Apparatus and method for automatically storing articles

The invention relates to a process for the incorporation of Goods as a substantially cuboid Packaging units are formed, in particular of Pharmaceutical products, in an automated Storage facility according to the preamble of Claim 1 and an apparatus for performing this method.

From DE 195 09 951 C2 is known a device which in particular for the automatic storage of unsorted small-scale, block-shaped packages such Pharmaceutical product is provided and as Transfer device comprises an endless conveyor which is extends within the shelf between two shelves and of a charging station for new putaway goods into the work area of ​​a storage and retrieval unit performs. The endless conveyor, which is designed in particular as a conveyor belt, leads it from the narrow side of the racking system where the Induction station is arranged for the goods in the Shelf area in and thus additionally increases the Length of the shelf anyway case elongated shelf. Of the Endless conveyor has not only the task of the new einzulagernden goods into the working area of ​​the usher stacker crane from the outside but is Moreover, as a latch a certain Buffer function for the flow of goods einzulagernden perceive. The new einzulagernden goods must not namely just before recording by the stacker crane identified, but also in terms of their dimensions be measured to provide an appropriate storage bin from the Control unit of the bearing device can be found.

Both the identification and the measurement of goods (Hereinafter referred to as objects) can in itself known manner be performed entirely by machine. to Reduction of investment expenditure, it is often common identification as part of a Handling process to make by an operator to leave that to the bar code of the article a corresponding reader passes and then the object hangs on the endless conveyor. After completion of the Laying on newly einzulagernder objects or when you reach a full occupancy of the endless conveyor, on the individually the objects in a chain next to each other in Distance are placed, the articles are successively picked up by the stacker crane and a free Stockyard one of the shelves stored. The positions at which the individual items on the endless conveyor There are the computer control for the targeted access known of the stacker crane. When storing is the possibility of random access of the stacker crane the einzulagernden items on the endless conveyor. Once a at the extremity of the endless conveyor resting object was cleared, one can in If necessary, another new article of einzulagernder Ensure an adequate feed movement on the Endless conveyor are stored. But as long as the outermost End of the endless conveyor is used then no Feed movement are carried out so that then in spite of freer places eg in the central region or at the beginning of Endless conveyor new matter at the feed end of the Endless conveyor can be placed. When storing is the endless conveyor at least during start- a storage position on the endless conveyor through the Stacker crane still. In the case of storage extensive program with new einzulagernden goods can Therefore due to the limited capacity of the endless conveyor happen that the storage by the Operator in several stages with corresponding Waiting time in between has to be made. This waiting period the longer, the greater the time required by the gripping individual items on the endless conveyor to final storage on one of the shelves is. at this known bearing device are usually Bearing housings used with a depth of up to about 250 mm. in the Normally, the individual objects in the direction of Longitudinal extent of the shelves, ie in direction of the Storage and retrieval unit individually stored next to each other. at similar articles may also, provided that the available Place sufficient two objects by utilizing the width of each shelf in the width direction are stored sequentially.

The storage of goods is carried out at the plant according to DE 195 09 951 C2 so that the stacker crane one of the control selected, sufficient free space on one of the Shelves anfährt and the respective goods stores there. there stores control the storage such that the Storage and retrieval unit in case of a necessary outsourcing the goods this place specifically be restarted: they namely stores an identifying size on each shelf whose height position is stored, and the horizontal coordinate of the storage location as well as the Edge length of the product concerned in the direction of this horizontal coordinate. Thus, the controller has also all the information necessary for determining the free Gaps between the stored goods.

This superposition principle is characterized by special Simplicity, since the individual products in each respect Package size and article type disordered (chaotic storage) and merely juxtaposed along each Shelves are lined up.

From the company brochure "How you do it: picking machine offer. Universally, efficient, easy twice as good "of Apostore GmbH is an automated Medicine storage is known which operates in a similar manner, So goods by means of a storage and retrieval device on shelves disordered in terms of a chaotic storage, as described in High-bay warehouses is generally customary, stores and when required automatically outsource again. To increase the related required footprint of such a bearing Storage capacity are there much broader (up to 400mm deep) used shelves and the storage area of ​​the Shelves divided into so-called virtual channels, in each of which one or preferably more goods transverse to Longitudinal extent of the shelves behind the other can be stored. The channel boundaries in this case form Longitudinal direction of the shelves each gaps within the meaning a minimum distance between the adjacent channels in warehoused goods. Such a minimum distance required for the proper storage and retrieval can take place adjacent stored materials, without displacement, since the storage and retrieval unit, of which in a rack aisle between opposing shelves two are, each with a jaw gripper for manipulation of goods has. This system has the Control course to the stored goods to selectively retrieve (without the need for re-identifying certain goods), not only the Position of each of the tray on a shelf selected free storage or channel, but also the Position within the channel (ie in the direction of to know and store shelf depth) of all stored goods. When the controller detects that a channel or free Storage space in terms of its depth (transverse to Longitudinal extension of the shelf) by one or more embedded goods is only partially occupied, a new Be Stored goods unless their length in the direction of Shelf depth is not greater than the last free shelf depth, are also incorporated into this channel. requirement However, this is not only that the width of the fabric (In the longitudinal direction of the shelf) is not greater than the Width of the respective channel and also not greater than the width of the already stored in this channel, immediately underlying commodity. The latter condition is therefore necessary to ensure that with a jaw gripper Equipped stacker crane when needed any Subject of a series of several at the same Regal longitudinal position lying objects with a single can detect access and outsource again. This is in such a case necessarily also a takeout connected the date prior to the subject goods, as that after delivery of the actually addressed Article the other unwanted items back in the same or a different storage position must be pushed back. The filing policy within a channel is therefore an arrangement of the goods (in plan seen) to a so-called fir tree shape, with the Top of this fir tree must have the storage and retrieval unit. At most, may equally wide packages directly one behind the other.

For each storage operation, the storage and retrieval unit has between the place where a new putaway goods for Storage is provided, and the intended Storage location to be moved on the shelf. While such a Storage process is therefore the stacker crane inevitably not for any outsourcing operations to Available so that, where appropriate, apply and wait times.

Object of the present invention is to provide the time needed for storage of goods in a generic method to shorten considerably the storage and retrieval unit to the said waiting times for outsourcing contracts to possible and minimize the storage capacity of the intermediate storage improve possible; In addition to a device for Implementation of this method are given.

This object is achieved in terms of the process by the features specified in patent claim 1; a Device for carrying out the method according to the invention has the features defined in independent claim 19 Characteristics. Advantageous developments of the invention, arbitrarily be combined with each other are in the dependent claims listed.

The invention relates to a method for storage of goods that essentially cuboid form pack units, in particular of Drug packages. For storage is an automated Storage device having a plurality of spaced used superposed shelves on which the goods in each case in the area adjacent (ie not stacked), in particular in so-called virtual channels (ie, channels with no real walls) by means of a storage and retrieval unit can be stored. In such Channels can be stored only goods whose width taking into consideration a safety distance, the width of the channel, ie the width of each available contiguous free storage location, does not exceed. Within individual channels, however, can in the transverse direction one behind the other to the longitudinal extent of the shelves more goods can be stored. The new einzulagernden Goods are thereby each stacker crane, of which in a storage device, a plurality may be used with their packaging edges aligned in each defined Between the storage position in a buffer memory, in particular in a buffer with a flat Intermediate shelf predetermined width adjacent lying, filed presented for adoption. The respective Storage and retrieval device can selectively the respective position a new einzulagernden goods in this interim storage grab and take approach and the goods specifically. Before the Storage is in addition to the identification of the Objects also a determination of their geometrical Dimensions provided. The identification can automatically or as part of a handling operation made for example by means of a barcode reader will. Of course, other solutions, For example, electronic type, such as on the basis of RFID technology possible. Also for the determination of the dimensions are different ways feasible, for example, Measuring method using ultrasound or laser beams or by means of optoelectronic image analysis. It is also in the context of the invention, when the dimensions of the individual Items already been determined in advance and as a applied to the respective object label (eg Barcode or RFID tag) is read, or from a ID number of a master data table in the Computer control is stored, can be determined. The Dimension determination can therefore be direct or indirect. Thus later an automated paging through the can be carried out storage and retrieval unit, the data to be Identifying from the controller of the storage device each selected storage location on the shelves for respective goods stored. In such a method is According to the invention provided that at least some of the new einzulagernden goods in such a way in the intermediate storage is stored in groups, ordered that each with a single access simultaneously several products consecutively lying receivable of each stacker crane and with a single drop operation on a free storage space a shelf, in particular in each case one of the channels Are embeddable on the shelves. The individual goods are in temporary storage so at least partly already so oriented and added consecutively, as the final storage in the each of the control selected channel or free storage space equivalent.

According to a first basic variant of the invention Process is conveniently carried out the groups Assembly of goods in temporary storage in accordance with the same geometric arrangement criteria in Storage of the goods will be taken into account in the channels. In the preferred use of a jaw gripper for the Recording of each product by the stacker crane the arrangement should be selected so that within a Channel - seen from the stacker crane from - a further always be lying behind the same goods or wider must as each product in front of it. This ensures, that each example in the middle or rear lying goods immediately with an access can be taken from the storage and retrieval unit, cleared without requiring preceding that packs ago Need to become. Optionally only must the with taken out not requested lying in front Packs then again laid back.

It is particularly advantageous, in forming a group to take account of goods in the intermediate storage that Goods, according to experience, with greater frequency in the case a delivery order is requested together (at Drug packages so often together on a recipe prescribed medications), preferably in each case in the manner in the same group can be given that of the outsourcing each shelf or from the respective channel these Goods by a single access of the stacker crane common dispensable.

Another advantageous filing criterion in Warehousing in the individual channels of the bearing can on the Control can be taken into account that most frequently be outsourced goods (so-called high-speed) preferred each in the front storage position on a shelf or be embedded within a channel and thus for the stacker crane are immediately available without the Need a return transfer previously stored goods.

The selected group building in the buffer Procedure can be kept extremely simple. There usually the individual goods randomly are successively handed over for storage, change the presentations of successive goods purely coincidental. This depends not only of consecutive with the change different products together, but is also a result of randomly different orientation held in Longitudinal direction of a pack in the inclusion in the Buffer. A rather elongated package may For example, in the transverse direction instead of longitudinally have been supplied. Flat packages usually take by effective in delivering transport forces a flat-lying position. Now, if a commodity the Intermediate memory is to be supplied, are not accompanied by the immediately before or immediately afterwards in the Latch stored goods in a group is possible to accumulate, because it is the channel provided limits exceed or available free storage space otherwise would, it is expediently on a stand of Buffer stored and there is also individually well, although later a commodity the latch is fed, with this joint in a channel would be accommodated. This is an expensive way Herfahren the locations of the buffer avoided. It has shown that the probability that successive goods already in the cache to a form suitable for storage in a channel group is sufficiently high, a considerable reduction of the Hits of the stacker crane in the storage in the to achieve channels.

Advantageously, individually on the latch stored goods, insofar as the channel depth, preferably stored in a still partially free channel in the already a commodity is stored, which very frequently together with each new intercalation materials, in a Outsourcing order is required.

For a second basic variant of the method provides the Invention proposes that the objects in the einzulagernden Order in which they are placed on the loading station, in such a manner in groups on the Intermediate shelf are stored, that in accordance with the given dimensions of the respective objects under extensive use of the width of the shelf possible several items in the width direction of the Clipboard behind the other form a group and the individual groups in the direction of the length of the Clipboard surface are arranged adjacent to each, wherein immediately adjacent groups each within Enclosing rectangles are that do not overlap, but are preferably spaced apart. in the Normally, the individual objects einzulagernden not simply linearly in the longitudinal direction of the Buffer adjacent stored, but possible in assembled groups, which in turn each other in Longitudinal direction of the buffer linearly side by side are, but where within the group the individual Objects in the transverse direction thereto (width of Buffer memory) are in succession. In this way inevitably results in an improved space utilization of the buffer memory. This has the advantage that for the same Space buffered a larger number of objects may be so even for extensive rich deliveries of einzulagernden objects sufficient buffer area is available.

The filing of individual articles takes place while in the Order in which they are placed on the loading station, but not completely without rules. The individual groups Namely adjacent stored that they in a Enclosing rectangle fit, so in a virtual compute-square frame. For the first in the buffer memory scale series, this rule is still irrelevant. when but the initial set (group) is complete, so another einzulagernder subject no longer available Width of the buffer is to be created, the next Series has deviated. The storage position is then chosen such that this further object only (preferably in a small safety margin) adjacent to the imaginary Rectangle is that all items on the first Series in the sense of an envelope curve includes. These Default has the meaning that a storage and retrieval unit, which with equipped a jaw gripper, each subject to a can achieve a row without an object from a to initiate immediately adjacent row here and Move so that the respective intermediate storage position would be distorted.

Under these conditions there is another big Advantage of the present invention, which is that the actual storage operation through the Stacker crane opposite the usual Approach, in which in each case only single gripped objects from the buffer memory and to the Shelf space are placed, be considerably shortened can. It is of course possible that this single Storage if required in the method according to the invention Individual case is applied. An advantageous development However, the invention provides that the storage and retrieval unit at least for a part of the Einlagervorgänge a group in a closer to the stacker crane lying object same width or narrower than each of all Stacker crane more distant objects this Group, with a single access of the gripper jaw Storage and retrieval device receives and single in a Drop operation on an open location of the shelf intercalates. This allows a single travel process for the stacker crane simultaneously several objects on are stored a shelf. The necessary Cycle time is reduced relative to the individual subject thus to a fraction of the previous value. By Tray multiple objects at relative to the longitudinal direction the shelves the same storage position, ie transversely to the Longitudinal direction can be a greater width of the shelf space meaningful use. In order to use the width is not Only the comparatively infrequent storage particularly long article transversely to the longitudinal direction of the Shelves limited.

According to a further advantageous embodiment of the Method of the invention it is provided that the Storage and retrieval unit in a group, in a closer to Storage and retrieval unit lying object is wider than the next more distant object, this group in several steps intercalates wherein initially the one or more ahead of the next more distant object Objects with a single access of the gripper jaw are recorded and stored storage and retrieval device and then use the on the clipboard remaining Objects of this group will act accordingly.

It is particularly advantageous if the Intermediate shelf independently on a number of mutually movable transfer tables or shelves is divided and more laden with goods shelves or tables simultaneously to store these items available are, the stacker crane in the storage optional on the groups of several, in particular all yet laden shelves or tables and thus possibly on access a large number of stored objects between can.

Specifically, in this embodiment of the invention will become apparent further advantages which consist, for example, that the Computer control when accessing interposed Objects and their inclusion on the shelves at least take into account a predetermined sorting criterion can. So it is possible that individual items targeted with another object in the longitudinal direction of seen the same storage position into store shelf space will. This is how the first in connection with the Basic variant of the method mentioned above, for example, useful for different drugs that the doctor regularly in certain clinical pictures be prescribed. Thereby the Auslagerzeit can at a corresponding request to dramatically reduce the Compared to a separate storage of such Medications. Alternatively, as a sort criterion for example, the dimensions of the articles be used to about the same size objects on store the width seen of shelf space together and thereby ensuring a particularly good use of space. Such storage algorithms and strategies are not Object of the present invention.

If the intermediate storage area independently on several is divided from each other movable shelves or tables, then, according to a further advantageous embodiment of the novel process provided, at least temporarily two stacker cranes parallel in time for the Storage of the trays on one or more tables or the buffer between stored items use, new at the same time but also the support zugegangener objects for temporary storage on a another shelf or table to allow. This makes the Abandonment and interim storage newly zugegangener items process technology completely decoupled from the storing between stored items on the shelves. Both Processes can therefore run parallel in time without interfere with each other to. This also contributes to a significant Improving the performance of the entire Storage facility at.

In a further process variant, it is provided that a Object for which the computer control immediately determines an appropriate storage location on the shelves was first in intermediate storage on a Tray / table remains while other items without Interruption of abandonment new zugegangener objects on interposed another tray and then be stored. It is readily possible that the stacker crane such not provisionally be embedded object temporarily to another tray rearranges within the buffer memory to a tray for the free up recording new zugegangener objects.

It is also particularly advantageous when the computer control is set up so that in case of need a requested, but only only between stored object without previous conduct regular storage on a Shelf by the storage and retrieval unit targeted by the added each shelf and paged immediately can be. It is expedient to identify a Object in known manner during a manual loading process for an article at the beginning of making process. The delivery of a new discontinued Object for temporary storage in the buffer memory itself should present invention automates the other hand possible done.

An apparatus for carrying out the invention Procedure, at least one shelf with several in distance superposed shelves and at least one Storage and retrieval unit in which for loading and unloading of goods horizontally and vertically along the shelves movable. Furthermore, a latch is provided which in the Workspace of or the stacker cranes is, in the provided the new einzulagernden goods for storage will. Also, a transfer device for Positioning the einzulagernden stayed in this Latch provided. Further, the apparatus has an identification unit for identifying the new einzulagernden goods, a measuring device for Determining the time required for the emplacement Length dimensions of the goods and a control unit for the one or more storage and retrieval systems, with a data memory is provided, which stores at least the following data:<ul><li>Vertical position of the shelves,</li><li>Position data in the longitudinal direction of the respective Shelf for the respective channel in which a commodity can be stored,</li><li>Recorded length dimensions of the goods and</li><li>Position a product within the respective channel (As seen transversely to the longitudinal direction of the shelves).</li></ul>

When measuring device according to the invention is also To view a device that already in the above Described manner, the required dimensions of the goods indirectly determined.

According to the invention is connected to the control unit control technology associated transfer device from the Control unit feasible in such a way that at least individual the new einzulagernden goods groups listed in the Buffer are storable that only a Access the respective storage and retrieval unit several simultaneously Goods behind the other of the storage and retrieval unit receivable and with a single drop operation in each one of the channels on the shelves are embeddable.

As an intermediate storage, for example, a conveyor belt be used, which is preferably between two shelves runs and thus definitely within reach of the or the stacker cranes is.

In an alternative form of the invention is provided, the latch in the form of a, preferably more in the longitudinal direction of the shelves, in particular between two shelves, reciprocable train transfer tables.

The transfer device may in a particularly simple be designed as a slide case, the individual goods positioned. A particularly advantageous design of the The invention provides a transfer device a converter, particularly in the form of a single-axis robot before, of having provided a jaw gripper for receiving the individual goods is. With such a jaw gripper can the goods easily consecutively store specifically. By a corresponding feed motion of the bearing surface of the Buffer, the motion range of the uniaxial Robot, as in known systems so far also is already the case, for receiving the next new einzulagernden goods are cleared.

A particularly simple construction is obtained if a Conveyor, in particular a conveyor belt is provided with the outside of a newly einzulagernden goods Shelf lying induction station in the access area of Transfer device can be conveyed. On such a Conveyor can be the necessary separation of goods accomplish easily. The transfer device applies the newly einzulagernden goods into the working area of ​​the or the stacker cranes.

Advantageously introduces employed as an intermediate storage Conveyor belt, the newly einzulagernden goods from a Feeding station outside of the shelf into the working area of ​​the or the stacker cranes. To the bearing with respect to the Floor plan to create as compact, it is recommended to two in parallel distance provide opposite shelves that Lagergasse a sandwiching within which preferably two Stacker cranes operable independently are arranged. In this way, a particularly high availability (reliability) of the entire system and moreover ensure a high performance (short Cycle times) with respect to the necessary inputs and Retrieval operations realized.

The invention is described on the basis of the drawing Working example shown schematically explained. Show it:<dl tsize="12" compact="compact"><dt>Fig. 1</dt><dd>an inventive device in Floor plan and longitudinal view,</dd><dt>FIG. 2</dt><dd>a modification of the embodiment of FIG. 1 in plan view,</dd><dt>Fig. 3</dt><dd>an external view of an inventive Device,</dd><dt>Fig. 4</dt><dd>a conventional storage of goods in a Buffer</dd><dt>Fig. 5, 7, 8</dt><dd>a tray according to the invention of goods in a buffer and</dd><dt>Fig. 6</dt><dd>a shelf of goods in virtual channels on a shelf.</dd></dl>

In Figure 1 is in the form of a schematic drawing of a Embodiment of an inventive device for unsorted camps particular drug packs in Floor plan (upper part of Figure 1) and in a Side view (lower part of Figure 1). On Shelf 1 has a plurality of superimposed storage levels in Form of continuous shelves 2a - 2f, the differently spaced from each other and thus to Incorporation of different levels of products may be suitable. The shelves 2a -2f can two a common Traverse 11 having storage and retrieval units 3a, 3b, the are moved horizontally and vertically, are served. For this purpose, the stacker cranes 3a, 3b Manipulation devices to, for example, as formed jaw gripper and are known to the expert. Of the Traversing path 11 extends over the entire length of Shelf 1. The stacker cranes 3a, 3b, both practically moved horizontally over the entire length of the shelf be, can mutually not happen. If the latter is desired, separate paths 11 can for the two stacker cranes 3a, 3b provided in the a sufficient distance from each other are parallel. Outside of the shelves 2a - 2f covered Plan area are within the bearing channel, in which the two stacker cranes 3a, 3b are moved, two Transfer tables 5a, 5b newly as a buffer for Be Stored goods arranged for longitudinal displacement. Other types of latches are naturally also possible. As is apparent from the side view, are the two transfer tables 5a, 5b equipped with wheels, so designed as cars. They are motorized, via a control means not shown, which includes the two Stacker cranes 3a, 3b controls, in the longitudinal direction of the stand 1 moved back and forth. For this purpose, a drive is provided, of the case illustrated schematically in the form of a chain, Rope or belt drive 10 is formed. For storage of goods in the shelf 1 is outside of the rack 1, ie on of the stacker cranes 3a, 3b opposite side of the Shelf 1 a belt conveyor 8 is arranged on the goods can be placed individually. Here, the individual Goods at a loading station 9, for example by hand before past a scanner connected to the controller be to identify each product unique. Each individual commodity is then passed through the conveyor belt 8 in the direction the arrow to the right illustrated transported in the region of a transfer device 4. Once a commodity in the operating range of a in Figure 3 in the side view of outside converter 12 shown the transfer device 4 gets what for example by means not shown Photocells can be detected, without prejudice to the preferably designed as a single-axis robot converter 12, which has a jaw gripper, the goods and transported horizontally through a corresponding opening in the outer shelf wall and into the shelves 2 therethrough to the standing in the transfer area 6 transfer table 5a and lays it in a defined position on the clipboard Transfer table 5a from.

The identification of the goods can also automatically eg take place during the transfer through the converter 12 when in this field arranged corresponding scanning devices are. Also required for measuring the goods Measuring devices (eg, based on light-emitting diodes or Ultrasonic sensors) are suitably in the range of The transfer device 4 is arranged.

After dropping the latch was in accordance with the previously known procedure of transfer table 5a regularly to a small piece in the sense of advancing movement process, to the inclusion of another commodity that after retraction of the converter 12 has been fetched from the belt conveyor 8, on the relative to allow the converter 12 same place. at the tray on the latch 15 (transfer table 5) has been, as shown in Figure 4, the End side of a product 13 preferably at a parallel to extending the longitudinal extent of the latch 15 Reference line 16 is aligned to a clear transfer position for the goods to ensure. 13 Overall, the results were as a simple linear chain of goods 13, at a distance are each individually side by side in the longitudinal direction of the latch 15 in a known position clipboard were stored. The present invention proceeds from this generally only individual intermediate depositing the goods 13 from and provides, as a result of example in Figure 5 illustrates that individual goods 13 transversely to Reference line 16, not only in the longitudinal direction of the Between memory 15 next to one another, but also transversely to the Longitudinal orientation of the latch 15 can be stored one behind the other, provided that the Pack sizes and their orientation by the converter 12 is not changed after taking this where appropriate with regard to the above already explained clipboard criteria allow. One notices from Figure 5 that some goods 13 all alone on a Position in the longitudinal direction of the line 16 are stored while other goods 13 in groups of twos or even threes together are at such a position. This is achieved that by filing a commodity 13 before execution the advancing movement of the latch 15 of each of the still free space on the clipboard to the position corresponding length dimension of the next in the Latch be housed goods are compared. 13 If the available space is sufficient, and (in the case of the first Procedural variant) and the width criterion (Tannenbaum-structure) is met, the concerned Goods 13 across line 16 in succession are arranged. Otherwise, the feed is actuated and the respective Goods 13 placed on the next intermediate space, where they under certain circumstances with the following goods 13 a group may form or remain single. In this manner, successively filling of the buffer 15 carried. It is essential that the control unit the information about each intermediate storage position (longitudinal and transverse) of be forwarded to the handover table receives and stores. The Transverse positions arising indirectly from the corresponding Length dimensions of the goods. 13

Once the transfer table 5a (Fig. 2) a sufficient has reached the filling level or any other goods 13 more are provided for the storage or from another Basically the start of a storage of the products 13 on the Shelves 2a - 2f, or possibly even an instant Outsourcing of individual goods is 13 required, drives the Transfer table 5a at the instance of the control unit in a Removal position, which in the present case at the left end of the Shelf 1 provided (shown in phantom) and 5a ' is designated. Knowing one hand the exact 7a removal position (Fig. 1), ie the point, which at the Transfer table 5a during the acquisition of each product 13 remains through one of the stacker crane 3a, 3b, and on the other hand the (relative) positions on the clipboard 5a can transfer table controlling the respective Stacker crane 3a, 3b position it so that a targeted Access to sporadically deposited or to groups of new ensures einzulagernden goods on the transfer table 5a is. Once the transfer table 5a is moved to the left and the take-over section 6 acknowledges, the second Transfer table 5b in an appropriate manner within the will takeover region 6 positioned so that on the Converter 12 more goods 13 on the transfer table 5b are temporarily stored while the stacker crane 3a to Transfer table 5a successively emptied. Here are the individual Groups of transverse to the longitudinal orientation of the transfer table 5a between stored goods 13 each with a single , 3b resorted access the stacker crane 3a and in a free channel 14 or other free bearing on a shelf 2 finally stored as from the schematic representation of FIG. 6 can be seen. The virtual channels 14, which are not due to physical Partitions, but only by stored Channel limits are in terms of data separately, are in the drawing shown in dashed lines. It will be readily Another, that the width of the individual channels 14 may be different. The inward and outward movement of Gripper of the stacker crane is not shown by a double arrow transversely to the longitudinal direction of the shelf 2 indicated. It can be seen that all the objects 13 similarly as in the Buffer also possible in groups on a Longitudinal position of shelf space are stored. Of course, objects 13 are in the process individually stored. This can already during storage so happen to be (z. B. the rightmost bearing channel 14), can but also be due to overlapping that originally before Matter has been removed from storage (eg. As extreme left bearing channel 14). This storage channels 14 are from the Computer control of the camp in a manner similar subjects treated against each other by physical partitions are foreclosed. The purpose of this storage channels lies that the gripper jaws 26 of the stacker crane 20 in each Retract case dates to the channel boundaries of a bearing channel 22 can is without objects on adjacent storage channels encounter. It is obvious that, for storing a Group of products 13 with a single warehousing operation of this required time need only a fraction of represents the time required, the individual for the previously customary Storing each commodity 13 is required. Basically it is possible that also the second stacker crane 3b by the Transfer table 5a single goods takes for storage. It but can also be provided that the stacker crane 3b remains dormant in the right part of the bearing 1 or for example, parallel to the storage on appropriate Request individual embedded goods outsources. After corresponding filling is then the transfer table 5b the pick-up area 6 out in the corresponding Removal position 7b process that preferably mirroring the removal position 7a of the transfer table 5a is arranged, ie in the area of ​​the right end of the shelf 1. Here is now in a similar manner a Storage of goods on the stacker crane 3b be made. 5a After emptying of the transfer table This turn in the take-over section 6 for receiving be moved further goods until all new einzulagernden Goods are processed.

While in Figure 1, the shelf 1 in a single line is arranged, in the modification of Figure 2 provided that the shelf 1 against a second rack 1 ' is assigned to the parallel distance. The two Stacker cranes 3a, 3b are within the between the two shelves 1, 1 'formed over the entire bearing channel Length of the shelves 1, 1 'movable. Both storage and retrieval machines 3a, 3b are preferably formed so that they each can both shelves 1, 1 use '. To this end, the Manipulation means for handling the goods to a vertical axis of rotation arranged pivotably. is Furthermore, the function of this device for the storage of goods, same as in Figure 1. Although in Figures 1 and 2, the Transfer Tables 5 outside of the shelves 2 covered floor plan range, it is preferable to use these to arrange within the plan area to the entire To build device as compact as possible. Instead of the Transfer Tables 5 could, for example, also as shelves Latches are used, which in any way between a loading position in the transfer area 6 and a Unloading (removal position) are movable.

An example of a storage schema in the buffer memory in accordance with the second basic variant of the method is shown in FIG. 7

There is besides the Umsetzbackengreifer 14 also on a Running rail 11 traversing stacker crane 3 with Jaw gripper 26 indicated. These two Handling devices 12, 26 are located, as well as is apparent from the figures 1 to 3, at different Longitudinal sides of the used for temporary storage shelf. 5 As already described above, the individual Items 13 one by one into groups (rows across launched to the longitudinal direction of the tray 5). Several of these Rows are shown in Figure 7 and by the reference numerals R₁ to R₇ designated. According to the articles may 13 only be set in a range R when the Width of the tray 5 is still sufficiently free and if a Enclosing rectangle of this series is not the one with the immediately adjacent row overlaps. In Figure 7 such enclosing rectangle for the leftmost series R₁ indicated by the reference mark 24th The width of this Enclosing rectangle corresponding to the width of the widest Article 13, the length in this case is about the width of the The tray 5. In the assignment of this first row R₁ was as First, the article 13 'placed, then the middle Subject unnumbered and finally the object 13, which determines the width of the Umschließungsrechteckes 24th The next relatively small object fitted due to the Width restriction is no longer in this series R₁ on the Tray 5 and therefore had to in the next row R2 be accommodated, only the relatively narrow includes objects and therefore a correspondingly narrow Enclosing rectangle 24 '.

If the stacker crane 3 in Figure 7, in which there Manner shown occupied tray 5, which then Of course in a transfer position (Unloading) takes are, therefore, the illustrated Over position would have left, is empty, then it could in principle with any number start, since all rows R due to the condition which non-overlapping but spaced apart Enclosing rectangles are freely accessible. If no special sorting criteria are given, would the Discharge for example by the left of the row R₁ out begin. The gripper 26 of the stacker crane 3 could indeed with access to the rear article 13 all three objects 13 of the series R₁ record, tape. It should due to the condition of the fir tree structure but this Do not place in a stock channel 14th Rather, you must first the article 13 taken 'and a single piece of suitable storage location can be stored. Thereafter However, the two remaining articles in which the Tannenbaum structure would be fulfilled, taken together and in a stock channel can be set. This would correspond in FIG 6 For example, the second storage channel 14 from the left. The series R₂ could against it because all objects 13 the have the same width, recorded in a single access be and taken to storage. In the series R₃ could the first two items recorded jointly and be stored. The remaining article 13 "would are treated in a separate Einlagervorgang. should be treated individually According to the Items 13 '' and 13 '' in the ranks R₆ and R₇, Overall, however, that in many cases, several Items collected and stored in one step can be so that by due to the saving Traverse a drastic reduction of the total for the storage required time results. This allows the increased turnover rates accordingly for the trays 5 will.

The storage scheme in Figure 7 corresponds to a picture that results when the jaw gripper 12 both jaws symmetrically operated and therefore the individual goods 13 corresponding symmetrically to the respective transfer position of Shelf 5 stores. Advantageously, the gripper jaws 12 also with a fixed and only one mobile Jaw be configured. In this case, there is a otherwise shelf image as in correspondingly Figure 8 is shown. There is the left jaw of Jaw gripper 12 movable. Therefore, all goods are 13 a Row R aligned each with its right long side to Position the fixed jaw at the time of Tray on the tray 5 aligned.