fig. 4 a schematic side view of the handling system Fig. 1 in a second state; Fig. 5 a perspective representation of the retention mechanism in the second state; Fig. 6 a perspective view of a restraint mechanism of a second embodiment of a handling system; as well as Fig. 7 a partial sectional view of the retention mechanism' from Fig. 6.

[0033] In the different figures, identical parts are always labeled with the same reference symbols, which is why they are usually only described once. Fig. 6 and Fig. Figure 7 shows an embodiment that is not covered by the scope of protection of the invention.

[0034] Fig. Figures 1 to 5 show a first embodiment of a handling system 1 according to the invention for small load carriers 50-52, which can be used, for example, in a production process in the automotive industry. Fig. Figure 1 shows a stationary racking unit 10 with a first flow rack 12, which is mounted on a frame 11. On the first flow rack 12, a first small load carrier 50 is arranged near a discharge side 12.2 of the flow rack 12, and a second small load carrier 51 is arranged further towards a receiving side 12.1. The small load carriers 50, 51 can be positioned on a Fig. 2 recognizable roller track 13 move under the influence of gravity towards the discharge side 12.2, which is in Fig. 2 is at the back and therefore in Fig. 2 is not further specified.

[0035] To control its movement, the first flow rack 12 has a retaining mechanism 15 which is located in Fig. 2, Fig. 3 and Fig. Figure 5 is shown in detail. Two bearing blocks 23 are attached to a base plate 21, which is connected to the frame 11 (or can also be considered part of it). A rigid shaft 16 is rotatably mounted on these bearing blocks, with the axis of symmetry and rotation of the shaft 16 defining an axial direction A. A front retaining element 17, a rear retaining element 18, and an engagement element 19 are each non-rotatably connected to the shaft 16 on the discharge side. In this example, the aforementioned elements 17-19 have the form of round bars projecting radially from the shaft 16, which is, however, purely illustrative. As is best illustrated in the Fig. 3 and Fig. As can be seen in Figure 5, the attack element 19 is arranged diametrically, i.e., exactly opposite, the front retaining element 17 on the shaft 16. A tension spring 20, designed as a helical spring, engages laterally on the shaft 16 and is also attached to the base plate 21. The tension spring 20 is pre-tensioned to hold the shaft 16 in the Fig. to maintain the position shown in section 3. The two retaining elements 17, 18 are offset axially and tangentially from each other. The front retaining element has in Fig. 1-3 upwards, while the rear retaining element 18 is inclined to the side. Thus, the front retaining element projects upwards into the area where the first load carrier 50 is located when it rests on the rollers 14 of the roller tracks 13. The movement of the first small load carrier 50 is therefore restricted by the front retaining element 17. However, the rear retaining element 18 projects, as shown in Fig. 2 is recognizable, not in the aforementioned area, so that it does not affect the movement of the small charge carriers 50, 51. In the Fig. In the state shown in 1 to 3, the restraint mechanism 15 is in a restraint position of the front restraint element 17 and in a release position of the rear restraint element 18.

[0036] In Fig. Figure 1 also shows a self-driving robot unit 30, in which a robot 31 carries a second flow rack 32. The construction of the second flow rack 32 does not differ significantly from that of the first flow rack 12 in this example and is therefore not explained further. In this case, too, a retaining mechanism 35 is provided, which corresponds to the retaining mechanism 15 of the first flow rack 12. A third small load carrier 52 is held in its position by a front retaining element 38 of the retaining mechanism 35. In this case, the second flow rack 32 forms a receiver, which can be joined with the first flow rack 12 for the transfer or acceptance of small load carriers 50-52. A deflection element 40 is attached to the underside of the second flow rack 32. As in Fig. As shown in Figure 3, this deflection element 40 is plate-shaped and has a contact surface that runs obliquely to the axial direction A. In this example, the angle is approximately 40° to the axial direction A when the robot unit 30 is aligned with the rack unit 10 as intended.

[0037] As the robot unit 30 moves closer to the shelf unit 10, the deflection element 40 interacts with the attack element 19 via the contact surface K. The two elements 19 and 40 slide along one another, with at least a partially tangential force acting on the attack element 19. This causes the shaft 16 to rotate from the retaining position of the front retaining element 17 to a retaining position of the rear retaining element 18, against a restoring force generated by the spring 20, as shown in Fig. 5 shown. This achieves a release position for the front retaining element 17, allowing the first small load carrier 50 to move under the influence of gravity from the first flow rack 12 to the second flow rack 32, as shown in Fig. 4 indicated. Meanwhile, the second small load carrier 51 is held in place by the rear retaining element 18, which is now in a holding position, preventing it from moving further towards the discharge side 12.2. After the first small load carrier 50 has been picked up from the second flow rack 32, the robot unit 30 moves away from the rack unit 10, causing the deflection element 40 to release the attack element 19. Due to the action of the spring 20, the shaft 16 is retracted back into the holding position of the front retaining element 17 and into the release position of the rear retaining element 18. Consequently, the second small load carrier 51 can now move under the influence of gravity into the position previously occupied by the first small load carrier 50.

[0038] As already mentioned, the second flow rack 32 has a retention mechanism 35, which corresponds to the retention mechanism 15 of the first flow rack 12. The mobile robot unit 30 can therefore release the third small load carrier 52 in a controlled manner from a further stationary rack unit (not shown here), provided that the aforementioned rack unit has a correspondingly positioned and designed deflection element with which an engagement element 39 of the retention mechanism 35 can be operated.

[0039] For the sake of simplicity, this example shows only one flow rack each for shelf unit 10 and robot unit 30 (12, 32). It should be understood that both units 10 and 30 could each have two or more flow racks arranged one above the other, in which case, for example, a transfer of a small load carrier from shelf unit 10 to robot unit 30 could occur simultaneously with the transfer of another load carrier from robot unit 30 to shelf unit 10, for example, to exchange empty load carriers for full ones.

[0040] Fig. 6 and Fig. Figure 7 shows a retaining mechanism 15 of a handling system 1 according to a second embodiment. Three bearing blocks 23 are mounted on a base plate 21, in which a rigid shaft 16 is rotatably mounted. Again, a front retaining element 17 and a rear retaining element 18 are provided, which do not differ significantly from those of the first embodiment. However, in this case, a deflection element 24 is integrated into the retaining mechanism 15. It is sleeve-shaped and surrounds the shaft 16 tangentially in a partial area. It has a downwardly directed guide pin 25 that projects through a slot-shaped guide channel 22.

[0041] As in Fig. As can be seen in Figure 7, a receiver, for example, which is part of a mobile robot unit 30, can act on a lower contact section 25.1 of the guide pin 25 with a suitably positioned contact element 41, thereby moving the guide pin 25 and the entire deflection element 24 axially relative to the shaft 16. The movement of the guide pin 25 is limited by the shape of the axially extending guide cam 22. In particular, the deflection element 24 cannot rotate about the axis of rotation of the shaft 16. Four projections 27, each offset tangentially by 90°, are formed and are rotationally fixed to the shaft 16. These projections serve as engagement elements. Each projection 27 engages in a guide track 28, designed as a groove, on an inner side of the deflection element 24. The guide tracks 28 are each helical in shape.On one side of the respective guide track 28, a contact surface K extending obliquely to the axial direction A is formed, while on the opposite side, a return surface R also extending obliquely to the axial direction A is formed.

[0042] When the deflection element 24 is axially deflected by the contact element 41 as described, the interaction of the projections 27 with the contact surface K causes a rotation of the shaft 16, similar to the first embodiment. The advantage here, however, is that no lateral force acts on the rack unit 10 or the robot unit 30, which is at least qualitatively the case when the deflection element 40 described above interacts with the engagement element 19. The deflection element 24 and the shaft 16 are adjusted against a restoring force exerted by a compression spring 26, designed as a helical spring, between a bearing block 23 and the deflection element 24. When the contact element 41 retracts from the contact area 25.1, the compression spring 26 pushes the deflection element 24 back into the position described above. Fig.The starting position shown in 7 is returned, whereby a restoring force or a restoring torque acts on the projections 27 and thus on the shaft 16 via the restoring surface R. Reference symbol list 1 handling system 10 shelving units 11 frames 12, 32 Flow rack 12.1 Acceptance page 12.2 Submission page 13 Roller conveyor 14 rolls 15, 35 Retention mechanism 16 wave 17, 18, 38 Retaining element 19, 39 Attack element 20 tension springs 21 Base plate 22 Leadership backdrop 23 bearing block 24, 40 deflection element 25 guide pins 25.1 Contact section 26 compression spring 27 lead 28 Guide rail 30 robot units 31 robots 41 Contact element 50-52 small load carriers A axial direction K Contact surface R Restoration surface

Claims

[1] Handling system (1) for the automatic transfer and singulation of load carriers (50 - 52), comprising a flow rack (12) and a receiving unit (32) which can be joined to it on the discharge side for receiving load carriers, wherein the flow rack (12) and the receiving unit (32) each have a retention mechanism (15, 35) with an axially rotatable shaft (16), wherein a front retention element (17) and a rear retention element (18) on the discharge side, which are arranged in a respective retention position for retaining load carriers (50 - 52), and at least one engagement element (19) are each connected to the shaft (16) in a rotationally secure manner. characterized by, that at least one elastic restoring element engages laterally on the shaft (16) and is attached to a base plate (21), wherein a wedge-shaped deflection element (40) is arranged to cooperate with the attack element (19) via at least one contact surface (K) extending obliquely to the axial direction (A) when the flow rack (12) and the receiver (32) are brought together, in order to rotate the shaft (16) against a restoring force of the elastic restoring element from a retaining position of the front retaining element (17) to a retaining position of the rear retaining element (18). [2] Handling system according to claim 1, characterized by , that the flow rack (12) and / or the recipient (32) are part of a self-driving robot unit (30). [3] Handling system according to claim 1 or 2 characterized by , that the attack element (19) is arranged diametrically opposite the front retaining element (17) on the shaft (16) in a rotationally secure manner. [4] Handling system according to one of the preceding claims, characterized by , that the deflection element (40) has the contact surface (K) and is assigned to the receiver (32). [5] Handling system according to one of the preceding claims, characterized by , that the attack element (19) projects radially from the shaft (16). [6] Handling system according to any one of the preceding claims, characterized by , that the front retaining element (17) and the rear retaining element (18) are designed in a rod-like manner. [7] Handling system according to any one of the preceding claims, characterized by , that the angle of the contact surface (K) has a value of 10° to 60°, preferably 40°. [8] Handling system according to any one of the preceding claims, characterized by , that the attack element (19) is rod- or bar-shaped. [9] Handling system according to any one of the preceding claims, characterized by, that the front retaining element (17) and / or the rear retaining element (18) and / or the attack element (19) is formed integrally with the shaft (16). [10] Handling system according to any one of the preceding claims, characterized by , that the elastic restoring element is designed as a tension spring (20).

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