TRANSFER DEVICE FOR UNLOADING A TRANSPORT LOADING AID, UNLOADING STATION AND PICKING WAREHOUSE FOR STORING AND PICKING GOODS

Description

[0001] The invention relates to a transfer device for unloading a transport loading aid with stacked goods carriers and for loading a target loading aid with goods carriers by clamping grips, an unloading station for a picking warehouse and a picking warehouse as described in claims 1, 6 and 8.

[0002] EP 2 441 709 A1 discloses a transfer device for loading a target loading aid with product carriers. The product carriers are, for example, containers made of plastic or cardboard boxes. The transfer device comprises a base frame and loading tongues movable by a first drive device in a first direction (y) between a retracted starting position and an extended receiving position, and a frame section movable by a second drive device in a second direction (x) between a retracted open position and an extended closed position. The loading tongues can receive product carriers side by side in the extended receiving position. The frame sections are each provided at their front end with a hook movable by a third drive device in a third direction (z) between a lowered starting position and a raised receiving position.Additionally, a fixing device is provided, which includes hooks, a suction unit or support bolts.

[0003] From DE 199 59 285 B4, a vacuum gripping system for gripping at least one product carrier is known, comprising a base frame and at least one suction unit arranged on the base frame, wherein a loading tongue is arranged on the base frame. The loading tongue can be slid at least partially under at least one of the product carriers lifted by the suction unit. The vacuum gripping system can only be used on smooth surfaces, which severely limits its range of applications. In particular, containers with ribs and recesses are typically used in order picking warehouses, which almost completely preclude the use of the vacuum gripping system. Therefore, only cardboard boxes can be gripped.

[0004] Picking warehouses are known from the prior art in which goods receipt units with the same goods (single-variety goods receipt units) are used to form goods issue units with different goods.

[0005] Outgoing goods units containing different goods are required, for example, when supplying retail stores or branches of food retailers, where goods delivered in large incoming goods units to a central warehouse are divided into smaller consumption units and combined with other goods for delivery.

[0006] The goods are stored in containers (boxes, cartons). Incoming goods units consist of stacks of containers placed on loading aids (pallets, roll containers), each stacked on top of the other. For example, a Euro pallet (1200mm x 800mm) may contain four stacks of containers, each with a base area of ​​600mm x 400mm, or six stacks of containers, each with a base area of ​​300mm x 400mm.

[0007] The picking warehouse comprises a receiving area for incoming goods, a storage area, an order processing area, and a shipping area for outgoing goods. The receiving area is equipped with automated depalletizing machines that separate stacks of goods carriers from the incoming goods. These stacks are then stored in the storage area. In the order processing area, picking orders are processed by retrieving the required stacks of goods carriers from the storage area and transporting them to transfer devices (palletizing machines). At the transfer devices, individual goods carriers or entire stacks of goods carriers are loaded onto a destination load carrier (pallet, roll container) according to the picking order.The transport of the stacks of goods to be stored between the delivery area and the storage area is carried out by an inbound conveyor system, and the transport of the stacks of goods to be picked between the storage area and the order processing area is carried out by an outbound conveyor system.

[0008] One object of the invention is to create an improved transfer device for unloading a transport loading aid with stacked goods carriers and for loading a target loading aid with goods carriers by clamping grips, as well as an unloading station for a picking warehouse and a picking warehouse itself. In particular, largely trouble-free operation and rapid goods handling should be possible regardless of the goods carrier used (plastic containers or cardboard boxes).

[0009] The object of the invention is solved by a transfer device which a base frame, loading tongues movable independently of one another by first drive devices relative to the base frame and in a first direction (y) between a retracted starting position and an extended receiving position, which in an extended receiving position receive at least one product carrier, clamping jaws movable by at least a second drive device in a second direction (x) relative to each other between a retracted opening position and an engaged clamping position for clamping at least one product carrier, and a lifting frame movable in a third direction (z) relative to the base frame by at least a third drive device, on which the clamping jaws are mounted and by which the clamping jaws are movable between a lower height position and an upper height position, so that for unloading the transport loading aid the at least one goods carrier can be lifted by the clamping jaws positioned against the at least one goods carrier and at least one of the loading tongues can be slid at least partially under the at least one goods carrier lifted by the clamping jaws in order to receive the at least one goods carrier in the extended receiving position, includes.

[0010] The transfer device comprises a clamping gripping unit with a first clamping jaw and a second clamping jaw, which, in the clamped position, are positively engaged against the opposing walls of a workpiece carrier or adjacent workpiece carriers. Virtually independent of the shape of the workpiece carrier walls, a sufficiently high clamping force is possible to lift at least one workpiece carrier, such that at least one of the loading tongues can be slid, at least partially, under the workpiece carrier lifted by the clamping jaws. When the workpiece carrier is positioned on the loading tongue, which is extended into the receiving position, the weight of the workpiece carrier rests on the loading tongue.

[0011] According to one embodiment, a stop device with one or more stop elements is provided, against which at least one goods carrier can be placed.

[0012] At least one of the workpiece carriers can be positioned on the loading tongue and against the stop elements. Additionally, at least one workpiece carrier can be centered between the clamping jaws. This allows at least one workpiece carrier to be placed in a precise position onto a target loading device.

[0013] It is also advantageous if the first clamping jaw is arranged on a first clamping jaw frame and the second clamping jaw is arranged on a second clamping jaw frame, and one of the first and second clamping jaw frames can be adjusted in a second direction (x) by at least a fourth drive device at least between a first configuration width and a second configuration width in order to accommodate a workpiece carrier with the first length dimension in the first configuration width between the first clamping jaw and second clamping jaw, and a workpiece carrier with the second length dimension in the second configuration width between the first clamping jaw and second clamping jaw.

[0014] Thus, the transfer device allows the first goods carriers with a first length dimension and / or second goods carriers with a second length dimension to be unloaded from a transport loading aid with stacked goods carriers and placed onto a destination loading aid. The first length dimension and the second length dimension are different.

[0015] A particularly advantageous design of the transfer device is achieved if the second drive device and one of several stop elements of the stop device are also mounted on the first or second clamping jaw frame, which is adjustable in a second direction (x) by the at least one fourth drive device.

[0016] It can also be advantageous if at least one of the clamping jaws for loading the target loading aid can be moved into a retracted release position in the first direction (y) relative to the frame by a fifth drive device.

[0017] In the retracted release position, the stop element(s) protrude beyond the aforementioned clamping jaw, allowing the at least one goods carrier to be stacked onto the target loading aid unimpeded by the at least one loading tongue. Thus, the clamping jaw does not prevent a goods carrier from being placed close to a stacking wall of a stacking aid (if stacking aids are used in the picking warehouse) and / or to a goods carrier wall of a goods carrier already placed on the order stack. Furthermore, the clamping of the goods carrier can be maintained until just before the goods carrier is released onto the order stack.

[0018] The object of the invention is also solved by an unloading station for a picking warehouse, which comprises at least one automatically operated unloading device with a transfer device movable in space relative to a supporting structure for unloading a transport loading aid and for loading a target loading aid with goods carriers of the same and / or different length dimensions by clamping grip.

[0019] The object of the invention is also achieved by a picking warehouse with such an unloading station. The unloading station comprises one or more automatically operated unloading devices, wherein an unloading device has a transfer device movable relative to a supporting structure in space for unloading a transport loading aid and for loading a target loading aid with goods carriers of the same and / or different length dimensions by means of a clamping grip.

[0020] In an advantageous design, the picking warehouse comprises an order computer for recording a picking order and for determining the goods required for the picking order, a plurality of transport loading aids, each for receiving and stabilizing at least one stack of goods carriers consisting of several goods carriers arranged one above the other, wherein the transport loading aids include mobile empty transport loading aids, a delivery area for providing stacks of goods carriers consisting of several goods carriers arranged one above the other, a loading station either with one or more automatically operated loading devices or with one or more automatically operated loading devices and a buffer area near the first loading device(s), which loading device is designed for loading one of the empty transport loading aids with at least one stack of goods carriers, wherein the empty transport loading aid is provided for loading at the automatically operated loading device,a storage area for storing transport loading aids loaded with at least one stack of goods carriers or transport loading aids loaded with individual goods carriers on a storage area, and a multitude of autonomously moving, driverless transport vehicles, which are controlled by a control system and each have a chassis with a drive unit and a loading platform arranged on the chassis for receiving a transport loading aid, in order to transport empty transport loading aids to the loading station and to provide one of the empty transport loading aids either at the automatically operated loading device or on the buffer area near the first loading device, and to transport the transport loading aid loaded with at least one stack of goods carriers from the loading station to a storage area,and to transport one or more transport and loading aids containing the goods carriers required for a picking order from the storage area to an unloading station and to provide said transport and loading aid(s) either at one or more automated unloading devices or on a buffer area near the unloading device(s), wherein the unloading station is designed for assembling the goods carriers for the aforementioned picking order, and wherein, for unloading a transport loading aid, this is provided at an automatically operated unloading device, and wherein unloading is carried out by removing the goods carriers required for processing the aforementioned picking order.

[0021] A key advantage is that, regardless of the type of storage unit used, multiple units can be stacked directly on top of each other. These units can be made from various materials, such as plastic containers or cardboard boxes. In the picking warehouse, either containers or boxes are picked. However, a combination of both is also possible. The storage units can also come in different dimensions. A typical base area for these units is 600mm x 400mm or 300mm x 400mm. Transport runs can be carried out more efficiently, as a greater number of units can be transported per trip.

[0022] For transporting empty and loaded transport loaders, autonomously moving, steerable transport vehicles (of an automated guided vehicle system) are used, which are automatically controlled by a higher-level control computer. Such transport vehicles are known to those skilled in the art as "automated guided vehicles." Such a transport system comprises the transport vehicles, means for determining the location and position of the transport vehicles, and means for data transmission to and from the transport vehicles within the transport system. Each transport vehicle includes a chassis with a drive unit and a loading platform mounted on the chassis for receiving, unloading, and transporting a mobile (stationary) transport loader. Various technologies are known for navigating the transport vehicles.In addition to track-guided, inductive, or optical navigation, laser navigation is also used, in which each transport vehicle is equipped with a laser scanner that detects stationary reference points in the environment and navigates the transport vehicle based on the detected environmental features. Navigation is also possible using a GPS system, in particular the Differential Global Positioning System (dGPS).

[0023] Such a transport system can be easily integrated into existing order picking warehouses and optimally adapted to fluctuating performance requirements.

[0024] Even if the transport vehicles are advantageously configured with the same performance data (travel speed, acceleration values, load capacity, etc.), groups of transport vehicles with different performance data can be used. This can prove beneficial if different temperature zones are provided in the picking warehouse. In this case, the transport vehicles of the first and second groups can have different control electronics or wheels with different material properties.

[0025] The provision of stacks of product carriers includes the provision of single-product stacks. However, the provision can also consist exclusively of single-product stacks. A single-product stack consists of several carriers stacked on top of each other, each containing the same product. Although this is rather the exception, the provision can also include the provision of mixed stacks of product carriers. A mixed stack consists of several carriers stacked on top of each other, each containing different products. In this case, the lower carriers in the stack can contain one product, and the upper carriers can contain a second product.

[0026] To ensure sufficient transport safety for tall stacks of goods carriers, even during dynamic movements of transport vehicles, transport loading aids are used. These aids can hold one or more stacks of goods carriers between side walls on a floor and prevent lateral shifting during transport by a vehicle. Only through the use of transport loading aids can goods carriers of poor quality, for example, those affected by moisture absorption, damage, etc., be transported as stacks between a delivery area and a storage area, and also between a storage area and an order processing area.

[0027] In particular, empty transport loading aids can be transported to a loading station by autonomously moving, driverless transport vehicles and placed there either at one or more automatically operated loading devices or on a buffer area near the loading device(s). The buffer area is formed on a floor.

[0028] In particular, after the last goods carrier / stack has been removed, the transport loaders are transported from the unloading station back to the loading station, where the empty transport loaders are either placed at an automated loading device or on the buffer area. Alternatively, a supplier can deliver empty transport loaders, which are then received in the delivery area and transported to the loading station. It is also possible for the transport loaders to include mobile, loaded transport loaders, which are received in the delivery area and transported directly to the storage or order processing area, bypassing the loading station, and placed there. The transport loaders can be delivered by a supplier.

[0029] In particular, loading an empty transport loading aid with goods carriers can be carried out using different loading methods. For example, after an initial loading method, an entire stack of goods carriers, consisting of several stacked carriers, can be transferred by the loading device onto the empty transport loading aid.

[0030] The stack of goods carriers is transferred "unchanged" from the loading device to the empty transport loading aid; individual goods carriers are not manipulated within the stack. "Unchanged" in this context means that no additional picking process takes place at the loading station; therefore, a first goods carrier with a first item and a second goods carrier with a second item are combined to form a picked goods carrier stack. This proves advantageous in several respects: Firstly, it is advantageous for cardboard product carriers because the stacking lugs and recesses typically found on the container walls remain engaged to secure the stacked carriers, thus preventing damage to these lugs and recesses caused by repeated lifting and placing of the carriers. Secondly, it is advantageous for plastic product carriers because the stacking rims typically found on the container walls remain engaged to secure the stacked carriers, thus preventing wear and tear on the rims caused by repeated lifting and placing of the carriers.Thirdly, the loading device can be designed with a particularly simple construction; for example, it comprises a stationary receiving surface and a pusher device with which the stack of goods carriers is pushed from the receiving surface onto the empty transport loading aid (without lifting). Fourthly, loading can be carried out very quickly, which is a significant advantage, especially when picking a relatively small number of different goods and a large quantity of goods, as can be the case, for example, in the food sector. In such cases, goods are delivered in large quantities from a wide variety of suppliers within a limited timeframe. However, the goods must be transported to the storage area and then picked within a very short time.Once the stacks of goods carriers are transported "unchanged" from the delivery area to the loading station and transferred onto empty transport loaders at one or more loading devices, there are no delays in processing the delivered goods.

[0031] Following a second loading process, a "pre-picked" stack of goods carriers, consisting of several stacked carriers, can be transferred by the loading device to the empty transport loading aid. "Pre-picked" in this context means that an additional picking process takes place at the loading station; therefore, a first goods carrier with a first item and a second goods carrier with a second item are combined to form a picked goods carrier stack. The picking process can include assembling goods into product groups. A product group is defined as the grouping of individual goods or goods carriers based on a common characteristic. This common characteristic could, for example, be a storage temperature.

[0032] After being loaded with one of the transport vehicles, the transport loading aid is moved from the loading station in the delivery area to the storage area and placed in an available storage space. The transport vehicle includes a loading platform, which allows the transport loading aid to be transferred onto and off the vehicle, as well as being supported on the vehicle during transport. For this purpose, the loading platform can, for example, be designed to be raised and lowered relative to the chassis.

[0033] The transport and loading aids are placed in designated storage locations within the storage area. These storage locations are preferably situated on a floor within the storage area. The transport and loading aids in the storage area are loaded with at least one goods carrier, a partial stack of goods carriers, or a complete stack of goods carriers. While some of the partially unloaded transport and loading aids are transported back to the storage area after unloading from the order processing area, the fully loaded transport and loading aids are transported directly from the delivery area to the storage area.

[0034] The storage area is connected to the loading station in the delivery area via some of the transport system's vehicles, and to the unloading station in the order processing area via some of the transport system's vehicles. The unloading station in the order processing area can also be connected to the loading station in the delivery area via some of the transport systems' vehicles. In a special configuration of the picking warehouse ( Fig.8 The unloading station and the transfer station in the order processing area can be connected to the loading station in the delivery area and / or the storage area via some of the transport vehicles using conveyor technology.

[0035] Finally, to process one of several picking orders (which are electronically recorded on an order computer), at least one transport loader containing the required (identical) goods / containers is transported from the storage area to the unloading station using one of the transport vehicles. If different goods / containers are required, the transport loaders containing these goods / containers are transported from the storage area to the unloading station using several transport vehicles. The unloading station comprises one or more automated unloading devices, by means of which the unloading of one or more of the transport loaders is carried out automatically by removing the containers required for processing the aforementioned picking order and assembling the containers onto one or more destination loaders, thus without any manual processing steps.In other words, according to this design, the unloading station forms a fully automatic unloading station.

[0036] For example, a picking order might involve 24 storage containers for one item, 18 for a second item, 3 for a third item, and 3 for a fourth item. The first item is contained in 4 stacks of 6 storage containers each. The second item is contained in 3 stacks of 6 storage containers each. The third item is contained in one stack of 6 storage containers. The fourth item is contained in one stack of 6 storage containers.

[0037] The transport loading aid can accommodate a stack of goods carriers, preferably up to twenty stacked (low) goods carriers.

[0038] In the described embodiment, the transport loading aid can accommodate a stack of goods carriers consisting of up to six stacked (tall) goods carriers. A first transport vehicle transports a transport loading aid with a first stack of goods carriers containing the first goods from the storage area to the unloading station; a second transport vehicle transports a transport loading aid with a second stack of goods carriers containing the first goods from the storage area to the unloading station; a third transport vehicle transports a transport loading aid with a third stack of goods carriers containing the first goods from the storage area to the unloading station; and a fourth transport vehicle transports a transport loading aid with a fourth stack of goods carriers containing the first goods from the storage area to the unloading station.

[0039] The transport loading aids are provided one after the other at a single unloading device, or at least two of the transport loading aids are provided side by side at a single unloading device, or at least two of the transport loading aids are provided side by side at several unloading devices.

[0040] If a previous picking order is still being processed at the unloading device(s), the transport loading aid(s) can be temporarily placed on a buffer area near the unloading device(s) by the transport vehicle(s). As soon as the unloading device has unloaded a transport loading aid from the previous picking order and the empty transport loading aid has been removed from the unloading device, a transport loading aid for the current picking order can be transported from the buffer area to the unloading device by a transport vehicle and made available there.

[0041] The transport loading aid, which is provided at the automated unloading device(s), is then unloaded by the unloading device by removing the goods carriers required for processing a picking order.

[0042] Unloading one or more of the transport loading aids can involve removing a single product carrier. If the product carrier is in a stack of product carriers, the top carrier in the stack is removed. Unloading one or more of the transport loading aids can involve removing a sub-stack of product carriers from at least two stacked carriers. If the product carrier is in a stack of product carriers, the uppermost carriers in the stack are removed as a sub-stack. Unloading one or more of the transport loading aids can involve removing an entire stack of product carriers from all stacked carriers.

[0043] According to the latter design, the stack of goods carriers is unloaded "unchanged" from the transport loading aid by the unloading device; individual goods carriers are not manipulated within the stack. This proves advantageous in several respects: Firstly, it is advantageous for cardboard product carriers because the stacking lugs and recesses typically found on the container walls remain engaged to secure the stacked carriers in place, thus preventing damage to these lugs and recesses caused by repeated lifting and placing of the carriers. Secondly, it is also advantageous for plastic product carriers because the stacking rims typically found on the container walls remain engaged to secure the stacked carriers in place, thus preventing wear and tear on the rims caused by repeated lifting and placing of the carriers.Thirdly, the unloading device can be designed to be particularly simple; for example, it comprises a receiving surface and a pusher device with which the stack of goods carriers is pushed from the transport loading aid onto the receiving surface (without lifting). Fourthly, unloading can be carried out very quickly, which is particularly advantageous when picking a relatively small number of different goods and a large quantity of goods, as can be the case, for example, in the food sector.

[0044] After or during the unloading of the transport loading aid(s), the goods carriers are assembled on one or more destination loading aids for the specified picking order.

[0045] The unloading of the transport loading aids can also take place in a sequence determined by the control system. The goods carriers / stacks of goods carriers are unloaded at the unloading station in this sequence ( Fig. 1 ) or in this order at the transfer station ( Fig. 7 ) provided and transferred to the destination loading aid in this order. Alternatively, the transport vehicles can also determine the order in which the transport loading aid(s) are provided at the unloading station ( Fig. 1 ) or provision of the transport loading aid(s) at the transshipment station ( Fig. 8 ) are manufactured.

[0046] According to the example above, the four (unchanged) stacks of goods carriers are assembled on a first destination loading aid, resulting in 24 goods carriers with the first product. On a second destination loading aid, the three (unchanged) stacks of goods carriers are assembled, resulting in 18 goods carriers with the second product, and a mixed stack of goods carriers is assembled, resulting in 3 goods carriers with the third product and 3 goods carriers with the fourth product in one goods carrier stack.

[0047] As this example shows, on a target loading aid (outbound goods unit) either goods carriers of a single good or goods carriers of different goods can be assembled according to a picking order.

[0048] Although the invention is not limited to applications in the fresh produce sector, this is its preferred area of ​​use. This is primarily because perishable goods, such as fresh fruits and vegetables, require rapid turnover and typically only a limited number of different varieties need to be picked simultaneously. In principle, the advantages of this application can also be readily implemented in the general merchandise sector or in the textile industry.

[0049] It is also advantageous if the transport loading aid has a base and side walls connected to it, at least one receiving chute bounded by the side walls for receiving at least one stack of goods carriers and a loading and unloading opening, and that the side walls serve to stabilize the position of the at least one stack of goods carriers when it is placed on the base. comprise exclusively first side walls arranged parallel or inclined to each other, or comprise first side walls arranged parallel or inclined to each other and a second side wall arranged between them.

[0050] The base can include a storage area on its upper side, on which at least one stack of goods carriers can be placed, and a transport area on its lower side, against which a loading platform of the transport vehicle can be positioned. The transport loading aid can have one or more receiving compartments, each receiving compartment being bounded on at least two sides, preferably three sides, by side walls. The receiving compartment is accessible at least on one side via the loading and unloading opening. Loading and unloading of the transport loading aid is carried out via the loading and unloading opening and, in the simplest embodiment, by "pushing" or "sliding" a stack of goods carriers onto the loading platform. The storage area on the base serves as a sliding surface.

[0051] It can also be advantageous if the second side wall includes a side wall section which is inclined at an angle to a vertical plane spanned between the first side walls such that, with increasing vertical distance from the ground, the side wall section slopes backwards.

[0052] Furthermore, it can be provided that the floor includes a floor wall section which is inclined downwards at an angle of inclination relative to a horizontal plane spanned between the first side walls in the direction of the second side wall.

[0053] The load carriers are leaned against the side wall(s) and, with increasing height above the floor, their center of gravity is shifted towards the center of the transport loading aid. Particularly high stacks of load carriers can be reliably transported with these transport loading aids, even when the autonomously moving, driverless transport vehicles are dynamically driven. The transfer device also facilitates better removal of the load carriers from the transport loading aid.

[0054] It is also advantageous if the picking warehouse uses one or more stacking aids to stabilize the position of an order stack assembled from the goods carriers according to the aforementioned picking order, which include at least one first stacking aid and / or at least one second stacking aid, which in turn include a base and stacking walls connected to it.

[0055] Preferably, at least one first stacking aid forms a storage surface on its upper side at the bottom, on which a target loading aid, in particular a pallet, can be placed with the order stacked on this stack.

[0056] Preferably, the at least one second stacking aid forms support blocks projecting from its upper side on the floor and separated from each other by receiving channels, on which the goods carriers of the order stack can be placed, so that the at least one second stacking aid forms the target loading aid.

[0057] According to one embodiment, the base of the first stacking aid / second stacking aid is designed to have a transport surface on its underside, against which a loading platform of the transport vehicle can be placed.

[0058] The use of the first or second stacking aid allows for the reliable transport of the order stack, regardless of the types of goods being stacked. This enables the goods, especially containers and cartons, to be stacked in a mixed configuration. Experience has shown that it is sufficient for the first or second stacking aid to have a first and second stacking wall. A stack layer is filled starting from the corner, from back to front and from left to right or from right to left. Alternatively, a stack layer can be filled starting from the corner, from left to right or from right to left and from back to front. A goods carrier can be precisely positioned and stacked in the corner using the transfer device (especially a clamping gripper). This gives the order stack a high degree of stability.

[0059] A first stacking aid can be used in the picking warehouse when the target load carrier is delivered to the customer along with the order stack. A second stacking aid can be used in the picking warehouse when the target load carrier is to be replaced by a delivery load carrier, preferably a roll container, a pallet, or similar. The delivery load carrier is loaded with the order stack, for example, at the load securing station and then delivered to the customer.

[0060] The following steps also prove to be advantageous. Transport of stacking aids by the autonomously moving, driverless transport vehicles to the unloading station and provision of one or more stacking aid(s) either at one or more automatically operated unloading devices or on a buffer area near the unloading device(s), and assembly of the goods carriers according to the said picking order to the order stack on the target loading aid in the first stacking aid or on the floor of the second stacking aid, which first stacking aid or second stacking aid is provided at the automatically operated unloading device(s).

[0061] Just like the transport loading aids, the stacking loading aids can also be transported between the loading and unloading stations by autonomous, driverless transport vehicles. Either the same transport vehicles used for the transport loading aids can be used, or additional autonomous, driverless transport vehicles can be provided specifically for transporting the stacking loading aids.

[0062] It can also be advantageous if the control device is configured to control the transfer device and its drive devices in such a way as to carry out subsequent process steps for unloading one of the adjacent goods carriers in a stacked position. Movement of the transfer device relative to the stacks of goods carriers in the transport loading aid, positioning of the clamping jaws to a stack layer and laterally next to the walls of the goods carriers arranged side by side by moving the transfer device, clamping of the goods carriers arranged side by side by actuating the at least one second drive device to move the clamping jaws in the second direction (x) relative to each other and from a retracted open position to the engaged clamping position, lifting of the goods carriers arranged side by side in at least one stack layer by the clamping jaws engaged against the goods carriers on the walls of the goods carriers by actuating the at least one third drive device to move the lifting frame in the third direction (z) relative to the base frame and the clamping jaws from the lower height position to the upper height position,Inserting one of the loading tongues under one of the adjacent and raised product carriers by actuating one of the first drive devices relative to the base frame, in order to receive one of the product carriers in the extended receiving position; releasing the clamping of the product carriers by actuating at least one second drive device, in order to move at least one of the clamping jaws in the second direction (x) from the engaged clamping position to the retracted open position, so that the product carrier not supported from below tips back onto the stack of goods in the transport loading aid; changing the configuration width from the first configuration width to the second configuration width by at least one fourth drive device in a second direction (x); and clamping the product carrier, which is received on the loading tongue moved into the extended receiving position.by actuating at least one second drive device to move the clamping jaws in the second direction (x) relative to each other and from a retracted open position to the engaged clamping position.

[0063] The transfer device enables the singulation of individual product carriers from a stack or the singulation of a partial stack of product carriers from stacks. A partial stack of product carriers is defined as a stack of at least two carriers arranged one above the other. This allows two stacks of product carriers to be stored close together in a receiving chute of a transport loading aid. The stacks of product carriers can support each other, ensuring reliable transport even with a small footprint of the carriers and high stacks.

[0064] The transfer device can also be used to unload individual goods carriers of a first length dimension, goods carriers of a second length dimension in pairs, individual stacks of goods carriers, or stacks of goods carriers of a second length dimension in pairs from the transport loading aid and / or transfer them to a target loading aid.

[0065] To better understand the invention, it is explained in more detail with reference to the following figures.

[0066] They each show, in a highly simplified, schematic representation: Fig. 1 shows a first embodiment of a picking warehouse for storing and picking goods, in perspective view; Fig. 2a shows an unloading station (transfer station) of the picking warehouse. Fig. 1 , in enlarged view; Fig. 2 legged loading station of the picking warehouse made of Fig. 1 , in enlarged view; Fig. 3 a transport vehicle (automated guided vehicle), in perspective view; Fig. 4a, 4legs first embodiment of an (unloaded) transport loading aid without goods carriers, and a (loaded) transport loading aid with goods carriers, in perspective view; Fig. 5a, 5legs second embodiment of an (unloaded) transport loading aid without goods carriers, and a (loaded) transport loading aid with goods carriers, in perspective view; Fig. 6a, 6legs third embodiment of an (unloaded) transport loading aid without goods carriers, and a (loaded) transport loading aid with goods carriers, in perspective view; Fig. 7 a second embodiment of a picking warehouse for storing and picking goods, in perspective view; Fig. 7a an unloading station of the picking warehouse made of Fig. 7 , in enlarged view; Fig. 8 a third embodiment of a picking warehouse for storing and picking goods, in perspective view; Fig. 8a an unloading station of the picking warehouse made of Fig. 8 , in enlarged view; Fig. 9a, 9 a fourth version of a picking warehouse for storing and picking goods, in perspective view; Fig. 10a a loading station of the picking warehouse made of Fig. 9a , 9b with an automated first loading device, in enlarged view; Fig. 10 unloading station (transfer station) of the picking warehouse made of Fig. 9a , 9b with an automated unloading device, in enlarged view; Fig. 10 shows an unloading station (transfer station) of the picking warehouse. Fig. 9a , 9b with a semi-automated unloading device, in enlarged view; Fig. 10 your loading station of the picking warehouse made of Fig. 9a , 9b with an automatically operated second loading device, a loading station and a load securing station, in enlarged view; Fig. 11a, 11b a fourth embodiment of an (unloaded) transport loading aid without goods carriers, and a (loaded) transport loading aid with goods carriers, in perspective view; Fig. 11c the (unloaded) transport loading aid according Fig. 11a in a sectional view; Fig. 12a, 12: first stacking aid (unloaded) and a first stacking aid (loaded with a stack of orders), in perspective view; Fig. 12c: second stacking aid (unloaded), in perspective view; Fig. 13a, 13: transfer device for an automatically operated unloading device, in perspective views; Fig. 13c, 13d: the transfer device according to Fig. 13a, 13b cut, in perspective views; Fig. 14a, 14b the transfer device according to Fig. 13a, 13b , according to Fig. 14a with a goods carrier of a (long) first length dimension and according to Fig. 14b with a product carrier of a (short) second length dimension, in perspective views; Figs. 15a to 15 a sequence of an unloading process of a product carrier from a transport loading aid, using the example of a product carrier with a (long) first length dimension; Figs. 15h to 15 a sequence of a loading process of a product carrier onto a destination loading aid, using the example of a product carrier with a (long) first length dimension; Figs. 16a to 16o a sequence of an unloading process of a product carrier from a stacked layer of a transport loading aid, using the example of product carriers, each with a second length dimension.

[0067] It should be noted at the outset that in the differently described embodiments, identical parts are provided with the same reference numerals or component designations, and the disclosures contained in the entire description can be applied analogously to identical parts with the same reference numerals or component designations. Furthermore, the positional designations chosen in the description, such as top, bottom, side, etc., refer to the figure directly described and illustrated and must be applied analogously to the new position if the position changes.

[0068] In the Fig. 1 , 2a and 2b is a first version of a picking warehouse 1a for storing and picking goods 2 (as shown exclusively in for the sake of clarity). Fig. 4b Figure 1a shows the stackable goods carriers 3 (entered). The picking warehouse 1a comprises a delivery area 4, a storage area 5, an order processing area 6, a multitude of transport loading aids 7, each for receiving and stabilizing at least one stack of goods carriers 8, and a multitude of autonomously moving, driverless transport vehicles 9 for transporting the transport loading aids 7. The stack of goods carriers 8 is formed from several stacked goods carriers 3 arranged on top of each other.

[0069] In delivery area 4, the provision of stacks of goods carriers 8 is planned. The stacks of goods carriers 8 can be provided as individual stacks 8 and / or as groups 10 consisting of stacks of goods carriers 8 arranged side by side. In principle, the provision of individual goods carriers 3 would also be possible.

[0070] Typically, the stacks of goods carriers 8 are delivered to the delivery area 4 on pallets or roll containers (delivery load carriers) as a goods carrier stack group 10. In this case, a goods carrier stack group 10 is fed to a depalletizing station, where goods carrier stacks 8, consisting of several goods carriers 3 arranged on top of each other from a goods carrier stack group 10, are separated. Such goods carrier stack groups 10 are usually composed of single-type goods carrier stacks 8.

[0071] In contrast, the individual stacks of goods carriers 8 are delivered to delivery area 4 without pallets or roll containers (delivery load carriers). In this case, the stacks of goods carriers 8 do not need to be fed to a depalletizing station and a depalletizing station can be omitted.

[0072] Fig. 1 and Fig. 2b Figure 1 shows a possible embodiment in which, in the delivery area 4, a depalletizing station with at least one automatically operated (schematically indicated) depalletizing device 11, a first conveyor device 12a connected to the depalletizing device 11 for transporting groups of goods carriers 10 (incoming goods units), a second conveyor device 12b connected to the depalletizing device 11 for removing incoming load carriers, a loading station with at least one automatically operated (schematically indicated) loading device 13, a third conveyor device 14a connecting the depalletizing device 11 with the loading device 13 for transporting stacks of goods carriers 8 and / or a fourth conveyor device 14b connecting the depalletizing device 11 with the loading device 13 for transporting stacks of goods carriers 8 are provided.The fourth conveyor device 14b for transporting stacks of goods carriers 8 is optional and can also be omitted.

[0073] As not shown in detail, the depalletizing device 11 can, for example, rotate, clamp, and lift the stacks of goods carriers 8 along their circumference on at least two sides, or lower the delivery load carrier (pallet) and convey it through the second conveyor device 12b, transferring the stacks of goods carriers 8 to the third conveyor device 14a and the fourth conveyor device 14b, which can then transport the stacks of goods carriers 8 individually or in pairs. The stacks of goods carriers 8 are provided "unchanged" at the loading device 13 and each in a transfer position. The first transfer position 15a is preferably located on the third conveyor device 14a, and the second transfer position 15b is preferably located on the fourth conveyor device 14b. If the fourth conveyor device 14b is not provided, only the transfer position 15a is provided.

[0074] As described below, the loading station comprises at least one automatically operated (schematically indicated) loading device 13 and additionally a buffer area 30 near this loading device 13.

[0075] The schematically shown loading device 13 comprises a first loading station 16a for the first transport loading aid 7a, an (optional) second loading station 16b for the second transport loading aid 7b, and a transfer device 17 for transferring a first stack of goods carriers 8 from the first transfer station 15a to the first transport loading aid 7a and, optionally, for transferring a second stack of goods carriers 8 from the second transfer station 15b to the second transport loading aid 7b. The first loading station 16a and the first transfer station 15a are arranged opposite each other. The optional (second) loading station 16b and the optional (second) transfer station 15b are also arranged opposite each other.

[0076] Specifically, the automated loading device 13 comprises a transfer device 17 that is movable relative to the transfer station 15a, 15b in order to move a stack of goods carriers 8 (or, if applicable, individual goods carriers 3) provided in a transfer position at the transfer station 15a, 15b onto the transport loading aid 7a, 7b. The transfer device 17 can, for example, be formed by a pusher that can be actuated by an actuator. The transfer device 17 is arranged above the conveying device 14a, 14b.

[0077] The loading device 13 can, according to a first embodiment, include a gantry robot. Gantry robots are industrial robots whose basic axes are constructed from linear axes. For loading, the use of a linear gantry is sufficient.

[0078] The portal robot comprises vertical supports, longitudinal beams, and crossbeams connected to form a supporting structure 18. The portal robot also includes a portal carriage 19, movable along a guide arrangement in a first direction (x-direction - horizontal movement) via a first drive device, and a portal arm 20 arranged on the portal carriage 19. The transfer device 17 is arranged on the portal arm 20. The first drive device comprises a traction drive connected to the portal carriage 19. The traction drive includes an endlessly rotating traction element guided around a deflection pulley and a drive wheel coupled to an electric actuator.By rotating the drive wheel clockwise or counterclockwise, the portal carriage 19 and the transfer device 17 mounted on it are moved relative to the transfer station 15a, 15b either in a first or second discharge direction (x-direction). The portal robot can include a displacement measuring device (not shown) by means of which the adjustment movements of the portal carriage 19 (or the transfer device 17) are recorded. The measurement method of absolute and incremental displacement measurement is used for this purpose.

[0079] It may prove useful if the portal arm 20 can also be moved in a second direction (z-direction - vertical movement) via a second drive device along a guide arrangement.

[0080] During the transfer movement, either the first stack of goods carriers 8a is moved from the first transfer station 15a to the empty first transport loading aid 7a, which is provided at the first delivery station 16a, or the second stack of goods carriers 8b is moved from the second transfer station 15b to the empty second transport loading aid 7b, which is provided at the second delivery station 16b. Fig. 2b The first stack of goods carriers 8a has already been transferred to the first transport loading aid 7a, while the second stack of goods carriers 8b is still being transported to the loading device 13 and the second transport loading aid 7b is still empty.

[0081] The described loading device 13 can be set up particularly simply and in principle only requires a stationary receiving surface (transfer point 15a, 15b) and a push-off device (pusher) with which the "unchanged" stack of goods carriers 8 is pushed from the receiving surface onto the empty (first) transport loading aid.

[0082] In one embodiment (not shown), the loading device 13 can comprise an articulated robot arm. The articulated robot arm has a gripper system that is movable relative to a robot base, by means of which an "unchanged" stack of goods carriers 8 (or, if applicable, individual goods carriers 3) can be transferred from the transfer position at the first / second transfer station 15a, 15b to the first transport loading aid 7a / second transport loading aid 7b. The "unchanged" stack of goods carriers 8 can be pushed from the receiving surface (transfer station 15a, 15b) onto the empty (first) transport loading aid, or individual goods carriers 3 can be lifted from the stack of goods carriers 8 and placed onto the empty (first) transport loading aid 7a, 7b.

[0083] As in Fig. 2b Once entered, an empty (first) transport loading aid 7c can be transported to the delivery point 16a, 16b by an autonomously moving, driverless transport vehicle 9 and placed there. While the (first) transport loading aid 7, 7a..7c is being loaded, this transport vehicle 9 can be used for other transport purposes.

[0084] In principle, it is also possible for the autonomously moving, driverless transport vehicle 9 to be transported to and parked at the loading point 16a, 16b, but to remain at the loading point 16a, 16b while the (first) transport loading aid 7a, 7b is being loaded. This is particularly advantageous if the (first) transport loading aid 7a..7c is being loaded with an "unchanged" stack of goods carriers 8, 8a..8c, as the loading can be carried out very quickly and the transport vehicle 9 is only "unproductive" for a short time.

[0085] If a (first) transport loading aid 7a, 7b is already at the delivery point 16a, or if (first) transport loading aids 7a, 7b are already parked at the delivery points 16a, 16b, or if the (first) transport loading aid 7a or the (first) transport loading aids 7a, 7b are currently being loaded, then the empty (first) transport loading aids 7c, 7d can be buffered on the buffer area 30 provided near the loading device 13.

[0086] Although the illustrated embodiment shows the loading station with a single loading device 13 for clarity, the number of loading devices 13 can vary depending on the required picking performance. For example, the loading station or picking warehouse 1a can have a second loading device 13, a third loading device 13, and so on. Preferably, these loading devices 13 are identical in design. It is also advantageous if a separate buffer area 30 is arranged near each loading device 13. However, the loading station can also comprise only one buffer area 30. The buffer area 30 is preferably located on a floor of the picking warehouse 1a.

[0087] In this way it is possible for the empty (first) transport loading aid(s) 7d to be buffered close to the loading device(s) 13 on the buffer area 30 and, as required, transported by the transport vehicles 9 to the respective delivery point 16a, 16b of the loading device(s) 13 via a short route.

[0088] The (first) transport loading aids 7e, after being loaded (with at least one stack of goods carriers 8), are transported by the autonomously moving, driverless transport vehicles 9 from the loading station, in particular from the loading device 13 or from the loading devices 13, to the storage area 5 and placed on a storage surface 31 in the storage area 5. The storage surface 31 is preferably located on a floor of the picking warehouse 1a. As described below, the autonomously moving, driverless transport vehicles 9 also transport partially loaded (partially unloaded) "opened" (first) transport loading aids 7f from the unloading station back to the storage area 5 and place them on the storage surface 31 in the storage area 5.

[0089] As in the Fig. 1 and 2aAs can be seen, in order processing area 6 there is an unloading station with at least one automatically operated (schematically indicated) unloading device 32, a first conveyor device 33 adjoining the unloading device 32 for transporting fully loaded target loading aids 34a (goods output units) and optionally a second conveyor device 35 adjoining the unloading device 32 for transporting empty target loading aids 34b.According to this embodiment, the unloading station with the one or more automated unloading devices 32 simultaneously forms a transfer station with the one or more automated transfer devices (palletizing devices), by means of which the goods carriers 3 or goods carrier stacks 8 are transferred from the transport loading aid 7 to the target loading aid 34c or target loading aids 34c. Therefore, the term "unloading device" can be used synonymously with "transfer device".

[0090] As described below, the unloading station comprises at least one automatically operated (schematically indicated) unloading device 32. Although, for the sake of clarity, the unloading station is shown with a single unloading device 32 in the illustrated embodiment, the number of unloading devices 32 can vary depending on the required picking performance. For example, the unloading station or picking warehouse 1a can have a second unloading device 32, a third unloading device 32, and so on. Preferably, these unloading devices 32 are identical in design.

[0091] It is also advantageous if the unloading station has at least one separate buffer area 36 near the unloading device 32 or near each unloading device 32. In the embodiment shown, one buffer area 36 is assigned to each unloading device 32 for each delivery point 40a..40b. However, the unloading station can also comprise only one buffer area 36. The buffer area 36 is preferably located on a floor of the picking warehouse 1a. In this way, it is possible for the loaded (first) transport loading aid(s) 7g to be buffered on the buffer area 36 near the unloading device(s) 32 and, as required, transported by the transport vehicles 9 to the respective delivery point 40a..40b of the unloading device(s) 32 via a short route.

[0092] It is also advantageous if the unloading station has one or more waiting zones 37. A transport loading aid 7h can be parked at waiting zone 37 or zones 37 after at least one goods carrier 3 has been removed, should not all goods carriers 3 have been removed from the aforementioned transport loading aid 7h and should these goods carriers 3 be needed for a previously scheduled picking order at the aforementioned unloading device 32 or one of the unloading devices 32. In principle, however, the loading station can also comprise only one waiting zone 37 for this purpose. In this way, it is possible for the partially unloaded (first) transport loading aid(s) 7h to be buffered near the unloading device(s) 32 in waiting zone 37 and, as needed, transported by the transport vehicles 9 to the respective delivery point 40a..40b of the unloading device(s) 32 via a short route.

[0093] The schematically shown embodiment of the automated unloading device 32 comprises a first loading station 40a for the loaded first transport loading aid 7i, (optionally) a second loading station 40b for the loaded second transport loading aid 7i and a transfer device 41 movable relative to the loading station 40a..40b for unloading the transport loading aid 7i provided at the loading station 40a..40b. If the unloading station has more than one automatically operated unloading device 32, each unloading device 32 comprises a first loading position 40a for the loaded first transport loading aid 7i and (optionally) a second loading position 40b for the loaded second transport loading aid 7i and a transfer device 41 movable relative to the loading position 40a..40b for unloading the transport loading aid 7i provided at the loading position 40a, 40b.

[0094] The transfer device 41 can, for example, be formed by a gripper system. The gripper system can, for example, comprise a base body, a vacuum suction unit with at least one suction gripper or several suction grippers arranged one above the other (and / or next to each other), and a support platform movably mounted on the base body. The unloading of the transport loading aid 7i with this gripper system is carried out such that, first, a product carrier 3 or a stack of product carrier components is lifted on one side by the suction unit, so that a gap opens between the upper and the lower product carrier 3, and then the support platform is inserted horizontally under the lifted product carrier 3 or stack of product carrier components, independently of the suction unit, in order to receive this product carrier 3 or stack of product carrier components.Such a gripper system thus enables the unloading of a single product carrier 3 or even partial stacks of product carriers. In principle, it is also conceivable that the number of suction grippers arranged one above the other is selected so that the entire stack of product carriers 8 can be lifted from one side and the support platform can accommodate the entire stack of product carriers 8.

[0095] On the other hand, the gripper system can also be designed in such a way that a gripper unit acts according to the positive locking principle and / or the friction locking principle and grips a single product carrier 3, product carrier sub-stack or product carrier stack 8 positively and / or frictionally.

[0096] Specifically, the unloading device 32 can, according to a first embodiment, include a gantry robot. Gantry robots are industrial robots whose basic axes are linear. A platform gantry is used for loading.

[0097] The portal robot includes i) Vertical columns, longitudinal beams and crossbeams connected to form a supporting structure 42, ii) a first portal carriage 43 mounted on the supporting structure 42 and movable horizontally in a first direction (x-direction) via a first drive device along a guide arrangement (which are arranged on the longitudinal beams), iii) a second portal carriage 44 mounted on the first portal carriage 43 and movable horizontally in a second direction (y-direction) via a second drive device along a guide arrangement, and iv) a portal arm 45 mounted on the second portal carriage 44 and movable vertically in a third direction (z-direction) via a third drive device along a guide arrangement, and v) the transfer device 41, which is arranged on the portal arm 45 and rotatably mounted on the portal arm 45 about a vertical axis.

[0098] The first drive device comprises a first traction drive connected to the first portal carriage 43. The first traction drive includes endlessly rotating traction elements, each guided around a deflection wheel and a drive wheel. The drive wheels are coupled to an electric actuator. By rotating the drive wheels clockwise or counterclockwise, the first portal carriage 43 and the transfer device 41 mounted on it are moved in the x-direction relative to the loading station 40a..40b.

[0099] The second drive device comprises a second traction drive connected to the second portal carriage 44. The traction drive includes an endlessly rotating traction element guided around a deflection wheel and a drive wheel coupled to an electric actuator. By rotating the drive wheel clockwise or counterclockwise, the second portal carriage 44 and the transfer device 41 mounted on it are moved in the y-direction relative to the loading station 40a..40b.

[0100] The third drive device comprises a traction drive (not shown) connected to the second portal carriage 44. The traction drive includes an endlessly rotating traction element guided around a deflection wheel and a drive wheel coupled to an electric actuator. By rotating the drive wheel clockwise or counterclockwise, the portal arm 45 and the transfer device 41 mounted on it are moved in the z-direction relative to the loading station 40a..40b.

[0101] The adjustment movements of the first portal slide 43, second portal slide 44, portal arm 45, and transfer device 41 can be detected by means of displacement measuring devices (not shown). This utilizes the measurement method of absolute and incremental displacement measurement.

[0102] During the unloading movement, the goods carrier 3, goods carrier sub-stack or goods carrier stack 8 is picked up by the gripper system from the transport loading aid 7i, which is provided at the delivery point 40a..40b, and then transferred to a target loading aid 34c.

[0103] According to an embodiment not shown, the unloading device 32 (transfer device) can comprise an articulated robot arm. The articulated robot arm has the gripper system described above, which is movable relative to a robot base, and by means of which individual product carriers 3, partial stacks of product carriers, or "unchanged" stacks of product carriers 8 can be transferred from the first transport loading aid 7i / second transport loading aid 7i to the target loading aid 34c.

[0104] As in Fig. 1 Schematically represented, the picking warehouse 1a includes an order computer 46 for recording picking orders and determining the goods 2 required for the picking order. A picking order comprises one order line (for example, six storage units 3 with one item 2) or several order lines (for example, three storage units 3 with one item 2 and three storage units 3 with a second item 2). A customer order includes at least one picking order. The picking orders exist as data records and are electronically recorded on the order computer 46 and transmitted to a control system 47. Each picking order comprises one or more order lines. If the picking order specifies several order lines, different items 2 are required. Each order line contains at least information about the quantity of an ordered item 2 and about a type of item.

[0105] For the transport of empty transport loading aids 7 and transport loading aids 7 loaded with stacks of goods carriers, autonomously moving, steerable transport vehicles 9 (of a driverless transport system) are used, which are automatically controlled by a higher-level control computer. The control system 47 can include this control computer.

[0106] Fig. 3 Figure 9 shows a possible design of one of the autonomously moving, steerable transport vehicles. The transport vehicle 9 is designed as a forklift truck.

[0107] The transport vehicle 9 comprises a chassis 50 with a drive unit and a loading platform 51 arranged on the chassis 50 for receiving / unloading / transporting a mobile (stationary) loading aid 7 and / or a mobile (stationary) loading aid 107 and / or a mobile (stationary) loading aid 150 and / or a mobile (stationary) stacking aid 100a and / or a mobile (stationary) stacking aid 100b. The drive unit comprises wheels 52, 53 rotatably mounted on the chassis 50, at least one of which is coupled to a drive (not shown), and at least one of which is steerable. Both wheels 52 can also be coupled to and driven by the drive. The transport vehicle 9 can also comprise four wheels, two of which are steerable.

[0108] As shown, the loading platform 51 is adjustable between a starting position (shown in solid lines) and a transport position (shown in dashed lines) on the chassis 50. In the starting position, a transport loading aid 7, 7a..7i placed on the floor of the picking warehouse 1a, in particular on the buffer area 30, 36, the storage area 31, in the waiting zone 37 or on the delivery point 16a, 16b, 40a, 40b), can be driven underneath in order to pick up this transport loading aid 7, 7a..7i on the loading platform 51. If the loading platform 51 is moved from the starting position towards the transport position, a transport loading aid 7, 7a..7i placed on the floor can be lifted and then transported. In the transport position, the transport loading aid 7, 7a..7i is lifted from the floor of picking area 1a and can be transported between delivery area 4, storage area 5 and order processing area 6. If the loading platform 51 is moved from the transport position towards the starting position, the transport loading aid 7, 7a..7i can be placed on the floor.

[0109] The transport vehicle 9 further comprises a drive controller 54, shown schematically in dashed lines, for receiving commands from the higher-level control computer and for controlling / regulating the movements of the autonomous transport vehicle 9. The drive controller 54 may also include means for (wireless) data transmission to and from the transport vehicle 9. Finally, the transport vehicle 9 includes sensors (not shown) for detecting the environment of the autonomous transport vehicle 9 and for spatial orientation. The drive unit and the sensors are connected to the drive controller 54.

[0110] In the Fig. 4a und 4b Figure 7 shows a first version of a transport loading aid. Fig. 4a shows the unloaded empty transport loading aid 7 and Fig. 4b The loaded transport loading aid 7. The transport loading aid 7 comprises a base 55 and side walls 56a, 56b, 56c connected to it for stabilizing the stack of goods carriers 8, as well as a loading and unloading opening 57 opposite the side wall 56c. The side walls 56a, 56b, 56c are preferably substantially the same height as the stack of goods carriers 8, but at least high enough that the uppermost goods carrier 3 in the stack of goods carriers 8 is at least partially surrounded by the side walls 56a, 56b, 56c. Preferably, the loading and unloading opening 57 extends over the entire height of the side walls 56a, 56b.

[0111] The transport loading aid 7 can comprise first side walls 56a, 56b running parallel to each other or (as shown) first side walls 56a, 56b diverging in the direction of the loading and unloading opening 57. The latter configuration allows for easy loading and / or unloading of the transport loading aid 7. The second side wall 56c extends between the first side walls 56a, 56b and is arranged in the edge region of the base 55 such that the side walls 56a, 56b, 56c define a single receiving chute in which the stack of goods carriers 8 can be received for transport / storage.

[0112] The floor 55 includes on its upper side a storage area 58 on which the stack of goods carriers 8 can be placed, and on its lower side a transport area 59 against which the loading platform 51 of the transport vehicle 9 can be positioned.

[0113] Additionally, the transport and loading aid can include 7 adjustable feet 60, which are attached to the base 55. The transport and loading aid 7 is placed on the base using the adjustable feet 60. In an alternative version (not shown), wheels can be provided on the base 55 instead of the adjustable feet 60.

[0114] In the different versions of the picking warehouses 1a, 1b, 1c, the in the Fig. 4a und 4b Transport loading aid 7 is used as described. It is understood that the following described versions of the transport loading aids 7', 7"; 107 can also be used in the picking warehouses 1a, 1b, 1c.

[0115] In the Fig. 5a und 5b A second version of a transport loading aid 7' is shown. Fig. 5a shows the unloaded empty transport loading aid 7' and Fig. 5b The loaded transport loading aid 7'. Such a transport loading aid 7' can provide several stacks of goods carriers 8; 8'; 8" successively at the delivery points 16a, 16b, 40a, 40b, 67a, 67b, 77a, 77b by means of a "rotational movement" about the vertical axis. The "rotational movement" is preferably carried out by a transport vehicle 9.

[0116] The transport loading aid 7' comprises the base 55 and the side walls 56a, 56b, 56c connected to it, each for stabilizing the position of stacks of goods carriers 8, and a first loading and unloading opening 57a opposite side wall 56c on a first side, and a second loading and unloading opening 57b opposite side wall 56c on a second side. The side walls 56a, 56b, 56c are preferably substantially the same height as the stack of goods carriers 8, but at least high enough that the uppermost goods carrier 3 in the stack of goods carriers 8 is at least partially surrounded by the side walls 56a, 56b, 56c. Preferably, the first / second loading and unloading opening 57 extends over the entire height of the side walls 56a, 56b.

[0117] The transport loading aid 7' can comprise first side walls 56a, 56b running parallel to each other. It is advantageous if the first side walls 56a, 56b are designed with ramps 61 to facilitate easy loading and / or unloading of the transport loading aid 7'. The second side wall 56c extends between the first side walls 56a, 56b and is arranged in the central area of ​​the base 55 such that the side walls 56a, 56b, 56c define two receiving slots, each of which can accommodate at least one stack of goods carriers 8 for transport / storage. In the embodiment shown, the first receiving slot accommodates one stack of goods carriers 8 with a base area of ​​600 mm x 400 mm, and the second receiving slot accommodates two stacks of goods carriers 8, each with a base area of ​​300 mm x 400 mm. This transport loading aid 7' can transport several stacks of goods carriers 8 simultaneously.In principle, the side wall 56c could also be omitted, so that there is only one receiving shaft in which one or more stacks of goods carriers 8 are received.

[0118] The floor 55 in turn includes on its upper side a storage area 58, on which the stacks of goods carriers 8 can be placed, and on its lower side a transport area 59, against which the loading platform 51 of the transport vehicle 9 can be positioned.

[0119] Additionally, the 7' transport and loading aid can include leveling feet 60, which are attached to the base 55. The 7' transport and loading aid is placed on the base using the leveling feet 60. In an alternative version (not shown), wheels can be provided on the base 55 instead of the leveling feet 60.

[0120] In the Fig. 6a und 6b A third version of a 7" transport loading aid is shown. Fig. 6a shows the unloaded empty transport loading aid 7" and Fig. 6b The loaded transport loading aid 7". Such a transport loading aid 7" can provide several stacks of goods carriers 8; 8'; 8" successively at the delivery points 16a, 16b, 40a, 40b, 67a, 67b, 77a, 77b by means of a short "offset movement". The "offset movement" is preferably carried out by a transport vehicle 9.

[0121] The transport loading aid 7" comprises the base 55 and the side walls 56a, 56b, 56c, 56d connected to it, each for stabilizing the position of stacks of goods carriers 8, and loading and unloading openings 57a, 57b opposite side wall 56c on a single side. The side walls 56a, 56b, 56c, 56d are preferably substantially the same height as the stack of goods carriers 8, but at least high enough that the uppermost goods carrier 3 in the stack of goods carriers 8 is at least partially surrounded by the side walls 56a, 56b, 56c, 56d. Preferably, the first / second loading and unloading opening 57 extends over the entire height of the side walls 56a, 56b, 56d.

[0122] The transport loading aid 7" can comprise parallel outer first side walls 56a, 56b and a parallel inner side wall 56d. The second side wall 56c extends between the first side walls 56a, 56b, 56d. The inner first side wall 56d is positioned in the central area of ​​the base 55 such that the side walls 56a, 56b, 56c, 56d define two receiving slots, each of which can accommodate at least one stack of goods carriers 8 for transport / storage. In the illustrated embodiment, the first receiving slot accommodates one stack of goods carriers 8 with a base area of ​​600 mm x 400 mm, and the second receiving slot accommodates two stacks of goods carriers 8, each with a base area of ​​300 mm x 400 mm. This transport loading aid 7" can transport several stacks of goods carriers 8 simultaneously.

[0123] It is advantageous if the outer first side walls 56a, 56b and, if applicable, also the inner first side wall 56d are designed with (uninscribed) insertion ramps to enable easy loading and / or unloading of the transport loading aid 7".

[0124] The floor 55 in turn includes on its upper side a storage area 58, on which the stacks of goods carriers 8 can be placed, and on its lower side a transport area 59, against which the loading platform 51 of the transport vehicle 9 can be positioned.

[0125] It should also be noted at this point that the transport loading aid 7, 7', 7" may have (not shown) centering elements on the first side walls 56a, 56b, 56d or on the first side walls 56a, 56b, 56d and the second side wall 56c facing the respective receiving shaft, which may serve to center the goods carriers 3 / goods carrier stacks 8 and to stabilize the position of the goods carriers 3 / goods carrier stacks 8.

[0126] Fig. 7 Figure 1b shows a second embodiment of a picking warehouse 1b for storing and picking goods 2 containing stackable goods carriers 3. The picking warehouse 1b again comprises the delivery area 4, the storage area 5, the order processing area 6, a multitude of transport loading aids 7 each for receiving and stabilizing at least one stack of goods carriers 8, and a multitude of autonomously moving, driverless transport vehicles 9 for transporting transport loading aids 7.

[0127] This design differs from picking warehouse 1a in that an unloading station separate from a transfer station is provided in order processing area 6.

[0128] The in Fig. 7a The unloading station shown in the enlarged illustration includes at least one automatically operated (schematically indicated) unloading device 65. Although, for the sake of clarity, the unloading station is depicted with a single unloading device 65 in the illustrated embodiment, the number of unloading devices 65 can vary depending on the required picking performance. For example, the unloading station or picking warehouse 1b can have a second unloading device 65, a third unloading device 65, and so on. Preferably, these unloading devices 65 are identical in design.

[0129] It is also advantageous if the unloading station has at least one separate buffer area 66 near the unloading device 65 or near each unloading device 65. In the embodiment shown, each unloading device 66 is assigned a buffer area 66a, 66b for each delivery point 67a, 67b. However, the unloading station can also comprise only one buffer area 66. The buffer area 66 is preferably located on a floor of the picking warehouse 1b. In this way, it is possible for the loaded (first) transport loading aid(s) 7g (not shown here) to be buffered on the buffer area 66 near the unloading device(s) 65 and, as required, transported by the transport vehicles 9 to the respective delivery point 67a, 67b of the unloading device(s) 65 via a short route.

[0130] The transfer station comprises at least one automatically operated (schematically indicated) transfer device 32, as described above. Although, for the sake of clarity, the unloading station is shown with a single transfer device 32 in the illustrated embodiment, the number of transfer devices 32 can vary depending on the required picking performance. For example, the transfer station or picking warehouse 1b can have a second transfer device 32, a third transfer device 32, and so on. Preferably, these transfer devices 32 are identical in design.

[0131] According to this design, a stationary conveyor system is arranged between the unloading station and the transfer station, by means of which goods carriers 3, partial stacks of goods carriers, or stacks of goods carriers 8 are transported from the unloading device 65 or unloading devices 65 to the transfer device 32 or transfer devices 32. The goods carriers 3 required for a picking order are assembled on the stationary conveyor system by the unloading device 65.

[0132] As in the Fig. 7a As can be seen, the stationary conveying system comprises a first conveying device 68a for transporting goods carriers 3, partial stacks of goods carriers or stacks of goods carriers 8 and / or a second conveying device 68b for transporting goods carriers 3, partial stacks of goods carriers or stacks of goods carriers 8. The second conveying device 68b for transporting goods carriers 3, partial stacks of goods carriers or stacks of goods carriers 8 is optional and can also be omitted.

[0133] The schematically shown unloading device 65 comprises a first loading station 67a for the loaded first transport loading aid 7, an (optional) second loading station 67b for the loaded second transport loading aid 7, and a transfer device 69 movable relative to the loading stations 67a, 67b for unloading the transport loading aid 7 provided at the loading stations 67a, 67b. The transport loading aid 7 at loading station 67a still needs to be unloaded, while the transport loading aid 7 at loading station 67b has already been unloaded. During unloading, a goods carrier 3, a goods carrier sub-stack, or the goods carrier stack 8 is transferred from the first transport loading aid 7 to a first transfer station 70a, and optionally, a goods carrier 3, a goods carrier sub-stack, or the goods carrier stack 8 is transferred from the second transport loading aid 7 to a second transfer station 70b.

[0134] The first receiving station 70a and the second receiving station 70b are located on the stationary conveyor system. Specifically, the first receiving station 70a is located on the first conveyor 68a, and the second receiving station 70b is located on the second conveyor 68b. If the second conveyor 70b is not provided, only the first receiving station 70a is provided. The first loading station 67a and the first receiving station 70a are arranged opposite each other. The optional (second) loading station 70b and the optional (second) receiving station 70b are also arranged opposite each other. The transfer device 69 is located above the conveyors 68a and 68b.

[0135] The transfer device 69 can, for example, be formed by a gripper system. The gripper system can, for example, comprise a base body, a vacuum suction unit with at least one suction gripper or several suction grippers arranged one above the other, and a support base movably mounted on the base body, as described above and transferable to the unloading device 65.

[0136] On the other hand, the gripper system can also be designed in such a way that a gripper unit acts according to the positive locking principle and / or the friction locking principle and grips a single product carrier 3, product carrier sub-stack or product carrier stack 8 positively and / or frictionally.

[0137] Specifically, according to a first embodiment, the unloading device 65 can comprise a gantry robot, which is structurally identical to that of the loading device 13. Gantry robots are industrial robots whose basic axes are constructed from linear axes. For loading, the use of a linear gantry is sufficient.

[0138] The portal robot comprises vertical supports, longitudinal beams, and crossbeams connected to form a supporting structure 18. The portal robot also includes a portal carriage 19, movable along a guide arrangement in a first direction (x-direction - horizontal movement) via a first drive device, and a portal arm 20 arranged on the portal carriage 19. The transfer device 69 is arranged on the portal arm 20. The first drive device comprises a traction drive connected to the portal carriage 19. The traction drive comprises an endlessly rotating traction element guided around a deflection pulley and a drive wheel coupled to an electric actuator.By rotating the drive wheel clockwise or counterclockwise, the portal slide 19 and the transfer device 69 mounted on it will be moved relative to the delivery point 67a, 67b either in a first discharge direction or a second discharge direction (x-direction).

[0139] The portal arm 20 is movable in a second direction (z-direction - vertical movement) along a guide arrangement via a second drive device. The transfer device 69 (gripper system) is rotatably mounted on the portal arm 20 about a vertical axis.

[0140] The adjustment movements of the portal carriage 19, portal arm 20, and transfer device 69 can be detected by means of displacement measuring devices (not shown). The measurement method of absolute and incremental displacement measurement is used for this purpose.

[0141] During the unloading movement, the goods carrier 3, goods carrier sub-stack or goods carrier stack 8 is picked up by the gripper system from the transport loading aid 7, which is provided at the delivery point 67a, 67b, and then transferred to the receiving point 70a, 70b.

[0142] According to an embodiment not shown, the unloading device 65 can comprise an articulated robot arm. The articulated robot arm has a gripper system that is movable relative to a robot base, by means of which a goods carrier 3, goods carrier sub-stack, or an "unchanged" goods carrier stack 8 can be transferred from the first transport loading aid 7 / second transport loading aid 7 to the transfer station 70a, 70b.

[0143] After unloading, the goods carriers 3, goods carrier sub-stacks or goods carrier stacks 8 are transported by the stationary conveyor technology, in particular the first conveyor device 68a and / or second conveyor device 68b, from the unloading device(s) 65 to the automated transfer device(s) 32 (palletizing device(s)) and made available at one or more delivery points 71a, 71b on the stationary conveyor technology.

[0144] The transfer device 32 can take over the goods carriers 3, goods carrier sub-stacks or goods carrier stacks 8 one after the other from the delivery point / the delivery points 70a..70b in the manner described above using the transfer device 41 (gripper system) and then place them on the target loading aid 34c.

[0145] It should be noted here that the transfer device 32 can also be formed, for example, by the portal robot or articulated arm robot described above, according to this embodiment. To avoid repetition, reference is made to the disclosure above.

[0146] Fig. 8 Figure 1 shows a third embodiment of a picking warehouse 1c for storing and picking goods containing 2 stackable goods carriers 3. The picking warehouse 1c again comprises the delivery area 4, the storage area 5, the order processing area 6, a multitude of transport loading aids 7 each for receiving and stabilizing at least one stack of goods carriers 8, and a multitude of autonomously moving, driverless transport vehicles 9 for transporting transport loading aids 7.

[0147] This design differs from picking warehouse 1a in that an unloading station separate from a transfer station is provided in order processing area 6.

[0148] The unloading station comprises at least one automatically operated (schematically indicated) unloading device 75. Although, for the sake of clarity, the unloading station is shown with a single unloading device 75 in the illustrated embodiment, the number of unloading devices 75 can vary depending on the required picking performance. For example, the unloading station or picking warehouse 1c can have a second unloading device 75, a third unloading device 75, and so on. Preferably, these unloading devices 75 are identical in design.

[0149] It is also advantageous if the unloading station has at least one separate buffer area 76 near the unloading device 75 or near each unloading device 75. In the embodiment shown, a buffer area 76a is assigned to each loading point 77a of the unloading device 75 and a buffer area 76b is assigned to each loading point 77b. The buffer areas 76, 76a, 76b are preferably formed on a floor of the picking warehouse 1c.

[0150] In this way, it is possible, on the one hand, for a loaded transport aid 7g (not shown here) to be buffered near the unloading device(s) 75 on the buffer area 76a and, as needed, transported by a transport vehicle 9 to the respective delivery point 77a of the unloading device(s) 65 via a short route. On the other hand, it is possible for an empty transport aid 7d (not shown here) to be buffered near the unloading device(s) 75 on the buffer area 76b and, as needed, transported by a transport vehicle 9 to the respective delivery point 77b of the unloading device(s) 75 via a short route.

[0151] The transfer station comprises at least one automatically operated (schematically indicated) transfer device 32. Although, for the sake of clarity, the unloading station is shown with a single transfer device 32 in the illustrated embodiment, the number of transfer devices 32 can vary depending on the required picking performance. For example, the transfer station or picking warehouse 1c can have a second transfer device 32, a third transfer device 32, and so on. Preferably, these transfer devices 32 are identical in design.

[0152] To avoid repetition, reference is made to the above description regarding the disclosure of the transshipment station.

[0153] The only difference lies in the provision of the stacks of goods carriers with the transport loading aids 7 at the first delivery station 40a and, if applicable, the second delivery station 40b. While according to the first version ( Fig. 1 ) at the first delivery station 40a and, if applicable, the second delivery station 40b, the stacks of goods carriers are provided as single-type stacks of goods carriers 8, according to the design shown ( Fig. 8 ) at the first delivery point 40a a first transport loading aid 7i with a first pre-commissioned stack of goods carriers 8' and, if necessary, at the second delivery point 40b a second transport loading aid 7i (not shown) with a second pre-commissioned stack of goods carriers 8' is provided.

[0154] The picking of goods carriers 3 according to the picking order to a goods carrier stack 8' takes place in the unloading station with at least one automatically operated unloading device 75.

[0155] The schematically depicted unloading device 75 comprises at least a first loading station 77a for the first transport loading aid 7a, which contains goods carriers 3 of a single type and from which goods carriers 3 are removed according to a picking order, and at least a second loading station 77b for the second transport loading aid 7b, onto which goods carriers 3 are placed according to a picking order, and a transfer device 84 movable relative to the loading stations 77a and 77b for unloading the transport loading aid 7a provided at loading station 77a and for loading the transport loading aid 7b provided at loading station 77b. The first loading station 77a and the second loading station 77b are arranged opposite each other. The transfer device 84 is arranged above the loading stations 77a and 77b.

[0156] If a picking order comprises various goods 2, the goods carriers 3 are taken one after the other from different transport loading aids 7a. For this purpose, the transport loading aids 7a can be provided one after the other at the delivery point 77a, and the required goods carriers 3 can be unloaded one after the other and transferred to the transport loading aids 7b. Individual goods carriers 3 or partial stacks of goods carriers can be taken from the first transport loading aid 7a and transferred to the second transport loading aid 7b. If a picking order requires an entire stack of goods carriers 8, this is taken from storage area 5 by a transport vehicle 9 as described above and transported to order processing area 6 and made available at a delivery point 40a..40b.

[0157] The transfer device 84 can, for example, be formed by a gripper system. The gripper system can, for example, comprise a base body, a vacuum suction unit with at least one suction gripper or several suction grippers arranged one above the other, and a support base movably mounted on the base body, as described above and transferable to the unloading device 75.

[0158] On the other hand, the gripper system can also be designed in such a way that a gripper unit operates according to the positive locking principle and / or the friction locking principle and grips a single product carrier 3 or product carrier sub-stack in a positive locking and / or friction locking manner.

[0159] Specifically, according to a first embodiment, the unloading device 75 can include a portal robot.

[0160] The gantry robot comprises vertical supports, longitudinal beams, and crossbeams connected to form a supporting structure 81. The gantry robot also includes a gantry carriage 82, movable along a guide arrangement in a first direction (x-direction – horizontal movement) via a first drive device, and a gantry arm 83 arranged on the gantry carriage 82. The transfer device 84 is arranged on the gantry arm 83. The first drive device comprises a traction drive connected to the gantry carriage 82. The traction drive comprises an endlessly rotating traction element guided around a deflection pulley and a drive wheel coupled to an electric actuator. By rotating the drive wheel clockwise or counterclockwise, the gantry carriage 82 and the transfer device 84 mounted on it are moved relative to the loading station 77 in a final unloading direction (x-direction).

[0161] The portal arm 83 is movable in a second direction (z-direction - vertical movement) along a guide arrangement via a second drive device. The transfer device 84 (gripper system) is rotatably mounted on the portal arm 83 about a vertical axis.

[0162] The portal robot can include a displacement measuring device (not shown) by means of which the adjustment movements of the portal carriage 82, portal arm 83, or transfer device 84 are recorded. The measurement method of absolute and incremental displacement measurement is used.

[0163] During the unloading movement, the goods carrier 3 or goods carrier sub-stack is picked up by the gripper system from the transport loading aid 7a, which is provided at the delivery point 77a and contains a single-type goods carrier stack 8, and then during the loading movement, the goods carrier 3 or goods carrier sub-stack is transferred to the transport loading aid 7b, which is provided at the delivery point 77b and into which goods carrier 3 are picked.

[0164] After loading, the transport loading aid 7b with the pre-commissioned stack of goods carriers 8' is transported by a transport vehicle 9 to the transfer station and made available at the at least one transfer device 32.

[0165] According to an embodiment not shown, the unloading device 75 can comprise an articulated robot arm. The articulated robot arm has a gripper system that is movable relative to a robot base, by means of which a goods carrier 3 or goods carrier sub-stack can be removed from the first transport loading aid 7a and transferred to the second transport loading aid 7b.

[0166] The following describes the procedure for storing and picking goods containing 2 stackable carriers 3 in the picking warehouse 1a (first version).

[0167] The procedure includes the following steps: i) Provision of autonomously moving, driverless transport vehicles 9, ii) Provision of transport loading aids 7, each for receiving and stabilizing at least one stack of goods carriers 8 consisting of several goods carriers 3 arranged one above the other, wherein the transport loading aids 7 include mobile empty transport loading aids 7, iii) Provision of stacks of goods carriers 8 consisting of several goods carriers 3 arranged one above the other in a delivery area 4, iv) Transport of empty transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 to a loading station and provision of an empty transport loading aid 7 either at one or more automatically operated loading device(s) 13 or on a buffer area 30 near the loading device(s) 13, v) Loading of one of the empty transport loading aids 7, which is provided at the automatically operated loading device 13,with at least one stack of goods carriers 8 from the delivery area 4 by the automated loading device 13, vi) transport of the transport loading aid 7 loaded with at least one stack of goods carriers 8 with the autonomously moving, driverless transport vehicle 9 from the loading station to a storage area 5, vii) placement of the transport loading aid 7 loaded with at least one stack of goods carriers 7 on a storage area 31 in the storage area 5, viii) storage of the transport loading aids 7 loaded with at least one stack of goods carriers 8 or with individual goods carriers 3 in the storage area 5,ix) Processing a picking order comprising the steps of transporting one or more transport loading aid(s) 7 containing the goods carriers 3 required for a picking order from the storage area 5 to an unloading station and providing said transport loading aid(s) 7 either at one or more automated unloading devices 32 or on a buffer area 36 near the unloading device(s) 32 by one or more autonomously moving, driverless transport vehicles 9, unloading one or more of the transport loading aid(s) 7, which is / are provided at the automated unloading device(s) 32, by removing the goods carriers 3 required for processing the said picking order, and assembling the goods carriers 3 on one or more destination loading aids 34 by the unloading device(s) 32 for the said picking order,by removing the goods carriers 3 or at least one stack of goods carriers 8 from the provided transport loading aid(s) 7 by the unloading device 32 and transferring them from there to the target loading aid(s) 34.

[0168] The provision of autonomously moving, driverless transport vehicles 9 according to step i) can include the provision of transport vehicles 9 that are used exclusively for transporting the transport loading aid(s) 7 between the delivery area 4 (loading station) and the storage area 5, and the provision of transport vehicles 9 that are used exclusively for transporting the transport loading aid(s) 7 between the storage area 5 and the order processing area 6 (picking station). Equally, step i) can also include the provision of transport vehicles 9 that are used both for transporting the transport loading aid(s) 7 between the delivery area 4 (loading station) and the storage area 5, and for transporting the transport loading aid(s) 7 between the storage area 5 and the order processing area (picking station).

[0169] The provision of transport loading aids 7 according to step ii) can include the provision of identical or structurally different transport loading aids 7. Similarly, structurally different transport loading aids 7 can be used in picking warehouse 1a.

[0170] Step iii) can, on the one hand, include the provision of individual stacks of goods carriers 8 without pallets or roll containers (delivery load carriers).

[0171] On the other hand, step iii) may include the provision of stacks of goods carriers 8 as groups of goods carriers 10 on pallets or roll containers (delivery load carriers), which are previously fed to a depalletizing station in order to separate the stacks of goods carriers 8 from a group of goods carriers 10.

[0172] For example, it could be product carrier 3 with fruit or vegetables, where a first product carrier stack group 10 contains a first type of vegetable and a second product carrier stack group 10 contains a second type of vegetable.

[0173] Step iv) can include the transport of empty transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 to a loading station and the immediate provision of an empty transport loading aid(s) 7 at one or more automatically operated loading device(s) 13.

[0174] Step iv) can also include the transport of empty transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 to a loading station on a buffer area 30 near the loading device(s) 13 and the transport of said empty transport loading aid(s) 7 by the autonomously moving, driverless transport vehicles 9 to the loading device(s) 13 and the provision of said empty transport loading aid(s) 7 at one or more automatically operated loading device(s) 13.

[0175] The provision of an empty transport loading aid 7 at one or more automatically operated loading device(s) 13 according to step iv) may include the following steps: Parking the empty transport loading aid 7 on a loading point 16a, 16b having the relevant loading device 13 and the transport vehicle 9 remaining on the loading point 16a, 16b during the loading process of the empty transport loading aid 7 according to step v), or parking the empty transport loading aid 7 on a loading point 16a, 16b having the relevant loading device 13 and then the transport vehicle 9 continuing from the loading point 16a, 16b, therefore before the start or still during the loading process of the empty transport loading aid 7 according to step v).

[0176] The loading of the empty transport loading aids 7 according to step v) can include loading one of the empty transport loading aids 7 with at least one stack of goods carriers 8 and / or loading one of the empty transport loading aids 7 with at least one sub-stack of goods carriers 8 and / or loading one of the empty transport loading aids 7 with individual goods carriers 3 and / or a combination thereof.

[0177] Step ix) can include the transport of loaded transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 from the storage area 5 (but possibly also from the loading station in the delivery area 4) to an unloading station and directly the provision of a loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 32.

[0178] Step ix) can also include the transport of loaded transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 from the storage area 5 (but possibly also from the loading station in the delivery area 4) to an unloading station on a buffer area 36 near the unloading device(s) 32 and the transport of said loaded transport loading aid(s) 7 by the autonomously moving, driverless transport vehicles 9 from the buffer area 36 to the unloading device(s) 32 and the provision of said loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 32.

[0179] The transport vehicles 9 can be controlled by the central computer in such a way that they arrive at the unloading station in a sequence specified by the packing order of the goods carriers 3 at the destination loading aid 34. This achieves a sequencing of the transport loading aids 7 or goods carrier stacks 8.

[0180] The provision of a loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 32 according to step ix) may include the following steps: Parking the loaded transport loading aid(s) 7 at a loading point 40a..40b having the relevant unloading device 32 and the transport vehicle 9 remaining at the loading point 40a..40b during the unloading process of the loaded transport loading aid(s) 7 according to step ix), or parking the loaded transport loading aid(s) 7 at a loading point 40a..40b having the relevant unloading device 32 and then the transport vehicle 9 continuing from the loading point 40a..40b, therefore before the start or still during the unloading process of the loaded transport loading aid(s) 7 according to step ix).

[0181] The following describes the procedure for storing and picking goods containing 2 stackable carriers 3 in the picking warehouse 1b (second version).

[0182] The procedure comprises steps i) to viii), as described above, and step ix) Processing a picking order, comprising the steps Transport of one or more transport loading aid(s) 7 containing the goods carriers 3 required for a picking order from storage area 5 to an unloading station and provision of said transport loading aid(s) 7 either at one or more automated unloading devices 65 or on a buffer area 66 near the unloading device(s) 65 by one or more autonomously moving, driverless transport vehicles 9, unloading of one or more of the transport loading aid(s) 7, which is / are provided at the automated unloading device(s) 65, by removing the goods carriers 3 required for processing the said picking order, and assembly of the goods carriers 3 on one or more target loading aids 34 by the unloading device(s) 32 for the said picking order, by assembling the goods carriers 3 for the said picking order in such a way that theThe goods carrier(s) 3, or at least one goods carrier stack 8, removed from the goods carrier stack 8 at the unloading device(s) 65, is transferred by the provided transport loading aid(s) 7 to a stationary conveyor system, and the goods carrier 3 or goods carrier stack 8 is transported by the conveyor system from the unloading device(s) 65 to the transfer device(s) 32 and subsequently taken over by the transfer device(s) 32 from the stationary conveyor system and transferred by it / them to the target loading aid(s) 34. The stationary conveyor system is arranged between the unloading station with the at least one automatically operated unloading device 65 and the transfer station with the at least one automatically operated transfer device 32 (palletizing). During unloading by the respective unloading device 65, the goods carrier(s) 3 or goods carrier stack 8 are removed from theStacks of goods carriers 8, individual goods carriers 3, or a (single-type) partial stack of goods carriers are removed. The goods carriers 3 can be sequentially discharged onto the stationary conveyor system and transported as individual goods carriers 3. Advantageously, the goods carriers 3 can be sequentially discharged onto the stationary conveyor system in a sequence determined by the packing arrangement of the goods carriers 3 at the destination loading aid 34 and transported successively in this sequence to at least one transfer device 32. Alternatively, goods carriers 3 required for a picking order can also be stacked on the stationary conveyor system, and pre-picked partial stacks of goods carriers 8" or stacks of goods carriers 8' can be transported from the unloading device 65 or unloading devices 65 to the transfer device 32 or transfer devices 32, as shown in Fig. 7a The following is an example entry. Advantageously, the goods carriers 3 can be delivered to the stationary conveyor system in a sequence determined by the packing order of the goods carriers 3 at the destination loading aid 34, such that at least one (pre-commissioned) goods carrier sub-stack 8" or goods carrier stack 8' is assembled from several goods carriers 3 arranged one above the other, which is then transported to at least one transfer device 32. This packing order can be determined by a computer and takes into account, for example, the stability of the goods carrier 3 and / or the dimensions of the goods carriers and / or the weight of the goods 2 / goods carrier 3. Heavy goods carriers 3 are placed at the bottom of the stack at the destination loading aid 34, while light goods carriers 3 are placed at the top of the stack. Containers are placed at the bottom of the stack, and cartons at the top. The control system 47 can include this computer.

[0183] Step ix) can include the transport of loaded transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 from the storage area 5 (but possibly also from the loading station in the delivery area 4) to an unloading station and directly the provision of a loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 65.

[0184] Step ix) can also include the transport of loaded transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 from the storage area 5 (but possibly also from the loading station in the delivery area 4) to an unloading station on a buffer area 66 near the unloading device(s) 65 and the transport of said loaded transport loading aid(s) 7 by the autonomously moving, driverless transport vehicles 9 to the unloading device(s) 65 and the provision of said loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 65.

[0185] The provision of a loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 65 according to step ix) may include the following steps: Parking the loaded transport loading aid(s) 7 at a loading point 67a, 67b having the relevant unloading device 65 and the transport vehicle 9 remaining at the loading point 67a, 67b during the unloading process of the loaded transport loading aid(s) 7 according to step ix), or parking the loaded transport loading aid(s) 7 at a loading point 67a, 67b having the relevant unloading device 65 and then the transport vehicle 9 continuing its journey from the loading point 67a, 67b, therefore before the start or still during the unloading process of the loaded transport loading aid(s) 7 according to step ix).

[0186] The following describes the procedure for storing and picking goods containing 2 stackable carriers 3 in the picking warehouse 1c (third version).

[0187] The procedure comprises steps i) to viii), as described above, and step ix) Processing a picking order, comprising the steps Transport of one or more transport loading aid(s) 7 containing the goods carriers 3 required for a picking order from storage area 5 to an unloading station and provision of said transport loading aid(s) 7 either at one or more automated unloading devices 75 or on a buffer area 66 near the unloading device(s) 75 by one or more autonomously moving, driverless transport vehicles 9, unloading of one or more of the transport loading aid(s) 7, which is / are provided at the automated unloading device(s) 75, by removing the goods carriers 3 required for processing the said picking order, and assembly of the goods carriers 3 on one or more target loading aids 34 by the unloading device(s) 32 for the said picking order, by assembling the goods carriers 3 for the said picking order in such a way that theThe goods carrier 3 or the goods carrier stack 8 removed from the goods carrier stack 8 at the unloading device(s) 75 or the at least one goods carrier stack 8 removed from the unloading device(s) 75 is transferred from the provided (first) transport loading aid(s) 7 to at least one mobile empty (second) transport loading aid 7 comprising the transport loading aids 7, and the at least one loaded (second) transport loading aid 7k with the goods carrier 3 or (pre-commissioned) goods carrier stack 8' is transported from the unloading device(s) 75 to the transfer device(s) 32 by an autonomously moving, driverless transport vehicle 9 and is subsequently taken over by the transfer device(s) 32 from the (second) transport loading aid(s) 7 and transferred by the latter to the target loading aid(s) 34. The goods carriers 3 required for a picking order can also be placed on the (second) transport loading aid(s) 7.The (second) transport loading aid(s) 7 with the pre-commissioned stack of goods carriers 8' are transported from the unloading device 75 or unloading devices 75 to the transfer device 32 or transfer devices 32. Advantageously, the goods carriers 3 can be transferred to the (second) transport loading aid(s) 7 in a sequence determined by the packing order of the goods carriers 3 at the destination loading aid 34. This packing order can be determined by a computer and takes into account, for example, the stability of the goods carrier 3 and / or the dimensions of the goods carriers and / or the weight of the goods 2 / goods carrier 3. Heavy goods carriers 3 are placed at the bottom of the stack at the destination loading aid 34, while light goods carriers 3 are placed at the top of the stack. Containers are placed at the bottom of the stack, and cartons at the top. The control system 47 can include this computer.

[0188] Step ix) can include the transport of loaded (first) transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 to an unloading station and the immediate provision of a loaded (first) transport loading aid(s) 7 at one or more automatically operated unloading device(s) 75.

[0189] Step ix) can also include the transport of loaded (first) transport loading aids 7 by the autonomously moving, driverless transport vehicles 9 to an unloading station on a buffer area 76 near the unloading device(s) 75 and the transport of said loaded (first) transport loading aid(s) 7j by the autonomously moving, driverless transport vehicles 9 from the buffer area 76 to the unloading device(s) 75 and the provision of said loaded transport loading aid(s) 7 at one or more automatically operated unloading device(s) 75.

[0190] The transport vehicles 9 can be controlled by the central computer in such a way that they arrive at the unloading station in a sequence specified by the packing order of the goods carriers 3 at the destination loading aid 34. This achieves a sequencing of the (second) transport loading aids 7 or goods carrier stacks 8'.

[0191] The provision of a loaded (first) transport loading aid(s) 7 at one or more automatically operated unloading device(s) 75 according to step ix) may include the following steps: Parking the loaded (first) transport loading aid(s) 7 at a loading point 77a, 77b having the relevant unloading device 75 and the transport vehicle 9 remaining at the loading point 77a, 77b during the unloading process of the loaded (first) transport loading aid(s) 7 according to step ix), or parking the loaded (first) transport loading aid(s) 7 at a loading point 77a, 77b having the relevant unloading device 75 and then the transport vehicle 9 continuing from the loading point 77a, 77b, therefore before the start or still during the unloading process of the loaded (first) transport loading aid(s) 7 according to step ix).

[0192] The provision of an empty (second) transport loading aid(s) 7 at one or more automatically operated unloading device(s) 75 according to step ix) may include the following steps: Placing the empty (second) transport loading aid(s) 7 at a loading point 77a, 77b having the relevant unloading device 75 and the transport vehicle 9 remaining at the loading point 77a, 77b during the loading process of the empty (second) transport loading aid(s) 7 according to step ix), or placing the empty (second) transport loading aid(s) 7 at a loading point 77a, 77b having the relevant unloading device 75 and then the transport vehicle 9 continuing from the loading point 77a, 77b, therefore before the start or still during the unloading process of the empty (second) transport loading aid(s) 7 according to step ix).

[0193] The provision of a loaded (second) transport loading aid(s) 7 at one or more automatically operated unloading device(s) 32 according to step ix) may include the following steps: Parking the loaded (second) transport loading aid(s) 7 at a loading point 40a..40b having the relevant unloading device 32 and the transport vehicle 9 remaining at the loading point 40a..40b during the unloading process of the loaded (second) transport loading aid(s) 7 according to step ix), or parking the loaded (second) transport loading aid(s) 7 at a loading point 40a..40b having the relevant unloading device 32 and then the transport vehicle 9 continuing from the loading point 40a..40b, therefore before the start or still during the unloading process of the loaded (second) transport loading aid(s) 7 according to step ix).

[0194] The procedure for storing and picking goods 2 in picking warehouse 1c may additionally include the following steps: Recording picking orders on an order computer 46, determining the goods required for one of the picking orders (demand), analyzing the stock of those goods 2 which are required for the said picking order, which picking order comprises one or more first goods carriers 3 containing the goods 2 and one or more second goods carriers 3 containing the goods, and assembling the goods carriers 3 for the said picking order in successive picking steps, provided that a demand quantity for a goods 2 exceeds the stock of this goods 2, wherein i) in a first picking step at the unloading device 75 the (second) transport loading aid 7 is loaded with one or more first goods carriers 3, and subsequently this (second) transport loading aid 7 is loaded with an autonomously movable,ii) in a second picking step, the (second) transport loading aid 7 is transported by an autonomously moving, driverless transport vehicle 9 from the unloading device 75 to a buffer area 76 and buffered there, and ii) in a second picking step, the (second) transport loading aid 7 is transported by an autonomously moving, driverless transport vehicle 9 from the buffer area 76 to the unloading device 75 and made available there, provided that a required quantity of a good 2 is less than the stock of this good 2, and subsequently the (second) transport loading aid 7 is loaded with one or more second goods carriers 3, and transport of the (second) transport loading aid 7 after execution of steps i) and ii) by an autonomously moving, driverless transport vehicle 9 from the unloading device 75 to the transfer device 32, and transfer of the goods carrier stack 8, 8' by the transfer device 32 to a target loading aid 34.

[0195] The procedure for storing and picking goods 2 in the picking warehouse 1a, 1b, 1c may additionally include one of the steps x). Return transport of a transport loading aid 7 after the removal of the goods carriers 3 from the unloading station back to the storage area 5, should not all goods carriers 3 have been removed from the aforementioned transport loading aid 7, or transport of a transport loading aid 7 after the removal of the goods carriers 3 from a first unloading device 32; 65; 75 to a second unloading device 32; 65; 75, should not all goods carriers 3 have been removed from the aforementioned transport loading aid 7 and should these goods carriers 3 be required for a picking order at the second unloading device 32; 65; 75, or transport of a transport loading aid 7 after the removal of the goods carriers 3 from the unloading device 32; 65; 75 to a waiting area 37 in the unloading station 32; 65;75, should not all goods carriers 3 have been removed from the aforementioned transport loading aid 7 and should these goods carriers 3 be required for a previously announced picking order at the aforementioned unloading device 32; 65; 75 or one of the unloading devices 32; 65; 75, or return transport of an (empty) transport loading aid 7 after removal of the goods carrier stack 8; 8' to the loading station and provision of the transport loading aid 7 either at the automated loading device 13 or on the buffer area 30, all goods carriers 3 should have been removed from the aforementioned transport loading aid 7.

[0196] The procedure for storing and picking goods 2 in picking warehouse 1a, 1b, 1c may additionally include the following steps: Provision of a cleaning system with an automated cleaning robot 90 (as schematically shown in Fig. 1 (entered), cleaning of the transport loading aids 7 and / or the floor in the loading station and / or unloading station (therefore the delivery places 16a, 16b, 40a, 40b, 71a, 71b, 77a, 77b, the buffer area 36, ​​67, 76 and according to the first design of the waiting area 37) and storage area 31 in storage area 5 with the cleaning robot 90.

[0197] As exclusively in Fig. 1 Entered and explained using the example of the first picking system 1a, the procedure for storing and picking goods 2 can additionally include the following steps Provision of a first temperature zone 91a in storage area 5, in which the transport loading aids 7 with the at least one stack of goods carriers 8 consisting of goods carriers 3 arranged one above the other containing goods 2 of a first product group, provision of a second temperature zone 91b in storage area 5, in which the transport loading aids 7 with the at least one stack of goods carriers 8 consisting of goods carriers 6 arranged one above the other containing goods 2 of a second product group, definition of a first product group and a second product group, to which first product group goods 2 of a first storage temperature are assigned and to which second product group goods 2 of a second storage temperature are assigned, and recording of data including data about the first product group, in particular a first storage temperature for the goods 2, and the second product group, in particular a second storage temperature for the goods 2, on a computer (which is connected to the control system 47),Identification of the goods carriers 3 and / or goods carrier stacks 8 and / or transport loading aids 7 by means of a (not shown) detection device provided in the delivery area 4 by reading a (exclusively in , Fig. 4b registered) data carrier 92a, 92b, 92c (RFID, barcode), which data carrier 92a, 92b, 92c is attached to the goods carriers 3 and / or goods carrier stacks 8 and / or transport loading aids 7, Selective transport of the (first) transport loading aids 7, each loaded with at least one goods carrier stack 8 at the loading station in step v), with the autonomously moving, driverless transport vehicles 9 either into the first temperature zone 91a or second temperature zone 91b, Storage of the (first) transport loading aids 7 with the at least one goods carrier stack 8 of goods carriers 3 arranged one above the other containing goods 2 of the first goods group in the first temperature zone 91a, Storage of the (first) transport loading aids 7 with the at least one goods carrier stack 8 of goods carriers 3 arranged one above the other containing goods 2 of the second goods group in the second temperature zone 91b.

[0198] The procedure for storing and picking goods 2 may additionally include the following steps: Transport of one or more transport loading aid(s) 7 containing the goods carriers 3 required for a first picking order from the first temperature zone 91a and transport of one or more transport loading aid(s) 7 containing the goods carriers 3 required for a second picking order from the second temperature zone 91b to the unloading station with a shared, automated unloading device 32; 65; 75, provision of said transport loading aid(s) 7 for the first picking order either at the automated unloading device 32; 65; 75 or on a buffer area 36; 66; 76 near the unloading device 32; 65; 75 by the autonomously moving, driverless transport vehicle(s) 9, provision of said transport loading aid(s) 7 for the second picking order either at the automated unloading device 32; 65; 75 or on a buffer area 36; 66; 76 near the discharge device 32; 65;75 by the autonomously moving, driverless transport vehicle(s) 9, Sequential assembly of stacks of goods carriers 8 on a first destination loading aid 34 (output unit) with several stacks of goods carriers 8 consisting of stacked goods carriers 3 containing goods 2 of a first goods group, and assembly of stacks of goods carriers 8 on a second destination loading aid 34 (output unit) with several stacks of goods carriers 8 consisting of stacked goods carriers 3 containing goods 2 of a second goods group at the unloading station with a shared, automatically operated unloading device 65; 75 and / or transfer station with a shared, automatically operated transfer device 32. ;

[0199] In the Fig. 9a and 9b is a fourth version of a picking warehouse 1d for storing and picking goods 2 (as shown exclusively in for the sake of clarity). Fig. 11a shown are the stackable product carriers (entered) 3. Fig. 10a bis 10d Figures 1 and 2 show individual sections of the picking warehouse 1d. The picking warehouse 1d also includes a delivery area 4, a storage area 5, an order processing area 6, a multitude of transport loading aids 107, each for receiving and stabilizing at least one stack of goods carriers 8, and a multitude of autonomously moving, driverless transport vehicles 9 for transporting the transport loading aids 107. The stack of goods carriers 8 is formed from several stacked goods carriers 3 arranged on top of each other. In contrast to the first, second, and third versions according to the Fig. 1 bis 8 , 8a The picking warehouse 1d additionally includes stacking aids for stabilizing the position of an order stack 101 assembled from the goods carriers 3 according to a picking order, as shown in Fig. 12a bis 12c are shown in more detail. It should be mentioned that the first, second and third versions of the picking warehouse 1a, 1b, 1c may also include such stacking aids.

[0200] The stacking aids include either first stacking aids 100a ( Fig. 12a - shows an unloaded stacking aid and Fig. 12b - shows a loaded stacking aid) or second stacking aids 100b ( Fig. 12c - shows an unloaded stacking aid). It is also possible that the stacking aids include both first stacking aids 100a and second stacking aids 100b.

[0201] In the Fig. 9a , 9b , 10a bis 10d In the picking warehouse 1d shown, stacking aids are used, which are the first stacking aids 100a (see Fig. Fig. 12a ) include items which are loaded with the target loading aid 34, for example a pallet.

[0202] If the second stacking aids 100b (see Fig.) are used instead of the first stacking aids 100a in the picking warehouse 1d, Fig. 12c When used, the second stacking aid 100b forms the target loading aid 134. In this case, the loading station described below can be omitted. In contrast to the above-mentioned version, where the first stacking aid 100a is equipped with the target loading aid 34, an additional target loading aid 34 is not provided in this version.

[0203] The transport loading aid 107 also proves advantageous, as shown in more detail in Figs. 11a to 11c.

[0204] As in Fig. 9a Schematically represented, the picking warehouse 1d also includes the order computer 46 for recording picking orders and for determining the goods 2 required for the picking order. A picking order comprises one order line (for example, six storage units 3 with one item 2) or several order lines (for example, three storage units 3 with one item 2 and three storage units 3 with a second item 2), as described above.

[0205] In delivery area 4, the provision of stacks of goods carriers 8 is provided, as described in detail above. According to the illustrated design, the stacks of goods carriers 8 are delivered to delivery area 4 on pallets (delivery load carriers) as a goods carrier stack group 10. In this case, a goods carrier stack group 10 is fed to a depalletizing station, where stacks of goods carriers 8, consisting of several goods carriers 3 arranged one above the other, are separated from a goods carrier stack group 10. Such goods carrier stack groups 10 are usually composed of single-type goods carrier stacks 8.

[0206] Fig. 9a and 10aFigure 1 shows a possible embodiment in which, in the delivery area 4, a depalletizing station with at least one automatically operated (schematically indicated) depalletizing device 11, a first conveyor 112a connected to the depalletizing device 11 for transporting groups of goods carriers 10 (incoming goods units), a second conveyor 112b connected to the depalletizing device 11 for removing incoming load carriers, a loading station with at least one automatically operated (schematically indicated) first loading device 113, a third conveyor 114a connecting the depalletizing device 11 with the first loading device 113 for transporting stacks of goods carriers 8, and / or a fourth conveyor 114b connecting the depalletizing device 11 with the loading device 113 for transporting stacks of goods carriers 8 are provided.The fourth conveyor device 114b for transporting stacks of goods carriers 8 is optional and can also be omitted.

[0207] As not shown in detail, a rotary device can be provided between the depalletizing device 11 and the loading device 113, which rotates the stacks of goods carriers 8 by 90° so that the stacks of goods carriers 8 are always provided in the same orientation at the loading device 113, regardless of how the stacks of goods carriers 8 or goods carriers 3 are delivered.

[0208] The stacks of goods carriers 8 are provided "unchanged" at the loading device 113 in a transfer position. The transfer station 15a is preferably located on the third conveyor device 114a.

[0209] As described below, the loading station comprises one or more automatically operated (schematically indicated) first loading device(s) 113.

[0210] The schematically shown first loading device 113 comprises at least a first loading station 16a for the first transport loading aid 107a and a transfer device 117 for transferring a second stack of goods carriers 8b from the first transfer station 15a to the first transport loading aid 107a. The first loading station 16a and the first transfer station 15a are arranged opposite each other.

[0211] It is also advantageous if the loading station has at least one separate buffer area 30 near the first loading device 113 or near each first loading device 113. Preferably, one buffer area 30 is assigned to each first loading device 113 for each loading station 16a. However, the loading station can also comprise only one buffer area 30. The buffer area 30 is preferably located on a floor of the picking warehouse 1d.

[0212] Specifically, the automated loading device 113 comprises a transfer device 117 that is movable relative to the transfer station 15a in order to move a stack of goods carriers 8b (or, if applicable, individual goods carriers 3) provided in a transfer position at the transfer station 15a onto the transport loading aid 107a. The transfer device 117 can, for example, be formed by a pusher that can be actuated by an actuator. The transfer device 117 is arranged above the conveyor device 114a.

[0213] The loading device 113 can, according to a first embodiment, include a gantry robot. Gantry robots are industrial robots whose basic axes are constructed from linear axes. For loading, the use of a linear gantry is sufficient.

[0214] The portal robot comprises vertical supports and a longitudinal beam, which are connected to form a support structure 118. The portal robot also includes a portal carriage 119, which is movable along a guide arrangement in a first direction (x-direction - horizontal movement) via a first drive device (not shown), and a portal arm 120 arranged on the portal carriage 119. The transfer device 117 is arranged on the portal arm 120.

[0215] It may prove useful if the portal arm 120 can also be moved in a second direction (z-direction - vertical movement) via a second drive device along a guide arrangement.

[0216] In the Fig. 9a , 10aThe first stack of goods carriers 8a has already been transferred to the first transport loading aid 107a, while the second stack of goods carriers 8b is still at the transfer station 15a. During the transfer movement, the stack of goods carriers 8b is moved from the transfer station 15a to the first transport loading aid 107a, which is provided at the first delivery station 16a.

[0217] As described above, the first transfer point 15a, second transfer point 15b, first delivery point 16a and the second delivery point 16b can also be provided at this loading device 113, although not shown in detail.

[0218] Although in the illustrated version the loading station is shown with a single first loading device 113 for the sake of clarity, the number of first loading devices 113 can vary depending on the required picking performance, as already described above.

[0219] According to an embodiment not shown, the loading device 113 can include an articulated arm robot, as described above for the loading device 13.

[0220] As in Fig. 9a If the entry specifies that an empty (first) transport loading aid 107b can be transported to the loading point 16a (16b) by an autonomously moving, driverless transport vehicle 9 and parked there. While the (first) transport loading aid 107a is being loaded, this transport vehicle 9 can be used for other transport purposes. However, it is also possible for the autonomously moving, driverless transport vehicle 9 to be transported to the loading point 16a (16b) and parked there, but remain at the loading point 16a (16b) while the (first) transport loading aid 107a is being loaded. If a (first) transport loading aid 107a is already parked at the delivery point 16a or the (first) transport loading aid 107a is currently being loaded, the empty (first) transport loading aid 107b can be buffered on the buffer area 30 provided near the loading device 113.

[0221] A (first) transport loading aid 107c is transported from the loading station, in particular from the first loading device 113 or from the first loading devices 113 to the storage area 5 after it has been loaded (with at least one stack of goods carriers 8) by an autonomously moving, driverless transport vehicle 9 and is placed in the storage area 5 on the storage surface 31.

[0222] As in the Fig. 9b and 10bAs can be seen, an unloading station with at least one automatically operated (schematically indicated) unloading device 132 is arranged in order processing area 6. According to this embodiment, the unloading station with the one or more automatically operated unloading devices 132 simultaneously forms a transfer station with the one or more automatically operated transfer devices (palletizing devices), by means of which the goods carriers 3 or goods carrier stacks 8 are transferred from the transport loading aid 107 to the target loading aid 34. Therefore, the term "unloading device" can be used synonymously with "transfer device".

[0223] As described below, the unloading station comprises at least one automatically operated (schematically indicated) unloading device 132. Although, for the sake of clarity, the unloading station is shown with a single unloading device 132 in the illustrated embodiment, the number of unloading devices 132 can vary depending on the required picking performance. For example, the unloading station or picking warehouse 1d can have a second unloading device 132, a third unloading device 132, and so on. Preferably, these unloading devices 132 are identical in design.

[0224] The schematically shown embodiment of the automated unloading device 132 comprises a first loading station 40a for the loaded first transport loading aid 107e, (optionally) a second loading station 40b for the loaded second transport loading aid 107e and a transfer device 147 movable relative to the loading station 40a..40b for unloading the transport loading aid 107e provided at the loading station 40a..40b. If the unloading station has more than one automatically operated unloading device 132, each unloading device 132 comprises a first loading position 40a for the loaded first transport loading aid 107e, (optionally) a second loading position 40b for the loaded second transport loading aid 107e and a transfer device 147 movable relative to the loading position 40a..40b for unloading the transport loading aid 107e provided at the loading position 40a, 40b.

[0225] The transfer device 147 can, for example, be formed by a gripper system, as described in Fig. 13a bis 13d , 14a , 14b , 15a bis 15n and 16a bis 16n is described in detail.

[0226] It is also advantageous if the unloading station has at least one separate buffer area 36 near the unloading device 132 or near each unloading device 132. In the embodiment shown, one buffer area 36 is assigned to each loading point 40a..40b of the unloading device 132. However, the unloading station can also comprise only one buffer area 36. The buffer area 36 is preferably located on a floor of the picking warehouse 1d. In this way, it is possible for the loaded (first) transport loading aid(s) 107d to be buffered on the buffer area 36 near the unloading device(s) 132 and, as required, transported by the transport vehicles 9 to the respective loading point 40a..40b of the unloading device(s) 132 via a short route.

[0227] The unloading station may also have one or more (unregistered) waiting zone(s) 37, as described in detail above.

[0228] Specifically, the unloading device 132, according to a first embodiment, can include a gantry robot. Gantry robots are industrial robots whose basic axes are constructed from linear axes. A platform gantry is used for loading.

[0229] The portal robot includes i) Vertical columns, longitudinal beams and crossbeams connected to form a supporting structure 142, ii) a first portal carriage 143 mounted on the supporting structure 142 and movable horizontally in a first direction (x-direction) via a first drive device along a guide arrangement (which is arranged on one of the longitudinal beams), iii) a portal arm 144 attached to the first portal carriage 143 and movable with it in the first direction (x-direction), iv) a second portal carriage 145 mounted on the portal arm 144 and movable vertically in a second direction (z-direction) via a second drive device along a guide arrangement, v) a third portal carriage 146 arranged on the second portal carriage 145 and movable horizontally in a third direction (y-direction) via a third drive device along a guide arrangement, and vi) the transfer device 147,which is arranged on the third portal slide 146 and is rotatably mounted on the third portal slide 146 about a vertical axis.

[0230] During the unloading movement, the goods carrier 3, goods carrier sub-stack, or goods carrier stack 8 is picked up by the transport loading aid 107e, which is provided at the delivery station 40a..40b, by the transfer device 147 or the gripper system, and then transferred to a destination loading aid 34 using the first stack loading aid 100a, as shown. If the picking warehouse 1d includes the second stack loading aid 100a, the goods carrier 3, goods carrier sub-stack, or goods carrier stack 8 is picked up by the gripper system from the transport loading aid 107e, which is provided at the delivery station 40a..40b, and then transferred to the destination loading aid 134.

[0231] The portal robot shown proves advantageous when the available ceiling height is low.

[0232] According to an embodiment not shown, the unloading device 132 (transfer device) can include an articulated arm robot, as described above.

[0233] The schematically shown embodiment of the automated unloading device 132 comprises a loading station 139a for a first stacking aid 100a (or second stacking aid 100b) or several loading stations 139a..139b for first stacking aids 100a (or second stacking aids 100b) and the transfer device 147, which is movable relative to the loading station 139a..139b, for loading the target loading aid 34, 134 provided at the loading station 139a..139b.

[0234] If the unloading station has more than one automatically operated unloading device 132, each unloading device 132 comprises a loading station 139a for a target loading aid 34, 134 or several loading stations 139a..139b for target loading aids 34, 134 and the transfer device 147, which is movable relative to the loading station 139a..139b, for loading the target loading aid 34, 134 provided at the loading station 139a..139b.

[0235] As described above, the (additional) target loading aid 34 can be provided at the delivery point 139a..139b with the first stacking loading aid 100a, or the target loading aid 134 (which is formed by the second stacking loading aid 100b) can be provided at the delivery point 139a..139b.

[0236] It is also advantageous if the unloading station has at least one separate buffer area 136 near the unloading device 132 or near each unloading device 132. In the embodiment shown, a buffer area 136 is assigned to each delivery point 139a..139b of the unloading device 132. However, the unloading station can also comprise only one buffer area 136. The buffer area 136 is preferably located on a floor of the picking warehouse 1d. In this way, it is possible for the empty destination load carriers 34 with the first stacking load carrier 100a and the destination load carrier 134 with the second stacking load carrier 100b to be buffered on the buffer area 136 near the unloading device(s) 132 and, as required, transported by the transport vehicles 9 to the respective delivery point 139a..139b of the unloading device(s) 132 via a short route.

[0237] According to the embodiment shown, the target loading aids 34 are transported by the first stacking aid 100a and the target loading aid 134 by the second stacking aid 100b to the respective loading points 139a..139b of the unloading device(s) 132 by the transport vehicles 9 and transported away from the respective loading points 139a..139b of the unloading device(s) 132. The stationary first conveyor 33 for transporting fully loaded target loading aids and the stationary second conveyor 35 for transporting empty target loading aids, as described above, are not provided in this embodiment.

[0238] For the transport of empty transport loading aids 107 and transport loading aids 107 loaded with stacks of goods carriers, as well as empty destination loading aids 34 with the first stack loading aid 100a and empty destination loading aids 134 with the second stack loading aid 100b, and destination loading aids loaded with order stacks 101 with the first stack loading aid 100a and loaded destination loading aids 134 with the second stack loading aid 100b, autonomously moving, steerable transport vehicles 9 (of a driverless transport system) are used, which are automatically controlled by the higher-level control computer. The control system 47 can include this control computer.

[0239] As in the Fig. 9b and 10cAs can be seen, the unloading station can additionally comprise one or more semi-automated (schematically indicated) unloading devices 151, at which the goods carriers 3 or stacks of goods carriers 8 are transferred from a third transport loading aid 150 to one or more destination loading aids 34, 134. Alternatively, a single unloading device 151 can be provided at which the goods carriers 3 or stacks of goods carriers 8 are transferred from a third transport loading aid 150 to one or more destination loading aids 34, 134. The number of unloading devices 151 can vary depending on the required picking performance. Preferably, these unloading devices 151 are identical in design.

[0240] At the unloading device(s) 151, goods carriers 3 are picked which cannot be automatically picked at the unloading device(s) 132 because the base area of ​​the goods carriers is smaller than 300mm x 400mm or the goods carriers 3 have insufficient dimensional stability to be automatically manipulated.

[0241] The semi-automated unloading device(s) 151 each comprise a first loading station 152a for a third transport loading aid 150, a second loading station 152b for a first stacking loading aid 100a (or second stacking loading aid 100b), and a workstation 155 for a picking operator (not shown for clarity). The workstation 155 may also include a work surface 156 with casters, etc., to enable ergonomic handling of the goods carriers 3. The first loading station 152a and the second loading station 152b are arranged opposite each other. Additionally, the unloading device 151 may include an input and / or output device (not shown) by which picking instructions are issued to the picking operator and at which picking orders (acknowledgment) are entered by the picking operator.

[0242] As described above, the (additional) target loading aid 34 can be provided at the delivery point 152 with the first stacking loading aid 100a, or the target loading aid 134 (which is formed by the second stacking loading aid 100b) can be provided at the delivery point 152b.

[0243] It should be noted here that the semi-automated unloading device(s) 151 can also be used in the picking warehouses 1a..1c described above (without additional stacking aids). In this case, the third transport loading aids 150 are provided at the first delivery station 152a and the target loading aids 34 (without stacking aids) are provided at the second delivery station 152b.

[0244] While an automatic picking process is carried out at the unloading devices 32; 65; 75; 132 as described above, a manual picking process is carried out at the unloading device(s) 151.

[0245] In the context mentioned, "semi-automated" means that the transport of third transport loading aids 150 (or the first / second transport loading aids 7) to the unloading device 151, the removal of third transport loading aids 150 from the unloading device 151, the transport of first stacking loading aids 100a (or second stacking loading aid 100b or the target loading aids 34) to the unloading device 151, and the removal of first stacking loading aids 100a (or second stacking loading aid 100b or the target loading aids 34) from the unloading device 151 are automatic, and the order picking is done manually by an order picker.

[0246] The third transport loading aid 150 is transported from the transport vehicle 9 to the first delivery point 152a and transferred there to make the third transport loading aid 150 available at the delivery point 152a, or transferred from the first delivery point 152a to the transport vehicle 9 to transport the third transport loading aid 150 away from the delivery point 152a.

[0247] Likewise, the first stacking aid 100a (or second stacking aid 100b or the target loading aid 34) is transported from the transport vehicle 9 to the second delivery point 152b and transferred there to make the first stacking aid 100a (or second stacking aid 100b or the target loading aid 34) available at the delivery point 152b, or transferred from the second delivery point 152b to the transport vehicle 9 to transport the first stacking aid 100a (or second stacking aid 100b or the target loading aid 34) away from the delivery point 152b.

[0248] It is also advantageous if the unloading station near the unloading device 151, or near each unloading device 151, has at least one separate buffer area 153a for the third transport loading aid 150 and at least one separate buffer area 153b for the first stacking loading aid 100a (or second stacking loading aid 100b or the target loading aid 34). In the embodiment shown, the unloading device 132 is assigned one buffer area 153a for each delivery location 152a and one buffer area 153b for each delivery location 152b. However, the unloading station can also comprise only one buffer area 153a or one buffer area 153b. The buffer areas 153a, 153b are preferably located on a floor of the picking warehouse 1d.In this way it is possible for the loaded (third) transport loading aid(s) 150 and the first stacking loading aid 100a (the second stacking loading aid 100b or the target loading aid 34) to be buffered close to the unloading device(s) 151 on the buffer area 153a, 153b and, as required, transported by the transport vehicles 9 to the respective delivery point 153a, 153b of the unloading device(s) 151 via a short route.

[0249] According to the embodiment shown, the first delivery station 152a is designed on a lifting platform 154a, on which the third transport loading aid 150 can be placed and the stack of goods carriers 8 can be raised to a delivery level to enable ergonomic working, and the second delivery station 152b is designed on a lifting platform 154b, on which the first stacking loading aid 100a (or second stacking loading aid 100b or the target loading aid 34) can be placed and the target loading aid 34, 134 (if the target loading aid 34, 134 is still unloaded) or an order stack 101 (if the target loading aid 34, 134 has already been loaded at the unloading station with one or more automatically operated loading device(s) 132) can be raised to a delivery level to enable ergonomic working.

[0250] In the Fig. 9a and 10dA loading station is shown for loading third transport loading aids 150, which includes one or more automatically operated (schematically indicated) second loading device(s) 160. The picking warehouse 1d includes this loading station. The second loading device 160 comprises a loading station 161 for an empty (third) transport loading aid 150 and a transfer device 162, movable relative to the loading station 161, for loading the transport loading aid 150 provided at the loading station 161.

[0251] It is also advantageous if the loading station has at least one separate buffer area 163 near the second loading device 160 or near every second loading device 160. In the embodiment shown, one buffer area 163 is assigned to each loading station 161 of the second loading device 160. However, the loading station can also comprise only one buffer area 160. The buffer area 160 is preferably located on a floor of the picking warehouse 1d.

[0252] As can be seen in the figures, the third transport and loading aid 150 may differ from the previously mentioned transport and loading aids 7 and 107. However, this is not absolutely necessary.

[0253] The third transport loading aids 150 are loaded in the delivery area 4 at the loading station with an automatically operated second loading device 160 (schematically indicated). Preferably, the goods carrier stack group 10 with the pallet (delivery load carrier) is transferred unchanged at the second loading device 160 onto the third transport loading aid 150, as shown in the Fig. 9a , 10d This is evident. Therefore, no depalletizing takes place beforehand. Such product carrier stack groups 10 are mostly composed of single-type product carrier stacks 8. According to the illustrated design, the product carrier stacks 8 are delivered as product carrier stack group 10 on pallets (delivery load carriers) to the delivery area 4 and conveyed by the conveyor device 112b to the loading device 160.

[0254] An empty (third) transport loading aid 150 is transported to the loading station by an autonomously moving, driverless transport vehicle 9 and made available at the second loading device 160 or on a buffer area 163. After being loaded (with the goods carrier stack group 10), the (third) transport loading aid 150 is transported by the autonomously moving, driverless transport vehicles 9 from the loading station, in particular from the second loading device 160, to the storage area 5 and placed on storage surface 31 in storage area 5.

[0255] In Fig. 9a and 10dA loading station with one or more automatically operated loading devices 170 is also shown, which can include the picking warehouse 1d, by which it is possible to load the first stacking aid 100a with a target loading aid 34, provided that a first stacking aid 100a is used in the picking warehouse 1d. The target loading aid 34 is placed on the floor ( Fig. 12a ) the first stacking aid 100a was shut down.

[0256] The loading device(s) 170 each comprise a loading station 171 for an empty first stacking aid 100a and a transfer device 172 movable relative to the loading station 171 for loading the first stacking aid 100a provided at the loading station 171.

[0257] It is also advantageous if the loading station has at least one separate buffer area 173 near the loading device 170 or near each loading device 170. In the embodiment shown, one buffer area 173 is assigned to each loading device 170 for each loading station 171. However, the loading station can also comprise only one buffer area 173. The buffer area 173 is preferably located on a floor of the picking storage area 1d.

[0258] An empty first stacking aid 100a is transported to the loading station by an autonomously moving, driverless transport vehicle 9 and positioned at the loading device 170 or on a buffer area 173. After being loaded with a target loading aid 34, the stacking aid 100a is transported from the loading station, in particular from the loading device 170, to the unloading station (transfer station) by an autonomously moving, driverless transport vehicle 9.

[0259] In Fig. 9a and 10d A job stack load securing station with one or more automatically operated load securing device(s) 180 is also shown, which can include the picking warehouse 1d, by which a load securing of a job stack 101 with a securing device 181 is possible.

[0260] The load securing device(s) 180 each comprise a loading position 182 for a loaded first stacking aid 100a (or a loaded second stacking aid 100b), a target load securing device lifting device, and a securing device wrapping device or securing device strapping device. The target load securing device lifting device comprises a vertically adjustable lifting frame 183 and telescopic forks 184 mounted on it, the latter being movable between a retracted starting position and a projecting receiving position.

[0261] It should be mentioned that the telescopic forks 184 in the receiving position, on the one hand, hold the target loading aid 34 together with the order stack 101 if no stack loading aids are used, as shown in Figs. 1a to 1c, or if first stack loading aid 100a are used, as shown in the Fig. 12a shown, and on the other hand exclusively the order stack 101 when second stack loading aid 100b is used, as shown in the Fig. 12c shown, pick up, wherein the target loading aid 34 together with the order stack 101 or the order stack 101 can be raised / lowered by a lifting movement of the lifting frame 183.

[0262] It is also advantageous if the order stack load securing station has at least one separate buffer area 185 near the load securing device 180 or near each load securing device 180. In the embodiment shown, one buffer area 185 is assigned to each loading station 182 of the load securing device 180. However, the order stack load securing station can also comprise only one buffer area 185. The buffer area 185 is preferably located on a floor of the picking warehouse 1d.

[0263] The load securing device 180, as shown, comprises a wrapping device which wraps a thermoplastic film circumferentially around the stack of materials 101 in a force-fit manner, while the stack of materials 101 is lifted out of the first stacking aid 100a or second stacking aid 100b by the target loading aid lifting device. The thermoplastic film forms the securing element 181.

[0264] Alternatively, a strapping device can be used for the load securing device 180, which is configured to attach at least one sealing strap circumferentially to the order stack 101 in a substantially horizontal direction while the order stack 101 is located in the load securing device 180. The sealing strap forms the securing means 181.

[0265] A loaded first stacking aid 100a (or second stacking aid 100b) is transported to the order stacking load securing station by an autonomously moving, driverless transport vehicle 9 and made available at the load securing device 180 or on a buffer area 185.

[0266] After the order stack 101 has been removed from the first stacking aid 100a, the empty first stacking aid 100a can be transported from the order stack load securing station, in particular from the load securing device 180, to the loading station by an autonomously moving, driverless transport vehicle 9.

[0267] If the stacking aids include the second stacking aid 100b, after the order stack 101 has been removed from the second stacking aid 100b, the empty second stacking aid 100b can be transported from the order stack load securing station, in particular from the load securing device 180, to the unloading station by an autonomously moving, driverless transport vehicle 9.

[0268] It should be mentioned that the first, second and third versions of the picking warehouse 1a, 1b, 1c may also include the automatically operated second loading device(s), the optional assembly station and the order stack load securing station.

[0269] Figures 11a to 11c show a fourth embodiment of a transport loading aid 107. Fig. 11a shows the unloaded empty transport loading aid 107 and Fig. 11b The loaded transport loading aid 107. Such a transport loading aid 107 can provide several stacks of goods carriers 8 successively at the delivery locations described above by means of a short "offset movement". The "offset movement" is preferably carried out by a transport vehicle 9. Such a transport loading aid 107 can also provide several stacks of goods carriers 8 successively at the delivery locations by means of a "rotation movement" about the vertical axis. The "rotation movement" is preferably carried out by a transport vehicle 9.

[0270] The transport loading aid 107 in turn comprises the base 55 and the side walls 56a, 56b, 56c, 56d connected to it, each for stabilizing the position of stacks of goods carriers 8, a first loading and unloading opening 57a and second loading and unloading opening 57b opposite the side wall 56c on a first side, and a third loading and unloading opening 57c and fourth loading and unloading opening 57d opposite the side wall 56c on a second side.

[0271] The side walls 56a, 56b, 56c, 56d are preferably formed to a substantial extent at the height of the stack of goods carriers 8, but at least high enough that the uppermost goods carrier 3 in the stack of goods carriers 8 is also at least partially surrounded by the side walls 56a, 56b, 56c, 56d. Preferably, the first / second / third / fourth loading and unloading openings 57a, 57b, 57c, 57d each extend over the entire height of the side walls 56a, 56b, 56c, 56d.

[0272] It is advantageous if the depth of the one or more receiving shafts, which is or are bounded between the first side walls 56a, 56b, 56d, is less than a minimum width of the product carriers 3, so that the product carriers 3 always project beyond the front edge of the first side walls 56a, 56b, 56d when the product carriers 3 are stored in the corresponding receiving shaft, as shown in Fig. 11b and for example Fig. 15a bis Fig. 15f or Fig. 16a bis Fig. 16k This is evident. In this way, a reliable clamping gripping function is possible.

[0273] The transport loading aid 107 can comprise parallel outer first side walls 56a, 56b and a parallel inner side wall 56d. The second side wall 56c extends between the first side walls 56a, 56b, 56d. The inner first side wall 56d is arranged in the central region of the base 55 such that the side walls 56a, 56b, 56c, 56d define two receiving shafts on a first side relative to side wall 56c and two receiving shafts on a second side relative to side wall 56c.

[0274] Each receiving chute can accommodate at least one stack of goods carriers 8 for transport / storage. In the illustrated configuration, the first and second receiving chutes each hold one stack of goods carriers 8 with a base area of ​​600 mm x 400 mm, and the third and fourth receiving chutes each hold two stacks of goods carriers 8, each with a base area of ​​300 mm x 400 mm. This transport and loading aid 107 can transport several stacks of goods carriers 8 simultaneously.

[0275] It is advantageous if the outer first side walls 56a, 56b and, if applicable, also the inner first side wall 56d are designed with (uninscribed) ramps to enable easy loading and / or unloading of the transport loading aid 107.

[0276] As can be seen particularly in Fig. 11c, the second side wall 56c can comprise a first side wall section 200a and a second side wall section 200b. The first side wall section 200a is inclined at an angle relative to a vertical plane spanned between the first side walls 56a, 56b, 56d such that, with increasing vertical distance from the ground 55, the first side wall section 200a slopes backwards. The second side wall section 200b is inclined at an angle relative to a vertical plane spanned between the first side walls 56a, 56b, 56d such that, with increasing vertical distance from the ground 55, the second side wall section 200b slopes backwards.

[0277] The inclination angle α 1 is between 2° and 5°.

[0278] As can also be seen in Fig. 11c, the base 55 comprises a first base section 201a and a second base section 201b. The first base section 201a is inclined downwards at an angle relative to a horizontal plane spanned between the first side walls 56a, 56b, 56d in the direction of the second side wall 56c. The second base section 201b is inclined downwards at an angle relative to a horizontal plane spanned between the first side walls 56a, 56b, 56d in the direction of the second side wall 56c.

[0279] The inclination angle α 2 is preferably larger than the inclination angle α 1 and is between 3° and 6°.

[0280] The floor 55 forms a storage area 58 on its upper side, on which the stacks of goods carriers 8 can be placed, and a transport area 59 on its lower side, against which the loading platform 51 of the transport vehicle 9 can be positioned. Specifically, the storage area 58 is formed on the floor wall sections 201a and 201b.

[0281] Additionally, the transport and loading aid 107 can include leveling feet 60, which are attached to the base 55. The transport and loading aid 107 is placed on the base using the leveling feet 60. In an alternative version (not shown), wheels can be provided on the base 55 instead of the leveling feet 60.

[0282] It should also be noted at this point that the transport loading aid 107 can also be designed according to the above-described specifications and that the side walls 56a, 56b, 56d are arranged accordingly and that a single receiving shaft is located between them ( Fig. 4a, 4b ) or receiving shafts separated by the side wall 56c ( Fig. 5a, 5b ) or the side wall 56d separate receiving shafts ( Fig. 6a, 6b ) trains.

[0283] It should also be noted at this point that the transport loading aid 7, 7', 7" can also be designed according to the embodiment described in Figs. 11a to 11c and that the side wall 56c comprises a first side wall part 200a which is inclined at an angle of inclination relative to a vertical plane spanned between the first side walls 56a, 56b or 56a, 56b, 56d such that with increasing vertical distance from the ground 55 the first side wall part 200a is inclined to the rear.

[0284] Likewise, the floor 55 can comprise a first floor part 201a, which is inclined downwards at an angle of inclination relative to a horizontal plane spanned between the first side walls 56a, 56b or 56a, 56b, 56d in the direction of the second side wall 56c.

[0285] As described above, the picking warehouse 1a, 1b, 1c, 1d can include one or more stacking aids, each for stabilizing the position of an order stack 101 assembled from the goods carriers 3 according to a picking order.

[0286] In the Fig. 12a und 12b is the first stacking aid 100a and in the Fig. 12c The second stacking aid 100b is shown.

[0287] The first stacking aid 100a comprises a base 205 and stacking walls 206a, 206b connected to it. Preferably, a first stacking wall 206a and a second stacking wall 206b are provided, which project vertically from the base 205 and form a right angle.

[0288] The floor 205 can include a storage area 207 on its upper side, on which a target loading aid 34 with the order stack 101 can be placed, and a transport area 208 on its lower side, against which a loading platform of the transport vehicle 9 can be positioned.

[0289] The second stacking aid 100b also comprises a base 205 and stacking walls 206a, 206b connected to it. Preferably, a first stacking wall 206a and a second stacking wall 206b are provided, which project vertically from the base 205 and form a right angle.

[0290] In contrast to the first stacking aid 100a, the base on its upper side comprises protruding and separated storage blocks 211 by receiving channels 210, on which the goods carriers 3 of the order stack 101 (not shown) can be placed, so that at least one second stacking aid 100b forms the target loading aid 134.

[0291] In addition, the floor 205 includes a transport surface 208 on its lower side, against which a loading platform of the transport vehicle 9 can be placed.

[0292] Even if only the first stacking wall 206a and second stacking wall 206b are provided, the first stacking aid 100a and second stacking aid 100b ensure sufficient stabilization and safe transport of the order stack 101. Furthermore, the load securing device 180 can be operated at high capacity, since the first / second stacking aid 100a, 100b can be removed from the load securing device 180 as soon as the target loader 34 with the order stack 101 has been slightly lifted from the base 205 of the first stacking aid 100a or the order stack 101 has been slightly lifted from the base 205 of the second stacking aid 100b. It is therefore not necessary to lift the order stack 101 completely and over the entire height of the first / second stacking aid 100a, 100b before the first / second stacking aid 100a, 100b can be removed.

[0293] Additionally, the first stacking aid 100a / second stacking aid 100b can include leveling feet 212, which are attached to the base 205. The first stacking aid 100a / second stacking aid 100b is placed on the base using the leveling feet 212. In an alternative version (not shown), wheels 55 can be provided on the base instead of the leveling feet 212.

[0294] As not shown in detail, the transport loading aid 107 can also be equipped with a data carrier 92a, as described above. Likewise, the first stacking loading aid 100a / second stacking loading aid 100b can be equipped with a data carrier in order to identify the first stacking loading aid 100a / second stacking loading aid 100b by means of a reading device by reading a data carrier.

[0295] The above-described procedure for storing and picking goods 2 in picking warehouse 1a, 1b, 1c, 1d may additionally include the following steps: Provision of stacking aids 100a, 100b each for stabilizing the position of an order stack 101 assembled from the goods carriers 3 according to a picking order.

[0296] The provision of the stacking aids in the picking warehouse 1a, 1b, 1c, 1d may include the provision of one or more first stacking aid(s) 100a and / or one or more second stacking aid(s) 100b.

[0297] If the first stacking aids 100a are used in picking warehouse 1a, 1b, 1c, 1d, the procedure can additionally include the following steps: Loading the first stacking aid 100a with a target loading aid 34 at the loading station with one or more automatically operated loading device(s) 170 by placing the target loading aid 34 on the floor 205.

[0298] If the second stacking aids 100b are used in picking warehouse 1a, 1b, 1c, 1d, the procedure can additionally include the following steps: Definition of the second stacking aid 100b as target loading aid 134, in that the second stacking aids 100b form the target loading aids 134.

[0299] If the first stacking aids 100a and second stacking aids 100b are used in picking warehouse 1a, 1b, 1c, 1d, the procedure can additionally include the following steps: Loading the first stacking aid 100a with a target loading aid 34 at the loading station with one or more automatically operated loading device(s) 170 by placing the target loading aid 34 on the floor 205, and defining the second stacking aid 100b as target loading aid 134.

[0300] The above-described procedure for storing and picking goods 2 in picking warehouse 1a, 1b, 1c, 1d may additionally include the following steps: Provision of one or more automated second loading devices 160, provision of a goods carrier stack group 10 consisting of several goods carrier stacks 8 arranged side by side with goods carriers 3 arranged one above the other in the delivery area 4 of the picking warehouse 1a, 1b, 1c, 1d, provision of empty (third) transport loading aids 150 each for receiving and stabilizing a goods carrier stack group 10, transport of empty (third) transport loading aids 150 by the autonomously moving, driverless transport vehicles 9 to the loading station and provision of one or more empty (third) transport loading aids 150 either at one or more automated second loading devices 160 or on a buffer area 163 near the second loading device(s) 160, loading of one of the empty (third) transport loading aids 160 which is provided at the automated second loading device 160,with at least one goods carrier stack group 10 from the delivery area 4 by the automated second loading device 160, transport of the (third) transport loading aid 150 loaded with the goods carrier stack group 10 with the autonomously moving, driverless transport vehicle 9 from the loading station to the storage area 5, placement of the (third) transport loading aid 150 loaded with at least one goods carrier stack 8 on the storage area 31 in storage area 5, storage of the (third) transport loading aid 150 loaded with the goods carrier stack group 10 in storage area 5.

[0301] The procedure may also include the following steps: a transport of empty destination loading aids 34; 134 by the autonomously moving, driverless transport vehicles 9 to the unloading station and provision of said empty destination loading aids 34; 134 either at one or more semi-automated unloading device(s) 151 or on a buffer area 152b near the unloading device(s) 151 by one or more autonomously moving, driverless transport vehicle(s) 9, and / or a transport of partially loaded destination loading aids 34; 134 by the autonomously moving, driverless transport vehicles 9 from the automatically operated unloading device 32; 65; 75; 132 to the semi-automated unloading device 151 or on a buffer area 152b near the semi-automated unloading device(s) 151, after at the automatically operated unloading device 32; 65; 75; 132 the goods carriers 3 on the partially loaded destination loading aid 34;134 were assembled and, if additional goods carriers 3 are required for the aforementioned picking order, these are provided via the (third) transport loading aids 150 at the semi-automated unloading device(s) 151.

[0302] The processing of a picking order, which requires goods carrier 3 from the (third) transport loading aid 150, can include the following steps: Transport of one or more (third) transport loading aid(s) 150 containing the goods carriers 3 required for the picking order from storage area 5 to the unloading station and provision of said (third) transport loading aid(s) 150 either at one or more semi-automated unloading devices 151 or on a buffer area 153a near the unloading device(s) 151 by one or more autonomously moving, driverless transport vehicle(s) (9), manual unloading of one or more of the (third) transport loading aid(s) 150, which is / are provided at the semi-automated unloading device(s) 151, by a picking person removing the goods carriers 3 required for processing the said picking order, and manual assembly of the goods carriers 3 on one or more (empty or partially loaded) destination loading aids 34,134 for the aforementioned order picking order by an order picker, if the target loading aid(s) 34, 134 is / are provided at the semi-automated unloading device(s) 151.

[0303] The assembly of the merchandise carriers 3 can include the following steps: Assembling the goods carriers 3 according to the aforementioned picking order to the order stack 101 on the target loading aid 34 in the first stacking aid 100a or on the floor 205 of the second stacking aid 100b, which first stacking aid 100a or second stacking aid 100b is provided at the semi-automated unloading device(s) 151.

[0304] The above-described procedure for storing and picking goods 2 in picking warehouse 1a, 1b, 1c, 1d may additionally include the following steps: Provision of an order stack load securing station either with one or more automatically operated load securing devices 180 or with one or more automatically operated load securing devices 180 and a buffer area 185 near the load securing device(s) 180, which load securing device 180 is designed for securing an order stack 101 with a securing means 181 for transport; transport of stack loading aids 100a, 100b, each loaded with an order stack 101, by the autonomously moving, driverless transport vehicles 9 to the aforementioned order stack load securing station; provision of one or more stack loading aids 100a, 100b either at one or more automatically operated load securing devices 180 or on a buffer area 185 near the load securing device(s) 180; removal of the order stack 101 from the stack loading aid 100a,100b by a lifting device (lifting frame 183 and telescopic forks 184) with which the target loading aid 34 with the order stack 101 is lifted from the first stacking aid 100a if the picking warehouse 1a; 1b; 1c; 1d includes the first stacking aid 100a, or with which the order stack 101 is lifted from the second stacking aid 100b if the picking warehouse 1a; 1b; 1c; 1d includes the second stacking aid 100b, securing the order stack 101 with the securing device 181 by the automated load securing device 180, by attaching the securing device 181 circumferentially around the order stack 101, transport of the secured order stack 101, in particular by the autonomously moving, driverless transport vehicles 9, from the load securing station to a delivery area.

[0305] After the first execution, the target loading aid 34, with the order stack 101, is lifted relative to the first stacking aid 100a. Simultaneously, the order stack 101, lifted from the first stacking aid 100a, is wrapped with the securing device 181 for stabilization. The secured order stack 101 is then lowered again by the lifting device and transferred to a stationary conveyor system (not shown) or to an autonomously moving, driverless transport vehicle 9. The now secured order stack 101 can be transported from the load securing station to a delivery area (consolidation area or goods issue area). In this case, the target loading aid 34 serves as the delivery load carrier.

[0306] After the second execution, the order stack 101 is lifted relative to the second stacking aid 100a, and simultaneously, the order stack 101 lifted from the second stacking aid 100a is wrapped with the securing device 181 for stabilization. The secured order stack 101 is then lowered again by the lifting device and transferred to a delivery load carrier, preferably a roll container, a pallet, or the like. The delivery load carrier is transported from the load securing station to a delivery area (consolidation area or goods issue point) by a stationary conveyor system (not shown) or an autonomously moving, driverless transport vehicle 9.

[0307] The transport of the unloaded stacking aids 100a, 100b by the autonomously moving, driverless transport vehicles 9 comprises the following steps: Transport of the first stacking aid 100a from the load securing station to the loading station with one or more automated loading devices 170, provided that a first stacking aid 100a is used in the picking warehouse 1a; 1b; 1c; 1d, and / or transport of the second stacking aid 100b from the load securing station to the unloading station and provision of the second stacking aid(s) 100b either at an automated unloading device 32; 65; 75; 132 or on a buffer area 136 near the transfer device 32; 65; 75; 132, provided that a first stacking aid 100a is used in the picking warehouse 1a; 1b; 1c;1d a second stacking aid 100b is used, and / or the second stacking aid 100b is transported from the load securing station to the unloading station and the second stacking aid(s) 100b is made available either at a semi-automated unloading device 151 or on a buffer area 153b near the unloading device 151, provided that a second stacking aid 100b is used in the picking warehouse 1a; 1b; 1c; 1d.

[0308] In the Fig. 13a bis 13d and 14a und 14b The transfer device 147 is for the automatic unloading of a transport loading aid 7, 107 with stacked goods carriers 3 and for loading a target loading aid 34, 134 with goods carriers 3 by clamping grip. Thus, no suction grip is provided, which would severely limit the range of different goods carriers 3. The transfer device 147 comprises a clamping gripping unit, in particular the clamping jaws 254a, 254b.

[0309] Such a transfer device 147 can be used on an automated unloading device 32, 65, 75, 132 of the unloading station (transfer station) for a picking warehouse 1a, 1b, 1c, 1d as described above. The unloading device 32, 65, 75, 132 (transfer device) comprises the transfer device 147, which is movable in space relative to a support structure 42, 142. The transfer device 147 can be moved in an xyz direction and rotated about a vertical axis (z-axis).

[0310] The transfer device 147 comprises: a base frame 250, by first drive devices 251a, 251b relative to the base frame 250 and in a first direction (y) independently of each other between a retracted starting position (as in the Fig. 13a, 13b (shown in full lines) and an extended shooting position (as in the Fig. 14a, 14b (shown in dashed lines) movable loading tongues 252a, 252b, which in an extended receiving position receive at least one load carrier 3, by at least a second drive device 253a, 253b in a second direction (x) relative to each other between a retracted opening position (as in the Fig. 13c, 13d (shown in dashed lines) and an angled clamping position (as in the Fig. 13c, 13d and in the Fig. 14a, 14b (shown in full lines) movable clamping jaws 254a, 254b, and a lifting frame 256 movable in a third direction (z) relative to the base frame 250 by at least a third drive device 255, on which the clamping jaws 254a, 254b are mounted and by which the clamping jaws 254a, 254b are moved between a lower height position (as shown in Fig. 15c (as shown) and an upper height position (as shown) and an upper height position (as shown) Fig. 15d (shown) are movable, so that for unloading the transport loading aid 7, 107 the at least one goods carrier 3 can be lifted by the clamping jaws 254a, 254b positioned against the at least one goods carrier 3 ( Fig. 15d ) and at least one of the loading tongues 252a, 252b is at least partially slidable under the at least one goods carrier 3 raised by the clamping jaws 254a, 254b in order to receive the at least one goods carrier 3 in the extended receiving position ( Fig. 15e und 15f ).

[0311] In the embodiment shown, the clamping jaws 254a, 254b are movable between the retracted open position and the engaged clamping position by means of second drive devices 253a, 253b. However, it is also possible for only one of the clamping jaws 254a, 254b, for example the first clamping jaw 254a, to be movable relative to the second clamping jaw 254b by a single second drive device 253a.

[0312] As in Fig. 13c The first clamping jaw 254a and the second clamping jaw 254b each form clamping jaw webs running parallel to each other, which in the clamped position of the clamping jaws 254a, 254b are in contact with the opposite product carrier walls 265a, 265b of a product carrier 3 or the opposite product carrier walls 265a ( Fig. 14a ) side-by-side product carrier 3 ( Fig. 16f ) are brought into contact. The clamping jaws can also form spring tongues separated by slots, which can be particularly well positioned against uneven product carrier walls 265a, 265b.

[0313] The transfer device 147 can also include a stop device with one or more stop elements 257a, 257b, against which at least one goods carrier 3 can be placed, in particular when it is positioned on the loading tongues 252a, 252b which have moved into the extended receiving position ( Fig. 14a ) is located or on the loading tongue 252b moved into the extended receiving position ( Fig. 14b ) is located.

[0314] According to one possible embodiment, the first clamping jaw 254a is arranged on a first clamping jaw frame 258a and the second clamping jaw 254b on a second clamping jaw frame 258b, wherein one of the first and second clamping jaw frames 258a, 258b can be adjusted in a second direction (x) by at least a fourth drive device 259 at least between a first configuration width and a second configuration width in order to position a workpiece carrier 3 with a first length dimension (as in Fig. 14a shown - for example 600 mm) and in the second configuration width between the first clamping jaw 254a and second clamping jaw 254b a product carrier 3 with a second length dimension (as shown in Fig. 14b (shown - for example, 300 mm).

[0315] By changing the width, the transfer device 147 can also manipulate workpiece carriers 3 with different length dimensions. Although only a first configuration width and a second configuration width are shown, additional configuration widths can of course be set.

[0316] It can also prove advantageous if at least one of the clamping jaws 254a, 254b, for example the clamping jaws 254a, as in Fig. 13a The load carrier 34, 134 is additionally movable in the first direction (y) relative to the frame 250 into a retracted release position by a fifth drive device 260a, 260b for loading the target loading aid 34, 134. In the retracted release position, the stop element(s) 257a, 257b project beyond the aforementioned at least one clamping jaw 254a, 254b, so that the at least one load carrier 3 can be stacked onto the target loading aid 34, 134 unhindered by the at least one loading tongue 252a, 252b. This is shown in Fig. 15j) bis 15k ) shown. This design is advantageous because the clamping of the product carrier 3 can be maintained until just before the product carrier 3 is dispensed.

[0317] In principle, it is also conceivable that the first clamping jaw 254a and second clamping jaw 254b can each be moved into a retracted release position in the first direction (y) relative to the frame 250 by means of a fifth drive device 260a, 260b.

[0318] As can be seen in the figures, the second drive device 253a, 253b and one of several stop elements 257a, 257b of the stop device are also mounted on the first or second clamping jaw frame 258a, 258b. If the fifth drive device 260a, 260b is also present, it is likewise mounted on the first or second clamping jaw frame 258a, 258b.

[0319] The unloading device 32; 65; 75; 132 comprises a control device 261, as schematically shown in Fig. 13a indicated, which is connected to the first drive device 251a, 251b, second drive device 253a, 253b, third drive device 255 and optionally the fourth drive device 259 and optionally the fifth drive device 260a, 260b. The first, second, third and optionally the fourth, fifth drive devices 251a, 251b, 253a, 253b, 255, (259), (260a, 260b) include, for example, electrically and / or fluidically actuated linear drives.

[0320] The transfer device 147 can also be equipped with a first sensor system by which the removal process can be monitored when at least one product carrier 3 is removed from the transport loading aid 7, 107. For example, the stack height of the product carrier stack 8 is detected. Based on the stack height and by detecting the product carriers 3 that are to be unloaded at the unloading device 32; 65; 75; 132, the exact receiving level can be determined at which the loading tongue(s) 252a, 252b are to be extended into the receiving position. According to the embodiment shown, the first sensor system comprises pivotably mounted sensing fingers 262a, 262b on the first or second clamping jaw frame 258a, 258b, which in their initial position ( Fig. 13a, 13b ) are swung out and in their operating position ( Fig. 14a, 14b The initial and operating positions can be detected by an inductive proximity switch (initiator), which is not shown. Preferably, the sensing fingers 262a, 262b are automatically swung back into their initial positions. Alternatively, the first sensor system can also comprise one or more non-contact sensors, for example, optical sensors, which can fulfill the same purpose.

[0321] On the other hand, the unloading device 32; 65; 75; 132 can be equipped with the first sensor system, which, when at least one product carrier 3 is removed from the transport loading aid 7, 107, can detect the stack height of the product carrier stack 8, as not shown in detail. The first sensor system comprises, for example, an image acquisition system with at least one camera and an image evaluation unit.

[0322] The transfer device 147 can also be equipped with a second set of sensors, which allow the loading process to be monitored when loading the target loading aid 34, 134. For example, the stack height of the order stack 101 and / or the correct loading of a goods carrier 3 on the order stack 101, such as the positioning / orientation / inclination of the goods carriers 3 in the order stack 101, are detected. Collision monitoring before loading the target loading aid 34, 134 is also possible.

[0323] The second sensor system can comprise one or more non-contact sensors, for example, optical sensors. Alternatively, the transfer device 147 and / or the unloading device 32; 65; 75; 132 can be equipped with the second sensor system, which can fulfill the same purpose. The second sensor system comprises, for example, an image acquisition system with at least one camera and an image processing unit.

[0324] The control device 261 can also be connected to the first sensor and the second sensor.

[0325] In the jointly described Fig. 15a bis 15g Figure 1 shows a method or sequence for unloading a transport loading aid, for example a transport loading aid 107, with goods carriers 3 stacked one above the other in a receiving chute, by means of a clamping grip. The goods carriers 3 have a first length dimension, for example 600 mm. One width is, for example, 400 mm. The unloading device 32; 65; 75; 132 is not shown in these figures for the sake of clarity.

[0326] Fig. 15a (Step i) shows the movement of the transfer device 147 relative to the transport loading aid 107, as the control device 261 controls the transfer device 147, which is movable in space. It can be seen that the sensing fingers 262a, 262b are still positioned above the uppermost goods carrier 3.

[0327] Fig. 15b (Step ii) shows the positioning of the transfer device 147 relative to the stack of goods carriers 8, particularly with the aid of the first sensor. If the first sensor comprises the sensing fingers 262a, 262b, a lowering movement of the transfer device 147 actuates the sensing fingers 262a, 262b, moving them into the actuation position. As described above, the positioning of the transfer device 147 relative to the stack of goods carriers 8 can also be achieved by an optical sensor or an image processing system (first sensor).

[0328] As in Fig. 15c (Step iii) shown, the transfer device 147 has reached the desired relative position (height position (z), width position (x) and depth position (y)), in which the clamping jaws 254a, 254b are positioned laterally next to the workpiece carrier walls 265a, 265b (see also Fig. 14a ) of a workpiece carrier 3 are positioned. The clamping jaws 254a, 254b are in the retracted open position. The transfer device 147 remains in the relative position until the steps according to Fig. 15d bis 15f (Steps iv) to vii) were carried out.

[0329] Fig. 15d (Step iv) shows the clamping of the workpiece carrier 3 by actuating the at least one second drive device 253a, 253b to move the clamping jaws 254a, 254b in the second direction (x) relative to each other and from a retracted open position to the engaged clamping position, and the lifting of the workpiece carrier 3 of at least one stack layer by the clamping jaws 254a, 254b engaged against the workpiece carrier 3 by actuating the at least one third drive device 255 to move the lifting frame 256 in the third direction (z) relative to the base frame 250 and the clamping jaws 254a, 254b from the lower height position to the upper height position.

[0330] Fig. 15e (Step v) shows the insertion of both loading tongues 252a, 252b under the raised load carrier 3 by actuating the first drive devices 251a, 251b relative to the base frame 250 in order to receive the load carrier 3 in the extended receiving position.

[0331] Fig. 15f (Step vi) and Fig. 14a Figure 1 shows the receiving position of the loading tongues 252a, 252b, in which the loading tongues 252a, 252b are fully extended and the workpiece carrier 3 rests on the loading tongues 252a, 252b. In an optional step vii), it may be advantageous to briefly release the clamping of the workpiece carrier 3 by actuating at least one second drive device 253a, 253b, by moving at least one of the clamping jaws 254a, 254b in the second direction (x) from the engaged clamping position to the retracted open position, so that the workpiece carrier 3 tilts onto the loading tongues 252a, 252b.

[0332] If the optional step vii) is performed, the workpiece carrier 3 is then clamped again by actuating at least one second drive device 253a, 253b, by moving the clamping jaws 254a, 254b in the second direction (x) relative to each other and from a retracted open position to the engaged clamping position.

[0333] Fig. 15g The figure also shows the movement of the transfer device 147 relative to the transport loading aid 107, in that the control device 261 controls the transfer device 147 which can be moved in space.

[0334] The control device 261 is configured to control the transfer device 147 and the first / second / third drive device(s) 251a, 251b, 253a, 253b, 255 for unloading a goods carrier 3 in such a way as to carry out the process steps i) to vii).

[0335] In the jointly described Fig. 15h bis 15n A procedure or sequence for loading a target loading aid, for example a target loading aid 34, in a stacking loading aid 100a is shown. For the sake of clarity, the stacking loading aid 100a is only shown section by section.

[0336] After step vi) or, if applicable, step vii), the transfer device 147 with the workpiece carrier 3 held between the clamping jaws 254a, 254b is moved relative to the target loading aid 34 by the control device 261 controlling the spatially movable transfer device 147, as shown in Fig. 15h (Step i) shown.

[0337] Fig. 15h This shows that the target loading aid 34 has already been loaded with some goods carriers 3. The additional goods carrier 3 is to be placed on the goods carrier 3' shown in hatching, which is already located on the target loading aid 34. The goods carrier 3' is located in the edge area of ​​the stacking wall 206b.

[0338] Fig. 15i (Step ii) shows the positioning of the transfer device 147 (with the additional product carrier 3) relative to the order stack 101, in particular with the aid of the second sensor. In Fig. 15i The transfer device 147 and / or the product carrier 3 is located in an intermediate position (height position (z), width position (x) and / or depth position (y)).

[0339] Fig. 15j (Step iii) shows how, for loading the target loading aid 34, the clamping jaw 254b, which faces the stacking wall 206b, is moved by the fifth drive device 260b in the first direction (y) relative to the frame 250 and into the retracted release position. As can be seen, the stop element(s) 257a, 257b project beyond the aforementioned clamping jaw 254b after it has been moved into the release position.

[0340] Fig. 15k (Step iv) shows the positioning of the transfer device 147 and / or the workpiece carrier 3 from the intermediate position (height position (z), width position (x) and / or depth position (y)) to the final position (height position (z), width position (x) and depth position (y)), in which the additional workpiece carrier 3 can be unloaded onto the workpiece carrier 3' already located at the target loading aid 34. The positioning of the workpiece carrier 3 to the final position can be achieved by moving the transfer device 147.

[0341] Fig. 15l (Step v) shows the movement of the clamping jaw 254a from the engaged clamping position to the retracted open position. The workpiece carrier 3 still rests on the loading tongues 252a, 252b if both loading tongues 252a, 252b have been moved into the receiving position, or on one of the loading tongues 252a, 252b if only one of the loading tongues 252a, 252b has been moved into the receiving position.

[0342] Fig. 15m (Step vi) shows the loading / unloading of the goods carrier 3 onto the goods carrier 3'. For this purpose, both loading tongues 252a, 252b are moved to the retracted starting position if both loading tongues 252a, 252b have been moved to the receiving position, or one loading tongue 252a, 252b is moved to the retracted starting position if only one of the loading tongues 252a, 252b has been moved to the receiving position.

[0343] Fig. 15n The figure also shows the movement of the transfer device 147 relative to the transport loading aid 107, in that the control device 261 controls the transfer device 147 which can be moved in space.

[0344] It should be noted here that either a single product carrier 3 or a stack of product carriers can be removed from the transport loading aid 7, 107 by the transfer device 147 and unloaded onto the destination loading aid 34, 134. Alternatively, instead of one product carrier 3 with the first length dimension (e.g., 600 mm), two product carriers 3 with the second length dimension (e.g., 300 mm) can be removed simultaneously from the transport loading aid 7, 107 and unloaded onto the destination loading aid 34, 134. The width dimensions are preferably the same, for example, 400 mm.

[0345] It is also possible to stack one or more empty product carriers 3 between stack layers in a stacking level to stabilize the order stack 101. If the product carriers are collapsible containers, then one or more collapsible containers are stacked between stack layers in a stacking level. This is also done automatically by the transfer device 147.

[0346] In the jointly described Fig. 16a bis 16n Figure 1 shows a method or sequence for unloading a transport loading aid, for example a transport loading aid 107, with goods carriers 3, 3' stacked one above the other and arranged side by side in a stacking position in a receiving chute, by means of a clamping grip. The goods carriers 3, 3' have a second length dimension, for example 300 mm. One width is, for example, 400 mm. The unloading device 32; 65; 75; 132 is not shown in these figures for the sake of clarity.

[0347] Fig. 16a (Step i) shows the movement of the transfer device 147 relative to the transport loading aid 107, as the control device 261 controls the transfer device 147, which is movable in space. It can be seen that the sensing fingers 262a, 262b are still positioned above the uppermost product carriers 3, 3'.

[0348] Fig. 16b (Step ii) shows the positioning of the transfer device 147 relative to the stacks of workpieces 8, 8', particularly with the aid of the second sensor system. If the first sensor system comprises the sensing fingers 262a, 262b, a lowering movement of the transfer device 147 actuates the sensing fingers 262a, 262b, moving them into the actuation position. As described above, the positioning of the transfer device 147 relative to the stacks of workpieces 8, 8' can also be achieved by one or more optical sensors or an image processing system (first sensor system).

[0349] As in the Fig. 16c and Fig. 16d (Step iii) shown, the transfer device 147 has reached the desired relative position (height position (z), width position (x), and depth position (y)) in which the clamping jaws 254a, 254b are positioned laterally next to the product carrier walls 265a of adjacent product carriers 3, 3' facing away from each other. The clamping jaws 254a, 254b are in the retracted open position. The transfer device 147 remains in the relative position until the steps according to Fig. 16d bis 16n (Steps iv) to ix) were carried out.

[0350] Fig. 16e und Fig. 16f (Step iv) shows the clamping of the adjacent product carriers 3, 3' by actuating the at least one second drive device 253a, 253b to move the clamping jaws 254a, 254b in the second direction (x) relative to each other and from a retracted open position to the clamped position, and simultaneously lifting the adjacent product carriers 3, 3' of at least one stack layer by the clamping jaws 254a, 254b, which are positioned against the product carriers 3, 3', by actuating the at least one third drive device 255 to move the lifting frame 256 in the third direction (z) relative to the base frame 250 and the clamping jaws 254a, 254b from the lower height position to the upper height position.

[0351] Fig. 16g and Fig. 16h (Step v) shows the insertion of one of the loading tongues 252a, 252b, namely specifically the loading tongue 252b, under one of the adjacent and raised product carriers 3 by actuating one of the first drive devices 251a, 251b, namely specifically the first drive device 251b, relative to the base frame 250, in order to receive one of the product carriers 3 in the extended receiving position.

[0352] Fig. 16i und Fig. 16j (Step vi) still show the receiving position of the loading tongue 252b, in which the loading tongue 252b is fully extended and the load carrier 3 is placed on the loading tongue 252b.

[0353] Fig. 16k and Fig. 16l (Step vii) show the temporary release of the clamping of the product carriers 3, 3' by actuating the at least one second drive device 253a, 253b, in order to move at least one of the clamping jaws 254a, 254b in the second direction (x) from the engaged clamping position to the retracted open position, so that the product carrier 3', which is not supported from below, tips back onto the stack of goods 8' in the transport loading aid 107.

[0354] Fig. 16m (Step viii) shows the change in configuration width from the first configuration width (see Fig. 16k , 16l ) into the second configuration width ( Fig. 16m ) by at least one fourth drive device 259 in the second direction (x).

[0355] Fig. 16n (Step ix) shows the clamping of the workpiece carrier 3, which is received on the loading tongue 252a moved into the extended receiving position, by actuating the at least one second drive device 253a, 253b, in order to move the clamping jaws 254a, 254b in the second direction (x) relative to each other and from a retracted open position into the engaged clamping position.

[0356] Fig. 16o The figure also shows the movement of the transfer device 147 relative to the transport loading aid 107, in that the control device 261 controls the transfer device 147 which can be moved in space.

[0357] The control device 261 is configured to control the transfer device 147 and the first / second / third / fourth drive device(s) 251a, 251b, 253a, 253b, 255, 259 for unloading a goods carrier 3 in such a way as to carry out the process steps i) to ix).

[0358] If, after loading a target loading aid 34, 134 with the goods carrier 3, the goods carrier 3' is subsequently also to be loaded onto the target loading aid 34, 134, the unloading is carried out in accordance with the procedure steps i) to vii), as described below. Fig. 15a bis 15f The procedure is the same, with the only difference being that the second configuration width remains set or is set, in which the product carrier 3' with the second length dimension is accommodated between the first clamping jaw 254a and the second clamping jaw 254b.

[0359] With regard to the loading of a target loading aid, reference is made to the disclosure concerning the Fig. 15h bis 15m indicated and is carried out in the same way, with the only difference being that the goods carrier 3 is unloaded from one of the loading tongues 252a, 252b.

[0360] It should be noted at this point that either a single goods carrier 3, 3' or a stack of goods carrier parts can be removed from the transport loading aid 7, 107 by the transfer device 147 and unloaded onto the target loading aid 34, 134.

[0361] The described order picking warehouse and storage and picking procedure are particularly suitable for the fresh food sector, where perishable goods, such as fresh fruit and vegetables, require rapid turnover and where typically only a limited number of different varieties need to be picked simultaneously. It enables particularly efficient handling of goods (2) / storage carriers (3) with high picking performance in short timeframes.

[0362] Finally, it is also noted that the scope of protection is defined by the patent claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the different embodiments shown and described can, in themselves, represent independent inventive solutions.

[0363] It is specifically noted that the depicted devices may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size. Bezugszeichenaufstellung

[0364] 1a..1d Picking warehouse 2 Goods 3 Carrier 4 Delivery area 5 Storage area 6 Order processing area 7, 7a..7f Transport loading aid 8 Goods carrier stack 8' (pre-)picked goods carrier stack 8" (pre-)picked goods carrier sub-stack 9 Transport vehicle (industrial truck) 10 Goods carrier stacking group 11 Depalletizing device 12a, 12b Conveyor device 13 Loading device 14a, 14b Conveyor device 15a, 15b Transfer point 16a, 16b Loading point 17 Transfer device Loading device 18 Support structure 19 Portal carriage 20 Portal arm 30 Buffer area loading station 31 Storage area 32 Unloading device 33 Conveyor device 34a..34c Target loading aid 35 Conveyor device 36 Buffer area unloading station / transfer station 37 Waiting area 40a..40b Loading area 41 Transfer device Unloading device / transshipment device 42 Support structure 43 Portal carriage 44 Portal carriage 45 Portal alarm 46 Order computer 47 Control system 50 Chassis 51 Loading platform 52 Wheel 53 Steerable wheel 54 Driving control 55Bottom 56First side wall 56b, 56First side wall 56cSecond side wall 57Loading and unloading opening 57a, 57b Loading and unloading opening 58 Storage area 59 Transport area 60 Adjustable foot 61 Infeed ramp 65 Unloading device 66 Buffer area 66a, 66b Buffer area 67a, 67b Loading area 68a, 68b Conveyor device 69 Transfer device 70a, 70b Receiving area 71a, 71b Loading area 75 Unloading device 76 Buffer area 76a, 76b Buffer area 77a, 77b Loading area 81 Support structure 82 Portal carriage 83 Portal arm 84 Transfer device 90 Cleaning robot 91a, 91b Temperature zone 92a, 92b Data carrier 92c Data carrier 100a, 100b Stacking aid 101 Order stack 107 Transport loading aid 112a, 112b Conveyor device 113 Loading device 114a, 114b Conveyor device 117 Transfer device 118 Support structure 119 Portal carriage 120 Portal arm 132 Unloading device 134 Target loading aid 136 Buffer area Stacking aid 139a..139b Loading area Stacking aid Automatic unloading device 142 Support structure 143 Portal slide 144 Portal arm 145 Portal slide 146 Portal slide 147 Transfer device Unloading device / Transfer device 150 Transport loading aid 151 Unloading device 152a Loading area Transport loading aid Automatic unloading device 152b Loading area Stacking aid Automatic unloading device 153a Buffer area Transport loading aid 153b Buffer area Stacking loading aid 154a, 154b Lifting platform 155 Workplace 156 Work surface 160 Loading device 161 Loading station for second loading device 162 Transfer device 163 Buffer area 170 Assembly device 171 Loading station Assembly device 172 Transfer device 173 Buffer area 180 Load securing device 181 Securing device 182 Loading area 183 Lifting frame 184 Telescopic fork 185 Buffer area 200a, 200b Side wall section 201a, 201b Floor wall section 205 Floor 206a, 206b Stacking wall 207 Storage area 208 Transport area 210 Recording channel 211 Support block 212 Adjustable foot 250 Base frame 251a, 251 Drive device Loading tongue 252a, 252b Loading tongue 253a, 253b second drive device clamping jaw 254a, 254b clamping jaw 255 third drive device lifting frame 256 lifting frame 257a, 257b stop element 258a, 258b Clamping jaw frame 259 Fourth drive device Adjustment width configuration 260a, 260b Fifth drive device Clamping jaw Release position 261 Control device 262a, 262b Sensor finger 265a, 265b Warehouse wall

Claims

1. A transfer device (147) for unloading a transport loading aid (7; 107) with article carriers (3) stacked on top of one another and for loading a target loading aid (34; 134) with article carriers (3) by clamping gripping, in particular article carriers (3) having different longitudinal dimensions, the transfer device (147) comprising - a base frame (250), - loading tongues (252a, 252b) movable by first drive devices (251a, 251b) relative to the base frame (250) and in a first direction (y) independently of one another between a retracted initial position and an extended receiving position, the loading tongues receiving at least one article carrier (3) in the extended receiving position, - clamping jaws (254a, 254b) movable by a second drive device (253a, 253b) relative to one another in a second direction (x) between a retracted opened position and an abutting clamping position for clampingly gripping at least one article carrier (3), and - a lifting frame (256) movable by a third drive device (255) in a third direction (z) relative to the base frame (250), wherein the clamping jaws (254a, 254b) are mounted on the lifting frame (256) and the clamping jaws (254a, 254b) are movable between a lower height position and an upper height position by the lifting frame (256), such that for unloading the transport loading aid (7; 107) - the at least one article carrier (3) being liftable by the clamping jaws (254a, 254b) placed against the at least one article carrier (3), and - at least one of the loading tongues (252a, 252b) being at least partially slidable under the at least one article carrier (3) lifted by the clamping jaws (254a, 254b) in order to receive the at least one article carrier (3) in the extended receiving position.

2. The transfer device according to claim 1, characterized by a stop device with one or multiple stop element(s) (257a, 257b), wherein the at least one article carrier (3) is placeable against the one or multiple stop element(s) (257a, 257b).

3. The transfer device according to claim 1 or 2, characterized in that the first clamping jaw (254a) is arranged on a first clamping jaw frame (258a) and the second clamping jaw (254b) is arranged on a second clamping jaw frame (258b) and one of the first and second clamping jaw frames (258a, 258b) is adjustable in a second direction (x) at least between a first configuration width and a second configuration width by at least one fourth drive device (259) in order to receive an article carrier (3) with a first longitudinal dimension in the first configuration width between the first clamping jaw (254a) and the second clamping jaw (254b) and to receive an article carrier (3) with a second longitudinal dimension in the second configuration width between the first clamping jaw (254a) and the second clamping jaw (254b).

4. The transfer device according to claim 3, characterized in that the second drive device (253a, 253b) and one of multiple stop elements (257a, 257b) of the stop device are also mounted on the first or second clamping jaw frame (258a, 258b) adjustable in a second direction (x) by the at least one fourth drive device (259).

5. The transfer device according to one of claims 1 to 4, characterized in that at least one of the clamping jaws (254a, 254b) for loading the target loading aid (34, 134) is additionally movable in the first direction (y) relative to the frame (250) into a retracted release position by a fifth drive device (260a, 260b).

6. An unloading station for an order fulfillment facility (1a, 1b, 1c, 1d) comprising at least one automatically operated unloading device (32; 65; 75; 132) with a transfer device (147) that is spatially movable in relation to a support construction (42; 142) for unloading a transport loading aid (7; 107) and for loading a target loading aid (34, 134) with article carriers (3) having the same and / or different longitudinal dimensions by clamping gripping, characterized in the transfer device (147) is configured according to one of claims 1 to 5.

7. The unloading station according to claim 6, characterized in that the first drive device (251a, 251b), the second drive device (253a, 253b), the third drive device (255) and the fourth drive device (259) are connected to a control device (261) of the unloading device (32; 65; 75; 132), wherein the control device (261) is configured to control the transfer device (147) and its drive devices (251a, 251b, 253a, 253b, 255, 259) so as to perform the following method steps for unloading one of the article carriers (3) arranged next to one another in a stack layer - moving the transfer device (147) relative to the article carrier stacks (8, 8') in the transport loading aid (7; 107), - positioning the clamping jaws (254a, 254b) relative to a stack layer and laterally beside article carrier walls (265a) of the article carriers (3, 3') arranged next to one another by moving the transfer device (147), - clamping the article carriers (3, 3') arranged next to one another by actuating the at least one second drive device (253a, 253b) for moving the clamping jaws (254a, 254b) relative to one another in the second direction (x) and from a retracted opened position into the abutting clamping position, - lifting the article carriers (3, 3') arranged next to one another of at least one stack layer by the clamping jaws (254a, 254b) placed against the article carriers (3, 3') at the article carrier walls (265a) by actuating the at least one third drive device (255) for moving the lift frame (256) in the third direction (z) relative to the base frame (250) and the clamping jaws (254a, 254b) from the lower height position into the upper height position, - sliding one of the loading tongues (252a, 252b) under one of the article carriers (3, 3'), which are lifted and arranged next to one another, by actuating one of the first drive devices (251a, 251b) relative to the base frame (250) for receiving the one of the article carriers (3) in the extended receiving position, - releasing the clamping of the article carriers (3, 3') by actuating the at least one second drive device (253a, 253b) for moving at least one of the clamping jaws (254a, 254b) in the second direction (x) from the abutting clamping position into the retracted opened position, such that the article carrier (3'), which is not supported from below, tilts back onto the article stack (8') in the transport loading aid (7; 107), - changing the configuration width in a second direction (x) from the first configuration width to the second configuration width by the at least one fourth drive device (259), - clamping of the article carrier (3), which is received on the loading tongue (252a) moved into the extended receiving position, by actuating the at least one second drive device (253a, 253b) for moving the clamping jaws (254a, 254b) relative to one another in the second direction (x) and from a retracted opened position into the abutting clamping position.

8. An order fulfillment facility (1a, 1b, 1c, 1d) comprising an unloading station with one or multiple automatically operated unloading device(s) (32; 65; 75; 132), wherein the unloading station (32; 65; 75; 132) has a transfer device (147) that is spatially movable in relation to a support construction (42; 142) for unloading a transport loading aid (7; 107) and for loading a target loading aid (34, 134) with article carriers (3) having the same and / or different longitudinal dimensions by clamping gripping, characterized in that the unloading station is configured according to claim 6.

9. The order fulfillment facility (1a; 1b; 1c; 1d) according to claim 8, comprising - an order-processing computer (46) for acquiring a picking order and for determining articles (2) which are required for the picking order, - a plurality of transport loading aids (7; 107) each for receiving and stabilizing the position of at least one article carrier stack (8) of multiple article carriers (3) arranged on top of one another, wherein the transport loading aids (7; 107) comprise mobile empty transport loading aids (7; 107), - a delivery zone (4) for providing article carrier stacks (8) of multiple article carriers (3) arranged on top of one another, - a loading station either with one or multiple automatically operated loading device(s) (13; 113) or with one or multiple automatically operated loading device(s) (13; 113) and a buffer surface (30) close to the loading device(s) (13, 113), wherein the loading device (13, 113) is configured for loading one of the empty transport loading aids (7; 107) with at least one article carrier stack (8), wherein the empty transport loading aid (7; 107) is provided for loading at the automatically operated loading device (13; 113), - a storage zone (5) for storing the transport loading aids (7; 107) loaded with at least one article carrier stack (8) or the transport loading aids (7; 107) loaded with individual article carriers (3) on a storage surface (31), and - a plurality of autonomously movable, driverless transport vehicles (9) controlled by a control system (47) and each have a chassis (50) with a drive unit and a loading platform (51) arranged on the chassis (50) for receiving a transport loading aid (7; 107), - to transport empty transport loading aids (7; 107) to the loading station and to provide one of the empty transport loading aids (7; 107) either at the automatically operated loading device (13; 113) or on the buffer surface (30) close to the loading device (13; 113), and - to transport the transport loading aid (7; 107) loaded with at least one article carrier stack (8) from the loading station to a storage zone (5), and - to transport one or multiple transport loading aid(s) (7; 107) containing the article carriers (3) required for a picking order from the storage zone (5) to the unloading station and to provide the transport loading aid(s) (7; 107) either at one or multiple automatically operated unloading device(s) (32; 65; 75; 132) or on a buffer surface (36; 66; 76) close to the unloading device(s) (32; 65; 75; 132), wherein the unloading station is configured for assembling the article carriers (3) for the mentioned picking order, and wherein for unloading a transport loading aid (7; 107) the transport loading aid (7; 107) is provided at an automatically operated unloading device (32; 65; 75; 132) and wherein unloading is performed by a removal of the article carriers (3) required for processing the mentioned picking order.

10. The order fulfillment facility according to claim 8 or 9, characterized in that the transport loading aid (7; 107) comprises a base (55) and side walls (56a, 56b, 56c, 56d) connected to the base (55), at least one accommodating shaft bounded by the side walls (56a, 56b, 56c, 56d) for accommodating at least one article carrier stack (8) and a loading and unloading opening (57, 57a, 57b), wherein the side walls (56a, 56b, 56c, 56d) serve to stabilize the position of the at least one article carrier stack (8) when the article carrier stack (8) is placed on the base (55), - exclusively comprise first side walls (56a, 56b, 56d) arranged parallel or inclined to each other, or - comprise first side walls (56a, 56b, 56d) arranged parallel or inclined to each other and a second side wall (56c) arranged between the first side walls (56a, 56b, 56d).

11. The order fulfillment facility according to claim 10, characterized in that the second side wall (56c) comprises a side wall part (200a, 200b) inclined at an inclination angle (α1) towards a vertical plane spanning between the first side walls (56a, 56b, 56d) such that the side wall part (200a, 200b) is inclined backwards with increasing vertical distance from the base (55).

12. The order fulfillment facility according to claim 10 or 11, characterized in that the base (55) comprises a base part (201a, 201b) which is inclined downwards in the direction towards the second side wall (56c) at an inclination angle (α2) towards a horizontal plane spanned between the first side walls (56a, 56b, 56d).

13. The order fulfillment facility according to one of claims 10 to 12, characterized in that the base (55) comprises a placing surface (58) on its upper side, wherein at least one article carrier stack (8) can be placed on the placing surface (58), and a transport surface (59) on its lower side, against which a loading platform (51) of the transport vehicle (9) can be positioned.

14. The order fulfillment facility according to claim 9, characterized by one or multiple stack loading aids (100a, 100b) each for stabilizing the position of an order stack (101) assembled of the article carriers (3) according to the mentioned picking order, wherein the one or multiple stack loading aids (100a, 100b) comprise at least one first stack loading aid (100a) and / or at least one second stack loading aid (100b) comprising a base (205) and stack walls (206a, 206b) connected to the base (205).