Two-stage picking by means of sorter having high-dynamic sorter trays

Abstract

A storage and order-picking system including a warehouse, wherein the warehouse includes a storage module formed by two racks including one rack aisle therebetween; separation stations associated with the storage module, each separation station having associated therewith a respective pick up location; separate conveying systems for feeding storage containers from the warehouse to the pick up locations of the separation stations, respectively; and a robot arranged between the separate conveyors such that the robot can pick up during one movement cycle from each of the separate conveying systems respectively one article and can deliver between the corresponding article pick up locations one article which has already been picked up to a deposition location.

Claims

1. A system comprising: a warehouse, wherein the warehouse includes a storage module formed by two racks including one rack aisle therebetween; a separation station associated with the storage module, the separation station comprising a robot for transferring articles between pickup locations and a delivery location; separate conveying systems for feeding storage containers, which hold the articles, from the warehouse to the pickup locations, respectively; and the robot being arranged between the separate conveying systems such that the robot picks up, during one movement cycle, from each of the separate conveying systems respectively one of the articles and delivers, between the corresponding pick-up locations, the picked-up article to the delivery location.

2. The system of claim 1, wherein two additional separate conveying systems are provided which are configured for transporting the storage containers back into the warehouse after the removal of the articles by the robot.

3. The system of claim 2, wherein the two additional separate conveying systems are arranged beneath the separate conveying systems, and are connected to the separate conveying systems via respectively one lifting device.

4. The system of claim 1, wherein the separate conveying systems are operated unidirectionally.

5. The system of claim 1, wherein a deposition location has associated therewith a conveyor for moving trays through the deposition location.

6. The system of claim 5, wherein the robot deposits the picked-up articles onto the trays.

7. The system of claim 1, further comprising a sorter, which is arranged in front of the warehouse, for receiving articles to be sorted, and wherein the sorter is not wider than the warehouse.

8. The system of claim 7, wherein the sorter has a depth from about 10 m to about 20 m at maximum.

9. The system of claim 1, wherein the movement cycle of the robot starts in one of the pick-up locations, passes the delivery location, passes the other one of the pick-up locations, passes again the delivery location, and ends in the one of the pick-up locations.

10. The system of claim 9, wherein the robot, during the movement cycle, picks up a first article in the one of the pick-up locations, drops the first picked-up article at the delivery location, moves on to the other one of the pick-up locations and picks up a second article there, and moves back to the one of the pick-up locations while dropping the second picked-up article at the delivery location.

11. The system of claim 10, wherein the picked-up articles are dropped at the delivery location without stopping the movement of the robot.

12. The system of claim 1, wherein the robot is moved back and forth between exactly two pick-up locations, and a deposition location is located between the pick-up locations.

13. The system of claim 12, wherein each of the separate conveying systems passes one of the pick-up locations respectively, and feeds the storage containers to the pick-up locations.

14. The system of claim 2, wherein the two additional separate conveying systems are configured for unidirectionally transporting the storage containers back into the warehouse after the removal of the articles by the robot.

Description

(1) Embodiments the invention are illustrated in the drawings and will be explained in more detail in the following description.

(2) FIG. 1 shows a block diagram of a storage and order-picking system;

(3) FIG. 2 schematically illustrates an exemplary course of a main line of a sorter as well as a possibility for coupling separation stations to the main line;

(4) FIG. 3 illustrates the main line of FIG. 2 and an (isolated) link of target locations to the main line;

(5) FIG. 4 illustrates a mesh-shaped branch line schematically;

(6) FIG. 5 illustrates a loop schematically;

(7) FIG. 6 shows a top view of an exemplary system;

(8) FIG. 7 shows a first linking possibility for target locations;

(9) FIG. 8 shows a second linking possibility for target locations;

(10) FIG. 9 shows a third linking possibility for target locations;

(11) FIG. 10 shows a top view of a linking possibility for separation stations;

(12) FIG. 11 shows a side view of FIG. 10 along line XI-XI of FIG. 10;

(13) FIG. 12 shows a prior art order-picking system; and

(14) FIG. 13 shows a graph of the development of an average order structure over time.

(15) The present invention is used in the field of intralogistics, and in particular for the execution of e-commerce. Designations typical in the field of intralogistics for the longitudinal direction X, the transversal direction Z, and the height direction Y are also used here. In the following figures these directions X, Y, and Z are used for designating a (e.g. Cartesian) coordinate system.

(16) In the following description it is clearly distinguished between the term “connection” on the one hand and the term “coupling”, or “link”, on the other hand. If two points are connected to each other, the points are in direct contact to each other via the connection. If the points are coupled to each other, they can be connected to each other directly or via intermediate points, e.g. indirectly. If one point is linked to another point this primarily expresses a coupling. However, (secondarily) this also can be a direct connection. This depends on the specific case.

(17) FIG. 1 shows a block diagram of a storage and order-picking system 10 which is hereinafter also briefly called a system 10. The system 10 can be, for example, a distribution center of an online retailer. The system 10 is a material-handling system or an article-handling system.

(18) If “articles” are mentioned in the following this generally means all types of goods which can be ordered online. One article can be one single piece good, but also a packaging unit of several piece goods being connected to each other to form one unit. One article can be a case (for example, a carton) containing a plurality of piece goods, in particular of the same type of article. One article can also be an SKU (Stock Keeping Unit). In summary this means that one article is not to be understood in a limiting manner.

(19) The articles which are used here distinguish, however, in their respective types of articles. For example, a beverage can is a first type of article, wherein a six-pack of the same beverage can is a different second type of article.

(20) The system 10 comprises a warehouse 12 and a sorter 14. The sorter 14 is a conveying device which is loaded in an article-orientated manner and unloaded in an order-orientated manner. The sorter 14 comprises at least one endless circulating transporting element, as will still be explained in more detail below. In particular, this transporting element is driven continuously and permanently.

(21) The sorter 14 comprises a closed loop-shaped main line 16, indicated in FIG. 1 by a dashed line, and one or more branch lines 18 (cf. FIGS. 2 and 4) following the main line 16. The main line 16 is a main transporting path connecting the separation stations 20 to the target locations 22. In order to get from the separation stations 20 to the target locations 22 it is necessary to move via the main line 16.

(22) Further, the system 10 comprises one or more separation stations 20 as well as a plurality of target locations 22. Optionally, the system 10 can also comprise a shipping 24.

(23) The separation stations 20 are connected, in terms of material or article flow, via a conveying system 26 to the warehouse 12. The conveying system 26 can be implemented, for example, by a transporting network formed by steady conveyors (roller conveyors 70, chain conveyors, overhead conveyors, belt conveyors, etc.) and/or a driverless transporting system (DTS) 40 (cf. FIG. 6). No conveyor connection is provided between the separation stations 20 and the sorter 14.

(24) The target locations 22 can also be coupled via a conveying system 26 to the (optional) shipping 24. No conveying connection is provided between the target locations 22 and the sorter 14.

(25) The separation stations 20 and the target locations 22 are coupled, via reloading processes, to the sorter 14, as will still be explained in more detail below.

(26) Additionally, the system 10 comprises a control device 28 which is indicated in FIG. 1 by a cloud. The control device 28 can be arranged centrally or in a decentralized manner in the system 10. The control device 28 is configured to carry out at least one or more of the following listed functions: storage-location administration, order administration and material-flow control. In particular, the control device 28 is configured to conduct a two-stage picking process where in a first stage, dependent on a batch formed, retrieval happens in an article-orientated manner and then separation happens in an order-orientated manner onto the sorter 14, and in a second stage distribution to the target locations 22 happens.

(27) It is clear that the control device 28 can implement further functions of an intralogistics controlling computer. This will still be discussed below dependent on the relevance of these functions.

(28) Further, it is clear that the control device 28 can be implemented by hardware and/or software.

(29) It goes without saying that the system 10 can comprise further components of conventional intralogistics systems, which are not shown and will not be explained in more detail here, such as a goods receipt, a good issue, a packing station, a manual picking area, flow racks, vertically and/or horizontally circulating racks, shuttle racks, and the like.

(30) In FIG. 1 the separation stations 20 are coupled to the warehouse 12 by the conveying system 26 which is generally indicated in FIG. 1 by arrows. The warehouse 12 preferably comprises a rack arrangement (not shown here) including one or more racks 48 (cf. FIG. 6) defining rack aisles 52 therebetween (cf. FIG. 6), in which rack aisles 52 storage and retrieval devices (not shown) are moved for storing storage containers 54 into the racks 48 and retrieving them from the racks 48. Retrieved storage containers 54 are supplied to the separation stations 20 in an article-orientated manner in accordance with a batch (i.e. a fixed quantity which has been concatenated in advance) of customer orders for removing a fixed number of articles 30 set by the batch (cf. FIG. 6) of an identical type of article, preferably individually, and for delivering the same, preferably individually, to the sorter 14, in particular to individual sorter trays 32 (cf. FIG. 6). Subsequently, the storage containers 54 are transported from the separation stations 20 via the conveying system 26 back again into the warehouse 12, and stored there. The sorter 14 distributes the removed and reloaded articles 30 by means of the trays 32 thereof, and delivers these articles 30 to the target locations 22 in an order-orientated manner. Typically, each of the target locations 22 is associated with one of the orders, as will still be explained in more detail below.

(31) FIGS. 2 and 3 substantially serve for illustrating a course of the main line 16 as well as possible links of the separation stations 20 (FIG. 2) and the target locations 22 (FIG. 3) to the main line 16.

(32) FIG. 2 shows an exemplary course of a main line 16 of a sorter 14, and in particular coupling of exemplary five separation stations 20 via respectively one mesh-shaped branch line 18 to the loop-shaped closed main line 16. By means of the mesh-shaped link of the separation stations 20 to the loop-shaped main line 16 the sorter trays 32 (not shown), which are hereinafter also briefly called “trays 32”, are fed in and fed out of a main (traffic) stream on the main line 16.

(33) The main stream distinguishes in that the trays 32 are moved substantially continuously, i.e. without a stop, on the main line 16. Continuously also means that the main stream can be moved in a clocked manner. However, it is preferred that the traffic on the main line flows without interruption.

(34) Also, it is possible to vary the velocity of the trays 32 on the main line 16 (dynamically, i.e. dependent on demand). For example, the main line 16 can be operated during a first time phase at a maximum velocity, and in a subsequent time phase at a lower velocity. However, sections of the main line 16 are typically operated at the same velocity.

(35) Further, it is clear that the trays 32 (cf. FIG. 6) are not connected fixedly (and permanently) to the main line 16, as will still be explained in more detail below. The trays 32 can be transported by adhesive friction only, for example, on a chain-link conveyor. One exemplary chain-link conveyor is offered, for example, by the company Bosch Rexroth under the name “VarioFlow plus”, and is used, for example, as a circulating workpiece-carrier system for assembly lines in the automotive and electronic industries. One different chain-link conveyor which can be used in the system 10 is offered, for example, by the company FlexLink under the brand “FlexLink”.

(36) The trays 32, which can be transported on the branch lines 18, can also be stopped (temporarily), without disturbing the flowing traffic on the main line 16, for the purpose of being loaded at the separation stations 20.

(37) The trays 32 can be realized by any transporting receptacle which can be positioned on the conveying means (not shown) of the main line 16 and branch lines 18. Further exemplary transporting receptacles are: containers, trays, and other load carriers used in intralogistics. Containers and trays distinguish substantially in a height of an edge surrounding a transporting area (i.e. a base).

(38) In general, the branch lines 18 are coupled via suitable branching elements V and merging elements Z to the main line 16, as will still be explained in more detail below.

(39) It is clear that the separation stations 20 can be distributed arbitrarily across the entire main line 16. In FIG. 2 all of the separation stations 20 are arranged outside the loop-shaped main line 16. It is clear that one or more separation stations 20 can also be arranged within the loop-shaped main line 16. However, the separation stations 20 are arranged outside along the long sections of the main line 16. The separation stations 20 can also be concentrated in certain areas, as exemplary indicated in FIG. 6.

(40) It is clear that the course of lines shown in the FIGS. 2 to 6 are only of an exemplary nature. In FIG. 2 the main line 16 substantially extends along a rectangle. It is clear that the course of lines can be selected freely, and different shapes are possible. Also, sections of the lines do not necessarily need to run in parallel to each other but can be selected arbitrarily, for example, by comprising curves, upward inclinations, and/or downward inclinations (three dimensional routing).

(41) FIG. 3 shows the same loop-shaped main line 16 like FIG. 2. FIG. 3 exemplary illustrates a (direct) coupling of the target locations 22 to the main line 16. The separation stations 20 are not shown here.

(42) In spite of the direct link the target locations 22, however, are no obstacles blocking the traffic on the main line 16. In FIG. 3 the target locations 22 are marked merely in the course of the main line 16 for making clear that no other conveying elements, collecting elements, or transferring devices are provided between the main line 16 and the target locations 22. In this case delivery of the articles 30 off the trays 32 occurs while the trays 32 still move continuously on the main line 16.

(43) However, it is clear that the target locations 22 can be coupled, like the separation stations 20 (compare FIG. 2), via branch lines 18 to the main line 16 as will still be explained in more detail below, but which is not shown in the FIG. 3.

(44) In FIG. 3 seven target locations 22 are exemplarily shown. It is clear that more or less target locations 22 can be used.

(45) FIG. 4 illustrates a mesh-shaped branch line 18 which in turn is coupled via a branching element V and a merging element Z to the main line 16, wherein the main line 16 is indicated only sectionwise including an entrance E and an exit A. The traffic (compare dark arrows) in the mesh-shaped branch line 18 has the same direction like the traffic on the main line 16. The trays 32 (not shown) move on both the branch line 18 and main line 16 from the entrance E to the exit A.

(46) In FIG. 5 a line loop, or loop, 34 is shown. The loop 34 is operated oppositely to the main line 16.

(47) FIG. 6 shows a top view of an embodiment of the system 10. The warehouse 12 extends in the upper area of FIG. 6. An area 36, adjacent to the warehouse 12, extends in the lower area of FIG. 6 where conventionally the classical (conveyor) front zone is located which classically connected the warehouse 12 in terms of conveyors to the picking stations (cf. FIG. 12), where the picking process occurs. The classical front zone has been replaced by the sorter 14 in FIG. 6.

(48) Beneath the sorter 14 a conveying system 26 for transporting order containers 38 follows in the longitudinal direction X. This conveying system 26 is illustrated only partially in FIG. 6, and substantially extends parallel to a front end of the warehouse 12, i.e. parallel to the transversal direction Z. This conveying system 26 is exemplarily implemented in terms of a driverless transporting system (DTS) 40 including a plurality of driverless transporting vehicles (DTV) 42 moving automatically along traveling paths 44. In spite of a guidance along the traveling paths 44 the DTV 42 move autonomously within the system 10. It is clear that, alternatively to the DTS 40, different conveyor types can also be used as will still be explained in more detail with reference to the FIGS. 7 to 9.

(49) The warehouse 12 of FIG. 6 is exemplarily implemented in terms of a rack warehouse 46 including racks 48. Respectively two of the racks 48 define one rack module 50 including a rack aisle 52 therebetween. The racks 48 and the aisle 52 extend parallel to the longitudinal direction X. In each of the rack aisles 52 one or more storage and retrieval devices move which are not shown and designated in more detail here. The storage and retrieval devices (e.g., shuttles) are configured to store storage container 54 into the racks 48, to retrieve them from the racks 48, and transfer them within the racks 48.

(50) In FIG. 6 exemplary four rack modules 50-1 to 50-4 are shown. It is clear that more or less rack modules 50 can be provided. The rack modules 50 are implemented, for example, in terms of an automatic small-parts warehouses (ASPW).

(51) Further, it is clear that instead of a rack warehouse 46 a (not shown) pallet warehouse, tray warehouse, carton warehouse, or mixed type of these types of warehouses can also be used, wherein racks 48 do not need to be used necessarily.

(52) As an alternative to the storage containers 54 different storage receptacles can be used as well, such as trays, cartons, pallets, overhead-conveyor pockets, or other load carriers. The same is true for the order containers 38. The order containers 38 can also be implemented by trays, cartons, pallets, or other load carriers.

(53) If order containers 38 are mentioned here, this means that one collecting receptacle is associated in terms of data with one of the customer orders. The order containers 38 can also be used as shipping receptacles for avoiding repackaging at the shipping 24. In this case the order containers 38 are preferably implemented by cartons, or plastic containers, which can be transported by the DTV 42.

(54) In FIG. 6 each of the rack modules 50 is followed by a (storage-container) conveying system 26 which is exemplarily implemented here in terms of a roller conveyor 70. Preferably, each of the rack modules 50 is provided with a separate storage-container conveying system 26 which connects to the front end of the racks 48, in particular in a U-shape.

(55) Alternatively, the storage-container conveying systems 26 of the different rack modules 50 can also be connected among each other which is not shown in FIG. 6.

(56) The storage-container conveying system 26 is configured to move retrieved storage container 54 to the separation stations 20 for removing articles 56 from the storage containers 54 and delivering the same to the sorter trays 32. After the removal of the articles 30 the storage containers 54 are transported back into the warehouse 12 for the purpose of storage.

(57) The storage containers 54 are filled in an “article-pure” manner. This means that the storage containers 54 preferably contain articles 30 of one single type of articles only. It is clear that the storage containers 54 can also be divided into compartments (not shown) for storing different types of articles within the same storage container 54. Also these compartment-divided storage containers 54 are article-pure.

(58) Further, it is also possible to store in advance certain types of articles without a partition of compartments, i.e. chaotically, in the same storage container 54. Such an operation assumes, however, that the separation stations 20 are capable of distinguishing the (expected) types of articles contained in this storage container 54 currently presented. Preferably, types of articles (chaotically mixed), which can be simply distinguished, are stored in this type-pure storage container 54. In this case, the control device 15 determines in advance the mixture of the different types of articles for each of these mixed type-pure storage containers 54. For this purpose, the control device 28 can comprise the functionality of a warehouse-management computer.

(59) The control device 28 is further used for processing orders, and in particular for forming batches at the first picking stage. For this purpose a predetermined quantity of customer orders, or picking orders, is collected and analyzed with regard to the types of articles (or order lines) contained therein for retrieving as less as possible storage container 54 containing the required types of articles in accordance with the customer orders.

(60) At the separation stations 20 these types of articles are then removed from the corresponding storage containers 54 according to the corresponding (overall) number, and distributed and reloaded onto the trays 32. Preferably, the reloading is always conducted such that one piece (i.e. one article 30) is deposited on each of the trays 32. However, it is also possible to simultaneously remove several pieces of the same type of article from the storage containers 54 and reload them onto one single tray 32 when the corresponding order line of the associated customer order required several pieces of the same type of article. In this case, the separation station 20 is configured to remove several pieces from the storage container 54 at the same time.

(61) The separation stations 20, wherein FIG. 6 exemplarily shows four of them, can be operated automatically and/or manually.

(62) In FIG. 6 each of the rack modules 50-1 to 50-4 is respectively provided with one separation station 20. The separation stations 20 of FIG. 6 are exemplarily implemented by respectively one robot 56. Alternatively, humans (not shown) can be used. Further, it is possible that some of the separation stations 20 are operated by the robot 56 while other separation stations 20 are operated by the humans.

(63) Now the sorter 14 of FIG. 6 is considered in more detail.

(64) The sorter 14 of FIG. 6 represents an annular closed transporting structure which is structured analogously to the FIGS. 2 to 5. The closed loop-shaped main line 16 is indicated in FIG. 6 by a dashed line. The main line 16 is operated continuously, for example, in a clockwise direction. Traffic of the trays 32 substantially is not stopped. This means that the trays 32 on the main line 16 can be conveyed preferably at a constant velocity, in particular when the main line 16 is implemented by a closed chain-link conveyor. The constant velocity on the main line 16 can also be achieved by a clocked movement.

(65) A plurality of branch lines 18 connect to the main line 16. In particular, each of the separation stations 20-1 to 20-4 is provided by a dedicated branch line 18. The trays 32 can be discharged from the main line 16 onto these branch lines 18 where the trays 32 do no longer need to be moved continuously. The trays 32 can also be stopped on the branch lines 18.

(66) The trays 32 preferably stop in the direct vicinity of the robots 56 for allowing the robot 56 to remove a desired article 30 from the storage container 54 and to deliver the same onto one of the trays 32. As soon as the tray 32 is loaded with the article 30, the loaded tray 32 can be fed back again into the main line 16 for reaching its associated target location 22, as will still be explained in more detail below.

(67) Additionally and alternatively, empty and loaded trays 32 can be buffered temporarily on one or more buffer lines 58. In FIG. 6 exemplary one buffer line 58 is shown which is connected via one or more infeed lines 60 and one or more outfeed lines 62 to the main line 16. The buffer line 58 extends, for example, substantially parallel to the transversal direction Z and is preferably arranged within the loop-shaped main line 16.

(68) It is clear that transversal connecting lines (not shown) can be provided generally within the loop-shaped main line 16 additionally, in particular for individually shortening the (transporting) paths between the separation stations 20 and the target locations 22. In the example of FIG. 6 such a transversal connecting line may run centrally from the upper long section of the main line 16, which extends parallel to the transversal direction Z, to the lower long section of the main conveying line 16, which also extends parallel to the transversal direction Z. This transversal connecting line then runs in the longitudinal direction X.

(69) The system 10 of FIG. 6 further comprises exemplarily four target locations 22-1 to 22-4. The target locations 22 of FIG. 6 are exemplary operated automatically as well, i.e. the target locations 22 are also provided with one robot 56. Alternatively, the target locations 22 can also be operated manually.

(70) The target locations 22 of FIG. 6 in turn are connected to the main line 16 respectively by one individual branch line 18. This allows to stop the trays 32 at the target locations 22 so that the robot 56 can reload the articles 30, which are positioned on the trays 32, in an order-orientated manner into the order containers 38. The corresponding order containers 38 are transported by the DTV 42 into the operation area of the respective (target-location) robot 56 so that the robot 56 can deliver the article 30, which has been removed from the tray 32, to the corresponding order container 38.

(71) The control device 28 is configured to direct (synchronized) all (loaded) trays 32 belonging to one specific order to the associated target location 22. For this purpose trays 32 can be directed directly from the separation stations 20 and from the buffer lines 58 to the target location 22.

(72) At the target location 22 the second picking stage is completed. This means that the trays 32 are transported in an order-orientated manner from the separation stations 20 and/or buffer lines 58 to the target location 22 specified by their customer order. If the customer order includes several articles (pieces and/or types of articles) 30, the correspondingly loaded trays 32 are moved to the target location 22 thereof. These trays 32 can arrive at the target location 22 thereof, in particular in a sequenced manner. For this purpose the control device 28 controls the material flow correspondingly. The trays 32 can overtake each other by using, for example, the buffer line 58.

(73) Further, it is possible to pick in advance certain articles 30 being associated with a specific order, this means that these specific article 30 are already loaded at an earlier time onto one or more of the trays 32, wherein the corresponding loaded trays 32 are then “parked” (for a longer time) in one of the buffer lines 58. As soon as all articles 30 belonging to this specific order are located on trays 32 of the sorter 14, these trays 32 can be moved (orchestrated) to their target location 22.

(74) For this purpose the control device 28 is also provided with the functionality of a material-flow computer.

(75) As an alternative to the mesh-shaped buffer lines 58 the sorter 14 can generally comprise spur lines (not shown). A spur line is comparable to a dead end. This means that the spur line needs to be operated bidirectionally for filling and emptying the spur line with trays 32. In particular, the spur lines are suitable for long-term buffering the trays 32. In this case preferably either empty trays 32 or loaded trays 32 are buffered only. If loaded trays 32 are buffered the buffering preferably occurs in an order-orientated manner. This means that preferably each of the spur lines always buffers trays 32 belonging to the same customer order only.

(76) It is clear that the main line 16 has a finite capacity for receiving the trays 32. The trays 32 are preferably dimensioned identically. The geometrical length of the main line 16 results in a maximum receiving capacity for the trays 32.

(77) However, the present sorter 14 is capable of handling more trays 32 than determined by its maximum capacity. The branch lines 18 and buffer lines 58 (and, if necessary, even the spur lines) allow handling of more trays 32 at the same time within the system 10. It goes without saying that the main line 16 cannot take more loaded trays 32 than predetermined by its overall capacity. Nevertheless additional trays 32 can be handled, in particular in the region of the branch lines 18 (and/or 58) which link the separation stations 20 and the target locations 22 to the main line 16.

(78) FIG. 7 shows a perspective view of a further embodiment of the system 10 structured very similar to the system 10 of FIG. 6 so that substantially the differences will be explained in more detail in the following.

(79) The warehouse 12 comprises merely one single rack module 50 including two racks 48 and one rack aisle 52. The sorter 14 includes a loop-shaped main line 16 and two branch lines 18-1 and 18-2. The branch line 18-1 serves for linking the automated separation station 20, which is implemented by a robot 56. The branch line 18-2 serves as a buffer line 58.

(80) The branch lines 18-1 and 18-2 substantially run parallel to the main line 16, and are arranged, preferably directly, adjacent to the main line 16.

(81) Further, in FIG. 7 branching elements V and merging elements Z are shown in terms of rails 64. The trays 32 can change between the main line 16 and the branch lines 18 (and/or 58) by means of the movably supported rails 64 by passively transferring the trays 32 by means of the movement of the conveyor which implements the lines 16 and 18. It is clear that the branching elements V and the merging elements Z (compare FIGS. 4 and 5) can also be operated actively, for example, by a liftable and lowerable belt-transferring device (not shown) 72 (cf. FIG. 8), or a pusher (not shown).

(82) The sorter 14 is dimensioned such that it comprises in the transversal direction Z a similar width like the rack module 50.

(83) The sorter 14 is directly adjacent to a plurality of target locations 22. In FIG. 7 exemplary eight target locations 22 are shown which are implemented as chutes 66 and collecting containers 68. The collecting containers 68 can be opened downward actively for giving the collected articles 30 into the order containers 38, which are positioned beneath the collecting containers 68, for example, by means of DTVs 42.

(84) The target locations 22 are coupled directly to the main line 16 (compare FIG. 3) by arranging the chutes 66 in the direct vicinity of the main line 16. The chutes 66 are slightly inclined towards the collecting containers 68 so that the articles 30 slide autonomously into the collecting containers 68 due to gravity.

(85) In case of a direct link of the target locations 22 to the main line 16, i.e. without using a robot 56 or a human for unloading, the trays 32 are provided with a mechanism (not shown) for autonomously delivering the articles 30, which are loaded onto the respective trays 32, to the desired chute 66 (in an order-orientated manner). For this purpose the trays 32 can be provided with, for example, a tilting mechanism triggered by a link (not illustrated) while the trays 32 pass the respective target location 22. Hence, the trays 32 do not stop during the unloading process.

(86) Alternatively, the tray 32 can be inclined permanently, wherein a surrounding wall can opened and closed (not shown).

(87) As soon as all articles 30 belonging to the picking order are collected in the associated collecting container 68 and as soon as the corresponding order container 38 is positioned beneath the corresponding collecting containers 68, the collection container 68 can be emptied automatically by means of the control device 28 by opening, for example, a base (not shown) of the collecting container 68.

(88) FIG. 8 shows a perspective view of a further embodiment of the system 10 formed almost identically to the system 10 of the FIG. 7. The system 10 of FIG. 8 only distinguishes from the system 10 of FIG. 7 in the conveying system 26 transporting the order containers 38 to the target locations 22. Here the conveying system 26 for the order containers 38 is exemplary implemented as a roller conveyor 70 positioning the order containers 38, via exemplary belt-outfeeding devices 72, beneath the collecting containers 68.

(89) FIG. 9 shows a further embodiment of the system 10 formed very similar to the embodiments of FIGS. 7 and 8. The embodiment of FIG. 9 distinguishes from the embodiments of FIGS. 7 and 8 in that the target locations 22 are defined by chutes 66 alone, which are automatically operated by robots 56. Each of the chutes 66 is inclined relative to a horizontal line so that the articles 30 autonomously slide to the lower end of the chute 66 and are collected there so that the robot 56 can remove the articles 30 at the lower end and transfer them into the order containers 38, which in turn are transported by means of a DTS 40. Each of the chutes 66 represents an individual target location.

(90) The robots 56 are typically equipped with devices for position recognition of the articles 30 in order to allow controlling the picking unit. Additional means for an identification of articles can be provided at the robot, in particular at the picking unit. Therefore, it is possible to form the region of the target location, which is operable by the picking unit, physically as one part and logically in an arbitrarily distributed manner. As a result, the number of the (logical) target locations can be set flexibly.

(91) It is clear that the different solutions for the target locations 22, which are shown in the FIGS. 7 to 9, can be combined with each other arbitrarily. Further, it is clear that the target locations 22 can also be operated manually, in particular when reloading processes are required.

(92) With reference to the FIGS. 10 and 11 possibility of linking one or more separation stations 20, by means of conveyors, to the warehouse 12 or the corresponding rack module 50 will be explained below. This conveyor link represents an independent invention independent of the use of a sorter 14, which will be explained hereinafter in more detail.

(93) FIG. 10 shows a top view, and FIG. 11 shows a side view along line XI-XI in FIG. 10.

(94) The linking in accordance with the FIGS. 10 and 11 is distinguished in that several conveying strings, or conveyor lines, are provided for each of the separation stations 20, in particular in different planes. FIG. 11 exemplary shows that the retrieval of the storage container 54 occurs in a retrieval plane AE, and storing back occurs in a storage plane EE arranged below.

(95) Further, the application in accordance with the FIGS. 10 and 11 is distinguished in that, in the retrieval plane AE, each of the robots 56 of the separation stations 20 is supplied with the storage containers 54 via at least two separate conveying systems 26.

(96) This allows each of the robots 56 to move back and forth by means of a (e.g. almost semi-circular) pivotal movement, which is indicated in FIG. 10 by means of an arrow 74, between two storage containers 54, i.e. picking positions (or pick-up locations), for picking up the articles 30 from the storage containers 54, wherein a picked-up article 30 (not shown) can be delivered, for example, at the center of the pivotal movement to one tray 32 by simply dropping the article.

(97) It is clear that the course of lines of the conveying systems 26 for the storage containers 54 and the course of the branch line 18 for the trays 32 are arranged correspondingly. This means that the pick-up locations, i.e. the positions of removal from the storage containers 54, and the point of delivery (delivery location) to the trays 32 are preferably located on a circular track having a constant radius.

(98) Further, the conveying systems 26 for the storage containers 54 are arranged at a height such that the robot 56 only needs to move a little in the height direction Y for picking up the articles 30. The same applies analogously for the arrangement of the trays 32 during the delivery.

(99) This type of arrangement shortens the cycle time during the separation of the articles 30 from the storage containers 54 into the trays 32. The storage containers 54 can be exchanged on the one of the conveying systems 26 while the robot 56 picks from the storage container 54 provided on the oppositely arranged one of the conveying systems 26. Thus, the robot 56 never needs to wait for a new storage container 54.

(100) Further, the robot 56 can drop removed, i.e. pick-up, articles 30 onto the tray 32 while the robot 56 moves on the circular track from the one picking location (1.sup.st pick-up location) to the opposite picking location (2.sup.nd pick-up location). The robot 56 is not required to stop for delivering the article 30 to the tray 32.

(101) In another operation mode the robot can also place articles 30 onto the trays 32 which are moved on the main line 16 of the sorter 14. This can contribute to a wear-optimized operation of the system while the throughput is decreased and thus also the conveying velocity of the sorter is decreased.

(102) The conveying systems 26 are preferably operated unidirectionally. In the retrieval plane AE the conveying systems 26 are operated such that the conveying direction is directed away from the warehouse 12. In the storage plane EE the conveying systems 26 are operated such that the storage containers 54 are transported back into the warehouse 12. This is indicated by corresponding arrows in FIGS. 10 and 11.

(103) In order to cope with the transporting back of the storage containers 54 from which the articles 30 have already been removed, for example, the storage plane EE is provided. For overcoming the height difference between the retrieval plane AE and the storage plane EE at least one lifting device 76 is provided which is equipped with a corresponding platform movable in the vertical direction Y between the planes AE and EE (compare FIG. 11).

(104) As soon as the robot 56 has removed the required overall number of articles 30 from the storage container(s) 54 (from left and right), the storage container 54 is transported from the removal position to the lifting device 76. The lifting device 76 transports this storage container 54 subsequently from the retrieval plane AE into the storage plane EE. From there this storage container 54 can be transported into the rack 48 again.

(105) Alternatively, the storage containers 54 can also cross the lifting device 76 for reaching a distributing line 78 which exemplarily extends in parallel transversal direction Z in FIGS. 10 and 11. The distributing line 78 allows exchanging of the storage containers 54 between the rack modules 50-1 and 50-2 (compare FIG. 10).

(106) Via the distributing line 78 also a goods-receipt area (not illustrated) can be linked for filling, or replenishing, the warehouse 12 with new articles.

(107) It is clear that the rack modules 50 comprise corresponding rack-lifting devices 80 in order to allow distribution of the storage containers 54 across rack planes (not illustrated here) along the height direction Y.

(108) Manually operated separation stations 20 (not shown here) can also be linked, in order to pick articles which are not suited for robots. The merging with robot-able articles is conducted via the sorter 14 and the trays 32.

(109) The storage containers 54 can also “loop” across the lifting devices 80, i.e. can be presented again, for example, for correcting picking errors without storing them before.

(110) Returning to the figures, it is to be noted that, if (sorter) trays 32 have been mentioned above, it is clear that the trays 32 do not necessarily need to be formed as trays. The trays 32 can also be implemented by containers, trays, workpiece carriers, or the like. However, there is an advantage when the trays 32 comprise a substantially surrounding edge preventing that articles which are loaded on the tray 32 can fall off the tray 32 during the transportation from the separation station 20 to the associated target location 22.

(111) As already mentioned above, the trays 32 are not permanently connected to the conveying means of the main and branch lines 16 and 18. In this sense the trays 32 can be positioned freely on the conveying means of the main and branch lines 18, wherein the trays 32 are preferably held by the adhesive friction being determined by their own weights on the conveying means.

(112) In general it is true that the sorter 14 can also be linked to different (logistic) areas of the system 10. Lines which are not shown and designated in more detail here are used for linking which are formed analogously to the above-mentioned branch lines 18 and spur lines.

(113) For example, the sorter 14 may be linked to a further storage area (not shown here) where manual picking is conducted, in particular even in accordance with the man-to-goods principle. The corresponding conveying system may be guided along the racks so that humans do not need the carry the trays 32.

(114) Further, the sorter 14 can be linked to a buffer for empty trays 32, which is not shown here, in order to supply the sorter 14 in a demand-dependent manner with additional (empty) trays 32 which are then loaded at the separation stations 20.

(115) Further, reloading stations may be provided where the articles 30 are reloaded from pockets of an overhead conveyor (not shown) onto the trays 32.

(116) Finally, it is possible to additionally connect a buffer for loaded trays 32 to the sorter 14. In this buffer trays 32 can be buffered which are loaded, for example, predictively with the articles 30. This means that at the time of loading it is possible that a corresponding customer order is not yet present or orders are temporarily shifted (or need to be shifted).

(117) In this case the loading is conducted based on statistical considerations by evaluating customer orders of the past and already loading such articles which occur very frequently or always within a period (for example, within one day) in the customer orders.

(118) Further, it is clear that the robot 56 at the target locations 22 can also pick directly from the trays 32 and deliver to the order containers 38 so that the chutes 66 and/or the collecting containers 68 are not necessarily needed.

(119) TABLE-US-00001 List of reference numerals 10 storage and order-picking system 12 warehouse 14 sorter 16 main line 18 branch line 20 separation station 22 target location 24 shipping 26 conveying system 28 control device 30 article 32 sorter tray V branching element Z merging element E entrance A exit 34 loop 36 front zone 38 order container 40 driverless transporting system 42 driverless transporting vehicle 44 traveling path 46 rack warehouse 48 rack 50 rack module 52 rack aisle 54 storage container 56 robot 58 buffer line 60 infeed line 62 outfeed line 64 rail 66 chute 68 collection container 70 roller conveyor 72 belt-outfeeding device 76 lifting device 74 pivot motion 78 distributing line 80 rack-lifting device