Apparatus and method for automatically storing articles

p0001The invention relates to a method for the storage of goods, which are designed as substantially cuboidal packaging units, particularly of pharmaceutical products, in an automated storage facility according to the preamble of claim 1 and an apparatus for performing this method.

p0002From the <patcit id="pcit0001" dnum="DE19509951C2"><text>DE 195 09 951 C2</text></patcit> a device is known, which is provided in particular for automatic unsorted storage of small-scale, cuboid packs as medicament packs and having a transfer device an endless conveyor, which extends inside the shelf between two shelves and a charging station for new putaway goods up to the work area a storage and retrieval unit performs. The endless conveyor which is designed in particular as a conveyor belt, thereby resulting from the narrow side of the racking system where the feeding station is arranged for the goods in the shelf area in and extended so that in addition the overall length of the already on the shelf case elongated shelf. The endless conveyor has not only the task to usher the new einzulagernden goods into the working area of ​​the stacker crane from the outside, but is also intended as a temporary storage perceive a certain buffer function for the flow of goods einzulagernden. The new einzulagernden goods must in fact be identified not only before recording by the stacker crane, but also measured in terms of their dimensions, so that a suitable storage place of the control unit of the bearing device can be found.

p0003Both the identification and the measurement of the goods (hereinafter referred to as objects) can be carried out entirely by machine in a conventional manner. To reduce the system complexity, however, it is often customary to let the identification as part of a handling process to make by an operator, which passes by the bar code of the article at a suitable reading device, and then hangs up the object on the endless conveyor. After completion of laying new einzulagernder objects or after reaching a full occupancy of the endless conveyor on which the articles are individually adjacently placed in a chain in the distance, the objects are recorded in succession by the stacker crane and stored in a free storage space of the shelves. The positions where the individual items of computer control for direct access of the stacker crane are lying on the endless conveyor known. When storing the possibility of random access of the stacker crane on the einzulagernden items on the endless conveyor. Once a resting at the extreme end of the endless conveyor article was cleared while, if necessary, another new einzulagernder article can be deposited on the endless conveyor to carry out a corresponding advance movement. But as long as the extreme end of the endless conveyor remains occupied, no feed motion can be executed, so that then, for example in the central region or at the beginning of the endless conveyor new matter at the feed end of the endless conveyor can be placed despite free itself places. When storing the endless conveyor is stationary at least during the start of a storage position on the endless conveyor by the stacker crane. In the case of incorporation of extensive programs with new einzulagernden goods may therefore occur due to the limited capacity of the endless conveyor, that the storage by the operator in several stages between them must be made with the appropriate waiting period. This waiting period is the longer, the greater the time required from taking individual items on the endless conveyor to the final storage on one of the shelves. In this known storage facility usually bearing housings are used with a depth of up to about 250 mm. As a rule, the individual objects in the direction of elongation of the shelves, so next to each stored individually in the direction of travel of the stacker crane. In similar products may also, if the available space is sufficient, two objects by utilizing the width of each shelf are placed in the width direction in succession.

p0004The storage of goods is carried out at the plant in accordance with <patcit id="pcit0002" dnum="DE19509951C2"><text>DE 195 09 951 C2</text></patcit> so that the storage and retrieval unit goes to an selected by the controller, sufficient free space on one of the shelves and the respective goods stores there. The control saves the location so that the stacker crane in the event of a necessary removal of the goods this place specifically can again approach: namely, it stores an identifying size on each shelf whose height position is saved, and the horizontal coordinate of the storage location and the edge length of the product concerned in the direction of the horizontal coordinate. Thus, the controller also has all the information necessary for determining the free gaps between the stored goods.

p0005This superposition principle is characterized by particular simplicity, since the individual goods disordered (chaotic storage) and only lined up next to one another along the individual shelves are respectively regarding packaging size and article type.

p0006From the company brochure "How you need it. Picking machine in a class of universal, efficient, easy doubly good" of Apostore GmbH an automated medicine storage is known, which operates in a similar manner, ie goods by means of a storage and retrieval device on shelves disorganized in the sense of a chaotic storage, as it is generally common in high-bay warehouses, stores and automatically offloads again if necessary. significantly wider are used (up to 400mm deep) shelves To increase related to the required floor area of ​​such a bearing storage capacity there and is the storage area of ​​the shelves is divided into so-called virtual channels, in each of which one or preferably a plurality of goods across the longitudinal extent of the shelves can be stored one behind the other. The channel boundaries thereby form in the longitudinal direction of the shelves each interstices in terms of a minimum distance between the intercalated into adjacent channels goods. Such a minimum distance required for proper storage and retrieval without displacement can take place adjacent stored materials, since the storage and retrieval unit, of which in an aisle between opposing racks are two, is each equipped with a jaw gripper for manipulating the goods. In this system, the control system must be understood in order to find the stored goods targeted again can (without need for re-identifying certain goods), not only the position of the selected respectively for storage on a shelf free warehouse or channel, but also the position within of the channel (ie in the direction of the rack depth) to know and store all stored goods. When the controller detects that a channel or free storage space is in terms of its depth (transverse to the longitudinal extension of the shelf) occupied by one or more embedded products only partially, a new putaway goods unless their length in the direction of the shelf depth is not greater than the still free shelf depth, are also incorporated into this channel. However, a prerequisite for 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 that channel immediately underlying commodity. The latter condition is therefore necessary to ensure that the equipped with a jaw gripper storage and retrieval unit can detect if necessary any object from a series of several lying on the same shelf longitudinal position objects with a single access and outsource again. This is inevitably connected but also removal of the date prior to the subject items in such a case, so that after delivery of the actually mentioned article the other unwanted items must be pushed back to the same or a different storage position again. The filing policy within a channel is thus an array of goods (seen in plan view) according to a so-called Christmas tree shape, with the tip of this fir tree must have the storage and retrieval unit. At most, may equally wide packages directly behind each other.

p0007For each storage operation, the storage and retrieval unit between the place where a new putaway goods are for storage needs, and be moved to the designated storage location on the shelf. During such storage operation, the storage and retrieval unit is therefore necessarily not for any retrieval processes available, so that, where appropriate, apply and wait times.

p0008Object of the present invention is to shorten the time required for the storage of goods at a generic method for the storage and retrieval unit significantly to minimize the mentioned delays in outsourcing contracts as possible and to improve the storage capacity of the temporary storage possible; also a device for implementing this method is to be specified.

p0009This object is achieved in terms of the method by the features specified in patent claim 1; a device for performing the method according to the invention has the features specified in independent claim 19 characteristics. Advantageous developments of the invention are combined with one another, are listed in the dependent claims.

p0010The invention relates to a method for storage of goods that form rectangular package units substantially, especially drug packs. For storage, an automated storage device having a plurality of superposed spaced shelves is used, on which the goods in each case in the area next to one another (ie, not stacked), in particular in so-called virtual channels (ie channels without real partitions), by means of a storage and retrieval unit can be stored are. In such channels only goods can be stored, does not exceed the width of which, taking into account a safety margin, the width of the channel, ie the width of each available contiguous free storage location. Within individual channels, however, one behind the other more goods can be stored in the transverse direction to the longitudinal extension of the shelves. 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 intermediate storage position in a buffer, in particular in a latch with a flat intermediate storage area of predetermined width juxtaposed stored presented for adoption. The respective storage and retrieval unit can selectively move to the respective position of a newly einzulagernden goods in this interim storage and grab the goods and take targeted. Before storage, in addition to identifying the individual items, a determination of their geometrical dimensions is provided. The identification can be performed automatically or as part of a handling operation, for example by means of a barcode reader. Of course, other solutions, such as electronic type, such as on the basis of RFID technology are possible. Also for determining the dimensions of different ways are feasible, for example, measuring method using ultrasound or laser beams or by means of optoelectronic image analysis. It is also within the scope of the invention, when the dimensions of the individual objects have already been determined in advance and read about from one applied to each object label (eg barcode or RFID tag) or on the basis of an identification 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 an automated paging through the Regalbed later can be done iengerät, the data identifying the currently selected by the controller of the storage device storage location on the shelves for the respective goods are stored. In such a method, the invention provides that at least a portion of newly einzulagernden goods is stored in groups sorted in the buffer in such a way that each with a single access simultaneously several products one after the other from the respective stacker crane receivable and with a single drop operation on a free storage space of a shelf, in particular in each one of the channels on the shelves, are embeddable. The individual products are therefore at least partially already oriented in the intermediate storage and added consecutively, as corresponds to the final storage in the channel or free storage space selected respectively by the controller.

p0011According to a first basic variant of the method according to the invention advantageously takes place in groups, arrangement of goods in temporary storage in accordance with the same geometric arrangement criteria that will be considered during the storage of the goods into the channels. In the preferred use of a jaw gripper for inclusion 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 back goods must be the same width or wider always as each product in front of it , This ensures that each example can be taken in the middle or rear lying goods immediately with an access from the storage and retrieval unit, without the need for preceding that packages must be cleared in advance. If necessary, the front of it with the removed but not requested packages only need to be subsequently stored back again.

p0012to take into account in the formation of a group of goods in the buffer, that goods that are according to experience requested together with greater frequency in the case of a delivery order (with drug packages so often jointly prescribed on a prescription medication), preferred is particularly advantageous in each of the manner are placed in the same group that the outsourcing of the respective shelf or from the respective channel those goods together can be output through a single access of the stacker crane.

p0013Another advantageous filing criterion for inclusion in the individual channels of the bearing can be considered by the controller that particularly often be outsourced goods (so-called high-speed) preferably each in the front storage position on a shelf or be embedded within a channel and thus for the stacker crane immediately tangible are stored goods without the need for a return transfer front.

p0014The selected group building in the buffer procedure can be kept extremely simple. Since usually the individual goods are successively given randomly for putaway, change the package sizes of successive goods purely coincidental. This is connected not only with the change of successive different goods, but is also a result of randomly different orientation instead of in longitudinal direction of a pack in the recording in the intermediate memory. A rather elongated package can be fed, for example, in the transverse direction instead of longitudinally. Flat packages usually take the effective in delivering transport forces a flat lying position. Now, if a commodity to be supplied to the buffer memory, which is not possible to accumulate with the immediately preceding or immediately afterwards stored in the temporary storage goods in a group because it would exceed the planned channel boundaries or available free storage space otherwise, they will expediently on a stored single of the buffer and remains there also are individually, although later a commodity is supplied to the latch that would this be accommodated in a common channel. This a complex back and forth the locations of the buffer is avoided. It has been shown that the probability that successive goods is sufficiently high to latch to a form suitable for storage in a channel group to achieve a considerable reduction in the number of hits of the stacker crane in the storage in the channels.

p0015Expediently be individually stored on the temporary storage of goods, insofar as the channel depth, preferably stored in a still partially free channel, in which a commodity is already incorporated, which is very often requested along with each new intercalation materials, in a swap contract.

p0016For a second basic variant of the method, the invention provides that einzulagernden objects that are stored in the order in which they are placed on the loading station, in such a manner in groups on the intermediate shelf that according to the given dimensions of the respective objects with substantial utilization the width of the shelf space in the width direction of the clipboard behind the other make possible several objects a group and each group are arranged side by side along the length of the intermediate storage area, immediately adjacent groups are both within enclosing rectangles which do not overlap, but preferably are spaced apart. Normally, the individual einzulagernden articles are not simply linear side by side placed in the longitudinal direction of the buffer, but possible together in groups, which in turn each other linearly lying longitudinally of the buffer memory side by side, but within the groups the individual articles in the transverse direction thereto (width of the buffer memory ) lie one behind the other. In this way inevitably results in an improved utilization of the area of ​​the buffer memory. This has the advantage that in the same space, a larger number may be buffered to objects, so that sufficient buffer space is also available for substantial deliveries of rich einzulagernden objects.

p0017The filing of individual articles takes place in the order as they are placed on the loading station, but not entirely without rules. The individual groups are namely so adjacently placed to fit into an enclosing rectangle, so in a virtual computing square frame. For the first applied in the buffer memory number, this rule is not without significance. But as soon as the first set (group) is complete, so an additional einzulagernder which they cease to apply to the available width of the buffer, the next row will be occupied next. The rack position is then chosen such that this further object only (preferably in a small safety distance) is adjacent to the imaginary rectangle which encloses all the items of the first row in the sense of an envelope curve. This requirement has the sense that a storage and retrieval unit, which is equipped with a jaw gripper, may reach any object of a series without hitting an object from an immediately adjacent row thereby and to move so that the respective intermediate storage position would be distorted.

p0018Under this condition, there is a further major advantage of the present invention, which consists in that the actual storage operation can be gripped by the stacker crane opposite the usual procedure in which each only single objects from the buffer and placed on the shelf space, considerably shortened can be. It is of course possible that this single storage is applied, if necessary, in the method according to the invention in individual cases. An advantageous development of the invention provides, however, that the storage and retrieval unit only, at least in a subset of Einlagervorgänge a group in which a closer to the stacker crane lying object is as wide or narrow as each all located further away from the stacker crane articles of this group, with a receives access of the jaw gripper of the stacker crane and intercalates in a single drop operation on an open location of the shelf. This can be stored on a shelf with a single travel process for the storage and retrieval unit simultaneously several objects. The required cycle time is reduced with respect to each object so that a fraction of the previous value. based By storing multiple objects in the longitudinal direction of the shelves the same storage position, ie transverse to the longitudinal direction can be a greater width of the shelf space use meaningful. In order to use the width is limited transversely to the longitudinal direction of the shelves not only to the relatively infrequent storage particularly long items.

p0019According to a further advantageous embodiment of the method it is provided that the storage and retrieval unit intercalates in a group, in a closer to the stacker crane lying object is wider than the next more distant object, this group in several stages, whereby first the or the next further before lying distant object items with a single access of the jaw gripper of the stacker crane are recorded and stored and thereafter proceed accordingly with the on the clipboard remaining items in this group.

p0020it when the intermediate storage area is divided into several independently movable transfer tables or trays and are more laden with goods shelves or tables simultaneously to store these items available, is particularly advantageous where the stacker crane when storing randomly on the groups of several, in particular all still laden shelves or tables and therefore may access a large number of stored objects between.

p0021Specifically, in this embodiment of the invention, further advantages, which consist for example in that the computer control while accessing between stored items and their storage on the shelves at least can be considered a predetermined sorting criterion. So it is possible to separate objects that are targeted with another article to seen in the longitudinal direction of the shelf space the same storage position stored. This is, as already mentioned in connection with the first basic variant of the method, for example, useful for different drugs that are prescribed by the doctor in certain diseases regularly. This allows the Auslagerzeit if they are requested dramatically reduce compared to a separate storage of such drugs. Alternatively, the dimensions of the articles could be used to deposit approximately equal large items across the width of the shelf space seen together, thereby ensuring a particularly good use of space as a sort criterion for example. Such storage algorithms and strategies are not the subject of the present invention.

p0022If the intermediate storage area is divided into several independently movable shelves or tables, then, according to a further advantageous embodiment of the method, time to use at least temporarily two stacker cranes parallel for storage of temporarily stored on one or more shelves or tables of the buffer objects to at the same time but also the support newly zugegangener objects for temporary storage on another shelf or table to allow. Thus the abandonment and interim storage newly zugegangener objects is process technology completely decoupled from the storing between stored items on the shelves. Both processes can therefore run parallel in time, without disturbing each other. This also contributes to a significant increase of the efficiency of the entire storage facility.

p0023In a further process variant, it is provided that an object, for the computer control is not immediately a suitable bearing entity could be identified on the shelves, initially in the cache on a tray / table remains while other items without interrupting the abandonment new zugegangener objects on a are stored other tray and then stored. It is easily possible that the storage and retrieval unit such provisionally not be embedded object temporarily rearranges to another tray in the buffer memory to free up a tray for receiving new zugegangener objects.

p0024It is also particularly advantageous when the computer control is set up so that if necessary a requested, but only only between stored object without performing a regular storage on a shelf by the stacker crane can be specifically taken up by the respective shelf and paged immediately. It is expedient to carry out the identification of an object in a conventional manner during a manual loading process for an article at the beginning of the process. The delivery of a new discontinued object for temporary storage in the buffer memory itself should be carried out according to the invention on the other hand possible automated.

p0025An apparatus for carrying out the method according to the invention comprises at least one shelf with a plurality of superposed spaced-apart shelves and at least one storage and retrieval unit, which is horizontally and vertically along the shelves movable for loading and unloading the goods. Furthermore, a latch is provided which is in the working area of ​​the or of the stacker cranes, in which the newly einzulagernden goods are provided for storage. In addition, a transfer device for positioning the einzulagernden stayed in this latch is provided. Furthermore, the device has an identification unit for identifying the new einzulagernden goods, a measuring device for determining the time required for the storage length dimensions of the goods and a control unit for the or the stacker cranes, which is provided with a data memory which stores at least the following data:<ul><li>Vertical position of the shelves,</li><li>Position data in the longitudinal direction of each shelf for the respective channel, the goods can be stored,</li><li>Recorded length dimensions of the goods and</li><li>Position a product within the respective channel (transverse to the longitudinal direction of the shelves seen).</li></ul>

p0026When measuring device according to the invention also is a means to view that determined in the manner described above, the required dimensions of the products indirectly.

p0027According to the control technology connected to the control unit transfer device from the control unit in such a manner is feasible that at least some of the new einzulagernden goods ordered groups in the buffer are storable, that with a single access of each stacker crane simultaneously several goods behind the other receivable by the stacker crane and with a single drop operation one of the channels on the shelves are embeddable in each.

p0028As latch can be used for example a conveyor belt which preferably runs between two shelves and thus is definitely within reach of the or the stacker cranes.

p0029In an alternative form of the invention it is provided that the intermediate store in the form of, preferably a plurality in the longitudinal direction of the shelves, in particular between two shelves, reciprocable transfer tables.

p0030The transfer device may be formed in a particularly simple case as a slide that positions the individual goods. A particularly expedient embodiment of the invention provides a transfer device from a converter, in particular in the form of a single-axis robot which is provided with a jaw gripper for receiving the individual goods. With such a jaw gripper can be easily put the goods in succession selectively. By an appropriate feeding movement of the bearing surface of the latch, the motion range of the uniaxial robot, as in known systems so far also is already the case, be set free for receiving the next new einzulagernden goods.

p0031A particularly simple construction is obtained when a conveyor, in particular a conveyor belt, is provided with which the newly einzulagernden goods from a position outside of the rack loading station can be conveyed in the access area of ​​the transfer device. On such conveyor allows the necessary separation of goods accomplished easily. The transfer device brings the new einzulagernden goods into the working area of ​​the or of the stacker cranes.

p0032Advantageously carried an inserted as a buffer conveyor newly einzulagernden goods from a charging station outside of the shelf into the working area of ​​the or of the stacker cranes. To make the stock in terms of the floor plan as compact as possible, it is advisable to provide two in parallel spaced opposing shelves which include a storage aisle between them, are arranged within the preferably two stacker cranes independently operable. In this way, a particularly high availability (reliability) ensure the entire system and also implement a high performance (short cycle times) with respect to the necessary storage and retrieval processes.

p0033The invention is explained in more detail using the embodiment schematically illustrated in the drawing. Show it:<dl id="dl0001" 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 <figref idrefs="f0001">Fig. 1</figref> in plan,</dd><dt>Fig. 3</dt><dd>an external view of an inventive device,</dd><dt>Fig. 4</dt><dd>a conventional shelf of goods in an intermediate memory,</dd><dt>Fig. 5, 7, 8</dt><dd>a shelf of goods according to the invention in an intermediate memory and</dd><dt>Fig. 6</dt><dd>a shelf of goods in virtual channels on a shelf.</dd></dl>

p0034In <figref idrefs="f0001">figure 1</figref> is in the form of a schematic diagram of an exemplary embodiment of an inventive apparatus for unsorted camps particular drug packs in the plan (upper part of <figref idrefs="f0001">figure 1</figref>) And in a side view (lower part of <figref idrefs="f0001">figure 1</figref>) Shown. A shelf 1 includes a plurality of superimposed storage levels in the form of continuous shelves 2a - 2f on, which thus may be suitable for different levels of storage goods at different distances from each other and. The shelves 2a -2f can two a common travel path 11 having storage and retrieval units 3a, 3b, which are moved horizontally and vertically, are served. For this purpose, the stacker cranes 3a, 3b manipulation devices to, for example, designed as a jaw gripper and are known to the expert. The traverse 11 extends over the entire length of the shelf 1. The stacker cranes 3a, 3b may be both practically moved horizontally along the entire length of the shelf, but can not pass each other. If the latter is desired, separate paths 11 can for the two stacker cranes 3a, 3b which are parallel each other at a sufficient distance. Outside of the shelves 2a - covered 2f plan area are within the bearing channel, in which the two stacker cranes 3a, 3b are moved, two transfer tables 5a, 5b arranged as a buffer for newly Be Stored goods longitudinal displacement. Other types of latches are of course also possible. As is apparent from the side view, the two transfer tables 5a, 5b equipped with wheels, that is constructed as a trolley. They are motorized, via a non-illustrated control device which controls the two stacker cranes 3a, 3b, in the longitudinal direction of the shelf 1 reciprocatable. For this purpose, a drive is provided, which is schematically formed in the illustrated case in the form of a chain, cable or belt drive 10th For storage of goods in the shelf 1 is outside of the rack 1, ie on the stacker cranes 3a, 3b opposite side of the rack 1, a belt conveyor 8 arranged on the goods can be placed individually. The individual goods may be previously moved past a loading station 9, for example by hand on a scanner connected to the controller to identify each product unique. Each item is then right conveyed by the conveyor belt 8 in the direction of the arrow shown in the region of a transfer device 4. Once a commodity in the work area of ​​a in<figref idrefs="f0003">figure 3</figref> enters the external side view of illustrated converter 12 of the transfer device 4, which can be detected for example by means not shown light barriers, accesses the preferably designed as a single-axis robot converter 12, which has a jaw gripper, the goods and transports them horizontally through a corresponding opening in the outer shelf wall and in the shelves 2 through the standing in the transfer area 6 transfer table 5a and places them on the transfer table 5a in a defined intermediate storage position.

p0035The identification of goods can also be done automatically, for example during the transfer through the converter 12 when corresponding scan means are arranged in this area. The necessary measuring devices for measuring the goods (eg LEDs or ultrasonic sensors based) are expediently arranged in the region of the transfer device. 4

p0036After putting in the cache regularly moved a little bit in terms of advancing movement of the transfer table 5a was prepared according to the procedure known to the recording of another commodity which has been retrieved from the belt conveyor 8 after retraction of the transducer 12 at which relative to the converter 12 same place allow. In the tray on the intermediate memory 15 (transfer table 5) has been as shown in<figref idrefs="f0004">figure 4</figref> is shown the front side of a product 13 is preferably aligned to a parallel to the longitudinal extent of latch 15 extending reference line 16 in order to ensure a clear transfer position for the goods. 13 Overall, a simple linear chain of goods 13 who were of each other side by side in a known stored clipboard position spaced individually longitudinally of the latch 15 gave it. The present invention proceeds from this generally only individual intermediate depositing the goods 13 and provides, as a result of example in<figref idrefs="f0004">figure 5</figref> it is shown that individual goods 13 transversely to the reference line 16, not only in the longitudinal direction of the buffer 15 next to one another, but also transversely to the longitudinal orientation of the latch 15 can be stored one behind the other, if the package sizes and their orientation, after by the converter 12 to the not grasping is changed so permit and, where appropriate, with respect to the already explained above clipboard criteria. One of recognize<figref idrefs="f0004">figure 5</figref>That some goods are stored 13 alone at a position in the longitudinal direction of the line 16, while other goods are 13 in groups of twos or even threes together in such a position. This is achieved in that after storage of a product 13 prior to the execution of the feed movement of the latch 15 of each of the remaining free space on the interim storage position with the corresponding length dimension of the next to be housed in the intermediate storage goods is compared thirteenth If the available space is sufficient, and (in the case of the first method basic variant) and the width criterion (Tannenbaum-structure) is satisfied, the products in question 13 can be arranged transversely to the line 16 in succession. Otherwise the feed is operated and the respective goods 13 placed on the next intermediate space, where they can form a group 13 may with the following goods or remain single. In this way, successively carried out a filling of the intermediate store 15th It is essential that the control unit (longitudinal and transverse) fed to the transfer table receives and stores the information on each intermediate storage locations. The transverse positions arising indirectly from the corresponding longitudinal dimensions of the goods. 13

p0037Once the transfer table 5a (<figref idrefs="f0002">FIG. 2</figref>) Has reached a sufficient degree of filling or any other goods are provided 13 more for storage, or for any other reason the beginning of a storage of the goods 13 on the shelves 2a - 2f, or possibly even an immediate removal of individual goods is 13 required, drives the transfer table 5a at the instigation of the control unit into a removal position (shown in phantom) and is denoted by 5a 'is provided in this case at the left end of the shelf first Knowing one hand the precise removal position 7a (<figref idrefs="f0001">Fig. 1</figref>), Ie the point at which the transfer table 5a remains during the acquisition of each product 13 through one of the stacker crane 3a, 3b, and the other part of the (relative) clipboard items on the transfer table 5a can control the respective stacker crane 3a, 3b positioned so that a targeted access is guaranteed on sporadically deposited or to groups of newly einzulagernden goods on the transfer table 5a. Once the transfer table 5a is moved to the left and the take-over section 6 acknowledges the second transfer table 5b can be positioned in an appropriate manner within the takeover region 6 so that via the converter 12 more goods are 13 stored in the transfer table 5b, while the stacker crane 3a to transfer table 5a successively emptied. The individual groups of the transverse to the longitudinal orientation of the transfer table 5a temporarily stored goods are 13 permanently stored in each case with a single access of the stacker crane 3a, 3b gripped and in a free channel 14 or another free camp site on a shelf 2, as is evident from the schematic representation of the<figref idrefs="f0004">Fig. 6</figref> apparent. The virtual channels 14, which are in terms of data not separated by physical partitions, but only by stored channel boundaries are shown by dashed lines in the drawing. One will readily recognize that the width of the individual channels 14 may be different. The inward and outward movement of the gripper of the storage and retrieval device not shown is indicated by a double arrow across the longitudinal direction of the shelf. 2 One can see all the objects 13 that similarly to the buffer memory also are stored in groups as possible at a longitudinal position of the shelf space. Of course, also articles 13 case, the store individually. This can already happen during storage so be (z. B. the rightmost bearing channel 14), but may also be due to an originally before overlapping the subject (eg. The leftmost bearing channel 14) has been removed from storage. This storage channels 14 are handled by the computer control of the camp in a manner similar to subjects that are foreclosed by physical partitions up to today. The purpose of this storage channels is that the jaw gripper 26 of the stacker crane 20 in any case, can freely enter the channel boundaries of a storage channel 22 is, without encountering objects adjacent storage channels. It is obvious that, for storing a group of products 13 with a single storage operation of this necessary time required only a fraction of the time required accounts, the 13 required for the previously used individual storing each commodity. Basically, it is possible that the second stacker crane 3b extracts of the transfer table 5a individual goods for storage. However, it can also be provided that the stacker crane 3b in the right part of the bearing 1 idly stays or for example, parallel to the storage of corresponding request outsource individual embedded goods. After proper filling of the transfer table is then 5b proceed from the pick-up area 6 out in the corresponding removal position 7b, which is preferably arranged in mirror image to the removal position 7a of the transfer table 5a, that is in the range of the right end of the shelf. 1 Here a storage of goods can now be made via the stacker crane 3b in a corresponding manner. 5a After emptying of the transfer table can be moved in the take-over section 6 for receiving further products in turn, until all new einzulagernden goods are processed.

p0038While in <figref idrefs="f0001">figure 1</figref> the rack 1 is arranged in a single line, is in accordance with the modification <figref idrefs="f0002">figure 2</figref> provided that the shelf 1 is assigned to a second rack 1 'in parallel distance. The two stacker cranes 3a, 3b are in between the two shelves 1, 1 'formed Lagergasse over the entire length of the shelves 1, 1' movable. Both storage and retrieval units 3a, 3b are preferably formed so that they can in each case both shelves 1, 1 use '. For this purpose, the handling devices for handling the goods are arranged pivotably about a vertical axis of rotation. Incidentally, the function of this device for the storage of goods is the same as in<figref idrefs="f0001">figure 1</figref>, Although in the<figref idrefs="f0001">figures 1</figref> and <figref idrefs="f0002">2</figref> the transfer tables 5 are outside the area covered by the shelves 2 plan area, it is preferable to arrange them within the plan area, to build the whole device as compact as possible can. Instead of passing tables 5 for example, trays could be used as temporary storage, which can be moved in any desired manner between a loading position in the transfer area 6 and an unloading position (removal position).

p0039An example of a storage schema in the buffer memory according to the second basic variant of the method according to the invention is in <figref idrefs="f0005">figure 7</figref> shown.

p0040There is also a traveling on a rail 11 stacker crane 3 is indicated with jaw gripper 26 except Umsetzbackengreifer 14th These two handling devices 12, 26 are located, as well as from the<figref idrefs="f0001 f0002 f0003">Figures 1 to 3</figref> shows 5. As already described on different longitudinal sides of the tray used for the intermediate storage above, the individual objects 13 are successively placed individually (transverse to the longitudinal direction of the tray 5 rows) in groups. Several of these series are in<figref idrefs="f0005">figure 7</figref> presented and labeled with the numeral₁ to R₇ designated. According to the articles may 13 only be set in a range R, if the width of the tray 5 is still sufficiently free and if an enclosing rectangle of this series does not overlap with that of the immediately adjacent row. In<figref idrefs="f0005">figure 7</figref> is such an enclosing rectangle for the leftmost row R₁ indicated by the reference mark 24th The width of the enclosing rectangle corresponding to the width of the widest object 13, the length in this case approximately to the width of the shelf 5. In the assignment of this first row R₁ was launched as the first of the article 13 ', after which the average article unnumbered and finally the article 13, which determines the width of the Umschließungsrechteckes 24th The next relatively small object no longer fit due to the width restriction in this series R₁ on the tray 5 and therefore had to be accommodated in the next row R2, which only involves relatively small objects and therefore a correspondingly narrow enclosing rectangle 24 '.

p0041If the stacker crane 3 in <figref idrefs="f0005">figure 7</figref> who finished in the manner shown there tray 5, which then of course in a transfer position (unloading) takes are, therefore, the take-over position shown would have left, is empty, then it could start with a, basically any number, since all rows R due the condition of not overlapping but spaced enclosing rectangles are freely accessible. If no specific sorting criteria are given, would the discharge for example, from the left of the row R₁ start from. While the gripper 26 of the stacker crane 3 could with the access to the rear article 13, all three objects 13 series R₁ record, tape. He is likely due to the condition of the fir tree structure but does not store it in a stock channel 14th Rather, first the object must be 13 'taken and stored as a single piece to a suitable storage location. Thereafter, however, the two remaining articles in which the Christmas tree structure would be fulfilled, to be taken together and set in a stock channel. This would correspond to<figref idrefs="f0004">figure 6</figref> For example, the second storage channel 14 from the left. The Series R₂ could against it because all objects 13 have the same width, recorded in a single access and be placed for storage. In the series R₃ could the first two items are recorded and stored together. The remaining article 13 "should be dealt with in a separate Einlagervorgang. Accordingly, need to be treated individually, the items 13" 'and 13' 'in the ranks R₆ and R₇, Overall, however, that in many cases, several objects can be captured and stored in one step, thus resulting in a drastic reduction in the required overall for the storage period due to the saving of travel distances. As a result, the turnover rate for the trays 5 to be increased accordingly.

p0042The storage scheme in <figref idrefs="f0005">figure 7</figref> corresponds to an image that results when the jaw gripper 12 both jaws operated symmetrically and therefore the individual goods 13 corresponding symmetrical stores for each pick-up position of the tray. 5 It can be advantageously 12 configured with a fixed and only one movable jaw of the gripper jaws. In this case there is a slightly different image storage, as in a corresponding manner in<figref idrefs="f0005">figure 8</figref> is shown. There, the left jaw of the jaw gripper 12 is movable. Therefore, all goods are 13 a number R aligned each with its right long side to the position of the stationary jaw at the time of filing on the tray. 5