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METHOD AND ORDER-PICKING STORAGE FACILITY FOR STORING AND ORDER-PICKING ARTICLES

20210261337 · 2021-08-26

Assignee

Inventors

Cpc classification

International classification

Abstract

The invention relates to a method for storing and picking stackable article carriers (3) in an order fulfillment facility, in which transport loading aids (7; 107) are transported between a loading station with an automatically operated loading device (13), a storage zone (5) and a removal station with an automatically operated unloading device (32) by means of autonomously moveable, driverless transport vehicles (9). The transport loading aids (7; 107) are loaded with article carrier stacks (8) in the loading station and the article carrier stacks (8) are discharged from the transport loading aids (7; 107) in the unloading station. Subsequently, the article carriers (3) for a picking order are reloaded onto one or multiple target loading aids (34; 134). The invention further relates to an order fulfillment facility for storing and picking stackable article carriers (3).

Claims

1. A method for storing and picking article carriers (3) that contain articles (2), in particular groceries from the fresh food sector, and are stackable in an order fulfillment facility (1a; 1b; 1c; 1d), comprising the steps providing autonomously moveable, driverless transport vehicles (9) in the order fulfillment facility (1a; 1b; 1c; 1d), said transport vehicles (9) each having a chassis (50) with a drive unit and a loading platform (21) arranged on the chassis (50) for receiving a mobile transport loading aid (7; 107), providing transport loading aids (7; 107) each for receiving and stabilizing the position of at least one article carrier stack (8; 8′) of multiple article carriers (3) arranged on top of one another in the order fulfillment facility (1a; 1b; 1c; 1d), wherein the transport loading aids (7; 107) comprise mobile, empty (first) transport loading aids (7; 107), providing article carrier stacks (8) of multiple article carriers (3) arranged on top of one an-other in a delivery zone (4) of the order fulfillment facility (1a; 1b; 1c; 1d), transporting empty (first) transport loading aids (7; 107) by means of the autonomously moveable, driverless transport vehicles (9) to a loading station and providing one or multiple empty (first) transport loading aid(s) (7;107) either on one or on multiple automatically operated first loading device(s) (13; 113) or on a buffer surface (30) close to the loading device(s) (13; 113), loading one of the empty (first) transport loading aids (7; 107), which is provided at the automatically operated first loading device (13; 113), with at least one article carrier stack (8) from the delivery zone (4) by means of the automatically operated first loading device (13; 113), transporting the (first) transport loading aid (7; 107) loaded with at least one article carrier stack (8) from the loading station to a storage zone (5) by means of the autonomously moveable, driverless transport vehicle (9), placing the (first) transport loading aid (7; 107) loaded with at least one article carrier stack (8) on a storage surface (31) in the storage zone (5), storing the (first) transport loading aids (7; 107) loaded with at least one article carrier stack (8) or the (first) transport loading aids (7; 107) loaded with individual article carriers (3) in the storage zone (5), processing a picking order comprises the following steps transporting one or multiple (first) transport loading aid(s) (7; 107) containing the article carriers (3) required for a picking order from the storage zone (5) to an unloading station and providing said (first) transport loading aid(s) (7; 107) either at one or at multiple automatically operated unloading device(s) (32; 65; 75; 132) or on a buffer surface (36; 66; 76) close the unloading device(s) (32; 65; 75; 132) by means of one or multiple autonomously moveable, driverless transport vehicle(s) (9), unloading one or multiple ones of the (first) transport loading aid(s) (7; 107), which is (are) provided at the automatically operated unloading device(s) (32; 65; 75; 132), by removing the article carriers (3) required for processing the mentioned picking order, and assembling the article carriers (3) on one or multiple target loading aids (34; 134) for the mentioned picking order in an order processing zone (6).

2. The method for storing and picking articles according to claim 1, wherein assembling the article carriers (3) for the mentioned picking order is carried out in such a way that the article carriers (3) removed from the article carrier stack (8) at the unloading device(s) (65; 75) or the at least one article carrier stack (8) removed at the unloading device(s) is/are either discharged onto a stationary conveyor system, which is arranged be-tween the unloading station with the unloading device(s) (65) and a reloading station with one or multiple automatically operated reloading device(s) (32), and the article carrier (3) or article carrier stack (8; 8′) is (are) transported by the conveyor system from the unloading device(s) to the reloading device(s) (32) device, or is/are discharged onto at least one mobile empty (second) transport loading aid (7; 107) comprising the transport loading aids (7; 107), and the at least one loaded (second) transport loading aid (7; 107) with the article carrier (3) or article carrier stack (8′; 8″) is (are) transported by an autonomously moveable, driverless transport vehicle (9) from the unloading device(s) (75) to at least one reloading device, whereupon the article carrier (3) or the article carrier stack (8; 8′; 8″) is transferred to a target loading aid (34; 134) by the reloading device (32).

3. The method for storing and picking articles according to claim 2, wherein the article carriers (3) removed from the article carrier stack (8) at the unloading device(s) (65; 75) or the article carrier stacks (8) removed at the unloading device(s) (65; 75) are consecutively discharged, preferably in an order provided by the packing order of the article carriers (3) at the target loading aid (34; 134), onto the stationary conveying system or the at least one mobile, empty (second) transport loading aid (7; 107) and, preferably in said order, subsequently transported to the at least one reloading device (32).

4. The method for storing and picking articles according to claim 2, wherein the article carriers (3) removed from the article carrier stack (8) at the unloading device(s) (65; 75) is are discharged, preferably in an order provided by the packing order of the article carriers (3) at the target loading aid (34; 134), onto the stationary conveying system or the at least one mobile, empty (second) transport loading aid (7; 107) such that at least one (pre-picked) article carrier stack (8″) of multiple article carriers (3) arranged on top of one another is assembled, which is subsequently transported to the at least one reloading device.

5. The method for storing and picking articles according to claim 1, comprising the steps acquiring picking orders on an order-processing computer (46), determining the articles required for one of the picking orders (demand), analysis of a stock of those articles (2) which are required for the mentioned picking order, which picking order comprises one or multiple first article carrier(s) (3) containing the article(s) (2) and one or multiple second article carrier(s) (3) containing the article(s) (2), and assembling the article carriers (3) for the mentioned picking order in consecutive picking steps if a required quantity of an article (2) exceeds the stock of said article (2), wherein i) in a first picking step, the (second) transport loading aid (7; 107) is loaded with one or multiple first article carrier(s) (3) at the unloading device (75), and subsequently said (second) transport loading aid (7; 107) is transported from the unloading device (75) to a buffer surface (76) by means of an autonomously moveable, driverless transport vehicle (9) and is buffered there, and ii) in a second picking step, the (second) transport loading aid (7; 107) is transported from the buffer surface (76) to the unloading device (75) by means of an autonomously moveable, driverless transport vehicle (9) and is provided there, if a required quantity of an article (2) falls below the stock of said article (2), and subsequently the (second) transport loading aid (7; 107) is loaded with one or multiple second article carrier(s) (3), and transporting the (second) transport loading aid (7; 107) from the unloading device (75) to the reloading device (32) by means of an autonomously moveable, driverless transport vehicle (9) after steps i) and ii) have been concluded, and transferring the article carrier stack (8′; 8″) onto a target loading aid (34; 134) by means of the reloading device (32).

6. The method for storing and picking articles according to claim 1, wherein assembling the article carriers (3) for the mentioned picking order is carried out in such a way that the article carriers (3) removed from the article carrier stack (8) at the unloading device (32) or the article carrier stack (8) is transferred onto a target loading aid (34; 134) by the unloading device (32).

7. The method for storing and picking articles according to claim 2, comprising the additional steps transporting a transport loading aid (7; 107) from the unloading station back into the storage zone (5) after removal of the article carriers (3), if not all article carriers (3) have been removed from the mentioned transport loading aid (7; 107), or transporting a transport loading aid (7; 107) from a first unloading device (32) to a second unloading device (32) after removal of the article carriers (3), if not all article carriers (3) have been removed from the mentioned transport loading aid (7; 107) and if said article carriers (3) are needed at the second unloading de-vice (32) for a picking order, or transporting a transport loading aid (7; 107) from the unloading device (32) to a waiting zone (37) in the unloading station after removal of the article carriers (3), if not all article carriers (3) have been removed from the mentioned transport loading aid (7; 107) and if said article carriers (3) are needed at the mentioned unloading device (32) or one of the unloading devices (32) for an already advised picking order, or transporting a transport loading aid (7; 107) back to the loading station after removal of the article carrier stack (8; 8′; 8″) and providing the transport loading aid (7; 107) either at the automatically operated first loading device (13; 113) or on the buffer surface (30), if all article carriers (3) have been removed from the mentioned transport loading aid (7; 107).

8. The method for storing and picking articles according to claim 1, comprising the additional steps providing a depalletizing station in the delivery zone (4), separating article carrier stacks (8) of an article carrier stack group (10) assembled of article carrier stacks (8) each of multiple article carriers (3) arranged on top of one another by means of an automatically operated depalletizing device (11) of the depalletizing station, transporting the article carrier stacks (8) from the at least one automatically operated depalletizing device (11) to one or multiple automatically operated first loading device(s) (13; 113).

9. The method for storing and picking articles according to claim 2, comprising the step assembling article carrier stacks (8) on the target loading aid (34;134) with multiple article carrier stacks (8) by means of the automatically operated reloading device (32) of the reloading station.

10. The method for storing and picking articles according to claim 1, wherein the article carriers (3) are containers and/or cartons.

11. The method for storing and picking articles according to claim 1, wherein the article carriers (3) form different dimensions.

12. The method for storing and picking articles according to claim 1, comprising the steps providing a cleaning system with an automatically operated cleaning robot (90), cleaning the transport loading aids (7; 107) and/or the floor in the delivery zone (4), storage zone (5) and order processing zone (6) by means of the cleaning robot (90).

13. The method for storing and picking articles according to claim 1, further comprising the steps providing a first temperature zone (91a) in the storage zone (5), in which the transport loading aids (7; 107) with the at least one article carrier stack (8) of article carriers (3) stacked on top of one another and containing articles (2) of a first article group, providing a second temperature zone (91b) in the storage zone (5), in which the transport loading aids (7; 107) with the at least one article carrier stack (8) of article carriers (3) stacked on top of one another and containing articles (2) of a second article group, definition of a first article group and of a second article group, to which first article group articles (2) of a first storage temperature are assigned and to which second article group articles (2) of a second storage temperature are assigned, and detecting data containing data on the first article group, in particular a first storage temperature for the articles (2), and the second article group, in particular a second storage temperature for the articles (2), on a computer system, identifying the article carriers (3) and/or article carrier stacks (8) and/or transport loading aids (7; 107) by means of a detection device provided in the delivery zone (4) by reading a data carrier (92a, 92b, 92c), which data carrier (92a, 92b, 92c) is affixed in each case on the article carriers (3) and/or article carrier stacks (8) and/or transport loading aids (7; 107), selectively transporting the (first) transport loading aids (7; 107), each loaded with at least one article carrier stack (8), by means of the autonomously moveable, driverless transport vehicles (9) either into the first temperature zone (91a) or second temperature zone (91b), storing the (first) transport loading aids (7; 107) with the at least one article carrier stack (8) of article carriers (3) stacked on top of one another and containing articles (2) of the first article group in the first temperature zone (91a), storing the (first) transport loading aids (7; 107) with the at least one article carrier stack (8) of article carriers (3) stacked on top of one another and containing articles (2) of the second article group in the second temperature zone (91b).

14. The method for storing and picking articles according to claim 13, further comprising the steps transporting one or multiple (first) transport loading aid(s) (7; 107) containing the article carriers (3) required for a first picking order from the first temperature zone (91a) and transporting one or multiple (first) transport loading aid(s) (7; 107) containing the article carriers (3) required for a second picking order from the second temperature zone (91b) to the unloading station by means of a shared, automatically operated unloading device (32; 65; 75; 132), providing the mentioned (first) transport loading aid(s) (7; 107) for the first picking order either at the automatically operated unloading device (32; 65; 75; 132) or on a buffer surface (36; 66; 76) near the unloading device (32; 65; 75; 132) by means of the autonomously moveable, driverless transport vehicle(s) (9), providing the mentioned (first) transport loading aid(s) (7; 107) for the second picking order either at the automatically operated unloading device (32; 65; 75; 132) or on a buffer surface (36; 66; 76) near the unloading device (32; 65; 75; 132) by means of the autonomously moveable, driverless transport vehicle(s) (9), sequentially assembling article carrier stacks (8) on a first target loading aid (34; 134) with multiple article carrier stacks (8) of article carriers (3) stacked on top of one another and containing articles (2) of a first article group, and assembling article carrier stacks (8) on a second target loading aid (34; 134) with multiple article carrier stacks (8) of article carriers (3) stacked on top of one another and containing articles (2) of a second article group at the removal station with a shared, automatically operated removal device (65; 75) and/or reloading station with a shared, automatically operated reloading device (32).

15. The method for storing and picking articles according to claim 1, wherein the article carrier stacks (8) with which the (first) transport loading aids (7; 107) in the loading station are loaded, are each assembled of article carriers (3) with equal articles arranged on top of one another.

16. The method for storing and picking articles according to claim 1, further comprising the steps providing stack loading aids (100a, 100b) in each case for stabilizing the position of an order stack (101) assembled of the article carriers (3) according to the mentioned picking order, of which the stack loading aids (100a, 100b) comprise at least one first stack loading aid (100a) and/or at least one second stack loading aid (100b), and which, in turn, comprise a base (205) and stack walls (206a, 206b) connected thereto, lading the first stack loading aid (100a) with a target loading aid (34) at a lading station by means of one or multiple automatically operated lading device(s) (170), by the target loading aid (34) being placed on the base (205) if a first stack loading aid (100a) is used in the order fulfillment facility (1a; 1b; 1c; 1d), and/or defining the second stack loading aid (100b) as the target loading aid (134) if a second stack loading aid (100b) is used in the order fulfillment facility (1a; 1b; 1c; 1d).

17. The method for storing and picking articles according to claim 16, further comprising the steps transporting stack loading aids (100a, 100b) by means of the autonomously moveable, driverless transport vehicles (9) to the unloading station and providing one or multiple stack loading aid(s) (100a, 100b) either on one or on multiple automatically operated unloading device(s) (32; 65; 75; 132) or on a buffer surface (136) close to the unloading device(s) (32; 65; 75; 132), assembling the article carriers (3) according to the mentioned picking order to the order stack (101) on the target loading aid (34; 134) in the first stack loading aid (100a) or on the base (205) of the second stack loading aid (100b), said first stack loading aid (100a) or second stack loading aid (100b) being provided at the automatically operated unloading device(s) (32; 65; 75; 132).

18. The method for storing and picking articles according to claim 1, further comprising the steps providing one or multiple automatically operated second loading device(s) (160), providing article carrier stack groups (10) of multiple article carrier stacks (8) arranged next to one another with article carriers (3) arranged on top of one an-other in the delivery zone (4) of the order fulfillment facility (1a; 1b; 1c; 1d), providing empty (third) transport loading aids (150) each for receiving and stabilizing the position of an article carrier stack group (10), transporting empty (third) transport loading aids (150) by means of the autonomously moveable, driverless transport vehicles (9) to the loading station and providing one or multiple empty (third) transport loading aid(s) (150) either on one or on multiple automatically operated second loading device(s) (160) or on a buffer surface (163) close to the second loading device(s) (160), loading one of the empty (third) transport loading aids (150), which is provided at the automatically operated second loading device (160), with at least one article carrier stack group (10) from the delivery zone (4) by means of the automatically operated second loading device (160), transporting of the (third) transport loading aid (150) loaded with the article carrier stack group (10) from the loading station to the storage zone (5) by means of the autonomously moveable, driverless transport vehicle (9), placing the (third) transport loading aid (150) loaded with at least one article carrier stack (8) on the storage surface (31) in the storage zone (5), storing the (third) transport loading aid (150) loaded with the article carrier stack group (10) in the storage zone (5), wherein processing a picking order comprises the following steps transporting one or multiple (third) transport loading aid(s) (150) containing the article carriers (3) required for the picking order from the storage zone (5) to the unloading station and providing said (third) transport loading aid(s) (150) either at one or at multiple partially automated unloading device(s) (151) or on a buffer surface (153a) close the unloading device(s) (151) by means of one or multiple autonomously moveable, driverless transport vehicle(s) (9), manually unloading one or multiple ones of the (first) transport loading aid(s) (150), which is (are) provided at the partially automated unloading device(s) (151), by removing the article carriers (3) required for processing the mentioned picking order, and manually assembling the article carriers (3) on one or multiple target loading aids (34; 134) for the mentioned picking order, if the target loading aid(s) (34; 134) is (are) provided at the partially automated unloading device(s) (151).

19. The method for storing and picking articles according to claim 18, wherein providing the mentioned (third) transport loading aid(s) (150) at one or multiple partially automated unloading device(s) (151) comprises the steps taking over of a (third) transport loading aid (150) from an autonomously moveable, driverless transport vehicle (9) to a lifting platform (154a) of the unloading device(s) (151), serving the article carriers (3) at a serving level by lifting the (third) transport loading aid (150), which is placed on the lifting platform (154a), in order to enable ergonomic unloading of the article carriers (3) by a picker.

20. The method for storing and picking articles according to claim 18, further comprising the steps transporting empty target loading aids (34; 134), by means of the autonomously moveable, driverless transport vehicles (9), to the unloading station and providing said empty target loading aids (34; 134) either at one or multiple partially automated unloading device(s) (151) or on a buffer surface (153b) close to the unloading device(s) (151) by means of one or multiple autonomously moveable, driverless transport vehicles (9), manually assembling the article carriers (3) on one or multiple empty target loading aids (34; 134) for the mentioned picking order, if the empty target loading aid(s) (34; 134) is (are) provided at the partially automated unloading device(s) (151).

21. The method for storing and picking articles according to claim 18, further comprising the steps transporting partially loaded target loading aids (34; 134) by means of the autonomously moveable, driverless transport vehicles (9) from the automatically operated unloading device (32; 65; 75; 132) to the partially automated unloading device (151) or to a buffer surface (153b) close to the partially automated unloading device(s) (151) after the article carriers (3) have been assembled on the partially loaded target loading aid (34; 134) at the automatically operated unloading device (32; 65; 75; 132) and if article carriers (3) are still required for the mentioned picking order which are provided via the (third) target loading aids (150) at the partially automated unloading device(s) (151), manually assembling the article carriers (3) on one or multiple partially loaded target loading aids (34; 134) for the mentioned picking order, if the partially loaded target loading aid(s) (34; 134) is (are) provided at the partially automated unloading device(s) (151).

22. The method for storing and picking articles according to claim 18, further comprising the steps transporting stack loading aids (100a, 100b) by means of the autonomously moveable, driverless transport vehicles (9) to the unloading station and providing one or multiple stack loading aid(s) (100a, 100b) either on one or on multiple partially automated unloading device(s) (151) or on a buffer surface (153b) close to the unloading device(s) (151), assembling the article carriers (3) according to the mentioned picking order to the order stack (101) on the target loading aid (34) in the first stack loading aid (100a) or on the base (205) of the second stack loading aid (100b), said first stack loading aid (100a) or second stack loading aid (100b) being provided at the partially automated unloading device(s) (151).

23. The method for storing and picking articles according to claim 16, further comprising the steps providing an order stack load securing station either with one or multiple automatically operated load securing device(s) (180) or with one or multiple automatically operated load securing device(s) (180) and a buffer surface (185) close to the load securing device(s) (180), said load securing devices (180) being formed with a securing means (181) for securing transport of an order stack (101), transporting stack loading aids (100a, 100b) each loaded with one order stack (101) by means of the autonomously moveable, driverless transport vehicles (9) to the mentioned order stack load securing station and providing one or multiple stack loading aid(s) (100a, 100b) either on one or on multiple automatically operated load securing device(s) (180) or on a buffer surface (185) close to the load securing device(s) (180), removing the order stack (101) from the stack loading aid (100a, 100b) by means of a lifting device (183, 184), by means of which the target loading aid (34) with the order stack (101) is lifted from the first stack loading aid (100a), if the order fulfillment facility (1a; 1b; 1c; 1d) comprises the first stack loading aid (100a), or by means of which the order stack (101) is lifted from the second stack loading aid (100b) if the order fulfillment facility (1a; 1b; 1c; 1d) comprises the second stack loading aid (100b), securing the order stack (101) with the securing means (181) by means of the automatically operated load securing device (180), in that the securing means (181) is placed circumferentially around the order stack (101), transporting the secured order stack (101), in particular by means of the autonomously moveable, driverless transport vehicles (9), from the load securing station to a dispatch zone, transporting the unloaded stack loading aids (100a, 100b) by means of the autonomously moveable, driverless transport vehicles (9), comprising: transporting the first stack loading aid (100a) from the load securing station to the lading station with one or multiple automatically operated lading device(s) (170), if a first stack loading aid is (100a) used in the order fulfillment facility (1a; 1b; 1c; 1d), and/or transporting the second stack loading aid (100b) from the load securing station to the unloading station and providing the second stack loading aid(s) (100b) either at an automatically operated unloading device (32; 65; 75; 132) or on a buffer surface (136) close to the reloading device (32; 65; 75; 132), if a second stack loading aid (100b) is used in the order fulfillment facility (1a; 1b; 1c; 1d).

24. The order fulfillment facility (1a; 1b; 1c; 1d) for storing and picking article carriers (3), which contain articles (2) and are stackable, in particular for carrying out the method according to claim 1, comprising an order-processing computer (46) for detecting 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 (first) 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 first loading device(s) (13; 113) or with one or multiple automatically operated first loading device(s) (13; 113) and a buffer surface (30) close to the first loading device(s) (13, 113), said first loading device (13, 113) being configured for loading one of the empty (first) transport loading aids (7; 107) with at least one article carrier stack (8), wherein the empty (first) transport loading aid (7; 107) is provided for loading at the automatically operated first loading device (13; 113), a storage zone (5) for storing the (first) transport loading aids (7; 107) loaded with at least one article carrier stack (8) or the (first) transport loading aids (7; 107) loaded with individual article carriers (3) on a storage surface (31), an unloading station with one or multiple automatically operated unloading de-vice(s) (13; 113) for unloading one or multiple ones of the (first) transport loading aid(s) (7; 107) by removing the article carriers (3) required for processing a picking order, wherein the transport loading aid(s) (7; 107) is (are) provided for unloading the automatically operated unloading device(s) (32; 65; 75; 132), and a plurality of autonomously moveable, driverless transport vehicles (9) which are 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 (first) transport loading aids (7; 107) to the loading station and to provide one of the empty (first) transport loading aids (7; 107) either at the automatically operated first loading device (13; 113) or on the buffer surface (30) close to the first 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 (first) transport loading aid(s) (7; 107) containing the article carriers (3) required for a picking order from the storage zone (5) to an unloading station and to provide said (first) 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), a reloading station for assembling the article carriers (3) for the mentioned picking order.

25. The order fulfillment facility according to claim 24, wherein the (first) transport loading aid (7; 107) and/or (second) transport loading aid (7; 107) comprises a base (55) and side walls (56a, 56b, 56c, 56d) connected thereto, 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), and that the side walls (56a, 56b, 56c, 56d) serving to stabilize the position of the at least one article carrier stack (8) when the 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 these.

26. The order fulfillment facility according to claim 25, wherein the second side wall (56c) comprises a side wall part (200a, 200b) which is inclined at an inclination angle (α1) towards a vertical plane spanned 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).

27. The order fulfillment facility according to claim 25, wherein 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).

28. The order fulfillment facility according to claim 25, wherein the base (55) can comprise a placing surface (58) on its upper side, on which at least one article carrier stack (8) can be placed, and a transport surface (59) on its lower side, against which a loading platform (51) of the transport vehicle can be positioned.

29. The order fulfillment facility according to claim 24, further comprising 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, which comprise at least one first stack loading aid (100a) and/or at least one second stack loading aid (100b), which, in turn, comprise a base (205) and stack walls (206a, 206b) connected thereto.

30. The order fulfillment facility according to claim 29, wherein the at least one first stack loading aid (100a) at the base (205) on its upper side forms a placing surface (207) on which a target loading aid (34), in particular a pallet, with the order stack (101) stacked thereon can be placed.

31. The order fulfillment facility according to claim 29, wherein the at least one second stack loading aid (100b) at the base (205) on its upper side forms protruding placing blocks (211) separated from each other by receiving channels (210), on which the article carriers (3) of the order stack (101) can be placed, so that the at least one second stack loading aid (100b) forms the target loading aid (134).

32. The order fulfillment facility according to claim 29, wherein the base (205) comprises a transport surface (208) on its lower side, against which a loading platform (51) of the transport vehicle (9) can be positioned.

33. The order fulfillment facility according to claim 24, further comprising an order stack load securing station either with one or multiple automatically operated load securing device(s) (180) or with one or multiple automatically operated load securing device(s) (180) and a buffer surface (185) close to the load securing device(s) (180), said load securing device (180) being formed with a securing means (181) for secure transport of an order stack (101), and which comprises a lifting device (183, 184), by means of which the target loading aid (34) with the order stack (101) is lifted from the stack loading aid (100a) if the order fulfillment facility (1a; 1b; 1c; 1d) comprises the first stack loading aid (100a), or by means of which the order stack (101) is lifted from the stack loading aid (100b) if the order fulfillment facility (1a; 1b; 1c; 1d) comprises the second stack loading aid (100b), for stabilizing the order stack (101) with the securing means (181).

34. 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 means of clamping gripping, in particular article carriers (3) having different longitudinal dimensions, having a base frame (250), loading tongues (252a, 252b) movable by means of 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, said loading tongues receiving at least one article carrier (3) in the ex-tended receiving position, clamping jaws (254a, 254b) movable by means of 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), a lifting frame (256) movable by means of a third drive device (255) in a third direction (z) relative to the base frame (250), on which lifting frame the clamping jaws (254a, 254b) are mounted and by means of which the clamping jaws (254a, 254b) are movable between a lower height position and an upper height position, 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 slid-able under the at least one article carrier (3) lifted by the clamping jaws (254a, 254b) for receiving the at least one article carrier (3) in the extended receiving position.

35. The transfer device according to claim 34, further comprising a stop device with one or multiple stop element(s) (257a, 257b) against which the at least one article carrier (3) may be placed.

36. The transfer device for unloading a transport loading aid (7; 107) with article carriers (3) stacked on top of one another and for loading at least one target loading aid (34, 134) with article carriers (3), which article carriers (3) comprise first article carriers (3) having a first longitudinal dimension and second article carriers (3) having a second longitudinal dimension, according to claim 34, wherein 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 the second clamping jaw frames (258a, 258b) is adjustable by means of at least one fourth drive device (259) in a second direction (x) at least between a first configuration width and a second configuration width for receiving, in the first configuration width between the first clamping jaw (254a) and the second clamping jaw (254b), an article carrier (3) having the first longitudinal dimension, and in the second configuration width between the first clamping jaw (254a) and the second clamping jaw (254b), an article carrier (3) having the second longitudinal dimension.

37. The transfer device according to claim 36, wherein on the first or second clamping jaw frame (258a, 258b) adjustable in a second direction (x) by means of the at least one fourth drive device (259), the second drive device (253a, 253b) and one of multiple stop elements (257a, 257b) of the stop device are also mounted.

38. The transfer device according to claim 34, wherein 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 means of a fifth drive device (259).

39. 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), which 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 means of clamping gripping, wherein the transfer device (147) is configured according to claim 34.

40. 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), which is spatially movable in relation to a support construction (42; 142), for unloading a transport loading aid (7; 107) with article carriers (3) which are stacked on top of one another and/or arranged next to one another in a stack layer by means of clamping gripping, which transfer device (147) comprises a base frame (250), loading tongues (252a, 252b) movable by means of 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, clamping jaws (254a, 254b) movable by means of a second drive device (253a, 253b) in a second direction (x) relative to one another between a retracted opened position and an abutting clamping position, a lifting frame (256) movable by means of a third drive device (255) in a third direction (z) relative to the base frame (250), on which lifting frame the clamping jaws (254a, 254b) are mounted and by means of which the clamping jaws (254a, 254b) are movable between a lower height position and an upper height position, wherein a first clamping jaw (254a) of the clamping jaws is arranged on a first clamping jaw frame (258a) and a second clamping jaw (254b) of the clamping jaws is arranged on a second clamping jaw frame (258b), and one of the first and second clamping jaw frames (258a, 258b) is adjustable by means of at least one fourth drive device (259) in a second direction (x) at least between a first con-figuration width and a second configuration width, wherein 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 for controlling the transfer device (147) and its drive devices (251a, 251b, 253a, 253b, 255, 259) so as to carry out the subsequent 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 means of 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 lifting frame (256) in the third direction (z) relative to the base frame (250) and the clamping jaws (254a, 254b) out of 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 sup-ported from below, tilts back onto the article stack (8′) in the transport loading aid (7; 107), changing the configuration width from the first configuration width to the second configuration width by means of the at least one fourth drive device (259) in a second direction (x), 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.

Description

[0216] These show in a respectively very simplified schematic representation:

[0217] FIG. 1 a first embodiment of an order fulfillment facility for storing and picking articles in a perspective view;

[0218] FIG. 2a an unloading station (reloading station) of the order fulfillment facility of FIG. 1 in an enlarged view;

[0219] FIG. 2b a loading station of the order fulfillment facility of FIG. 1 in an enlarged view;

[0220] FIG. 3 a transport vehicle (automated guided vehicle) in a perspective view;

[0221] FIGS. 4a, 4b a first embodiment of an (non-loaded) transport loading aid without article carriers, and a (loaded) transport loading aid with article carriers, in a perspective view;

[0222] FIGS. 5a, 5b a second embodiment of an (non-loaded) transport loading aid without article carriers, and a (loaded) transport loading aid with article carriers, in a perspective view;

[0223] FIGS. 6a, 6b a third embodiment of an (non-loaded) transport loading aid without article carriers, and a (loaded) transport loading aid with article carriers, in a perspective view;

[0224] FIG. 7 a second embodiment of an order fulfillment facility for storing and picking articles in a perspective view;

[0225] FIG. 7a an unloading station of the order fulfillment facility of FIG. 7 in an enlarged view;

[0226] FIG. 8 a third embodiment of an order fulfillment facility for storing and picking articles in a perspective view;

[0227] FIG. 8a an unloading station of the order fulfillment facility of FIG. 8 in an enlarged view;

[0228] FIGS. 9a, 9b a fourth embodiment of an order fulfillment facility for storing and picking articles in a perspective view;

[0229] FIG. 10a a loading station of the order fulfillment facility of FIGS. 9a, 9b with an automatically operated first loading device in an enlarged view;

[0230] FIG. 10b an unloading station (reloading station) of the order fulfillment facility of

[0231] FIGS. 9a, 9b with an automatically operated unloading device in an enlarged view;

[0232] FIG. 10c an unloading station (reloading station) of the order fulfillment facility of FIGS. 9a, 9b with a partially automated unloading device in an enlarged view;

[0233] FIG. 10d a loading station of the order fulfillment facility of FIGS. 9a, 9b with an automatically operated second loading device, a lading station and a load securing station in an enlarged view;

[0234] FIGS. 11a, 11b a fourth embodiment of an (non-loaded) transport loading aid without article carriers, and a (loaded) transport loading aid with article carriers, in a perspective view;

[0235] FIG. 11c the (non-loaded) transport loading aid according to FIG. 11 a in a sectional view;

[0236] FIGS. 12a, 12b a (non-loaded) first stack loading aid and a first stack loading aid (loaded with an order stack) in a perspective view;

[0237] FIG. 12c a (non-loaded) second stack loading aid in a perspective view;

[0238] FIGS. 13a, 13b a transfer device for an automatically operated unloading device in perspective views;

[0239] FIGS. 13c, 13d the transfer device in section according to FIGS. 13a, 13b in perspective views;

[0240] FIGS. 14a, 14b the transfer device according to FIGS. 13a, 13b, with an article carrier of a (long) first longitudinal dimension according to FIG. 14a and with an article carrier of a (short) second longitudinal dimension according to FIG. 14b in perspective views;

[0241] FIGS. 15a to 15g a sequence for an unloading operation of an article carrier from a transport loading aid, using the example of an article carrier with a (long) first longitudinal dimension;

[0242] FIGS. 15h to 15n a sequence for a loading operation of an article carrier onto a target loading aid, using the example of an article carrier with a (long) first longitudinal dimension;

[0243] FIGS. 16a to 16n a sequence for an unloading operation of an article carrier of a stack layer from a transport loading aid, using the example of article carriers with a second longitudinal dimension each.

[0244] First of all, it is to be noted that in the different embodiments described, equal parts are provided with equal reference numbers and/or equal component designations, where the disclosures contained in the entire description may be analogously transferred to equal parts with equal reference numbers and/or equal component designations. Moreover, the specifications of location, such as at the top, at the bottom, at the side, chosen in the description refer to the directly described and depicted figure, and in case of a change of position, are to be analogously transferred to the new position.

[0245] FIGS. 1, 2a and 2b show a first embodiment of an order fulfillment facility 1a for storing and picking article carriers 3 that contain articles 2 (as only shown in FIG. 4b for reasons of clarity) and are stackable. The order fulfillment facility 1a comprises a delivery zone 4, a storage zone 5, an order processing zone 6, a plurality of transport loading aids 7 each for accommodating and stabilizing the position of at least one article carrier stack 8 and a plurality of autonomously moveable, driverless transport vehicles 9 for transporting transport loading aids 7. The article carrier stack 8 is formed by multiple article carriers 3 arranged (stacked) on top of one another.

[0246] In the delivery zone 4, the provision of article carrier stacks 8 is envisaged. The article carrier stacks 8 can be provided as separate article carrier stacks 8 and/or as article carrier stack groups 10 assembled of article carrier stacks 8 arranged next to one another. In general, the provision of individual article carriers 3 would also be possible.

[0247] Usually, the article carrier stacks 8 are delivered into the delivery zone 4 as article carrier stack groups 10 on pallets or roll containers (delivery load carrier). In this case, an article carrier stack group 10 of a depalletizing station is supplied, in which article carrier stacks 8 of multiple article carriers 3, arranged on top of one another, from one article carrier stack group 10 are separated. Such article carrier stack groups 10 are most times made up of article carrier stacks 8 containing articles of just one type.

[0248] In contrast to this, the separated article carrier stacks 8 are delivered into the delivery zone 4 without pallets or roll containers (delivery load carrier). In this case, the article carrier stacks 8 do not have to be fed to a depalletizing station and a depalletizing station can be dispensed with.

[0249] FIGS. 1 and FIG. 2b show a possible embodiment, in which a depalletizing station with at least one automatically operated depalletizing device 11 (schematically adumbrated), a first conveying device 12a following the depalletizing device 11 for supplying article carrier stack groups 10 (goods-in units), a second conveying device 12b following the depalletizing device 11 for transporting delivery load carriers away, a loading station with at least one automatically operated loading device 13 (schematically adumbrated), a third conveying device 14a connecting, in respect of a conveying stream, the depalletizing device 11 to the loading station 13 for supplying article carrier stacks 8 and/or a fourth conveying device 14b connecting, in respect of a conveying stream, the depalletizing device 11 to the loading station 13 for supplying article carrier stacks 8 may be provided in the delivery zone 4. The fourth conveying device 14b for supplying article carrier stacks 8 is optional and may also be omitted.

[0250] As not shown in further detail, for example, the depalletizing device 11 can rotate, clamp and lift the article carrier stacks 8 along the circumference on at least two sides and/or lower the delivery load carrier (pallet) and discharge it by means of the second conveyor device 12b and deliver the article carrier stacks 8 to the third conveyor device 14a and the fourth conveyor device 14b, by means of which the article carrier stacks 8 can be further transported individually and/or in pairs. The article carrier stacks 8 are provided at the loading device 13 “unamendedly” and each in a transfer position. The first transfer location 15a is preferably formed on the third conveying device 14a and the second transfer location 15b is preferably formed on the fourth conveying device 14b. In case the fourth conveying device 14b is not provided, only the transfer location 15a is provided.

[0251] As described in the following, the loading station comprises the at least one automatically operated loading device 13 (schematically adumbrated) and additionally a buffer surface 30 near said loading device 13.

[0252] The schematically depicted loading device 13 comprises a first service location 16a for the first transport loading aid 7a, an (optional) second service location 16b for the second transport loading aid 7b and a transfer device 17 for transferring a first article carrier stack 8 from the first transfer location 15a onto the first transport loading aid 7a and possibly for transferring a second article carrier stack 8 from the second transfer location 15b onto the second transport loading aid 7b. The first service location 16a and the first transfer location 15a are arranged so as to be located opposite one another. The optional (second) service location 16b and the optional (second) transfer location 15b are arranged so as to be located opposite one another.

[0253] In concrete terms, the automatically operated loading device 13 comprises a transfer device 17 that is movable relative to the transfer location 15a, 15b in order to move an article carrier stack 8 (or possibly individual article carriers 3) provided in a transfer position at the transfer location 15a, 15b to the transport loading aid 7a, 7b. The transfer device 17 may be formed for example by a pusher actuatable by means of an actuating drive. The transfer device 17 is arranged above the conveying device 14a, 14b.

[0254] According to a first embodiment, the loading device 13 may specifically comprise a gantry robot. Gantry robots are understood to be industrial robots, which in their base axes are constructed from linear axles. Using a line gantry is sufficient for loading.

[0255] The gantry robot comprises vertical standing members, longitudinal beams and transverse beams, which are connected to one another, forming a support construction 18. Additionally, the gantry robot comprises a gantry slide 19, that is movable in a first direction (x-direction—horizontal movement) along a guide assembly via a first drive device, and a gantry arm 20 arranged on the gantry slide 19. A transfer device 17 is arranged on the gantry arm 20. The first drive device comprises a traction drive connected to the gantry slide 19. The traction drive comprises an endlessly revolving traction means, which is guided around a deflection wheel and a drive wheel coupled with an electric actuating motor. A clockwise or counter-clockwise rotating motion of the drive wheel moves the gantry slide 19 and the transfer device 17 mounted thereon relative to the transfer location 15a, 15b either in a first pushing direction or second pushing direction (x-direction). The gantry robot may comprise a displacement measurement device not depicted, by means of which the readjustment movements of the gantry slide 19 (and/or of the transfer device 17) are captured. Here, the measurement method of absolute and incremental displacement measurement is utilized.

[0256] It may prove useful if the gantry arm 20 is also movable in a second direction (z-direction—vertical movement) along a guide assembly via a second drive device.

[0257] In the course of the pushing movement, the first article carrier stack 8a is moved from the first transfer location 15a onto the empty first transport loading aid 7a, which is provided at the service location 16a, or the second article carrier stack 8b is moved from the second transfer location 15b onto the empty second transport loading aid 7b, which is provided at the second service location 17b. In FIG. 2b, the first article carrier stack 8a has already been discharged onto the first transport loading aid 7a, while the second article carrier stack 8b is still being transported to the loading device 13 and the second transport loading aid 7b is still empty.

[0258] The described loading device 13 may be constructed very simply and requires on principle only a stationary holding surface (transfer location 15a, 15b) and a pushing device (pusher), by means of which the “unamended” article carrier stack 8 is pushed from the holding surface onto the empty (first) transport loading aid.

[0259] According to an embodiment, which is not depicted, the loading device 13 may comprise a jointed-arm robot. The jointed-arm robot comprises a gripping system that is movable relative to a robot base, by means of which gripping system an “unamended” article carrier stack 8 (or possibly individual article carriers 3) can be transferred from the transfer position on the first/second transfer location 15a, 15b to the first transport loading aid 7a/second transport loading aid 7b. In this regard, the “unamended” article carrier stack 8 can be pushed from the holding surface (transfer location 15a, 15b) onto the empty (first) transport loading aid or individual article carriers 3 can be lifted off the article carrier stack 8 and placed on the empty (first) transport loading aid 7a, 7b.

[0260] As depicted in FIG. 2b, an empty (first) transport loading aid 7c may be transported to the service location 16a, 16b by means of an autonomously moveable, driverless transport vehicle 9 and be placed there. While loading the (first) transport loading aid 7, 7a . . . 7c, said transport vehicle 9 may be used for other transport purposes.

[0261] However, in principle, it is also possible that the autonomously moveable, driverless transport vehicle 9 is transported to the service location 16a, 16b and placed there but remains at the service location 16a, 16b while the (first) transport loading aid 7a, 7b is loaded. This is particularly advantageous if loading the (first) transport loading aid 7, 7a . . . 7c takes place with an “unamended” article carrier stack 8, 8a . . . 8c as this allows loading to be carried out particularly quickly and the transport vehicle 9 is “unproductive” only for a short time.

[0262] If a (first) transport loading aid 7a, 7b is already placed at the service location 16a or if (first) transport loading aids 7a, 7b are already placed at the service locations 16a, 16b or if the (first) transport loading aid 7a is or the (first) transport loading aids 7a, 7b are currently being loaded, the empty (first) transport loading aids 7c, 7d can be buffered on the buffer surface 30 provided near the loading device 13.

[0263] Even though, in the depicted embodiment, the loading station is shown having a single loading device 13 for reasons of clarity, the number of loading devices 13 may vary depending on the required picking performance For example, the loading station and/or the order fulfillment facility 1a may have a second loading device 13, third loading device 13 etc. These loading devices 13 are preferably constructed identically. It also proves advantageous if a separate buffer surface 30 is arranged near each loading device 13. However, in principle, the loading station may also comprise only one buffer surface 30. The buffer surface 30 is preferably formed on a base of the order fulfillment facility 1a.

[0264] This way, it is possible that the empty (first) transport loading aid(s) 7d are buffered on the buffer surface 30, near the loading device(s) 13, and are transported as needed to the respective service location 16a, 16b of the loading device(s) 13 over a short distance by means of the transport vehicles 9.

[0265] After being loaded (with at least one article carrier stack 8), the (first) transport loading aids 7e are transported from the loading station, in particular from the first loading station 13, or from the first loading devices 13 to the storage zone 5 by means of the autonomously moveable, driverless transport vehicles 9 and are placed on a storage area 31 in the storage zone 5. The storage surface 31 is preferably formed on a base of the order fulfillment facility 1a. As will be described below, by means of the autonomously moveable, driverless transport vehicles 9, also at the unloading station, not completely unloaded (partially loaded) “opened” (first) transport loading aids 7f are transported from the unloading station back to the storage zone 5 and placed on the storage surface 31 in the storage zone 5.

[0266] As evident in FIGS. 1 and 2a, an unloading station with at least one automatically operated unloading device 32 (schematically adumbrated), a first conveying device 33 following the unloading device 32 for transporting completely loaded target loading aids 34a (goods-out units) away and optionally a second conveying device 35 following the unloading device 32 for supplying empty target loading aids 34b are arranged in the order processing zone 6. According to this embodiment, the unloading station with the automatically operated unloading device 32 or the multiple automatically operated unloading devices 32 simultaneously forms a reloading station with the one automatically operated reloading device (palletizing device) or the multiple automatically operated reloading devices (palletizing devices), by means of which the article carriers 3 or article carrier stacks 8 are transferred from the transport loading aid 7 onto the target loading aid 34c or the target loading aids 34c. Therefore, the term “unloading device” may be used synonymously with “reloading device”.

[0267] As described in the following, the unloading station comprises the at least one automatically operated unloading device 32 (schematically adumbrated). Even though, in the depicted embodiment, the unloading station is shown having a single unloading device 32 for reasons of clarity, the number of unloading devices 32 may vary depending on the required picking performance. For example, the unloading station and/or the order fulfillment facility 1a may have a second unloading device 32, third unloading device 32 etc. These unloading devices 32 are preferably constructed identically.

[0268] It also proves advantageous if the unloading station has at least one separate buffer surface 36 near the unloading device 32 or near each unloading device 32. In the depicted embodiment, the unloading device 32 is assigned one buffer surface 36 per service location 40a . . . 40b. However, in principle, the unloading station may also comprise only one buffer surface 36. The buffer surface 36 is preferably formed on a base of the order fulfillment facility 1a. This way, it is possible that the loaded (first) transport loading aid(s) 7g are buffered on the buffer surface 36, near the unloading device(s) 32, and are transported as needed to the respective service location 40a . . . 40b of the unloading device(s) 32 over a short distance by means of the transport vehicles 9.

[0269] It is also advantageous if the unloading station has one or multiple waiting zone(s) 37. A transport loading aid 7h can be placed at the waiting zone 37 or at the waiting zones 37 after removal of at least one article carrier 3, if not all article carriers 3 have been removed from the mentioned transport loading aid 7h and if these article carriers 3 are needed at the mentioned unloading device 32 or one of the unloading devices 32 for an already advised picking order. However, in principle, the loading station may also comprise only one waiting zone 37. This way, it is possible that the partially unloaded (first) transport loading aid(s) 7h are buffered in the waiting zone 37, near the unloading device(s) 32, and are transported as needed to the respective service location 40a . . . 40b of the unloading device(s) 32 over a short distance by means of the transport vehicles 9.

[0270] The schematically shown embodiment of the automatically operated unloading device 32 comprises a first service location 40a for the loaded first transport loading aid 7i, an (optional) second service location 40b for the loaded second transport loading aid 7i and a transfer device 41 movable relative to the service location 40a . . . 40b for unloading the transport loading aid 7i provided at the service location 40a . . . 40b. If the unloading station has more than one automatically operated unloading device 32 , each unloading device 32 comprises a first service location 40a for the loaded first transport loading aid 7i, and an (optional) second service location 40b for the loaded second transport loading aid 7i and a transfer device 41 movable relative to the service location 40a . . . 40b for unloading the transport loading aid 7i provided at the service location 40a, 40b.

[0271] The transfer device 41 may for example be formed by a gripping system. The gripping system may comprise for example a base body, a vacuum suction unit with at least one suction gripper or multiple suction grippers and/or adjacently arranged on top of one another (and/or next to one another) and a support base movably mounted on the base body. Unloading the transport loading aid 7i with this gripping system is carried out such that an article carrier 3 or a partial article carrier stack is first lifted on one side by the suction unit so that a gap opens between the top article carrier 3 and the one below it and the support base is then pushed in under the article carrier 3 lifted on one side or the partial article carrier stack lifted on one side by means of the suction unit in a horizontal direction so as to accommodate said article carrier 3 or partial article carrier stack. Such a gripping system thus makes it possible to unload an individual article carrier 3 but also a partial article carrier stack. In principle, it is also conceivable that the number of suction grippers arranged on top of one another is selected such that the entire article carrier stack 8 can be lifted on one side and the support base can accommodate the entire article carrier stack 8.

[0272] Moreover, the gripping system may also be configured such that a gripping unit acts according to the positive engagement principle and/or friction principle and grips an individual article carrier 3, partial article carrier stack or article carrier stack 8 in a positively engaging or friction-type manner

[0273] According to a first embodiment, the unloading device 32 may specifically comprise a gantry robot. Gantry robots are understood to be industrial robots, which in their base axes are constructed from linear axles. An area gantry is used for loading.

[0274] The gantry robot comprises [0275] i) vertical standing members, longitudinal beams and transverse beams, which are connected to one another, forming a support construction 42 [0276] ii) a first gantry slide 43 mounted on the support structure 42 and horizontally movable in a first direction (x-direction) along a guide assembly (which are arranged on the longitudinal beams) via a first drive device, [0277] iii) a second gantry slide 44 mounted on the first gantry slide 43 and horizontally movable in a second direction (y-direction) along a guide assembly via a second drive device, and [0278] iv) a gantry arm 45 mounted on the second gantry slide 44 and vertically movable in a third direction (z-direction) along a guide assembly via a third drive device, and [0279] v) the transfer device 41, which is arranged on the gantry arm 45 and is mounted on the gantry arm 45 so as to be rotatable about a vertical axis.

[0280] The first drive device comprises a first traction drive connected to the first gantry slide 43. The first traction drive comprises endlessly revolving traction means, each of which is guided around a deflection wheel and a drive wheel. The drive wheels are coupled to an electric actuating motor. A clockwise or counter-clockwise rotating motion of the drive wheels moves the first gantry slide 43 and transfer device 41 mounted thereon in the x-direction relative to the service location 40a . . . 40b.

[0281] The second drive device comprises a second traction drive connected to the second gantry slide 44. The traction drive comprises an endlessly revolving traction means, which is guided around a deflection wheel and a drive wheel coupled with an electric actuating motor. A clockwise or counter-clockwise rotating motion of the drive wheel moves the second gantry slide 44 and transfer device 41 mounted thereon in the y-direction relative to the service location 40a . . . 40b.

[0282] The third drive device comprises a traction drive (not shown) connected to the second gantry slide 44. The traction drive comprises an endlessly revolving traction means, which is guided around a deflection wheel and a drive wheel coupled with an electric actuating motor. A clockwise or counter-clockwise rotating motion of the drive wheel moves the gantry arm 45 and transfer device 41 mounted thereon in the z-direction relative to the service location 40a . . . 40b.

[0283] The adjustment movements of the first gantry slide 43, the second gantry slide 44, the gantry arm 45 and/or the transfer device 41 can be detected by the displacement measurement devices not depicted. Here, the measurement method of absolute and incremental displacement measurement is utilized.

[0284] In the course of the unloading movement, the article carrier 3, partial article carrier stack or article carrier stack 8 is picked up from the transport loading aid 7i by the gripping system, which is provided at the service location 40a . . . 40b, and subsequently transferred onto a target loading aid 34c.

[0285] According to an embodiment, which is not depicted, the unloading device 32 (reloading device) may comprise a jointed-arm robot. The jointed-arm robot comprises the gripping system, which is described above and movable relative to a robot base, by means of which individual article carriers 3, partial article carrier stacks or “unamended” article carrier stacks 8 can be transferred from the first transport loading aid 7i/second transport loading aid 7i onto the target loading aid 34c.

[0286] As schematically depicted in FIG. 1, the order fulfillment facility 1a comprises an order-processing computer 46 for detecting picking orders and for determining articles 2 which are required for the picking order. In this regard, a picking order comprises one order line (for example six article carriers 3 with a first article 2) or multiple order lines (for example three article carriers 3 with a first article 2 and three article carriers 3 with a second article 2). A sales order comprises at least one picking order. The picking orders are present in the form of data sets and are electronically detected by the order-processing computer 46 and transmitted to a control system 47. Each picking order comprises one or multiple order lines. If the picking order specifies multiple order lines, different articles 2 are needed. Each order line has at least specifications on a number of pieces of an ordered article 2 and on a type of article.

[0287] For transporting the empty transport loading aids 7 and transport loading aids 7 loaded with article carrier stacks, autonomously moveable, steerable transport vehicles 9 (of a driverless transport system) are used, which are automatically controlled by a superordinate main computer. The control system 47 may comprise said main computer.

[0288] FIG. 3 shows a possible embodiment of one of the autonomously moveable, steerable transport vehicles 9. The transport vehicle 9 is configured as a floor conveyor.

[0289] The transport vehicle 9 comprises a chassis 50 with a drive unit and a loading platform 51 arranged on the underframe 50 for picking up/discharging/transporting a mobile (non-stationary) transport loading aid 7 and/or a mobile (non-stationary) transport loading aid 107 and/or a mobile (non-stationary) transport loading aid 150 and/or a mobile (non-stationary) stack loading aid 100a and/or a mobile (non-stationary) stack loading aid 100b. The drive unit comprises wheels 52, 53 rotatably mounted on the chassis 50, of which at least one of the wheels 52 is coupled with a drive (not depicted) and at least one of the wheels 53 can be steered. It is also possible for both wheels 52 to be coupled with the drive and be driven by it. However, the transport vehicle 9 may also comprise four wheels, of which two wheels can be steered.

[0290] According to the shown embodiment, the loading platform 51 is mounted on the chassis 50 so as to be adjustable between an initial position (represented in continuous lines) and a transport position (represented in dashed lines). In the initial position, a transport loading aid 7, 7a . . . 7i placed on the base of the order fulfillment facility 1a, in particular on a buffer surface 30, 36, of the storage surface 31, in the waiting zone 37 or at the service location 16a, 16b, 40a, 40b, can be driven under, in order to accommodate said transport loading aid 7, 7a . . . 7i on the loading platform 51. If the loading platform 51 is adjusted out of the initial position in the direction of the transport position, a transport loading aid 7, 7a . . . 7i placed on the base can be lifted and subsequently transported. In the transport position, the transport loading aid 7, 7a . . . 7i is lifted off the base of the order fulfillment facility 1a and it can be transported between the delivery zone 4, storage zone 5 and the order processing zone 6. If the loading platform 51 is adjusted out of the transport position in the direction of the initial position, the transport loading aid 7, 7a . . . 7i can be placed on the base.

[0291] The transport vehicle 9 further comprises a travel control 54, represented schematically in dashed lines, for receiving commands from the superordinate main computer and for controlling/regulating the movements of the autonomous transport vehicle 9. The travel control 54 may also comprise means for (wirelessly) transfer data to and from the transport vehicle 9. Finally, the transport vehicle 9 comprises sensors, which are not shown, for detecting the environment of the autonomous transport vehicle 9 and for spatial orientation. The drive of the drive unit and the sensors are connected to the travel control 54.

[0292] FIGS. 4a and 4b show a first embodiment of a transport loading aid 7. FIG. 4a shows the unloaded, empty transport loading aid 7 and FIG. 4b shows the loaded transport loading aid 7. The transport loading aid 7 comprises a base 55 and side walls 56a, 56b, 56c connected thereto for the stabilization of the position of the article carrier stack 8 and a loading and unloading opening 57 located opposite the side wall 56c. The side walls 56a, 56b, 56c are preferably designed essentially at the height of the article carrier stack 8, however at least at a sufficient height for the topmost article carrier 3 in the article carrier stack 8 to be surrounded by the side walls 56a, 56b, 56c at least in some regions. Preferably, the loading and unloading opening 57 extends over the entire height of the side walls 56a, 56b.

[0293] The transport loading aid 7 may comprise first side walls 56a, 56b running in parallel to one another or (as shown) first side walls 56a, 56b diverging in the direction towards the loading and unloading opening 57. The latter embodiment allows loading and/or unloading the transport loading aid 7 easily. 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 delimit a single accommodating shaft in which the article carrier stack 8 can be accommodated for transport/for storage.

[0294] The base 55 comprises on its upper side a placing surface 58, on which the article carrier stack 8 can be placed, and on its bottom side a transport surface 59, against which the loading platform 51 of the transport vehicle 9 can be placed.

[0295] Additionally, the transport loading aid 7 may comprise adjustable feet 60 which are affixed to the base 55. The transport loading aid 7 is placed via the adjustable feet 60 on the base. In an embodiment that is not shown, wheels instead of adjustable feet 60 may also be provided on the base 55.

[0296] In the different embodiments of the order fulfillment facilities 1a, 1b, 1c, the transport loading aid 7 described in FIGS. 4a and 4b is used. It is self-evident that the embodiments of the transport loading aids 7′, 7″, 107 described in the following can also be used in the order fulfillment facilities 1a, 1b, 1c.

[0297] FIGS. 5a and 5b show a second embodiment of a transport loading aid 7′. FIG. 5a shows the unloaded, empty transport loading aid 7′ and FIG. 5b shows the loaded transport loading aid 7′. Such a transport loading aid 7′ can provide multiple article carrier stacks 8, 8′, 8″ consecutively at the service locations 16a, 16b, 40a, 40b, 67a, 67b, 77a, 77b by means of a “rotating motion” about the vertical axis. The “rotating motion” is preferably performed by a transport vehicle 9.

[0298] The transport loading aid 7′ again comprises the base 55 and side walls 56a, 56b, 56c connected thereto, each for the stabilization of the position of article carrier stacks 8 and a first loading and unloading opening 57a located opposite the side wall 56c on a first side, and a second loading and unloading opening 57b located opposite the side wall 56c on a second side. The side walls 56a, 56b, 56c are preferably designed essentially at the height of the article carrier stack 8, however at least at a sufficient height for the topmost article carrier 3 in the article carrier stack 8 to be surrounded by the side walls 56a, 56b, 56c at least in some regions. Preferably, the first/second loading and unloading opening 57 each extend over the entire height of the side walls 56a, 56b.

[0299] The transport loading aid 7′ can comprise first side walls 56a, 56b running in parallel to one another. It proves to be advantageous if the first side walls 56a, 56b are configured having lead-in chamfers 61 for making an easy loading and/or unloading of the transport loading aid 7′ possible. The second side wall 56c extends between the first side walls 56a, 56b and is arranged in the center region of the base 55 such that the side walls 56a, 56b, 56c delimit two accommodating shafts, in each of which at least one article carrier stack 8 can be accommodated for transport/for storage. In the depicted embodiment, one article carrier stack 8 with a base area of the article carriers of 600 mm×400 mm is accommodated in the first accommodation shaft, and two article carrier stacks 8 each with a base area of the article carriers of 300 mm×400 mm are accommodated in the second accommodation shaft. This transport loading aid 7′ can transport multiple article carrier stacks 8 simultaneously. In principle, however, the side wall 56c could also be omitted, so that only one accommodation shaft is present, in which one or more article carrier stacks 8 can be accommodated.

[0300] The base 55 again comprises on its upper side a placing surface 58, on which the article carrier stacks 8 can be placed, and on its bottom side a transport surface 59, against which the loading platform 51 of the transport vehicle 9 can be placed.

[0301] Additionally, the transport loading aid 7′ may comprise adjustable feet 60 which are affixed to the base 55. The transport loading aid 7′ is placed via the adjustable feet 60 on the base. In an embodiment that is not shown, wheels instead of adjustable feet 60 may also be provided on the base 55.

[0302] FIGS. 6a and 6b show a third embodiment of a transport loading aid 7″. FIG. 6a shows the unloaded, empty transport loading aid 7″ and FIG. 6b shows the loaded transport loading aid 7″. Such a transport loading aid 7′ can provide multiple article carrier stacks 8, 8′, 8″ consecutively at the service locations 16a, 16b, 40a, 40b, 67a, 67b, 77a, 77b by means of a short “off-set motion”. The “offset motion” is preferably performed by a transport vehicle 9.

[0303] The transport loading aid 7″ again comprises the base 55 and side walls 56a, 56b, 56c, 56d connected thereto, each for the stabilization of the position of article carrier stacks 8 and loading and unloading openings 57a, 57b located opposite the side wall 56c on a single side. The side walls 56a, 56b, 56c, 56d are preferably designed essentially at the height of the article carrier stack 8, however at least at a sufficient height for the topmost article carrier 3 in the article carrier stack 8 to be surrounded by the side walls 56a, 56b, 56c, 56d at least in some regions. Preferably, the first/second loading and unloading opening 57 each extend over the entire height of the side walls 56a, 56b, 56d.

[0304] The transport loading aid 7″ may comprise outer first side walls 56a, 56b running in parallel to one another 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 center region of the base 55 such that the side walls 56a, 56b, 56c, 56d delimit two accommodating shafts, in each of which at least one article carrier stack 8 can be accommodated for transport/for storage. In the depicted embodiment, one article carrier stack 8 with a base area of the article carriers of 600 mm×400 mm is accommodated in the first accommodation shaft, and two article carrier stacks 8 each with a base area of the article carriers of 300 mm×400 mm are accommodated in the second accommodation shaft. This transport loading aid 7″ can transport multiple article carrier stacks 8 simultaneously.

[0305] It proves to be advantageous if the outer first side walls 56a, 56b and possibly also the inner first side wall 56d are configured having lead-in chamfers (not depicted) for making an easy loading and/or unloading of the transport loading aid 7″ possible.

[0306] The base 55 again comprises on its upper side a placing surface 58, on which the article carrier stacks 8 can be placed, and on its bottom side a transport surface 59, against which the loading platform 51 of the transport vehicle 9 can be placed.

[0307] It should also be noted at this point that the transport loading aid 7, 7′, 7″ may have centering elements (not depicted) on the first side walls 56a, 56b, 56d or on the first side walls 56a, 56b, 56d and on the second side wall 56c and facing the respective accommodating shaft, which centering elements can serve to center the article carriers 3/article carrier stacks 8 and to stabilize the position of the article carriers 3/article carrier stacks 8.

[0308] FIG. 7 shows a second embodiment of an order fulfillment facility 1b for storing and picking article carriers 3 that contain articles 2 and are stackable. The order fulfillment facility 1b again comprises the delivery zone 4, the storage zone 5, the order processing zone 6, a plurality of transport loading aids 7 each for accommodating and stabilizing the position of at least one article carrier stack 8 and a plurality of autonomously moveable, driverless transport vehicles 9 for transporting transport loading aids 7.

[0309] This embodiment is different with respect to the order fulfillment facility 1a in that an unloading station separate of the reloading station is provided in the order processing zone 6.

[0310] The unloading station shown in an enlarged view in FIG. 7a comprises the at least one automatically operated unloading device 65 (schematically adumbrated). Even though, in the depicted embodiment, the unloading station is shown having a single unloading device 65 for reasons of clarity, the number of unloading devices 65 may vary depending on the required picking performance For example, the unloading station and/or the order fulfillment facility 1b may have a second unloading device 65, third unloading device 65 etc. These unloading devices 65 are preferably constructed identically.

[0311] It also proves advantageous if the unloading station has at least one separate buffer surface 66 near the unloading device 65 or near each unloading device 65. In the depicted embodiment, the unloading device 66 is assigned one buffer surface 66a, 66b per service location 67a, 67b. However, in principle, the unloading station may also comprise only one buffer surface 66. The buffer surface 66 is preferably formed on a base of the order fulfillment facility 1b. This way, it is possible that the loaded (first) transport loading aid(s) 7g, not shown here, are buffered on the buffer surface 66, near the unloading device(s) 65, and are transported as needed to the respective service location 67a, 67b of the unloading device(s) 65 over a short distance by means of the transport vehicles 9.

[0312] The reloading station comprises the at least one reloading device 32 (schematically adumbrated) operated in an automated manner, as described above. Even though, in the depicted embodiment, the unloading station is shown having a single reloading device 32 for reasons of clarity, the number of reloading devices 32 may vary depending on the required picking performance. For example, the reloading station and/or the order fulfillment facility 1b may have a second reloading device 32, third reloading device 32 etc. These reloading devices 32 are preferably constructed identically.

[0313] According to this embodiment, a fixed-installation conveying system is arranged between the unloading station and the reloading station, by means of which conveying device article carriers 3, partial article carrier stacks or article carrier stacks 8 are transported from the unloading device 65 or the unloading devices 65 to the reloading device 32 or reloading devices 32. In the course of this, the article carriers 3 required for a picking order are assembled on the fixed-installation conveying system by the unloading device 65.

[0314] As is evident in FIG. 7a, the fixed-installation conveying system comprises a first conveying device 68a for supplying article carriers 3, partial article carrier stacks or article carrier stacks 8 and/or a second conveying device 68b for supplying article carriers 3, partial article carrier stacks or article carrier stacks 8. The second conveying device 68b for supplying article carriers 3, partial article carrier stacks or article carrier stacks 8 is optional and may also be omitted.

[0315] The schematically shown unloading device 65 comprises a first service location 67a for the loaded first transport loading aid 7, an (optional) second service location 67b for the loaded second transport loading aid 7 and a transfer device 69 movable relative to the service location 67a, 67b for unloading the transport loading aid 7 provided at the service location 67a, 67b. The transport loading aid 7 at the service location 67a is yet to be unloaded while the transport loading aid 7 at the service location 67b has already been unloaded. During the unloading operation, an article carrier 3, partial article carrier stack or the article carrier stack 8 is transferred from the first transport loading aid 7 to a first take-over location 70a and possibly an article carrier 3, partial article carrier stack or the article carrier stack 8 is transferred from the second transport loading aid 7 to a second take-over location 70b.

[0316] The first take-over location 70a and the second take-over location 70b are formed on the fixed-installation conveying system. In concrete terms, the first take-over location 70a is formed on the first conveying device 68a and the second take-over location 70b is formed on the second conveying device 68b. In case the second conveying device 70b is not provided, only the first take-over location 70a is provided. The first service location 67a and the first take-over location 70a are arranged so as to be located opposite one another. The optional (second) service location 70b and the optional (second) take-over location 70b are arranged so as to be located opposite one another. The transfer device 69 is arranged above the conveying device 68a, 68b.

[0317] The transfer device 69 may for example be formed by a gripping system. The gripping system may comprise for example a base body, a vacuum suction unit with at least one suction gripper or multiple suction grippers arranged on top of one another and a support base movably mounted on the base body, as described above and transferable to the unloading device 65.

[0318] Moreover, the gripping system may also be configured such that a gripping unit acts according to the positive engagement principle and/or friction principle and grips an individual article carrier 3, article carrier partial stack or article carrier stack 8 in a positively engaging or friction-type manner

[0319] According to a first embodiment, the unloading device 65 may specifically comprise a gantry robot which constructively corresponds to the loading device 13. Gantry robots are understood to be industrial robots, which in their base axes are constructed from linear axles. Using a line gantry is sufficient for loading.

[0320] The gantry robot comprises vertical standing members, longitudinal beams and transverse beams, which are connected to one another, forming a support construction 18. Additionally, the gantry robot comprises a gantry slide 19, that is movable in a first direction (x-direction—horizontal movement) along a guide assembly via a first drive device, and a gantry arm 20 arranged on the gantry slide 19. A transfer device 69 is arranged on the gantry arm 20. The first drive device comprises a traction drive connected to the gantry slide 19. The traction drive comprises an endlessly revolving traction means, which is guided around a deflection wheel and a drive wheel coupled with an electric actuating motor. A clockwise or counter-clockwise rotating motion of the drive wheel moves the gantry slide 19 and the transfer device 69 mounted thereon relative to the service location 67a, 67b either in a first unloading direction or second unloading direction (x-direction).

[0321] The gantry arm 20 is movable along a guide assembly in a second direction (z-direction—vertical movement) via a second drive device. The transfer device 69 (gripping system) is mounted on the gantry arm 20 so as to be rotatable about a vertical axis.

[0322] The adjustment movements of the gantry slide 19, the gantry arm 20 and/or the transfer device 69 can be detected by the displacement measurement devices not depicted. Here, the measurement method of absolute and incremental displacement measurement is utilized.

[0323] In the course of the unloading movement, the article carrier 3, partial article carrier stack or article carrier stack 8 is picked up from the transport loading aid 7 by the gripping system, which is provided at the service location 67a, 67b, and subsequently discharged onto the takeover location 70a, 70b.

[0324] According to an embodiment, which is not depicted, the unloading device 65 may comprise a jointed-arm robot. The jointed-arm robot comprises a gripping system that is movable relative to a robot base, by means of which gripping system an article carrier 3, partial article carrier stack or an “unamended” article carrier stack 8 can be transferred from the first transport loading aid 7/second transport loading aid 7 onto the take-over location 70a, 70b.

[0325] After the unloading operation, the article carriers 3, partial article carrier stacks or article carrier stacks 8 are transported, by the fixed-installation conveying system, in particular the first conveying device 68a and/or second conveying device 68b, from the unloading device(s) 65 to the automatically operated reloading device(s) 32 (palletizing device(s)), and provided at one or multiple service locations 71a, 71b on the fixed-installation conveying system.

[0326] The reloading device 32 can take over the article carriers 3, partial article carrier stacks or article carrier stacks 8 successively from the service location/the service locations 70a . . . 70b with the transfer device 41 (gripping system) in the manner described above and subsequently place them on the target loading aid 34c.

[0327] It is noted at this point that according to this embodiment as well, the reloading device 32 can be formed for example by the gantry robot or jointed-arm robot described above. To avoid repetition reference is made to the above disclosure.

[0328] FIG. 8 shows a third embodiment of an order fulfillment facility 1c for storing and picking article carriers 3 that contain articles 2 and are stackable. The order fulfillment facility 1c again comprises the delivery zone 4, the storage zone 5, the order processing zone 6, a plurality of transport loading aids 7 each for accommodating and stabilizing the position of at least one article carrier stack 8 and a plurality of autonomously moveable, driverless transport vehicles 9 for transporting transport loading aids 7.

[0329] This embodiment is different with respect to the order fulfillment facility 1a in that an unloading station separate of the reloading station is provided in the order processing zone 6.

[0330] The unloading station comprises the at least one unloading device 75 (schematically adumbrated) operated in an automated manner Even though, in the depicted embodiment, the unloading station is shown having a single unloading device 75 for reasons of clarity, the number of unloading devices 75 may vary depending on the required picking performance For example, the unloading station and/or the order fulfillment facility 1c may have a second unloading device 75, third unloading device 75 etc. These unloading devices 75 are preferably constructed identically.

[0331] It also proves advantageous if the unloading station has at least one separate buffer surface 76 near the unloading device 75 or near each unloading device 75. In the depicted embodiment, in the unloading device 75, a service location 77a is assigned a buffer surface 76a and a service location 77b is assigned a buffer surface 76b. The buffer surface 76 , 76a, 76b is preferably formed on a base of the order fulfillment facility 1c.

[0332] This way, on the one hand, it is possible that a loaded transport loading aid 7g, not shown here, is buffered on the buffer surface 76a, near the unloading device(s) 75, and is transported as needed to the respective service location 77a of the unloading device(s) 65 over a short distance by a transport vehicle 9. On the other hand, it is possible that an empty transport loading aid 7d, not shown here, is buffered on the buffer surface 76b, near the unloading device(s) 75, and is transported as needed to the respective service location 77b of the unloading device(s) 75 over a short distance by a transport vehicle 9.

[0333] The reloading station comprises at least one reloading device 32 (schematically adumbrated) operated in an automated manner Even though, in the depicted embodiment, the unloading station is shown having a single reloading device 32 for reasons of clarity, the number of reloading devices 32 may vary depending on the required picking performance. For example, the reloading station and/or the order fulfillment facility 1c may have a second reloading device 32, third reloading device 32 etc. These reloading devices 32 are preferably constructed identically.

[0334] To avoid repetition, reference is made to the above description with regard to the disclosure of the reloading station.

[0335] There is merely a difference in the provision of the article carrier stacks with the transport loading aids 7 at the first service location 40a and possibly second service location 40b. While, according to the first embodiment (FIG. 1), the article carrier stacks are provided at the first service location 40a and possibly second service location 40b as article carrier stacks 8 containing articles of just one type, according to the embodiment shown (FIG. 8), a first transport loading aid 7i with a first pre-picked article carrier stack 8′ is provided at the first service location 40a, and possibly, a second transport loading aid 7i, not shown, with a second pre-picked article carrier stack 8′ is provided at the second service location 40b.

[0336] Picking article carriers 3 according to a picking order to form an article carrier stack 8′ takes place in the unloading station by means of at least one automatically operated unloading device 75.

[0337] The schematically depicted unloading device 75 comprises at least one first service location 77a for the first transport loading aid 7a, which contains article carriers 3 containing articles of just one type and from which article carriers 3 can be removed according to a picking order, and at least one second service location 77b for the second transport loading aid 7b, onto which article carriers 3 are discharged according to a picking order, and a transfer device 84, which is movable relative to the service location 77a, 77b, for unloading the transport loading aid 7a provided at the service location 77a and for loading the transport loading aid 7b provided at the service location 77b. The first service location 77a and the second service location 77b are arranged so as to be located opposite one another. The transfer device 84 is arranged above the service locations 77a, 77b.

[0338] If a picking order comprises different articles 2, article carriers 3 are successively taken out of different transport loading aids 7a. In order to do so, the transport loading aids 7a can be provided successively at the service location 77a, and the required article carriers 3 can be unloaded successively and discharged onto the transport loading aids 7b. In this regard, individual article carriers 3 or partial article carrier stacks can be taken from the first transport loading aid 7a and discharged onto the second transport loading aid 7b. If a picking order requires an entire article carrier stack 8, it is removed from the storage area 5 by means of a transport vehicle 9, as described above, and transported to the order processing zone 6 and provided at a service location 40a . . . 40b.

[0339] The transfer device 84 may for example be formed by a gripping system. The gripping system may comprise for example a base body, a vacuum suction unit with at least one suction gripper or multiple suction grippers arranged on top of one another and a support base movably mounted on the base body, as described above and transferable to the unloading device 75.

[0340] Moreover, the gripping system may also be configured such that a gripping unit acts according to the positive engagement principle and/or friction principle and grips an individual article carrier 3 or partial article carrier stack in a positively engaging or friction-type manner

[0341] According to a first embodiment, the unloading device 75 may specifically comprise a gantry robot.

[0342] The gantry robot comprises vertical standing members, longitudinal beams and transverse beams, which are connected to one another, forming a support construction 81. Additionally, the gantry robot comprises a gantry slide 82, that is movable in a first direction (x-direction—horizontal movement) along a guide assembly via a first drive device, and a gantry arm 83 arranged on the gantry slide 82. A transfer device 84 is arranged on the gantry arm 83. The first drive device comprises a traction drive connected to the gantry slide 82. The traction drive comprises an endlessly revolving traction means, which is guided around a deflection wheel and a drive wheel coupled with an electric actuating motor. A clockwise or counter-clockwise rotating motion of the drive wheel will move the gantry slide 82 and the transfer device 84 mounted thereon relative to the service location 77 in an unloading direction (x-direction).

[0343] The gantry arm 83 is movable along a guide assembly in a second direction (z-direction—vertical movement) via a second drive device. The transfer device 84 (gripping system) is mounted on the gantry arm 83 so as to be rotatable about a vertical axis.

[0344] The gantry robot may comprise a displacement measurement device not depicted, by means of which the readjustment movements of the gantry slide 82, gantry arm 83 and/or of the transfer device 84 are captured. Here, the measurement method of absolute and incremental displacement measurement is utilized.

[0345] In the course of the unloading movement, the article carrier 3 or partial article carrier stack is picked up by the gripping system from the transport loading aid 7a, which is provided at the service location 77a and contains an article carrier stack 8 containing articles of just one type, and is subsequently discharged in the course of the loading movement of the article carriers 3 or partial article carrier stacks onto the transport loading aid 7b, which is provided at the service location 77b and in which article carriers 3 are picked.

[0346] After the loading operation, the transport loading aid 7b with the pre-picked article carrier stack 8′ is transported to the reloading station by means of a transport vehicle 9 and is provided at the at least one reloading device 32.

[0347] According to an embodiment, which is not depicted, the unloading device 75 may comprise a jointed-arm robot. The jointed-arm robot comprises a gripping system that is movable relative to a robot base, by means of which gripping system an article carrier 3 or partial article carrier stack can be removed from the first transport loading aid 7a and transferred to the second transport loading aid 7b.

[0348] In the following, the method for storing and picking article carriers 3 that contain articles 2 and are stackable in the order fulfillment facility 1a (first embodiment) is described.

[0349] The method comprises the steps: [0350] i) providing autonomously moveable, driverless transport vehicles 9, [0351] ii) providing transport loading aids 7 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 comprise mobile, empty transport loading aids 7, [0352] iii) providing article carrier stacks 8 of multiple article carriers 3 arranged on top of one another in a delivery zone 4, [0353] iv) transporting empty transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 to a loading station and providing one or multiple empty (first) transport loading aid(s) 7 either on one or on multiple automatically operated loading device(s) 13 or on a buffer surface 30 close to the loading device(s) 13, [0354] v) loading one of the empty transport loading aids 7, which is provided at the automatically operated loading device 13, with at least one article carrier stack 8 from the delivery zone 4 by means of the automatically operated loading device 13, [0355] vi) transporting the transport loading aid 7 loaded with at least one article carrier stack 8 from the loading station to a storage zone 5 by means of the autonomously moveable, driverless transport vehicle 9, [0356] vii) placing the transport loading aid 7 loaded with at least one article carrier stack 7 on a storage surface 31 in the storage zone 5, [0357] viii) storing the transport loading aids 7 loaded with at least one article carrier stack 8 or the transport loading aids 7 loaded with individual article carriers 3 in the storage zone 5, [0358] ix) processing a picking order comprising the steps [0359] transporting one or multiple transport loading aid(s) 7 containing the article carriers 3 required for a picking order from the storage zone 5 to an unloading station and providing said transport loading aid(s) 7 either at one or at multiple automatically operated unloading device(s) 32 or on a buffer surface 36 close the unloading device(s) 32 by means of one or multiple autonomously moveable, driverless transport vehicle(s) 9, [0360] unloading one or multiple ones of the transport loading aid(s) 7, which is (are) provided at the automatically operated unloading device(s) 32, by removing the article carriers 3 required for processing the mentioned picking order, and [0361] assembling the article carriers 3 on one or multiple target loading aid 34 by means of the unloading device(s) 32 for the mentioned picking order by the article carrier 3 or the at least one article carrier stack 8 being removed from the provided transport loading aid(s) 7 by means of the unloading device 32 and transferred from said unloading device 32 to the target loading aid(s) 34.

[0362] Providing autonomously moveable, driverless transport vehicles 9 according to step i) may comprise providing transport vehicles 9, which are used exclusively for transporting the transport loading aid(s) 7 between the delivery zone 4 (loading station) and the storage zone 5, and may comprise providing transport vehicles 9, which are used exclusively for transporting the transport loading aid (s) 7 between the storage zone 5 and the order processing zone 6 (removal station). However, step i) may just as well comprise providing transport vehicles 9, which are used both for transporting the transport loading aid(s) 7 between the delivery zone 4 (loading station) and the storage zone 5 and for transporting the transport loading aid(s) 7 between the storage zone 5 and the order processing zone (removal zone).

[0363] Providing transport loading aids 7 according to step ii) may comprise providing structurally identical transport loading aids 7 or structurally different transport loading aids 7. Likewise, structurally different transport loading aids 7 may be used in the order fulfillment facility 1a.

[0364] On the one hand, step iii) may comprise providing separate article carrier stacks 8 without pallets or roll container (delivery load carriers).

[0365] On the other hand, step iii) may comprise providing article carrier stacks 8 as article carrier stack groups 10 on pallets or roll containers (delivery load carriers), which are previously fed to a depalletizing station in order to separate the article carrier stacks 8 out of an article carrier stack group 10.

[0366] For example, the article carriers 3 may carry fruit or vegetables, wherein a first article carrier stack group 10 contains a first type of vegetable and a second article carrier stack group 10 contains a second type of vegetable.

[0367] Step iv) may comprise transporting empty transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 to a loading station and directly providing (an) empty loading aid(s) 7 on one or multiple automatically operated loading device(s) 13.

[0368] However, step iv) may also comprise transporting empty transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 to a loading station onto a buffer surface 30 close to the loading device(s) 13 and transporting said empty transport loading aid(s) 7 by means of the autonomously moveable, driverless transport vehicles 9 to the loading device(s) 13 and providing said empty transport loading aid(s) 7 on one or multiple automatically operated loading device(s) 13.

[0369] Providing an empty transport loading aid 7 on one or multiple automatically operated loading device(s) 13 according to step iv) may comprise the following steps: [0370] placing the empty transport loading aid 7 at a service location 16a, 16b having the relevant loading device 13 and having the transport vehicle 9 remain at the service location 16a, 16b during the loading operation of the empty transport loading aid 7 according to step v), or [0371] placing the empty transport loading aid 7 at a service location 16a, 16b having the relevant loading device 13 and subsequently having the transport vehicle 9 move on from the service location 16a, 15b, thus even before the start or during the loading operation of the empty transport loading aid 7 according to step v).

[0372] The loading of the empty transport loading aids 7 according to step v) may comprise loading one of the empty transport loading aids 7 with at least one article carrier stack 8 and/or loading one of the empty transport loading aids 7 with at least one partial article carrier stack 8 and/or loading one of the empty transport loading aids 7 with individual article carriers 3 and/or a combination thereof.

[0373] Step ix) may comprise transporting loaded transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 from the storage zone 5 (but possibly also from the loading station in the service zone 4) to an unloading station and directly providing (a) loaded loading aid(s) 7 on one or multiple automatically operated unloading device(s) 32.

[0374] However, step ix) may also comprise transporting loaded transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 from the storage zone 5 (but possibly also from the loading station in the service zone 4) to an unloading station onto a buffer surface 36 close to the unloading device(s) 32 and transporting said loaded transport loading aid(s) 7 by means of the autonomously moveable, driverless transport vehicles 9 from the buffer surface 36 to the unloading device(s) 32 and providing said loaded transport loading aid(s) 7 on one or multiple automatically operated unloading device(s) 32.

[0375] The transport vehicles 9 may also be controlled by the main computer such that they arrive at the unloading station in an order provided by the packing order of the article carriers 3 at the target loading aid 34. Thus, a sequencing of the transport loading aids 7 and/or article carrier stacks 8 is achieved.

[0376] Providing a loaded transport loading aid (s) 7 on one or multiple automatically operated loading device(s) 32 according to step ix) may comprise the following steps: [0377] placing the loaded transport loading aid (s) 7 at a service location 40a . . . 40b having the relevant unloading device 32 and having the transport vehicle 9 remain at the service location 40a . . . 40b during the unloading operation of the loaded transport loading aid (s) 7 according to step ix), or [0378] placing the loaded transport loading aid (s) 7 at a service location 40a . . . 40b having the relevant unloading device 32 and subsequently having the transport vehicle 9 move on from the service location 40a . . . 40b, thus even before the start or during the unloading operation of the loaded transport loading aid (s) 7 according to step ix).

[0379] In the following, the method for storing and picking article carriers 3 that contain articles 2 and are stackable in the order fulfillment facility 1b (second embodiment) is described.

[0380] The method comprises the steps i) to viii) as described above and the step: [0381] ix) processing a picking order comprising the steps [0382] transporting one or multiple transport loading aid(s) 7 containing the article carriers 3 required for a picking order from the storage zone 5 to an unloading station and providing said transport loading aid(s) 7 either at one or at multiple automatically operated unloading device(s) 65 or on a buffer surface 66 close the unloading device(s) 65 by means of one or multiple autonomously moveable, driverless transport vehicle(s) 9, [0383] unloading one or multiple ones of the transport loading aid(s) 7, which is (are) provided at the automatically operated unloading device(s) 65, by removing the article carriers 3 required for processing the mentioned picking order, and [0384] Assembling the article carrier 3 on one or multiple target loading aids 34 by means of the unloading device(s) 32 for the mentioned picking order by performing the assembly of the article carriers 3 for the mentioned picking order such that the article carriers 3 removed from the article carrier stack 8 at the unloading device(s) 65 or the at least one or the article carrier stack(s) 8 removed at the unloading device(s) 65 is (are) transferred to a fixed-installation conveying system by means of the provided transport loading aid(s) 7, and the article carrier 3 or article carrier stack 8 is transported from the unloading device(s) 65 to the reloading device(s) 32 by means of the conveying system and is/are subsequently taken over from the fixed-installation conveying system by means of the reloading device(s) 32 and is/are transferred from it to the target loading aid(s) 34. [0385] In this regard, the fixed-installation conveying system is arranged between the unloading station with the at least one automatically operated unloading station 65 and the reloading station with the at least one automatically operated reloading device 32 (palletizing). [0386] During the unloading operation by means of the relevant unloading device 65, individual article carriers 3 or a partial article carrier stack (with articles of just one type) are removed from the article carrier stack 8. [0387] The article carriers 3 may be successively transferred onto the fixed-installation conveying system and be transported as separate article carriers 3. In this regard, the article carriers 3 can advantageously be successively discharged onto the fixed-installation conveying system in an order provided by the packing order of the article carriers 3 at the target loading aid 34 and be transported to the at least one reloading device 32 successively in said order. [0388] By contrast, article carriers 3 required for a picking order can also be stacked on the fixed-installation conveying system and pre-picked partial article carrier stacks 8″ or article carrier stacks 8′ can be transported from the unloading device 65 or the unloading devices 65 to the reloading device 32 or reloading devices 32, as shown in an exemplary manner in FIG. 7a. In this regard, the article carriers 3 can advantageously be discharged onto the fixed-installation conveying system in an order provided by the packing order of the article carriers 3 at the target loading aid 34 such that at least one (pre-picked) partial article carrier stack 8″ or article carrier stack 8′ is made up of multiple article carriers 3 arranged on top of one another and is then transported to the at least one reloading device 32. [0389] Said packing order may be determined by a computer and considers for example the stability of the article carrier 3 and/or the dimensions of the article carriers and/or the weight of the articles 2/article carriers 3. At the target loading aid 34, heavy article carriers 3 are accommodated at the bottom of the stack while lightweight article carriers 3 are accommodated at the top of the stack. Containers are arranged at the bottom of the stack, cartons at the top of the stack. The control system 47 may comprise said computer.

[0390] Step ix) may comprise transporting loaded transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 from the storage zone 5 (but possibly also from the loading station in the service zone 4) to an unloading station and directly providing (a) loaded loading aid(s) 7 on one or multiple automatically operated unloading device(s) 65.

[0391] However, step ix) may also comprise transporting loaded transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 from the storage zone 5 (but possibly also from the loading station in the service zone 4) to an unloading station onto a buffer surface 66 close to the unloading device(s) 65 and transporting said loaded transport loading aid(s) 7 by means of the autonomously moveable, driverless transport vehicles 9 to the unloading device(s) 65 and providing said loaded transport loading aid(s) 7 on one or multiple automatically operated unloading device(s) 65.

[0392] Providing a loaded transport loading aid (s) 7 on one or multiple automatically operated loading device(s) 65 according to step ix) may comprise the following steps: [0393] placing the loaded transport loading aid (s) 7 at a service location 67a, 67b having the relevant unloading device 65 and having the transport vehicle 9 remain at the service location 67a, 67b during the unloading operation of the loaded transport loading aid (s) 7 according to step ix), or [0394] placing the loaded transport loading aid (s) 7 at a service location 67a, 67b having the relevant unloading device 65 and subsequently having the transport vehicle 9 move on from the service location 67a, 67b, thus even before the start or during the unloading operation of the loaded transport loading aid (s) 7 according to step ix).

[0395] In the following, the method for storing and picking article carriers 3 that contain articles 2 and are stackable in the order fulfillment facility 1c (third embodiment) is described.

[0396] The method comprises the steps i) to viii) as described above and the step: [0397] ix) processing a picking order comprising the steps [0398] transporting one or multiple transport loading aid(s) 7 containing the article carriers 3 required for a picking order from the storage zone 5 to an unloading station and providing said transport loading aid(s) 7 either at one or at multiple automatically operated unloading device(s) 75 or on a buffer surface 66 close the unloading device(s) 75 by means of one or multiple autonomously moveable, driverless transport vehicle(s) 9, [0399] unloading one or multiple ones of the transport loading aid(s) 7, which is (are) provided at the automatically operated unloading device(s) 75, by removing the article carriers 3 required for processing the mentioned picking order, and [0400] Assembling the article carrier 3 on one or multiple target loading aids 34 by means of the unloading device(s) 32 for the mentioned picking order by performing the assembly of the article carriers 3 for the mentioned picking order such that the article carriers 3 removed from the article carrier stack 8 at the unloading device(s) 75 or the at least one or the article carrier stack(s) 8 removed at the unloading device(s) 75 is (are) 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 article carrier 3 or (pre-picked) article carrier stack 8′ is (are) transported from the unloading device(s) 75 to the reloading device(s) 32 by means of the autonomously moveable, driverless transport vehicle 9 and is/are subsequently taken over from the (second) transport loading aid(s) 7 by means of the reloading device(s) 32 and is/are transferred from it to the target loading aid(s) 34. [0401] The article carriers 3 required for a picking order can also be stacked on the (second) transport loading aid(s) 7 and the (second) transport loading aid(s) 7 with the pre-picked article carrier stack 8′ can be transported from the unloading device 75 or the unloading devices 75 to the reloading device 32 or reloading devices 32. In this regard, the article carriers 3 can advantageously be discharged onto the (second) transport loading aid(s) 7 in an order provided by the packing order of the article carriers 3 at the target loading aid 34. [0402] Said packing order may be determined by a computer and considers for example the stability of the article carrier 3 and/or the dimensions of the article carriers and/or the weight of the articles 2/article carriers 3. At the target loading aid 34, heavy article carriers 3 are accommodated at the bottom of the stack while lightweight article carriers 3 are accommodated at the top of the stack. Containers are arranged at the bottom of the stack, cartons at the top of the stack. The control system 47 may comprise said computer.

[0403] Step ix) may comprise transporting loaded (first) transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 to an unloading station and directly providing (a) loaded (first) transport loading aid(s) 7 on one or multiple automatically operated loading device(s) 75.

[0404] However, step ix) may also comprise transporting loaded (first) transport loading aids 7 by means of the autonomously moveable, driverless transport vehicles 9 to an unloading station onto a buffer surface 76 close to the unloading device(s) 75 and transporting said loaded (first) transport loading aid(s) 7j by means of the autonomously moveable, driverless transport vehicles 9 from the buffer surface 76 to the unloading device(s) 75 and providing said loaded transport loading aid(s) 7 on one or multiple automatically operated unloading device(s) 75.

[0405] The transport vehicles 9 may also be controlled by the main computer such that they arrive at the unloading station in an order provided by the packing order of the article carriers 3 at the target loading aid 34. Thus, a sequencing of the (second) transport loading aids 7 and/or article carrier stacks 8′ is achieved.

[0406] Providing a loaded (first) transport loading aid (s) 7 on one or multiple automatically operated loading device(s) 75 according to step ix) may comprise the following steps: [0407] placing the loaded (first) transport loading aid (s) 7 at a service location 77a, 77b having the relevant unloading device 75 and having the transport vehicle 9 remain at the service location 77a, 77b during the unloading operation of the loaded (first) transport loading aid (s) 7 according to step ix), or [0408] placing the loaded (first) transport loading aid (s) 7 at a service location 77a, 77b having the relevant unloading device 75 and subsequently having the transport vehicle 9 move on from the service location 77a, 77b, thus even before the start or during the unloading operation of the loaded (first) transport loading aid (s) 7 according to step ix).

[0409] Providing an empty (second) transport loading aid (s) 7 on one or multiple automatically operated loading device(s) 75 according to step ix) may comprise the following steps: [0410] placing the empty (second) transport loading aid (s) 7 at a service location 77a, 77b having the relevant unloading device 75 and having the transport vehicle 9 remain at the service location 77a, 77b during the loading operation of the empty (second) transport loading aid (s) 7 according to step ix), or [0411] placing the empty (second) transport loading aid (s) 7 at a service location 77a, 77b having the relevant unloading device 75 and subsequently having the transport vehicle 9 move on from the service location 77a, 77b, thus even before the start or during the unloading operation of empty (second) transport loading aid (s) 7 according to step ix).

[0412] Providing an empty (second) transport loading aid (s) 7 on one or multiple automatically operated loading device(s) 32 according to step ix) may comprise the following steps: [0413] placing the loaded (second) transport loading aid (s) 7 at a service location 40a . . . 40b having the relevant unloading device 32 and having the transport vehicle 9 remain at the service location 40a . . . 40b during the unloading operation of the loaded (second) transport loading aid (s) 7 according to step ix), or [0414] placing the loaded (second) transport loading aid (s) 7 at a service location 40a . . . 40b having the relevant unloading device 32 and subsequently having the transport vehicle 9 move on from the service location 40a . . . 40b, thus even before the start or during the unloading operation of the loaded (second) transport loading aid (s) 7 according to step ix).

[0415] The method for storing and picking articles 2 in the order fulfillment facility 1c can additionally comprise the following steps [0416] acquiring picking orders on an order-processing computer 46, [0417] determining the articles required for one of the picking orders (demand), [0418] analysis of a stock of those articles 2 which are required for the mentioned picking order, which picking order comprises one or multiple first article carrier(s) 3 containing the article(s) 2 and one or multiple second article carrier(s) 3 containing the article(s), and [0419] assembling the article carriers 3 for the mentioned picking order in consecutive picking steps if a required quantity of an article 2 exceeds the stock of said article 2, wherein [0420] i) in a first picking step, the (second) transport loading aid 7 is loaded with one or multiple first article carrier(s) 3 at the unloading device 75, and subsequently said (second) transport loading aid 7 is transported from the unloading device 75 to a buffer surface 76 by means of an autonomously moveable, driverless transport vehicle 9 and is buffered there, and [0421] ii) in a second picking step, the (second) transport loading aid 7 is transported from the buffer surface 76 to the unloading device 75 by means of an autonomously moveable, driverless transport vehicle 9 and is provided there, if a required quantity of an article 2 falls below the stock of said article 2, and subsequently the (second) transport loading aid 7 is loaded with one or multiple second article carriers 3, and [0422] transporting the (second) transport loading aid 7 from the unloading device 75 to the reloading device 32 by means of an autonomously moveable, driverless transport vehicle 9 after steps i) and ii) have been concluded, and [0423] transferring the article carrier stack 8, 8′ onto a target loading aid 34 by means of the reloading device 32.

[0424] The method for storing and picking articles 2 in the order fulfillment facility 1a, 1b, 1c can additionally comprise one of the steps x) [0425] transporting a transport loading aid 7 from the unloading station back to the storage zone 5 after removal of the article carriers 3, if not all article carriers 3 have been removed from the mentioned transport loading aid 7, or [0426] transporting a transport loading aid 7 from a first unloading device 32; 65; 75 to a second unloading device 32; 65; 75 after removal of the article carriers 3, if not all article carriers 3 have been removed from the mentioned transport loading aid 7 and if said article carriers 3 are needed at the second unloading device 32; 65; 75 for a picking order, or [0427] transporting a transport loading aid 7 from the unloading device 32; 65; 75 to a waiting zone 37 in the unloading station 32; 65; 75 after removal of the article carriers 3, if not all article carriers 3 have been removed from the mentioned transport loading aid 7 and if said article carriers 3 are needed at the mentioned unloading device 32; 65; 75 or one of the unloading devices 32; 65; 75 for an already advised picking order, or [0428] transporting an (empty) transport loading aid 7 back to the loading station after removal of the article carrier stack 8, 8′ and providing the transport loading aid 7 either at the automatically operated loading device 13 or on the buffer surface 30, if all article carriers 3 have been removed from the mentioned transport loading aid 7.

[0429] The method for storing and picking articles 2 in the order fulfillment facility 1a, 1b, 1c can additionally comprise the following steps [0430] providing a cleaning system with an automatically operated cleaning robot 90 (as schematically depicted in FIG. 1), [0431] cleaning the transport loading aids 7 and/or the base in the loading station and/or unloading station (therefore the service locations 16a, 16b, 40a, 40b, 71a, 71b, 77a, 77b, the buffer surface 36, 67, 76 and according to the first embodiment the waiting zone 37) and storage surface 31 in the storage zone 5 with the cleaning robot 90.

[0432] As depicted only in FIG. 1 and explained with the example of the first picking system 1a, the method for storing and picking articles 2 may additionally comprise the following steps [0433] providing a first temperature zone 91a in the storage zone 5, in which the transport loading aids 7 with the at least one article carrier stack 8 of article carriers 3 stacked on top of one another and containing articles 2 of a first article group, [0434] providing a second temperature zone 91b in the storage zone 5, in which the transport loading aids 7 with the at least one article carrier stack 8 of article carriers 6 stacked on top of one another and containing articles 2 of a second article group, [0435] definition of a first article group and of a second article group, to which first article group articles 2 of a first storage temperature are assigned and to which second article group articles 2 of a second storage temperature are assigned, and detecting data containing data on the first article group, in particular a first storage temperature for the articles 2, and the second article group, in particular a second storage temperature for the articles 2, on a computer (which is connected to the control system 47), [0436] identifying the article carriers 3 and/or article carrier stacks 8 and/or transport loading aids 7 by means of a detection device (not depicted) provided in the delivery zone 4 by reading a data carrier 92a, 92b, 92c (RFID, barcode) (only depicted in FIG. 4b), which data carrier 92a, 92b, 92c is affixed in each case on the article carriers 3 and/or article carrier stacks 8 and/or transport loading aids 7, [0437] selectively transporting the (first) transport loading aids 7, each loaded at the loading station in step v) with at least one article carrier stack 8, by means of the autonomously moveable, driverless transport vehicles 9 either in the first temperature zone 91a or second temperature zone 91b, [0438] storing the (first) transport loading aids 7 with the at least one article carrier stack 8 of article carriers 3 stacked on top of one another and containing articles 2 of the first article group in the first temperature zone 91a, [0439] storing the (first) transport loading aids 7 with the at least one article carrier stack 8 of article carriers 3 stacked on top of one another and containing articles 2 of the second article group in the second temperature zone 91b.

[0440] The method for storing and picking articles 2 can additionally comprise the following steps [0441] transporting one or multiple transport loading aid(s) 7 containing the article carriers 3 required for a first picking order from the first temperature zone 91a and transporting one or multiple transport loading aid(s) 7 containing the article carriers 3 required for a second picking order from the second temperature zone 91b to the unloading station by means of a shared, automatically operated unloading device 32; 65; 75, [0442] providing the mentioned transport loading aid(s) 7 for the first picking order either at the automatically operated unloading device 32; 65; 75 or on a buffer surface 36; 66; 76 near the unloading device 32; 65; 75 by means of the autonomously moveable, driverless transport vehicle(s) 9, [0443] providing the mentioned transport loading aid(s) 7 for the second picking order either at the automatically operated unloading device 32; 65; 75 or on a buffer surface 36; 66; 76 near the unloading device 32; 65; 75 by means of the autonomously moveable, driverless transport vehicle(s) 9, [0444] sequentially assembling article carrier stacks 8 on a first target loading aid 34 (goods-out unit) with multiple article carrier stacks 8 of article carriers 3 stacked on top of one another and containing articles 2 of a first article group, and assembling article carrier stacks 8 on a second target loading aid 34 (goods-out unit) with multiple article carrier stacks 8 of article carriers 3 stacked on top of one another and containing articles 2 of a second article group at the removal station with a shared, automatically operated removal device 65; 75 and/or reloading station with a shared, automatically operated reloading device 32.

[0445] FIGS. 9a and 9b show a fourth embodiment of an order fulfillment facility 1d for storing and picking article carriers 3 that contain articles 2 (as only shown in FIG. 11a for reasons of clarity) and are stackable. FIGS. 10a to 10d show individual cutouts from the order fulfillment facility 1d. The order fulfillment facility 1d also comprises a delivery zone 4, a storage zone 5, an order processing zone 6, a plurality of transport loading aids 107 each for accommodating and stabilizing the position of at least one article carrier stack 8 and a plurality of autonomously moveable, driverless transport vehicles 9 for transporting transport loading aids 107. The article carrier stack 8 is formed by multiple article carriers 3 arranged (stacked) on top of one another. Contrary to the first, second and third embodiment according to FIGS. 1 to 8, 8a, the order fulfillment facility 1d additionally comprises stack loading aids, as they are shown in more detail in FIGS. 12a to 12c, each for stabilizing the position of an order stack 101 made up of the article carriers 3 according to a picking order. It is noted that the first, second and third embodiment of the order fulfillment facility 1a, 1b, 1c may also comprise such stack loading aids.

[0446] The stack loading aids comprise either first stack loading aids 100a (FIGS. 12a—shows an unloaded stack loading aid and FIG. 12b—shows a loaded stack loading aid) or second stack loading aids 100b (FIG. 12c—shows an unloaded stack loading aid). It is also possible that the stack loading aids comprise both first stack loading aids 100a and second stack loading aids 100b.

[0447] In the order fulfillment facility 1d shown in FIGS. 9a, 9b, 10a to 10d, stack loading aids, which comprise the first stack loading aids 100a (see FIG. 12a), are used, which are loaded by means of the target loading aid 34, for example a pallet.

[0448] If instead of the first stack loading aids 100a the second stack loading aids 100b (see FIG. 12c) is used in the order fulfillment facility 1d, the second stack loading aid 100b forms the target loading aid 134. In this case, the lading station described in the following may be omitted. Contrary to the above-mentioned embodiment, in which the first stack loading aid 100a is equipped with the target loading aid 34, this embodiment does not allow for an additional target loading aid 34.

[0449] The transport loading aid 107 as shown in further detail in FIGS. 11a to 11c also proves advantageous.

[0450] As schematically depicted in FIG. 9a, the order fulfillment facility 1d likewise comprises the order processing computer 46 for detecting picking orders and for determining articles 2 which are required for the picking order. In this regard, a picking order comprises one order line (for example six article carriers 3 with a first article 2) or multiple order lines (for example three article carriers 3 with a first article 2 and three article carriers 3 with a second article 2), as described above.

[0451] In the delivery zone 4, the provision of article carrier stacks 8 is envisaged, as comprehensively described above. According to the embodiment shown, the article carrier stacks 8 are delivered to the delivery zone 4 on pallets (delivery load carrier) as an article carrier stack group 10. In this case, an article carrier stack group 10 of a depalletizing station is supplied, in which article carrier stacks 8 of multiple article carriers 3, arranged on top of one another, from one article carrier stack group 10 are separated. Such article carrier stack groups 10 are most times made up of article carrier stacks 8 containing articles of just one type.

[0452] FIGS. 9a and 10a show a possible embodiment, in which a depalletizing station with at least one automatically operated depalletizing device 11 (schematically adumbrated), a first conveying device 112a following the depalletizing device 11 for supplying article carrier stack groups 10 (goods-in units), a second conveying device 112b following the depalletizing device 11 for transporting delivery load carriers away, a loading station with at least one automatically operated first loading device 113 (schematically adumbrated), a third conveying device 114a connecting, in respect of a conveying stream, the depalletizing device 11 to the first loading station 113 for supplying article carrier stacks 8 and/or a fourth conveying device 114b connecting, in respect of a conveying stream, the depalletizing device 11 to the loading station 113 for supplying article carrier stacks 8 may be provided in the delivery zone 4. The fourth conveying device 114b for supplying article carrier stacks 8 is optional and may also be omitted.

[0453] As not shown in further detail, a rotating device may be provided between the depalletizing device 11 and the loading device 113, which rotating device rotates the article carrier stacks 8 by 90°, so that the article carrier stacks 8 are always provided in the same orientation at the loading device 113, regardless of how the article carrier stacks 8 and/or article carriers 3 are delivered.

[0454] The article carrier stacks 8 are provided “unamendedly” in a transfer position at the loading device 113. The transfer location 15a is preferably formed on the third conveying device 114a.

[0455] As described in the following, the loading station comprises one or multiple automatically operated first loading device(s) 113 (schematically adumbrated).

[0456] The schematically shown first loading device 113 comprises at least one first service location 16a for the first transport loading aid 107a and a transfer device 117 for transferring a second article carrier stack 8b from the first transfer location 15a onto the first transport loading aid 107a. The first service location 16a and the first transfer location 15a are arranged so as to be located opposite one another.

[0457] It also proves advantageous if the loading station has at least one separate buffer surface 30 near the first loading device 113 or near each first loading device 113. Preferably, the first loading device 113 is assigned one buffer surface 30 per service location 16a. However, in principle, the loading station may also comprise only one buffer surface 30. The buffer surface 30 is preferably formed on a base of the order fulfillment facility 1d.

[0458] In concrete terms, the automatically operated loading device 113 comprises a transfer device 117 that is movable relative to the transfer location 15a, in order to move an article carrier stack 8b (or possibly individual article carriers 3) provided in a transfer position at the transfer location 15a to the transport loading aid 107a. The transfer device 117 can be formed for example by a pusher actuatable by means of an actuating drive. The transfer device 117 is arranged above the conveying device 114a.

[0459] According to a first embodiment, the loading device 113 may specifically comprise a gantry robot. Gantry robots are understood to be industrial robots, which in their base axes are constructed from linear axles. Using a line gantry is sufficient for loading.

[0460] The gantry robot comprises vertical standing members and a longitudinal beam, which are connected to one another, forming a support construction 118. Additionally, the gantry robot comprises a gantry slide 119, that is movable in a first direction (x-direction—horizontal movement) along a guide assembly via a first drive device (not depicted), and a gantry arm 120 arranged on the gantry slide 119. A transfer device 117 is arranged on the gantry arm 120.

[0461] It may prove useful if the gantry arm 120 is also movable in a second direction (z-direction—vertical movement) along a guide assembly via a second drive device.

[0462] In FIGS. 9a, 10a, the first article carrier stack 8a has already been discharged onto the first transport loading aid 107a, while the second article carrier stack 8b is still at the transfer location 15a. In the course of the pushing movement, the article carrier stack 8b is moved from the transfer location 15a to the first transport loading aid 107a which is provided at the first service location 16a.

[0463] As described above, the first transfer location 15a, second transfer location 15b, first service location 16a and the second service location 16b may be provided on this loading device 113 as well.

[0464] Even though, in the depicted embodiment, the loading station is shown having a single first loading device 113 for reasons of clarity, the number of first loading devices 113 may vary depending on the required picking performance, as already described above regarding the embodiments.

[0465] According to an embodiment that is not shown, the loading device 113 may comprise a jointed-arm robot, as described above regarding the loading device 13.

[0466] As depicted in FIG. 9a, an empty (first) transport loading aid 107b may be transported to the service location 16a (16b) by means of an autonomously moveable, driverless transport vehicle 9 and be placed there. While loading the (first) transport loading aid 107a, said transport vehicle 9 may be used for other transport purposes. However, in principle, it is also possible that the autonomously moveable, driverless transport vehicle 9 is transported to the service location 16a (16b) and placed there but remains at the service location 16a (16b) while the (first) transport loading aid 107a is loaded. If a (first) transport loading aid 107a is already placed at the service location 16a or if the (first) transport loading aid 107a is currently being loaded, the empty (first) transport loading aid 107b can be buffered on the buffer surface 30 provided near the loading device 113.

[0467] After being loaded (with at least one article carrier stack 8), a (first) transport loading aid 107c is transported from the loading station, in particular from the first loading station 113, or from the first loading devices 113 to the storage zone 5 by means of an autonomously moveable, driverless transport vehicle 9 and is placed on the storage area 31 in the storage zone 5.

[0468] As evident in FIGS. 9b and 10b, an unloading station with at least one automatically operated unloading device 132 (schematically adumbrated) is arranged in the order processing zone 6. According to this embodiment, the unloading station with the automatically operated unloading device 132 or the multiple automatically operated unloading devices 132 simultaneously forms a reloading station with the one automatically operated reloading device (palletizing device) or the multiple automatically operated reloading devices (palletizing devices), by means of which the article carriers 3 or article carrier stacks 8 are transferred from the transport loading aid 107 onto the target loading aid 34. Therefore, the term “unloading device” may be used synonymously with “reloading device”.

[0469] As described in the following, the unloading station comprises the at least one automatically operated unloading device 132 (schematically adumbrated). Even though, in the depicted embodiment, the unloading station is shown having a single unloading device 132 for reasons of clarity, the number of unloading devices 132 may vary depending on the required picking performance. For example, the unloading station and/or the order fulfillment facility 1d may have a second unloading device 132, third unloading device 132 etc. These unloading devices 132 are preferably constructed identically.

[0470] The schematically shown embodiment of the automatically operated unloading device 132 comprises a first service location 40a for the loaded first transport loading aid 107e, an (optional) second service location 40b for the loaded second transport loading aid 107e and a transfer device 147 movable relative to the service location 40a . . . 40b for unloading the transport loading aid 107e provided at the service location 40a . . . 40b. If the unloading station has more than one automatically operated unloading device 132 , each unloading device 132 comprises a first service location 40a for the loaded first transport loading aid 107e, an (optional) second service location 40b for the loaded second transport loading aid 107e and a transfer device 147 movable relative to the service location 40a . . . 40b for unloading the transport loading aid 107e provided at the service location 40a, 40b.

[0471] The transfer device 147 may for example be formed by a gripping system as it is described in detail in FIGS. 13a to 13d, 14a, 14b, 15a to 15n and 16a to 16n.

[0472] It also proves advantageous if the unloading station has at least one separate buffer surface 36 near the unloading device 132 or near each unloading device 132. In the depicted embodiment, the unloading device 132 is assigned one buffer surface 36 per service location 40a . . . 40b. However, in principle, the unloading station may also comprise only one buffer surface 36. The buffer surface 36 is preferably formed on a base of the order fulfillment facility 1d. This way, it is possible that the loaded (first) transport loading aid(s) 107d are buffered on the buffer surface 36, near the unloading device(s) 132, and are transported as needed to the respective service location 40a . . . 40b of the unloading device(s) 132 over a short distance by means of the transport vehicles 9.

[0473] The unloading station may also have one or multiple waiting zone(s) 37 (not depicted), as described above in detail.

[0474] According to a first embodiment, the unloading device 132 may specifically comprise a gantry robot. Gantry robots are understood to be industrial robots, which in their base axes are constructed from linear axles. An area gantry is used for loading.

[0475] The gantry robot comprises [0476] i) vertical standing members, longitudinal beams and transverse beams, which are connected to one another, forming a support construction 142 [0477] ii) a first gantry slide 143 mounted on the support structure 142 and horizontally movable in a first direction (x-direction) along a guide assembly (which is arranged on one of the longitudinal beams) via a first drive device, [0478] iii) a gantry arm 144 affixed to the first gantry slide 143 and movable therewith in the first direction (x-direction), and [0479] iv) a second gantry slide 145 mounted on the gantry arm 144 and vertically movable in a second direction (z-direction) along a guide assembly via a second drive device, and [0480] v) a third gantry slide 146 arranged on the second gantry slide 145 and horizontally movable in a third direction (y-direction) along a guide assembly via a third drive device, and [0481] vi) the transfer device 147, which is arranged on the third gantry slide 146 and is mounted on the third gantry slide 146 so as to be rotatable about a vertical axis.

[0482] In the course of the unloading movement, the article carrier 3, partial article carrier stack or article carrier stack 8 is picked up by the transfer device 147 and/or the gripping system from the transport loading aid 107e, which is provided at the service location 40a . . . 40b, and subsequently transferred onto a target loading aid 34 according to the shown embodiment with the first stack loading aid 100a. If the order fulfillment facility 1d comprises the second stack loading aids 100a, the article carrier 3, partial article carrier stack or article carrier stack 8 is picked up by the gripping system from the transport loading aid 107e, which is provided at the service location 40a . . . 40b, and subsequently transferred onto the target loading aid 134.

[0483] The shown gantry robot proves advantageous if the available ceiling height is low.

[0484] According to an embodiment, which is not depicted, the unloading device 132 (reloading device) may comprise a jointed-arm robot, as described above.

[0485] The schematically shown embodiment of the automatically operated unloading device 132 comprises a service location 139a for a first stack loading aid 100a (or second stack loading aid 100b) or multiple service locations 139a . . . 139b for first stack loading aids 100a (or second stack loading aids 100b) and the transfer device 147 that is movable relative to the service location 139a . . . 139b for loading the transport loading aid 34, 134 provided at the service location 139a . . . 139b.

[0486] If the unloading station has more than one automatically operated unloading device 132 , each unloading device 132 comprises a service location 139a for a target loading aid 34, 134 or multiple service locations 139a . . . 139b for target loading aids 34, 134 and the transfer device 147 that is movable relative to the service location 139a . . . 139b for loading the transport loading aid 34, 134 provided at the service location 139a . . . 139b.

[0487] As described above, the (additional) target loading aid 34 with the first stack loading aid 100a may be provided at the service location 139a . . . 139b or the target loading aid 134 (which is formed by the second stack loading aid 100b) may be provided at the service location 139a . . . 139b.

[0488] It also proves advantageous if the unloading station has at least one separate buffer surface 136 near the unloading device 132 or near each unloading device 132. In the depicted embodiment, the unloading device 132 is assigned one buffer surface 136 per service location 139a . . . 139b. However, in principle, the unloading station may also comprise only one buffer surface 136. The buffer surface 136 is preferably formed on a base of the order fulfillment facility 1d. This way, it is possible that the empty target loading aids 34 with the first stack loading aid 100a and the target loading aid 134 with the second stack loading aid 100b are buffered on the buffer surface 136, near the unloading device(s) 132, and are transported as needed to the respective service location 139a . . . 139b of the unloading device(s) 132 over a short distance by means of the transport vehicles 9.

[0489] According to the shown embodiment, the target loading aids 34 with the first stack loading aid 100a and the target loading aid 134 with the second stack loading aid 100b are transported to the respective service location 139a . . . 139b of the unloading device(s) 132 and are transported away from the respective service location 139a . . . 139b of the unloading device(s) 132 by means of the transport vehicles 9. The above-described fixed-installation first conveying system 33 for transporting completely loaded target loading aids away and the fixed-installation second conveying system 35 for supplying empty target loading aids are not provided according to this embodiment.

[0490] Autonomously moveable, driverless transport vehicles 9 (of a driverless transport system), which are automatically controlled by the superordinate main computer, are used for transporting the empty transport loading aids 107 and the transport loading aids 107 loaded with article carrier stacks as well as the empty target loading aids 34 with the first stack loading aid 100a and the empty target loading aids 134 with the second stack loading aid 100b and target loading aids with the first stack loading aid 100a loaded with the order stacks 101 and the loaded target loading aids 134 with the second stack loading aid 100b. The control system 47 may comprise said main computer.

[0491] As evident in FIGS. 9b and 10c, the unloading station may additionally comprise one or multiple unloading device(s) 151 (schematically adumbrated) operated in a partially automated manner, on which the article carriers 3 or article carrier stacks 8 are transferred from a third transport loading aid 150 onto one or multiple target loading aids 34, 134. It is possible for only one single unloading device 151 to be provided at which the article carriers 3 or article carrier stacks 8 are transferred from a third transport loading aid 150 onto one or multiple target loading aids 34, 134. The number of unloading devices 151 may vary depending on the required picking performance. These unloading devices 151 are preferably constructed identically.

[0492] At the unloading device(s) 151, article carriers 3 are picked, which cannot be automatically picked at the unloading device(s) 132 because the base surfaces of the article carriers are smaller than 300 mm×400 mm or the article carriers 3 have a dimensional stability that is too low to be manipulated automatically.

[0493] The unloading device(s) 151 operated in a partially automated manner each comprise a first service location 152a for a third transport loading aid 150, a second service location 152b for a first stack loading aid 100a (or second stack loading aid 100b) and a working area 155 for a picker (not depicted for reasons of clarity). The working area 155 may also comprise a working surface 156 with wheels and the like in order to make an ergonomic manipulation of the article carriers 3 possible. The first service location 152a and the second service location 152b are arranged so as to be located opposite one another. Additionally, the unloading device 151 may comprise an input and/or output device (not depicted), by means of which picking instructions for the picker are output and at which picking commands are entered by the picker.

[0494] As described above, the (additional) target loading aid 34 with the first stack loading aid 100a may be provided at the service location 152 or the target loading aid 134 (which is formed by the second stack loading aid 100b) may be provided at the service location 152b.

[0495] It should be noted here that the unloading device(s) 151 operated in a partially automated manner may also be used in the order fulfillment facilities 1a . . . 1c (without additional stack loading aids) described above. In this case, the third transport loading aids 150 are provided at the first service location 152a and the target loading aids 34 (without stack loading aids) are provided at the second service location 152b.

[0496] While according to the above-described embodiments, an automated picking operation takes place at the unloading devices 32; 65; 75; 132, a manual picking operation is carried out at the unloading device(s) 151.

[0497] In the mentioned context, “partially automated” means that transporting third transport loading aids 150 (or the first/second transport loading aids 7) to the unloading device 151, transporting third transport loading aids 150 away from the unloading device 151, transporting first stack loading aids 100a (or second stack loading aid 100b or the target loading aids 34) to the unloading device 151, transporting first stack loading aids 100a (or second stack loading aid 100b or the target loading aids 34) away from the unloading device 151 is carried out automatically and picking is carried out manually by a picker.

[0498] The third transport loading aid 150 is transported to the first service location 152a by means of the transport vehicle 9 and transferred to said service location 152a so as to provide the third transport loading aid 150 at the service location 152a, or transferred from the first service location 152a onto the transport vehicle 9 so as to transport the third transport loading aid 150 away from the service location 152a.

[0499] Likewise, the first stack loading aid 100a (or second stack loading aid 100b or the target loading aid 34) is transported by means of the transport vehicle 9 to the second service location 152b and transferred onto it so as to provide the first stack loading aid 100a (or second stack loading aid 100b or the target loading aid 34) at the service location 152b, it is transferred from the second service location 152b onto the transport vehicle 9 so as to transport the first stack loading aid 100a (or second stack loading aid 100b or the target loading aid 34) away from the service location 152b.

[0500] It also proves advantageous if the unloading station has at least one separate buffer surface 153a for the third transport loading aid 150 and at least one separate buffer surface 153b for the first stack loading aid 100a (or second stack loading aid 100b or the target loading aid 34) near the unloading device 151 or neat each unloading device 151. In the depicted embodiment, the unloading device 132 is assigned one buffer surface 153a per service location 152a or one buffer surface 153b per service location 152b. However, in principle, the unloading station may also comprise only one buffer surface 153a or buffer surface 153b. The buffer surface 153a, 153b is preferably formed on a base of the order fulfillment facility 1d. This way, it is possible that the loaded (third) transport loading aid(s) 150 and the first stack loading aid 100a (the second stack loading aid 100b or the target loading aid 34) are buffered on the buffer surface 153a, 153b, near the unloading device(s) 151, and are transported as needed to the respective service location 153a, 153b of the unloading device(s) 151 over a short distance by means of the transport vehicles 9.

[0501] According to the depicted embodiment, the first service location 152a is formed on a lifting platform 154a, on which the third transport loading aid 150 is placed and the article carrier stack 8 can be lifted to a service level in order to make ergonomic working possible, and the second service location 152b is formed on a lifting platform 154b, on which the first stack loading aid 100a (or second stack loading aid 100b or the target loading aid 34) can be placed and the target loading aid 34, 134 (of the target loading aid 34, 134 is not loaded yet) or an order stack 101 (if the target loading aid 34, 134 has already been loaded by means of one or multiple automatically operated loading device(s) 132) can be lifted to a service level in order to make ergonomic working possible.

[0502] FIGS. 9a and 10d show a loading station for loading third transport loading aids 150, which loading station comprises one or multiple automatically operated second loading device(s) 160 (schematically adumbrated). The order fulfillment facility 1d comprises this loading station. The second loading device 160 comprises a service location 161 for an empty (third) transport loading aid 150 and a transfer device 162 for loading the transport loading aid 150 provided on the service location 161, which transfer device 162 is movable relative to the service location 161.

[0503] It also proves advantageous if the loading station has at least one separate buffer surface 163 near the second loading device 160 or near each second loading device 160. In the depicted embodiment, the second loading device 160 is assigned one buffer surface 163 per service location 161. However, in principle, the loading station may also comprise only one buffer surface 160. The buffer surface 160 is preferably formed on a base of the order fulfillment facility 1d.

[0504] As evident from the figures, the third transport loading aid 150 may be different from the aforementioned transport loading aids 7, 107. However, this is not imperatively necessary.

[0505] The third transport loading aids 150 are loaded in the delivery zone 4 at the loading station by means of an automatically operated second loading device 160 (schematically adumbrated). Preferably, the article carrier stack group 10 with the pallet (delivery load carrier) is transferred onto the third transport loading aid 150 unamendedly at the second loading device 160, as evident in FIGS. 9a, 10d. Thus, no depalletizing operation takes place before. Such article carrier stack groups 10 are most times made up of article carrier stacks 8 containing articles of just one type. According to the embodiment shown, the article carrier stacks 8 are delivered to the delivery zone 4 on pallets (delivery load carrier) as an article carrier stack group 10 and the conveying device 112b conveys them to the loading device 160.

[0506] An empty (third) transport loading aid 150 is transported to the loading station by means of an autonomously moveable, driverless transport vehicle 9 and provided at the second loading device 160 or on a buffer surface 163. After being loaded (with the article carrier stack group 10), the (third) transport loading aid 150 is transported from the loading station, in particular from the first second loading device 160, to the storage zone 5 by means of the autonomously moveable, driverless transport vehicles 9 and is placed on a storage area 31 in the storage zone 5.

[0507] FIGS. 9a and 10d also show a lading station with one or multiple automatically operated lading device(s) 170, which the order fulfillment facility 1d may comprise and which make lading the first stack loading aid 100a by means of a target loading aid 34 possible as long as a first stack loading aid 100a is used in the order fulfillment facility 1d. The target loading aid 34 is placed on the base (FIG. 12a) of the first stack loading aid 100a.

[0508] The lading device(s) 170 each comprise a service location 171 for an empty first stack loading aid 100a and a transfer device 172 for loading the stack loading aid 100a provided on the service location 171, which transfer device 172 is movable relative to the service location 171.

[0509] It also proves advantageous if the lading station has at least one separate buffer surface 173 near the lading device 170 or near each lading device 170. In the depicted embodiment, the lading device 170 is assigned one buffer surface 173 per service location 171. However, in principle, the lading station may also comprise only one buffer surface 173. The buffer surface 173 is preferably formed on a base of the order fulfillment facility 1d.

[0510] An empty first stack loading aid 100a is transported to the lading station by means of an autonomously moveable, driverless transport vehicle 9 and provided at the lading device 170 or on a buffer surface 173. After being laded by means of a target loading aid 34, the stack loading aid 100a is transported from the lading station, in particular from the lading device 170, to the unloading station (reloading station) by means of an autonomously moveable, driverless transport vehicle 9.

[0511] FIGS. 9a and 10d also show an order stack load securing station with one or multiple automatically operated load securing device(s) 180, which the order fulfillment facility 1d may comprise and which makes securing the load of an order stack 101 by means of a securing means 181 possible.

[0512] The load securing device(s) 180 each comprise a service location 182 for a loaded first stack loading aid 100a (or a loaded second stack loading aid 100b), a target loading aid lifting device and a securing means wrapping tool or a securing means strapping tool. The target loading aid lifting device comprises a vertically adjustable lifting frame 183 and telescopic forks 184 mounted thereon, the latter being movable between a retracted initial position and a protruding receiving position.

[0513] It should be noted that in the receiving position, the telescopic forks 184, on the one hand, receive 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 the first stack loading aid 100a is used, as shown in FIG. 12a, and on the other hand, only the order stack 101 if the second stack loading aid 100b is used, as shown in FIG. 12c, wherein the target loading aid 34 together with the order stack 101 or the order stack 101 may be lifted/lowered with a lifting movement of the lifting frame 183.

[0514] It also proves advantageous if the order stack load securing station has at least one separate buffer surface 185 near the load securing device 180 or near each load securing device 180. In the depicted embodiment, the load securing device 180 is assigned one buffer surface 185 per service location 182. However, in principle, the order stack load securing station may also comprise only one buffer surface 185. The buffer surface 185 is preferably formed on a base of the order fulfillment facility 1d.

[0515] According to the embodiment shown, the load securing device 180 comprises a wrapping tool, which wraps a thermoplastic film in a force-fit manner in the circumferential direction around the order stack 101 while the order stack 101 is lifted from the first stack loading aid 100a or the second stack loading aid 100b by means of the target loading aid lifting device. The thermoplastic film constitutes the securing means 181.

[0516] In the alternative, a strapping tool may also be used in the load securing device 180, which is configured to fasten at least one sealing strap in a substantially horizontal direction circumferentially at the order stack 101 while the order stack 101 is in the load securing device 180. The sealing strap constitutes the securing means 181.

[0517] A loaded first stack loading aid 100a (or second stack loading aid 100b) is transported to the order stack load securing station by means of an autonomously moveable, driverless transport vehicle 9 and provided at the load securing device 180 or on a buffer surface 185.

[0518] After the order stack 101 has been removed from the first stack loading aid 100a, the empty first stack loading aid 100a may be transported by means of an autonomously moveable, driverless transport vehicle 9 from the order stack load securing station, in particular from the load securing device 180 to the lading station.

[0519] If the stack loading aids comprise the second stack loading aid 100b, after the order stack 101 has been removed from the second stack loading aid 100b, the empty second stack loading aid 100b may be transported by means of an autonomously moveable, driverless transport vehicle 9 from the order stack load securing station, in particular from the load securing device 180 to the unloading station.

[0520] It should be noted that also the first, second and third embodiment of the order fulfillment facility 1a, 1b, 1c may comprise the automatically operated second loading device(s), the optional lading station, and the order stack load securing station.

[0521] In FIGS. 11a to 11c, a fourth embodiment of a transport loading aid 107. FIG. 11a shows the unloaded, empty transport loading aid 107 and FIG. 11b shows the loaded transport loading aid 107. Such a transport loading aid 107 may also, by means of a short “offset motion”, provide multiple article carrier stacks 8 consecutively at the service locations described above. The “offset motion” is preferably performed by a transport vehicle 9. Such a transport loading aid 107 can also provide multiple article carrier stacks 8 consecutively at the service locations by means of a “rotating motion” about the vertical axis. The “rotating motion” is preferably performed by a transport vehicle 9.

[0522] The transport loading aid 107 again comprises the base 55 and side walls 56a, 56b, 56c, 56d connected thereto, each for the stabilization of the position of article carrier stacks 8 and a first loading and unloading opening 57a and second loading and unloading opening 57d located opposite the side wall 56c on a first side, and a third loading and unloading opening 57c and fourth loading and unloading opening 57d located opposite the side wall 56c on a second side.

[0523] The side walls 56a, 56b, 56c, 56d are preferably designed essentially at the height of the article carrier stack 8, however at least at a sufficient height for the topmost article carrier 3 in the article carrier stack 8 to be surrounded by the side walls 56a, 56b, 56c, 56d at least in some regions. Preferably, the first/second/third/fourth loading and unloading opening 57a, 57b, 57c, 57d each extend over the entire height of the side walls 56a, 56b, 56c, 56d.

[0524] It is advantageous if the depth of the one accommodating shaft or the multiple accommodating shafts, which is/are limited between the first side walls 56a, 56b, 56d, is smaller than a minimum width of the article carriers 3, so that the article carriers 3 always protrude at the front edge of the first side walls 56a, 56b, 56d if the article carriers 3 are mounted in the corresponding accommodating shaft, as can be seen in FIG. 11b and, for example, in FIG. 15a to FIG. 15f or FIG. 16a to FIG. 16k. This way, a reliable clamping and gripping function is enabled.

[0525] The transport loading aid 107 may comprise outer first side walls 56a, 56b running in parallel to one another 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 center region of the base 55 such that the side walls 56a, 56b, 56c, 56d delimit two accommodating shafts on a first side relative to the side wall 56c, and two accommodating shafts on a second side relative to the side wall 56c.

[0526] In each accommodating shaft, at least one article carrier stack 8 can be accommodated for transport/for storage. In the depicted embodiment, one article carrier stack 8 with a base area of the article carriers of 600 mm×400 mm is accommodated in the first accommodation shaft, and two article carrier stacks 8 each with a base area of the article carriers of 300 mm×400 mm are accommodated in the third and fourth accommodation shafts. This transport loading aid 107 can transport multiple article carrier stacks 8 simultaneously.

[0527] It proves to be advantageous if the outer first side walls 56a, 56b and possibly also the inner first side wall 56d are configured having lead-in chamfers (not depicted) for enabling easy loading and/or unloading of the transport loading aid 107.

[0528] As can be particularly seen in FIG. 11c, the second side wall 56c may comprise a first side wall part 200a and a second side wall part 200b. The first side wall part 200a is inclined at an inclination angle towards a vertical plane spanned between the first side walls 56a, 56b, 56d such that the first side wall part 200a is inclined backwards with increasing vertical distance from the base 55. The second side wall part 200b is inclined at an inclination angle towards a vertical plane spanned between the first side walls 56a, 56b, 56d such that the second side wall part 200b is inclined backwards with increasing vertical distance from the base 55.

[0529] The inclination angle α.sub.1 is between 2° and 5°.

[0530] As can also be seen in FIG. 11c, the base 55 also comprises a first base part 201a and a second base part 201b. The first base part 201a is inclined downwards in the direction of the second side wall 56c at an inclination angle towards a horizontal plane spanned between the first side walls 56a, 56b, 56d. The second base part 201b is inclined downwards in the direction of the second side wall 56c at an inclination angle towards a horizontal plane spanned between the first side walls 56a, 56b, 56d.

[0531] The inclination angle α.sub.2 is preferably larger than the inclination angle α.sub.1 and amounts to between 3° and 6°.

[0532] The base 55 on its upper side again forms a placing surface 58, on which the article carrier stacks 8 can be placed, and on its bottom side a transport surface 59, against which the loading platform 51 of the transport vehicle 9 can be placed. In concrete terms, the placing surface 58 is formed on the base wall parts 201a, 201b.

[0533] Additionally, the transport loading aid 107 may comprise adjustable feet 60 which are affixed to the base 55. The transport loading aid 107 is placed via the adjustable feet 60 on the base. In an embodiment that is not shown, wheels instead of adjustable feet 60 may also be provided on the base 55.

[0534] At this point, it should also be noted that the transport loading aid 107 may also be configured according to the embodiments described above and that the side walls 56a, 56b, 56d are arranged accordingly and one single accommodation shaft may be arranged between them (FIG. 4a, 4b) or accommodation shafts separated by the side wall 56c (FIG. 5a, 5b) or accommodation shafts separated by the side wall 56d (FIG. 6a,6b).

[0535] It should further be noted at this point that the transport loading aid 7, 7′, 7″ may also be configured 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 inclination angle towards a vertical plane spanned between the first side walls 56a, 56b or 56a, 56b, 56d such that the first side wall part 200a is inclined backwards with increasing vertical distance from the base 55.

[0536] Likewise, the base 55 may comprise a first base part 201a, which is inclined downwards in the direction towards the second side wall 56c at an inclination angle towards a horizontal plane spanned between the first side walls 56a, 56b or 56a, 56b, 56d.

[0537] As described above, the order fulfillment facility 1a, 1b, 1c, 1d may comprise one or multiple stack loading aids, each for stabilizing the position of an order stack 101 assembled of the article carriers 3 according to a picking order.

[0538] In FIGS. 12a and 12b, the first stack loading aid 100a is shown, and in FIG. 12c, the second stack loading aid 100b is shown.

[0539] The first stack loading aid 100a comprises a base 205 and stack walls 206a, 206b connected thereto. Preferably, a first stack wall 206a and a second stack wall 206b are provided, which protrude perpendicularly at the base 205 and include a right angle.

[0540] The base 205 can comprise a placing surface 207 on its upper side, on which a target loading aid 34 can be placed with the order stack 101, and a transport surface 208 on its lower side, against which a loading platform of the transport vehicle 9 can be placed.

[0541] The second stack loading aid 100b likewise comprises a base 205 and stack walls 206a, 206b connected thereto. Preferably, a first stack wall 206a and a second stack wall 206b are provided, which protrude perpendicularly at the base 205 and include a right angle.

[0542] As opposed to the first stack loading aid 100a, the base comprises on its upper side protruding placing blocks 211, which are separated from another by receiving channels 210, on which placing blocks the article carriers 3 of the order stack 101 (not shown) may be placed, such that the at least one second stack loading aid 100b forms the target loading aid 134.

[0543] In addition, the base 205 comprises on its lower side a transport surface 208, against which a loading platform of the transport vehicle 9 may be placed.

[0544] Even if only the first stack wall 206a and the second stack wall 206b are provided, sufficient stabilization of the position and safe transport of the order stack 101 is enabled by means of the first stack loading aid 100a and the second loading aid 100b. Moreover, the load securing device 180 may be operated with high performance as the first/second stack loading aid 100a, 100b may already be transported away from the load securing device 180 as soon as the target loading aid 34 with the order stack 101 has been slightly lifted from the base 205 of the first stack loading aid 100a, or the order stack 101 has been slightly lifted from the base 205 of the second stack loading aid 100b. Therefore, it is not necessary to lift the order stack 101 completely and over the entire height of the first/second stack loading aid 100a, 100b before the first/second stack loading aid 100a, 100b may be transported away.

[0545] Additionally, the first stack loading aid 100a/the second stack loading aid 100b may comprise adjustable feet 212, which are affixed to the base 205. The first stack loading aid 100a/ second stack loading aid 100b is placed on the base via the adjustable feet 212. In an embodiment that is not shown, wheels instead of adjustable feet 212 may also be provided on the base 55.

[0546] As not explained in detail, the transport loading aid 107 may also be provided with a data carrier 92a, as described above. Likewise, the first stack loading aid 100a/the second loading aid 100b may be provided with a data carrier for identifying the first stack loading aid 100a/ the second stack loading aid 100b by means of a detection device by reading a data carrier.

[0547] The method described above for storing and picking articles 2 in the order fulfillment facility 1a, 1b, 1c, 1d may additionally comprise the following steps: [0548] providing stack loading aids 100a, 100b, each for stabilizing the position of an order stack 101 assembled of the article carriers 3 according to a picking order.

[0549] Providing the stack loading aids in the order fulfillment facility 1a, 1b, 1c, 1d may comprise providing one or multiple first stack loading aid(s) 100a and/or one or multiple second stack loading aid(s) 100b.

[0550] If the first stack loading aids 100a are used in the order fulfillment facility 1a, 1b, 1c, 1d, the method may additionally comprise the following steps: [0551] lading the first stack loading aid 100a with a target loading aid 34 at the lading station by means of one or multiple automatically operated lading device(s) 170 by placing the target loading aid 34 on the base 205.

[0552] If the second stack loading aids 100b are used in the order fulfillment facility 1a, 1b, 1c, 1d, the method may additionally comprise the following steps: [0553] defining the second stack loading aid 100b as the target loading aid 134 by the second stack loading aids 100b forming the target loading aids 134.

[0554] If the first stack loading aids 100a and the second stack loading aids 100b are used in the order fulfillment facility 1a, 1b, 1c, 1d, the method may additionally comprise the following steps: [0555] lading the first stack loading aid 100a with a target loading aid 34 at the lading station by means of one or multiple automatically operated lading device(s) 170 by placing the target loading aid 34 on the base 205, and [0556] defining the second loading aid 100b as the target loading aid 134.

[0557] The method described above for storing and picking articles 2 in the order fulfillment facility 1a, 1b, 1c, 1d may additionally comprise the following steps: [0558] providing one or multiple automatically operated second loading device(s) 160, [0559] providing an article carrier stack group 10 of multiple article carrier stacks 8 arranged next to one another with article carriers 3 arranged on top of one another in the delivery zone 4 of the order fulfillment facility 1a, 1b, 1c, 1d, [0560] providing empty (third) transport loading aids 150 each for receiving and stabilizing the position of an article carrier stack group 10, [0561] transporting empty (third) transport loading aids 150 by means of the autonomously moveable, driverless transport vehicles 9 to the loading station and providing one or multiple empty (third) transport loading aid(s) 150 either on one or on multiple automatically operated second loading device(s) 160 or on a buffer surface 163 close to the second loading device(s) 160, [0562] loading one of the empty (third) transport loading aids 160, which is provided at the automatically operated second loading device 160, with at least one article carrier stack group 10 from the delivery zone 4 by means of the automatically operated second loading device 160, [0563] transporting of the (third) transport loading aid 150 loaded with the article carrier stack group 10 from the loading station to the storage zone 5 by means of the autonomously moveable, driverless transport vehicle 9, [0564] placing the (third) transport loading aid 150 loaded with at least one article carrier stack 8 on the storage surface 31 in the storage zone 5, [0565] storing the (third) transport loading aid 150 loaded with the article carrier stack group 10 in the storage zone 5.

[0566] The method may further comprise the following steps: [0567] transporting empty target loading aids 34; 134 by means of the autonomously moveable, driverless transport vehicles 9 to the unloading station and providing said empty target loading aids 34; 134 either at one or at multiple partially automated unloading device(s) 151 or on a buffer surface 152b close the unloading device(s) 151 by means of one or multiple autonomously moveable, driverless transport vehicle(s) 9, and/or [0568] transporting partially loaded target loading aids 34; 134 by means of the autonomously moveable, driverless transport vehicles 9 from the automatically operated unloading device 32; 65; 75; 132 to the partially automated unloading device 151 or to a buffer surface 152b close to the partially automated unloading device(s) 151 after the article carriers 3 have been assembled on the partially loaded target loading aid 34; 134 at the automatically operated unloading device 32; 65; 75; 132 and if article carriers 3 are still required for the mentioned picking order which are provided via the (third) target loading aids 150 at the partially automated unloading device(s) 151.

[0569] Processing a picking order that requires article carriers 3 from the (third) transport loading aid 150 may comprise the following steps: [0570] transporting one or multiple (third) transport loading aid(s) 150 containing the article carriers 3 required for the picking order from the storage zone 5 to the unloading station and providing said (third) transport loading aid(s) 150 either at one or at multiple partially automated unloading device(s) 151 or on a buffer surface 153a close the unloading device(s) 151 by means of one or multiple autonomously moveable, driverless transport vehicle(s) 9, [0571] manually unloading one or multiple ones of the (third) transport loading aid(s) 150, which is/(are) provided at the partially automated unloading device(s) 151, by removing the article carriers 3 required for processing the mentioned picking order by a picker, and [0572] manually assembling the article carriers 3 on one or multiple (empty or partially loaded) target loading aids 34, 134 for the mentioned picking order by a picker if the target loading aid(s) 34, 134 is/(are) provided at the partially automated unloading device(s) 151.

[0573] Assembling the article carriers 3 may comprise the following steps: [0574] assembling the article carriers 3 according to the mentioned picking order to the order stack 101 on the target loading aid 34 in the first stack loading aid 100a or on the base 205 of the second stack loading aid 100b, said first stack loading aid 100a or second stack loading aid 100b being provided at the partially automated unloading device(s) 151.

[0575] The method described above for storing and picking articles 2 in the order fulfillment facility 1a, 1b, 1c, 1d may additionally comprise the following steps [0576] providing an order stack load securing station either with one or multiple automatically operated load securing device(s) 180 or with one or multiple automatically operated load securing device(s) 180 and a buffer surface 185 close to the load securing device(s) 180, said load securing devices 180 being formed with a securing means 181 for securing transport of an order stack 101, [0577] transporting stack loading aids 100a, 100b each loaded with one order stack 101 by means of the autonomously moveable, driverless transport vehicles 9 to the mentioned order stack load securing station and providing one or multiple stack loading aid(s) 100a, 100b either on one or on multiple automatically operated load securing device(s) 180 or on a buffer surface 185 close to the load securing device(s) 180, [0578] removing the order stack 101 from the stack loading aid 100a, 100b by means of a lifting device (lifting frame 183 and telescopic forks 184) , by means of which the target loading aid 34 with the order stack 101 is lifted from the first stack loading aid 100a, if the order fulfillment facility 1a; 1b; 1c; 1d comprises the first stack loading aid 100a, or by means of which the order stack 101 is lifted from the second stack loading aid 100b if the order fulfillment facility 1a; 1b; 1c; 1d comprises the second stack loading aid 100b, [0579] securing the order stack 101 with the securing means 181 by means of the automatically operated load securing device 180, in that the securing means 181 is placed circumferentially around the order stack 101, [0580] transporting the secured order stack 101, in particular by means of the autonomously moveable, driverless transport vehicles 9, from the load securing station to a dispatch zone.

[0581] According to the first embodiment, the target loading aid 34 with the order stack 101 is lifted relative to the first stack loading aid 100a, and the order stack 101 lifted from the first stack loading aid 100a is simultaneously wrapped with the securing means 181 for stabilization. Subsequently, the secured order stack 101 is lowered again by means of the lifting device and transferred to a stationary conveying system (not shown) or to an autonomously moveable, driverless transport vehicle 9. The order stack 101 now secured may be transported from the load securing station to a dispatch zone (consolidation area or goods-out point). In this case, the target loading aid 34 forms the distribution load carrier.

[0582] According to the second embodiment, the order stack 101 is lifted relative to the second stack loading aid 100a, and the order stack 101 lifted from the second stack loading aid 100a is simultaneously wrapped with the securing means 181 for stabilization. Subsequently, the secured order stack 101 is lowered again by means of the lifting device and transferred to a distribution load carrier, preferably a roll container, a pallet and the like. The distribution load carrier is transported by means of a stationary conveying system (not shown) or an autonomously moveable, driverless transport vehicle 9 from the load securing station to a dispatch zone (consolidation area or goods-out point).

[0583] Transporting the unloaded stack loading aids 100a, 100b by means of the autonomously moveable, driverless transport vehicles 9 comprises the following steps: [0584] transporting the first stack loading aid 100a from the load securing station to the lading station with one or multiple automatically operated lading device(s) 170, if a first stack loading aid is 100a used in the order fulfillment facility 1a; 1b; 1c; 1d, and/or [0585] transporting the second stack loading aid 100b from the load securing station to the unloading station and providing the second stack loading aid(s) 100b either at an automatically operated unloading device 32; 65; 75; 132 or on a buffer surface 136 close to the reloading device 32; 65; 75; 132, if a second stack loading aid 100b is used in the order fulfillment facility 1a; 1b; 1c; 1d, and/or [0586] transporting the second stack loading aid 100b from the load securing station to the unloading station and providing the second stack loading aid(s) 100b either at a partially automated unloading device 151 or on a buffer surface 153b close to the unloading device 151, if a second stack loading aid 100b is used in the order fulfillment facility 1a; 1b; 1c; 1d.

[0587] In FIGS. 13a to 13d and 14a and 14b, the transfer device 147 is provided for automatically 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 means of clamping gripping. This means that no suction gripping is provided, which would strongly limit the range of different article carriers 3. The transfer device 147 comprises a clamping gripper unit, in particular the clamping jaws 254a, 254b.

[0588] Such a transfer device 147 may be used at an automatically operated unloading device 32, 65, 75, 132 of the unloading station (reloading station) described above for an order fulfillment facility 1a, 1b, 1c, 1d. The unloading device 32, 65, 75, 132 (reloading device) comprises the transfer device 147, which is spatially movable relative to a support construction 42, 142. The transfer device 147 is movable in an x-y-z direction and rotatable around a vertical axis (z-axis).

[0589] The transfer device 147 comprises: [0590] base frame 250, [0591] 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 (as shown in FIGS. 13a, 13b with full lines) and an extended receiving position (as shown in FIGS. 14a, 14b with dashed lines), said loading tongues receiving at least one article carrier 3 in an extended receiving position, [0592] clamping jaws 254a, 254b movable relative to one another in a second direction (x) by at least one second drive device 253a, 253b between a retracted opened position (as shown in FIGS. 13c, 13d with dashed lines) and an abutting clamping position (as shown in FIGS. 13c, 13d and FIGS. 14a, 14b with full lines), and [0593] a lifting frame 256 movable in a third direction (z) relative to the base frame 250 by means of at least one third drive device 255, on which lifting frame the clamping jaws 254a, 254b are mounted and by means of which the clamping jaws 254a, 254b are movable between a lower height position (as shown in FIG. 15c) and an upper height position (as shown in FIG. 15d), such that, for unloading the transport loading aid 7, 107, [0594] the at least one article carrier 3 may be lifted by the clamping jaws 254a, 254b set against the at least one article carrier 3 (FIG. 15d), and [0595] at least one of the loading tongues 252a, 252b may be pushed at least partially 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 (FIGS. 15e and 15f).

[0596] In the embodiment shown, the clamping jaws 254a, 254b are movable by means of second drive devices 253a, 253b between the retracted opened position and the abutting clamping position. However, only one of the clamping jaws 254a, 254b, for example the first clamping jaw 254a, may be movable relative to the second clamping jaw 254b by means of one single second drive device 253a.

[0597] As indicated in FIG. 13c, the first clamping jaw 254a and the second clamping jaw 254b form clamping jaw webs running parallel to one another, which, in the abutting clamping position of the clamping jaws 254a, 254b, are brought into contact with the article carrier walls 265a, 265b of an article carrier 3 facing away from one another or the article carrier walls 265a (FIG. 14a) of article carriers 3 (FIG. 16l) arranged next to one another. The clamping jaw webs may also form spring tongues separated by slots, which may also be placed against uneven article carrier walls 265a, 265b particularly well.

[0598] The transfer device 147 may also comprise a stop device with one or multiple stop elements 257a, 257b against which the at least one article carrier 3 may be placed, especially if the latter is on the loading tongues 252a, 252b (FIG. 14a) which have been moved into the extended receiving position or on the loading tongue 252b (FIG. 14b) which has been moved into the extended receiving position.

[0599] According to a possible embodiment, 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, wherein 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 means of at least one fourth drive device 259, so as to receive an article carrier 3 with a first longitudinal dimension (as shown in FIG. 14a—for example 600 mm) 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 (as shown in FIG. 14b—for example 300 mm) in the second configuration width between the first clamping jaw 254a and the second clamping jaw 254b.

[0600] By the change in width, the transfer device 147 may also manipulate article carriers 3 with different longitudinal dimensions. Although only a first configuration width and a second configuration width are shown, additional configuration widths may also be additionally set as well.

[0601] It can also prove advantageous if at least one of the clamping jaws 254a, 254b, for example the clamping jaw 254a, as indicated in FIG. 13a, for loading the target loading aid is 34, 134 additionally movable in the first direction (y) relative to the frame 250 into a retracted release position by means of a fifth drive device 260a, 260b. In the retracted release position, the stop element(s) 257a, 257b project(s) beyond the mentioned at least one clamping jaw 254a, 254b, such that, for loading the target loading aid 34, 134, the at least one article carrier 3 may be stacked onto the target loading aid 34, 134 unhindered by the at least one loading tongue 252a, 252b. This is shown in FIGS. 15j to 15k. This embodiment is advantageous as the clamping of the article carrier 3 may be maintained until just before the article carrier 3 is discharged.

[0602] Basically, it is also conceivable that the first clamping jaw 254a and the second clamping jaw 254b are each additionally movable in the first direction (y) relative to the frame 250 into a retracted release position by means of a fifth drive device 260a, 260b.

[0603] As can be seen in the figures, the second drive device 253a, 253b and one of multiple stop elements 257a, 257b of the stop device are also mounted at the first or second clamping jaw frame 258a, 258b. If the fifth drive device 260a, 260b is present as well, it is also mounted at the first or second clamping jaw frame 258a, 258b.

[0604] The unloading device 32; 65; 75; 132 comprises a control device 261, as schematically shown in FIG. 13a, which is connected to the first drive device 251a, 251b, the second drive device 253a, 253b, the third drive device 255 and, if applicable, the fourth drive device 259, and, if applicable, the fifth drive device 260a, 260b. The first, second, third, and, if applicable, fourth, fifth drive devices 251a, 251b, 253a, 253b, 255, (259), (260a, 260b) comprise electric and/or fluidic linear drives, for example.

[0605] The transfer device 147 may also be equipped with a first sensor mechanism, by means of which the removal operation may be monitored during removal of the at least one article carrier 3 from the transport loading aid 7, 107. For example, a stack height of the article carrier stack 8 is detected. Based on the stack height and by detection of the article carriers 3 which are to be unloaded at the unloading device 32; 65; 75; 132, the exact receiving level at which the loading tongue(s) 252a, 252b are to be extended into the receiving position may be determined. According to the embodiment shown, the first sensor mechanism comprises, at the first or second clamping jaw frame 258a, 258b, pivotably mounted sensing fingers 262a, 262b, which are pivoted outward in their starting position (FIG. 13a, 13b) and pivoted inward in their actuating position (FIG. 14a, 14b). The starting position and the actuating position may be detected by means of an inductive proximity switch (initiator), which is not shown. Preferably, the sensing fingers 262a, 262b are autonomously pivoted outward into the starting position. In the alternative, however, the first sensor mechanism may also comprise one or multiple contactless sensors, for example optical sensors, which may serve the same purpose.

[0606] On the other hand, the unloading device 32; 65; 75; 132 may be equipped with the first sensor mechanism, by means of which a stack height of the article carrier stack 8 may be detected during removal of the at least one article carrier 3 from the transport loading aid 7, 107, as is not shown in detail. The first sensor mechanism comprises, for example, an image capturing system having at least one camera and one image evaluation unit.

[0607] The transfer device 147 may also be equipped with a second sensor mechanism, by means of which the loading operation may be monitored during loading of the target loading aid 34, 134. For example, a stack height of the order stack 101 and/or proper loading of an article carrier 3 on the order stack 101, as well as the positioning/orientation/inclination of the article carriers 3 in the order stack 101 are detected. Moreover, collision monitoring prior to loading of the target loading aid 34, 134 is possible.

[0608] The second sensor mechanism may comprise one or multiple contactless sensors, for example optical sensors. On the other hand, the transfer device 147 and/or the unloading device 32; 65; 75; 132 may be equipped with the second sensor mechanism, which may serve the same purpose. The second sensor mechanism comprises, for example, an image capturing system having at least one camera and one image evaluation unit.

[0609] However, the control device 261 may also be connected to the first sensor mechanism and the second sensor mechanism.

[0610] In jointly described FIGS. 15a to 15g, a method or a sequence for unloading a transport loading aid, for example a transport loading aid 107 with article carriers 3 stacked on top of one another in an accommodating shaft, by means of clamping gripping. The article carriers 3 have a first longitudinal dimension, for example 600 mm. One width is 400 mm, for example. The unloading device 32; 65; 75; 132 is not shown in these figures for the sake of clarity.

[0611] FIG. 15a (step i) shows the movement of the transfer device 147 relative to the transport loading aid 107 by the control device 261 controlling the spatially movable transfer device 147. It can be seen that the sensing fingers 262a, 262b are still positioned above the uppermost article carrier 3.

[0612] FIG. 15b (step ii) shows the positioning of the transfer device 147 relative to the article carrier stack 8, in particular with the aid of the first sensor mechanism. If the first sensor mechanism comprises the sensing fingers 262a, 262b, the sensing fingers 262a, 262b are actuated by a lowering motion of the transfer device 147, such that they are moved into the actuating position. As already described above, the positioning of the transfer device 147 relative to the article carrier stack 8 may also be carried out by an optical sensor or an image processing system (first sensor mechanism).

[0613] As shown in 15c (step iii), 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 beside article carrier walls 265a, 265b (see also FIG. 14a) of an article carrier 3. The clamping jaws 254a, 254b are in the retracted opened position. The transfer device 147 remains in the relative position until the steps according to FIGS. 15d to 15f (steps iv to vii) have been performed.

[0614] FIG. 15d (step iv) shows the clamping of the article carrier 3 by actuating the at least one second drive device 253a, 253b for moving the clamping jaws 254a, 254b in the second direction (x) relative to one another and from a retracted opened position into the abutting clamping position, and lifting of the article carrier 3 of at least one stack layer by the clamping jaws 254a, 254b placed against the article carrier 3 by actuating the at least one third drive device 255 for moving the lifting frame 256 in the third direction (z) relative to the base frame 250 and moving the clamping jaws 254a, 254b out of the lower height position into the upper height position.

[0615] FIG. 15e (step v) shows the sliding of both loading tongues 252a, 252b under the lifted article carrier 3 by actuating the first drive devices 251a, 251b relative to the base frame 250 to receive the article carrier 3 in the extended receiving position.

[0616] FIG. 15f (step vi) and FIG. 14a show the receiving position of the loading tongues 252a, 252b, in which the loading tongues 252a, 252b are completely extracted and the article carrier 3 loads the loading tongues 252a, 252b. It may be advantageous in an optional step vii) if the clamping of the article carrier 3 is released for a short period of time by actuating the at least one drive device 253a, 253b by 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 tilts onto the loading tongues 252a, 252b.

[0617] If optional step vii) is carried out, the article carrier 3 is subsequently clamped again by actuating the at least one drive device 253a, 253b by moving the clamping jaws 254a, 254b in the second direction (x) relative to one another and from a retracted opened position into the abutted clamping position.

[0618] FIG. 15a shows the movement of the transfer device 147 relative to the transport loading aid 107 by the control device 261 controlling the spatially movable transfer device 147.

[0619] The control device 261 is configured for controlling the transfer device 147 and the first/second/third drive device(s) 251a, 251b, 253a, 253b, 255 for unloading an article carrier 3 so as to carry out the method steps i) to vii).

[0620] In jointly described FIGS. 15h to 15n, a method or a sequence for loading a target loading aid, for example a target loading aid 34 in a stack loading aid 100a, is shown. For the sake of clarity, only sections of the stack loading aid 100a are shown.

[0621] After step vi) or, if applicable, step vii), the transfer device 147 with the article 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).

[0622] FIG. 15h shows that the target loading aid 34 has already been loaded with some article carriers 3. The additional article carrier 3 is to be placed on the article carrier 3′, which is shown hatched and is already at the target loading aid 34. The article carrier 3′ is in the edge region of the stack wall 206b.

[0623] FIG. 15i (step ii) shows the positioning of the transfer device 147 (with the additional article carrier 3) relative to the order stack 101, in particular with the aid of the second sensor mechanism. In FIG. 15i, the transfer device 147 and/or the article carrier 3 in are in an intermediate position (height position (z), width position (x) and/or depth position (y)).

[0624] FIG. 15j) (step iii) shows how for loading the target loading aid 34, the clamping jaw 254b, which faces the stack wall 206b, is moved in the first direction (y) relative to the frame 250 and into the retracted release position by means of the fifth drive device 260b. As can be seen, the stop element(s) 257a, 257b project(s) beyond the mentioned clamping jaw 254b after the latter has been moved into the release position.

[0625] FIG. 15k (step iv) shows the positioning of the transfer device 147 and/or of the article carrier 3 from the intermediate position (height position (z), width position (x) and/or depth position (y)) into the end position (height position (z), width position (x) and depth position (y)), in which the additional article carrier 3 may be loaded onto the article carrier 3′ already located at the target loading aid 34. The article carrier 3 may be positioned into the end position by moving the transfer device 147.

[0626] FIG. 15l (step v) shows the movement of the clamping jaw 254a from the abutting clamping position into the retracted opened position. The article carrier 3 still stands 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.

[0627] FIG. 15m (step vi) shows loading/discharge of the article carrier 3 onto the article carrier 3′. For this purpose, the loading tongues 252a, 252b are moved into the retracted initial position if both loading tongues 252a, 252b have been moved into the receiving position, or the one loading tongue 252a, 252b is moved into the retracted initial position if only one of the loading tongues 252a, 252b has been moved into the receiving position.

[0628] FIG. 15n shows the movement of the transfer device 147 relative to the transport loading aid 107 by the control device 261 controlling the spatially movable transfer device 147.

[0629] It should be noted at this point that, from the transfer device 147, either an individual article carrier 3 or a partial article carrier stack may be removed from the transport loading aid 7, 107 and loaded onto the target loading aid 34, 134. Instead of an article carrier 3 having the first longitudinal dimension (for example 600 mm), two article carriers 3 having the second longitudinal dimension (for example 300 mm) may simultaneously be removed from the transport loading aid 7, 107 and loaded onto the target loading aid 34, 134. The width dimensions are preferably identical, for example 400 mm.

[0630] It is also possible that for stabilizing the order stack 101, one or multiple empty article carriers 3 are stacked between stack layers in a stack plane. If the article carriers are collapsible containers, a collapsed container or multiple collapsed containers are stacked in a stack plane between stack layers. This is also carried out automatically by the transfer device 147.

[0631] In jointly described FIGS. 16a to 16n, a method or a sequence for unloading a transport loading aid, for example a transport loading aid 107 with article carriers 3, 3′ stacked on top of one another in an accommodating shaft and arranged next to one another in a stack layer, by means of clamping gripping. The article carriers 3, 3′ have a second longitudinal dimension, for example 300 mm. One width is 400 mm, for example. The unloading device 32; 65; 75; 132 is not shown in these figures for the sake of clarity.

[0632] FIG. 16a (step i) shows the movement of the transfer device 147 relative to the transport loading aid 107 by the control device 261 controlling the spatially movable transfer device 147. It can be seen that the sensing fingers 262a, 262b are still positioned above the uppermost article carriers 3, 3′.

[0633] FIG. 16b (step ii) shows the positioning of the transfer device 147 relative to the article carrier stacks 8, 8′, in particular with the aid of the second sensor mechanism. If the first sensor mechanism comprises the sensing fingers 262a, 262b, the sensing fingers 262a, 262b are actuated by a lowering motion of the transfer device 147, such that they are moved into the actuating position. As already described above, the positioning of the transfer device 147 relative to the article carrier stacks 8, 8′ may also be carried out by one or multiple optical sensor(s) or an image processing system (first sensor mechanism).

[0634] As shown in FIG. 16c and FIG. 16d (step iii), 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 beside article carrier walls 265a facing away from one another of article carriers 3, 3′ arranged next to one another. The clamping jaws 254a, 254b are in the retracted opened position. The transfer device 147 remains in the relative position until the steps according to FIGS. 16d to 16n (steps iv to ix) have been performed.

[0635] FIG. 16e and FIG. 16f (step iv) show the clamping of 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 in the second direction (x) relative to one another and from a retracted opened position into the abutting clamping position, and simultaneously 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′ by actuating the at least one third drive device 255 for moving the lifting frame 256 in the third direction (z) relative to the base frame 250 and moving the clamping jaws 254a, 254b out of the lower height position into the upper height position.

[0636] FIG. 16g and FIG. 16h (step v) show sliding one of the loading tongues 252a, 252b, namely specifically of loading tongue 252b, under one of the article carriers 3 lifted and arranged next to one another by actuating one of the first drive devices 251a, 251b, namely specifically the first drive device 251b, relative to the base frame 250 to receive the one of the article carriers 3 in the extended receiving position.

[0637] FIG. 16i and FIG. 16j (step vi) show the receiving position of the loading tongue 252b, in which the loading tongue 252b is completely extracted and the article carrier 3 loads the loading tongue 252b.

[0638] FIG. 16k and FIG. 16l (step vii) show the short releasing of the clamping of the article 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 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 107.

[0639] FIG. 16m (step viii) shows the change of the configuration width from the first configuration width (see FIGS. 16k, 16l) to the second configuration width (FIG. 16m) by means of the at least one fourth drive device 259 in a second direction (x).

[0640] FIG. 16n (step ix) shows the 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.

[0641] FIG. 16o shows the movement of the transfer device 147 relative to the transport loading aid 107 by the control device 261 controlling the spatially movable transfer device 147.

[0642] The control device 261 is configured for controlling the transfer device 147 and the first/second/third drive device(s) 251a, 251b, 253a, 253b, 255, 259 for unloading an article carrier 3 so as to carry out the method steps i) to ix).

[0643] If after loading the target loading aid 34, 134 with the article carrier 3, the article carrier 3′ is supposed to be loaded onto the target loading aid 34, 134 as well, for unloading according to method steps i) to vii), the approach according to FIGS. 15a to 15f is carried out, with the mere difference that the second configuration width remains adjusted or is adjusted, in which the article carrier 3′ with the second longitudinal dimension is received between the first clamping jaw 254a and the second clamping jaw 254b.

[0644] As regards the loading of a target loading aid, reference is made to the disclosure regarding FIGS. 15h to 15m, and it is carried out in the same manner, with the mere difference that the article carrier 3 is unloaded by means of one of the loading tongues 252a, 252b.

[0645] It should be noted at this point that, by means of the transfer device 147, either an individual article carrier 3, 3′ or a partial article carrier stack may be removed from the transport loading aid 7, 107 and loaded onto the target loading aid 34, 134.

[0646] The described order fulfillment facility and method for storing and picking is particularly suitable for the fresh food sector where perishable goods, such as fresh fruit and vegetables, require a fast turnover of articles and usually only a limited number of different types have to be picked at the same time. The articles 2/article carrier 3 may be handled particularly efficiently with a high picking performance in short periods of time.

[0647] Finally, it should also be noted that the scope of protection is determined by the claims. However, the description and the drawings are to be adduced for construing the claims. Individual features or feature combinations from the different exemplary embodiments shown and described may represent independent inventive solutions.

[0648] In particular, it should also be noted that the devices shown may in reality comprise more or fewer components than those shown. In some cases, the shown devices and/or their components may not be depicted to scale and/or be enlarged and/or reduced in size.

LIST OF REFERENCE NUMBERS

[0649] 1a . . . 1d order fulfillment facility

[0650] 2 article(s)

[0651] 3 article carrier

[0652] 4 delivery zone

[0653] 5 storage area

[0654] 6 order processing zone

[0655] 7, 7a . . . 7f transport loading aid

[0656] 8 article carrier stack

[0657] 8′ (pre-)picked article carrier stack

[0658] 8″ (pre-)picked article carrier partial stack

[0659] 9 transport vehicle (floor conveyor)

[0660] 10 article carrier stack group

[0661] 11 depalletizing device

[0662] 12a, 12b conveying device

[0663] 13 loading device

[0664] 14a, 14b conveying device

[0665] 15a, 15b transfer location

[0666] 16a, 16b service location

[0667] 17 transfer device loading device

[0668] 18 support construction

[0669] 19 gantry slide

[0670] 20 gantry arm

[0671] 30 buffer surface loading station

[0672] 31 storage surface

[0673] 32 unloading device

[0674] 33 conveying device

[0675] 34a . . . 34c target loading aid

[0676] 35 conveying device

[0677] 36 buffer surface unloading station/reloading station

[0678] 37 waiting zone

[0679] 40a . . . 40b service location

[0680] 41 transfer device unloading device/reloading device

[0681] 42 support construction

[0682] 43 gantry slide

[0683] 44 gantry slide

[0684] 45 gantry arm

[0685] 46 order-processing computer

[0686] 47 control system

[0687] 50 chassis

[0688] 51 loading platform

[0689] 52 wheel

[0690] 53 steerable wheel

[0691] 54 drive control

[0692] 55 base

[0693] 56a first side wall

[0694] 56b, 56d first side wall

[0695] 56c second side wall

[0696] 57 loading and unloading opening

[0697] 57a, 57b loading and unloading opening

[0698] 58 placing surface

[0699] 59 transport surface

[0700] 60 adjustable foot

[0701] 61 lead-in chamfer

[0702] 65 unloading device

[0703] 66 buffer surface

[0704] 66a, 66b buffer surface

[0705] 67a, 67b service location

[0706] 68a, 68b conveying device

[0707] 69 transfer device

[0708] 70a, 70b take-over location

[0709] 71a, 71b service location

[0710] 75 unloading device

[0711] 76 buffer surface

[0712] 76a, 76b buffer surface

[0713] 77a, 77b service location

[0714] 81 support construction

[0715] 82 gantry slide

[0716] 83 overhead arm

[0717] 84 transfer device

[0718] 90 cleaning robot

[0719] 91a, 91b temperature zone

[0720] 92a, 92b data carrier

[0721] 92c data carrier

[0722] 100a, 100b stack loading aid

[0723] 101 order stack

[0724] 107 transport loading aid

[0725] 112a, 112b conveying device

[0726] 113 loading device

[0727] 114a, 114b conveying device

[0728] 117 transfer device

[0729] 118 support construction

[0730] 119 gantry slide

[0731] 120 gantry arm

[0732] 132 unloading device

[0733] 134 target loading aid

[0734] 136 buffer surface stack loading aid

[0735] 139a . . . 139b service location stack loading aid automatic unloading device

[0736] 142 support construction

[0737] 143 gantry slide

[0738] 144 gantry arm

[0739] 145 gantry slide

[0740] 146 gantry slide

[0741] 147 transfer device unloading device/reloading device

[0742] 150 transport loading aid

[0743] 151 unloading device

[0744] 152a service location transport loading aid automatic unloading device

[0745] 152b service location stack loading aid automatic unloading device

[0746] 153a buffer surface transport loading aid

[0747] 153b buffer surface stack loading aid

[0748] 154a, 154b lifting platform

[0749] 155 working area

[0750] 156 working surface

[0751] 160 loading device

[0752] 161 service location second loading device

[0753] 162 transfer device

[0754] 163 buffer surface

[0755] 170 lading device

[0756] 171 service location lading device

[0757] 172 transfer device

[0758] 173 buffer surface

[0759] 180 load securing device

[0760] 181 securing means

[0761] 182 service location

[0762] 183 lifting frame

[0763] 184 telescopic fork

[0764] 185 buffer surface

[0765] 200a, 200b side wall part

[0766] 201a, 201b base wall part

[0767] 205 base

[0768] 206a, 206b stack wall

[0769] 207 placing surface

[0770] 208 transport surface

[0771] 210 receiving channel

[0772] 211 receiving block

[0773] 212 adjustable foot

[0774] 250 base frame

[0775] 251a, 251b first drive device loading tongue

[0776] 252a, 252b loading tongue

[0777] 253a, 253b second drive device clamping jaw

[0778] 254a, 254b clamping jaw

[0779] 255 third drive device lifting frame

[0780] 256 lifting frame

[0781] 257a, 257b stop element

[0782] 258a, 258b clamping jaw frame

[0783] 259 fourth drive device adjustment width configuration

[0784] 260a, 260b fifth drive device clamping jaw release position

[0785] 261 control device

[0786] 262a, 262b sensing finger

[0787] 265a, 265b article carrier wall