PROCEDURE FOR REPAIRING A PICKING DEVICE

Abstract

--A method for repairing a picking device, wherein the picking device comprises a rack to store goods; a storage retrieval system (AS/RS) configured for storing goods in specific locations of the rack and/or configured for retrieving goods located in a specific location of the warehouse; and a control unit designed to control movements of the storage retrieval system (AS/RS) and/or movements of components of the storage retrieval system (AS/RS), wherein the picking device includes a place of maintenance, wherein the controller is operative to move the storage retrieval system (AS/RS) to the maintenance station and/or the controller is operative to move the storage retrieval system (AS/RS) away from the maintenance station, the method comprising: moving a first storage retrieval system (AS/RS) to the maintenance station, removing the first storage retrieval system (AS/RS) from the picking device at the maintenance station, inserting a second storage retrieval system (AS/RS) into the picking device at the maintenance station, and moving the storage retrieval system (AS/RS) away from the maintenance station.

Claims

1-4. (canceled)

5. A method for repairing a picking device, wherein the picking device comprises a rack to store goods, a storage retrieval system configured for storing goods in specific locations of the rack and/or configured for retrieving goods located in a specific location of the warehouse, and a controller designed to control movements of the storage retrieval system and/or movements of components of the storage retrieval system, and wherein the picking device includes a maintenance unit, the controller operative to move the storage retrieval system to the maintenance location and/or the controller operative to move the storage retrieval system away from the maintenance unit, the method comprising: moving a first storage retrieval system to the maintenance unit; removing the first storage retrieval system from the picking device at the maintenance unit; inserting a second storage retrieval system into the picking device at the maintenance unit; and moving the second storage retrieval system away from the maintenance unit.

6. The method according to claim 5, further comprising providing a rail leading from a working area located in front of the rack to the maintenance location, and moving the storage retrieval system along the rail from the working unit to the maintenance location.

7. The method according to claim 5, further comprising providing a rail leading from a working area located in front of the rack to the maintenance location, and moving the storage retrieval system along the slide from the maintenance location to the working area.

8. The method according to claim 5, wherein the picking device comprises an interior space, and wherein the maintenance unit is outside of the interior space.

9. The method according to claim 5, further comprising performing a calibration run by the storage retrieval system which is moved away from the maintenance unit into a working area of the storage retrieval system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0175] In the following, the invention is explained more closely with the aid of drawings showing merely realizations. It can be demonstrated as follows:

[0176] FIG. 1 is a perspective view of the so-called storage side of a picking device according to the invention/creation;

[0177] FIG. 2 is a perspective view of the back of the picking device according to FIG. 1;

[0178] FIG. 3 is a top view of the rear side of the picking device according to FIG. 1;

[0179] FIGS. 4 and 4a show a sectional view of a part of the measuring roller according to the invention/creation along section line A-A in FIG. 3;

[0180] FIGS. 5 and 5a show a sectional view of the picking device according to FIG. 1 along the line B-B in FIG. 3;

[0181] FIG. 6 is a top view of a first side of the picking device according to FIG. 1;

[0182] FIG. 7 is a top view of a second side of the picking device according to FIG. 1;

[0183] FIG. 8 is a top view of the picking device according to FIG. 1;

[0184] FIG. 9 is a sectional view of the picking device according to FIG. 1 along the line C-C in FIG. 8;

[0185] FIG. 10 is a top view of the storage side of the picking device according to FIG. 1;

[0186] FIG. 11 is a sectional view of the picking device according to FIG. 1 along the line D-D in FIG. 10;

[0187] FIG. 12 is a perspective view of a storage retrieval system (AS/RS) of the picking device according to FIG. 1 with a first type of manipulator;

[0188] FIG. 13 is a perspective view of a storage retrieval system (AS/RS) of the picking device according to FIG. 1 with a second type of manipulator;

[0189] FIG. 14 is a perspective view of a first type of manipulator of a storage retrieval system (AS/RS) of the picking device according to FIG. 1, and

[0190] FIG. 15 is a perspective view of a second type of manipulator of a storage retrieval system (AS/RS) of the picking device according to FIG. 1.

DETAILED DESCRIPTION

[0191] The picking device (1) shown in Figs. has two rows of racks (2) facing each other. Each rack row (2) consists of a plurality of individual rack modules (3). Each shelving module (3) has vertical struts (4) and shelves (5) arranged between the struts (4) and attached to them. For reasons of clarity, the rack modules (3) are shown with a small number of shelves (5). Depending on the size of the goods to be stored, the number of shelves (5) can be adjusted. When storing flat goods, for example packages of the size of a medicine pack, smaller distances between the shelves (5) are necessary than when storing high goods, such as bottles. Thus, for a shelving module 3 intended for storing flat goods, the number of shelves (5) can be increased, since they can be arranged at a smaller distance one above the other than is the case for a shelving module (3) for storing lengthy goods. Within the picking device (1), the pattern of shelves provided in the rack modules (3) may vary. Thus, individual rack modules (3) or even individual areas of individual rack modules (3) can be reserved for the storage of specific goods and equipped accordingly. Thus, areas of the rows of racks (2) are conceivable within which the shelves (5) are arranged relatively close to one another; these areas are then used for storing flat goods. Likewise, areas of the rack rows 2 are conceivable within which the shelves (5) are arranged one over the other at a relatively great distance from one another; these areas are then used for storing lengthy goods.

[0192] Furthermore, it is possible to equip individual areas of the rack row (2) for special storage conditions, for example with a cooling system or with an air conditioning system that sets a certain humidity. Refrigeration, which can also be equipped as a freezer, can be used for storing refrigerated goods. Air-conditioned areas in which the air humidity is adjusted by means of the air-conditioning system can be used, for example, for storing goods that should be stored in a particularly dry state, or, for example, for storing goods that should be stored in a particularly moist state, such as fresh vegetables. The areas of rack row (2) equipped for special storage conditions may have insulated walls. Likewise, it may be provided that a shelving module (3) belonging to a specially equipped area of a rack row (2) is provided with a locking element, such as a roller shutter, facing towards the aisle (6), which closes the rack module 3 towards the aisle 6, thus facilitating the setting of the special storage conditions inside the rack module (3), but at the same time allowing access to an item stored in this rack module (3) under special storage conditions by opening the locking element, for example by raising the roller shutter.

[0193] The rows of racks (2) facing each other form an aisle (6) between them. In the aisle (6), there are two storage retrieval system (AS/RS) (7), also called handling equipment (HHG). Each storage retrieval system (AS/RS) (7) can be moved along the rows of racks (2). As FIGS. 12, 13 show particularly well, the storage retrieval system (AS/RS) (7) has a head guide (8) and a foot guide (9). The head guide (8) has two pairs of rollers (10). A head guide (not visualized) is guided through the two pairs of rollers (10), on which the two pairs of rollers (10) roll. Another pair of rollers 11 supports the storage retrieval system (AS/RS) 7 against the ceiling 20 of the picking device 1 and rolls on the ceiling 20. The foot guide (9) has two pairs of rollers (13). A foot guide (not visualized) is guided through the two pairs of rollers (10), on which the two pairs of rollers (13) roll. Another pair of rollers (11) supports the storage retrieval system (AS/RS) (7) against the body (21) of the picking device (1) and rolls on the body (21). The foot guide (9) has a cutout (14). The drive (14) drives a toothed wheel that engages the teeth of the foot belt, which is not shown and is designed as a toothed belt. The foot strap and the head strap are stationary in the picking device (1). One foot strap and one head strap each extend along a rack row (2). By turning a gear engaged with the teeth of the foot strap, the drive (14) can move the storage retrieval system (AS/RS) (7) along the stationary foot strap and thus move the storage retrieval system (AS/RS) (7) along the rack row (2).

[0194] The relative position of the storage retrieval system (AS/RS) (7) with respect to the rack row (2) can be determined and monitored as follows: A reference point of the storage retrieval system (AS/RS) (7) is defined in relation to the rack row (2). This reference point can, for example, be an end stop, i.e. a stop at the end of the rack row (2) beyond which the storage retrieval system (AS/RS) (7) cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop at each end of the rack row (2), between which the storage retrieval system (AS/RS) (7) can move relative to the rack row (2). The position of the storage retrieval system (AS/RS) (7) relative to the reference point can now be determined from the tooth pitch of the stationary foot strap and monitoring of the number of revolutions of the gear wheel of the drive (14). Calibration runs and regular inspection runs are possible.

[0195] The storage retrieval system (AS/RS) (7) has a vertical column 15. The head guide (8) is provided at the upper end of the column (15); the foot guide (9) is provided at the lower end of the column (15).

[0196] A vertically movable manipulator (16) is provided on the column 15 (refer also to FIGS. 14, 15). The column (15) has a toothed rail (17). A toothed rail (not shown in more detail) engages in the toothed rail 17 and can be rotated by a drive (18). By turning the gear wheel, the manipulator (16) can be moved along the toothed rail (17), which is stationary on the column (15), and thus along the column (15). The manipulator has a guide plate with rollers (19) that roll along vertical guide surfaces on the column (15) and stabilize the movement of the manipulator 16 along the column (15).

[0197] The relative position of the manipulator (16) with respect to the column (15) can be determined and monitored as follows: A reference point of the manipulator (16) is defined in relation to the rack row (2). This reference point can, for example, be an end stop, i.e. a stop at the end of the rack row (15) beyond which the storage retrieval system (AS/RS) (16) cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop at each end of the column (15), between which the manipulator (16) can move relatively to the column (15). The position of the manipulator (16) relative to the reference point can now be determined from the tooth pitch of the toothed rail (17) and monitoring of the number of revolutions of the gear wheel of the drive (18). Calibration runs and regular inspection runs are possible.

[0198] The manipulator (16) includes a support surface (30) on which goods may be supported during transport of the goods in the manipulator (16). In the embodiment example according to FIGS. 14, 15, the supporting surface (30) is of stationary design. Embodiments are also possible, in which the support surface (30) is designed to be linearly movable.

[0199] The manipulator (16) has two forks (31), which together form a gripper jaw (32). Toothed racks (33) are provided at the end of the forks (31). A drive (34) can drive a gear wheel, not shown in more detail, arranged between the toothed racks (33). One toothed rack (33) is located on one side of the toothed wheel; the other toothed rack (33) is located on the other side of the toothed wheel. Turning the gearwheel moves the toothed racks (33) past the toothed wheel. Due to the arrangement of the toothed racks (33) on opposite sides of the toothed wheel, the toothed racks (33) are rotated in opposite directions when the gear is turned. This movement of the toothed racks (33) can increase or decrease the distance between the forks (31), depending on whether turning the toothed wheel moves the toothed racks (33) toward or away from each other.

[0200] The relative position of the forks (31) to each other can be determined and monitored as follows: A reference point is set. This reference point can be, for example, the fully closed position in which the tips of the forks (31) are against each other and further rotation of the toothed wheel is no longer possible. The position of the forks (31) relative to each other can now be determined from the tooth pitch of the toothed racks (33) and from monitoring the number of revolutions of the toothed wheel of the drive (34). Calibration runs and regular inspection runs are possible.

[0201] The manipulator (16) has a revolving toothed belt 36 guided over rollers (in FIGS. 14, 15 only the roller (35) at the front end is visible). The timing/toothed belt (36) runs along the support surface 30. A carrier (37), which also carries the drive (34), the forks (31) and the toothed racks (33), is connected to the timing/toothed belt (36). A drive, not shown in detail, drives the timing/toothed belt (36) so that the timing/toothed belt (36) revolves around the rollers (35). Because of the connection with the timing/toothed belt (36), when the timing/toothed belt (36) moves, the carrier (37) and with it the drive (34), the forks (31) and the toothed racks (33) also move, along and over the support surface (30).

[0202] In an alternative embodiment, it is possible for the timing/toothed belt (36) to be a stationary toothed rack and for the carrier (37) to have a drive with a toothed racks (33). By turning the gear, the carrier (37) can be moved along the stationary rack. The relative position of the carrier (37) with respect to the support surface (30) can be determined and monitored as follows: A reference point of the carrier (37) is defined in relation to the support surface (30). This reference point can, for example, be an end stop, i.e. a stop at the end of the support surface (30) beyond which the carrier (37) cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop at each end of the support surface (30), between which the carrier (37) can move relatively to the support surface (30). The position of the carrier (37) relative to the reference point can now be determined from the tooth pitch of the toothed rack and monitoring of the number of revolutions of the gear wheel of the drive. Calibration runs and regular inspection runs are possible.

[0203] A slider (38) is provided on the carrier (37). With goods resting on the support surface (30), this can push against the goods from behind and push the goods along the support surface (30).

[0204] FIG. 14 and FIG. 15 show that the forks 31 have pads 39. The pads (39) may be adapted to the material to be gripped. Thus, a first embodiment, namely the one shown in FIG. 14, is conceivable in which the pads (39) are made of rubber and have a good coefficient of friction to securely grip a carton pack. Thus, a second embodiment, namely that shown in FIG. 15, is conceivable in which the pads (39) are slightly magnetic to securely grip a ferromagnetic package.

[0205] The support surface (30) and the carrier (37) and the timing/toothed belt (36) can be rotated about the vertical axis A so that a storage retrieval system (AS/RS) (7) can engage with shelves (5) of the rack row (2) closer to it as well as with shelves (5) of the rack row (2) located on the other side of the aisle (6).

[0206] The relative position of the storage retrieval system (AS/RS) (7) with respect to the rack row (2) can be determined and monitored as follows: A reference point of the storage retrieval system (AS/RS) (7) is defined in relation to the rack row (2). This reference point can, for example, be an end stop, i.e. a stop at the end of the rack row (2) beyond which the storage retrieval system (AS/RS) (7) cannot be moved. In a preferred embodiment, two reference points are provided, for example two end stops, namely one end stop at each end of the rack row (2), between which the storage retrieval system (AS/RS) (7) can move relative to the rack row (2). The position of the storage retrieval system (AS/RS) (7) relative to the reference point can now be determined from the tooth pitch of the stationary foot strap and monitoring of the number of revolutions of the gear wheel of the drive (14). Calibration runs and regular inspection runs are possible.

[0207] The manipulator (16) can grasp an item lying on a shelf 5 by entering the rack module (3) with forks (31) spread slightly wider than the width of the item, so that one fork (31) is positioned on each side of the item. By moving the forks (31) together by means of the drive (34), the forks (31) can be brought into contact with the material and exert a clamping force on the material. By retracting the forks (31) by moving the timing/toothed belt (36), the material can be moved from the forks (31) to the support surface (30).

[0208] The manipulator (16) can store an item lying on the support surface (30) onto a shelf (5) disposed adjacent the support surface (30) by moving the forks (31) and the slider (38) forward by moving the timing/toothed belt (36), and pushing the item from the support surface (30) onto the shelf (5) by means of the slider (38).

[0209] The picking device has wall panels (22). These form the respective rear walls of the rack rows (2) and close them off from the outside. In FIG. 2, some wall panels (22) have been omitted to provide a view of the struts (4) of the rack modules (3). Further, the picking device (1) has ceiling panels (23) that form the part of the ceiling (20) of the picking device (1). The ceiling panels (23) may be transparent or opaque to allow light into the picking device (1). The ceiling panels (23) may be opaque to keep light out of the picking device (1), for example to protect light-sensitive goods. The picking device has side panels (24). These form the respective side walls of the rack rows (2) and close them off from the outside. A window (25) may be provided in a side panel (24) to provide a view into the aisle (6). A door (26) may be provided on one side of the picking device (1).

[0210] A loading station (40) is provided on one side of the picking device (1). The loading station (40) has a conveyor belt (41) onto which goods to be stored can be placed. The goods lying on the conveyor (41) are conveyed to the loading station (40), identified there and transferred to trays (42) by a transfer device not shown in more detail. The trays (42) are within the access range of the storage retrieval system (AS/RS) (7), so that the storage retrieval system (AS/RS) (7) can pick up the goods located on the trays (42) by the gripper jaw (32). In particular, the procedure described in DE 10 2004 007 962 A1 can preferably be used for identification during conversion.

[0211] A shelf (43) for transport boxes is provided on one side of the picking device (1). The transport boxes can be arranged side by side on this tray (43), and the goods from the transport boxes can be placed on the conveyor belt (41).

[0212] A touch screen (44) is provided on one side of the picking device (1) as an interface for interaction between the operator and the picking device (1).

[0213] Four outputs (45) are provided on one side of the picking device (1), each of which is designed as a slide leading outwardly from the respective rack module (5). At the upper two outputs (45), an output surface (46) is provided on which an item sliding down the chute comes to rest and can be grasped by the operator. At the lower two outputs (45), transport boxes (47) are provided into which an item sliding down the slide falls. The upper ends (48) of the slides are within the access range of the storage retrieval system (AS/RS) (7), so that goods can be loaded onto the top of the slide.

[0214] The manipulator (16) has an interface at which the manipulator (16) can be connected to further components of the storage retrieval system (AS/RS) (7), and at which the manipulator (16) can be disconnected from the further components of the storage retrieval system (AS/RS) (7). The interface can be formed by the guide plate with rollers (19). The interface makes the manipulator (16) easily interchangeable. This allows for operating situations of the picking device (1) in which a manipulator (16) of a first type, which is particularly well suited for retrieving and/or storing a first type of goods (for example, flat packs) but somewhat less well suited for retrieving and/or storing a second type of goods (for example, bottles), is exchanged for a manipulator (16) of a second type, which is better suited for retrieving and/or storing a second type of goods (for example, bottles). Depending on the design of the interface, this exchange can be automated so that it is not necessary for the operator to carry-out the exchange.

[0215] The picking device (1) has two storage retrieval systems (AS/RS) (7). One of those storage retrieval systems (AS/RS) (7) is equipped with a manipulator (16) of the first type and is particularly capable of storing and/or retrieving flat packages, for example. The other storage retrieval system (AS/RS) (7) is equipped with a manipulator (16) of the second type and is particularly capable of storing and/or retrieving bottles, for example.

[0216] The side wall of the picking device (1) comprising the window (25) can be opened as a whole and a storage and retrieval system (AS/RS) (7) can be removed as such from the resulting opening. This makes it possible, for example, to completely remove or completely replace a storage and retrieval system (AS/RS) (7) for maintenance purposes.