DESCRIPTION

The present invention relates to a system for collecting different products on a picking pallet, comprising a pallet warehouse comprising a plurality of storage positions for product pallets, on which product pallets identical products are stacked in layers, a depalletizer for depalletizing a product pallet layer by layer, which respective layers are collected on separate trays, - first conveying means for conveying product pallets from the pallet warehouse to the depalletizer, a tray warehouse provided with racks comprising a plurality of tray storage positions provided beside and above each other, second conveying means for conveying trays carrying a layer of identical products from the depalletizer to a tray storage position in the tray warehouse, a palletizer for stacking products from trays on a picking pallet in a desired order, third conveying means for conveying products from the tray warehouse to the stacking device, and control means for controlling the system.

WO 2007/134841 discloses a system and a method for collecting different products on a picking pallet. To that end a pallet warehouse and a tray warehouse are provided. In the pallet warehouse, pallets with products stacked in layers thereon are stored. Palletized products from the pallet warehouse are transferred to a separate tray in layers by means of a depalletizer, which tray is stored in the warehouse. Picking pallets are disposed at a dispatch station. A tray carrying one or more products to be stacked on a picking pallet is collected from the tray warehouse and conveyed to the dispatch station. After the required individual products have been removed from the tray in order to be placed on a picking pallet, the partially empty tray is returned to the tray warehouse or, if the tray is completely empty, the tray is returned to the depalletizer.

A drawback of the known system according to WO 2007/134841 as described above is that the collecting of products to be stacked on picking pallets from the tray warehouse can take place in a more efficient manner. Accordingly it is an object of the present invention to provide a system by means of which different products from different product pallets can be collected on picking pallets with a high degree of efficiency. The above object is accomplished with the system described in the opening paragraph, which system according to the present invention further comprises transfer means for transferring products from a tray in a tray storage position in the tray warehouse to the third conveying means, the transfer means comprising a rack operating device which is disposed between a rack and said third conveying means and which is movable in the longitudinal direction of the rack. An important advantage of the system according to the present invention is the fact that by using the aforesaid transfer means, it is no longer necessary in the case of a specific picking order to convey a tray from the tray warehouse to the dispatch station and to return the tray to the tray warehouse after the required individual products have been removed from the tray. Products can be transferred to the third conveying means from different tray storage positions in an efficient manner. As a result, the number of transport operations in the tray warehouse is reduced and the efficiency with which the collecting of products from the tray warehouse takes place is increased. It is further noted that WO 2008/1 19497 discloses a product picking system comprising a rack with tray storage positions provided beside and above each other, a movable tray lift, a stationary lift provided with an unloading device, and a conveyor belt. In said known system, a tray carrying one or more products to be picked is first removed from the rack by means of the movable tray lift and conveyed to a transfer position at the location of the stationary lift. The stationary lift moves the tray to the level of a conveyor belt, where one or more products is (are) removed from the tray by the unloading device and placed on the conveyor belt. The (partially) empty tray is then returned to the rack. Because the trays need to be conveyed between the rack and the conveyor belt, the efficiency of this system, too, is limited, therefore.

In the case of a considerable rack length, it is preferable to provide a number of rack operating devices for each rack. In this way a high picking capacity can be achieved. To realise a simple and conveniently arranged system, the racks extend parallel to each other in the tray warehouse, with the third conveying means extending between the racks.

In an advantageous preferred embodiment, the rack operating device comprises moving means for moving the rack operating device along and parallel to a rack in the longitudinal direction and the vertical direction of said rack, and at least one product picking unit comprising a product manipulator and a product buffer for collecting different products from the rack on the product buffer by means of the product manipulator in use. The use of a single product picking unit comprising a product manipulator and a product buffer, by means of which product picking unit different products can be collected, makes it possible to optimally utilize the product manipulator, as said product manipulator can be used for collecting several products from different trays on the rack operating device. Thus a high degree of efficiency is realised by means of an individual product picking unit. The rack operating device preferably comprises a number of individually controllable parallel support arms which are designed for lifting a product present on a tray from said tray via the underside of the product. Lifting the product from the underside of the product makes it possible to lift the product from the tray in a reliable manner, independently of the shape of the product or the material of which it is made.

Said support arms preferably form part of the product manipulator, extending transversely to the longitudinal direction of the rack and being movable from and to a tray in a tray storage position for lifting a product from the tray via the underside of the product. The tray preferably has a bottom plate provided with a number of vertically extending ribs, whose upper edges form a support for the products, wherein said support arms are spaced apart by at least substantially the same distance as the ribs, being translatable between said ribs, seen in the longitudinal direction of the ribs. In this way the space required for the support arms under the ribs is created in a simple manner.

In order to be able to lift a product from a tray in a stable manner, it is advantageous if respective upper surfaces of the support arms define an at least substantially horizontal arm support surface. In a simple but very efficient embodiment, the product buffer comprises a belt conveyor, a product support surface of which belt conveyor is positioned at least substantially at the same level as the arm support surface of the support arms. On said product buffer, a number of products that have been successively removed from different trays by means of the product manipulator can be collected. It is noted in this connection that the phrase "substantially the same level" is to be understood to mean that preferably the product support surface of the belt conveyor is positioned slightly higher than the arm support surface of the support arms, preferably at most 10 mm higher, furthermore preferably between 2 mm and 5 mm higher. Thus, a product can be transferred from the support arms to the belt conveyor in a simple manner by driving the belt conveyor and moving the support arms in synchrony therewith. It may also be considered in this regard to position the support surface of the belt conveyor at a small angle relative to the arm support surface, with the support surface gradually sloping upwards from a side of the product picking unit from a level the same as, or even slightly lower than, the arm support surface to a level slightly higher than the arm support surface at the location of the centre of the product picking unit.

In an advantageous preferred embodiment, the belt conveyor extends around the support arm, seen in the longitudinal direction of a support arm, for joint movement of the belt conveyor with the associated support arm. Thus, a product (or products) removed from a tray by means of the support arms can be moved further onto the support arms by means of the belt conveyor, as a result of which space is created on the support arms for removing another product (or products) from a different tray. As an alternative to the aforesaid belt conveyor, it is also possible to have the aforesaid respective upper surfaces of the support arms themselves form a product buffer. Any movement on such a product buffer that may be required can be realised in a simple manner by providing the product picking unit with pusher elements for moving a product or products over respective upper surfaces of support arms.

In an alternative but very advantageous embodiment, the belt conveyor is provided in a stationary position on the rack operating device, extending beside a support arm, seen in the longitudinal direction of the support arm in question. Thus, products can be transferred from the support arms to the stationary belt conveyor, whereupon the support arms can remove a further product from another tray.

To realise a stable transfer of a product from the support arms it is advantageous if a belt conveyor is provided or on either side of each support arm.

A high capacity of the transfer means is realised if the transfer means are designed for transferring products from tray storage positions located on either side of the third conveying means to said third conveying means.

In an efficient embodiment, a rack is provided on either side of the rack operating device, with the support arms being movable from and to trays in tray storage positions located on either side of the rack operating device. The support arms are preferably movable between the aforesaid belt conveyors provided on either side of each support arm, so that products can be transferred from the support arms to the belt conveyors at the location of the two end sides of the belt conveyors.

To minimise the number of sorting actions on the third conveying means of products intended for different picking pallets, the third conveying means comprise a number of product conveyors for each conveying products from the tray warehouse to a separate picking pallet at the location of the palletizer. All products destined for a particular picking pallet are thus supplied to the picking pallet in question by one specific product conveyor.

The capacity of the transfer means can be further increased if the product conveyors are disposed one above the other in the tray warehouse. Thus, several product conveyors can be operated by the transfer means in a simple manner whilst keeping the space required for transfer means and third conveying means as small as possible.

The second conveying means preferably comprise a tray conveyor, which extends between the depalletizer and the tray warehouse, and a warehouse crane present in the tray warehouse, which transfers trays from the tray conveyor from and to the tray storage positions. In this way the tray warehouse can be provided with product-filled trays in an efficient manner.

It is advantageous in that case if the warehouse crane is movable in the longitudinal direction of the racks and, further preferably, is provided opposite the rack side that faces the third conveying means. By providing the warehouse crane and the transfer means on different sides of a rack, said crane and said transfer means will not obstruct one another in use, so that the capacity of the transfer means will not be adversely affected. To ensure a high degree of continuity of the picking process, it is advantageous if the tray warehouse comprises racks with active tray storage positions located within the reach of the transfer means and racks with passive tray storage positions located beyond the reach of the transfer means. The passive tray storage positions can be regarded as buffer positions, from where trays with, for example, a product for which there is a sudden large demand are transferred to the active tray storage positions. The passive tray storage positions can also be used for the temporary storage of trays with products in case of a large supply of trays with one particular product, this in order to ensure a continued diversity of products in active tray storage positions. The warehouse crane can be optimally utilised if it is disposed between a rack with active tray storage positions arid a rack with passive tray storage positions. Thus the warehouse crane can be used on the one hand for storing product-filled trays in the tray warehouse and on the other hand for transferring trays with products from the passive tray storage positions to the active tray storage positions.

If a separate product conveyor is used for conveying products from the tray warehouse to a respective picking pallet, it is advantageous if the control means are designed for controlling the transfer means in such a manner that products will be transferred from a picking pallet to the respective product conveyor in a desired stacking order. Thus, a simple stacking device will suffice for optimally stacking a picking pallet. A desired stacking order may for example mean that relatively heavy products are stacked on the bottom of the picking pallets so as to ensure the stability of the stacked pallets, or stacking products having a specific advantageous shape and/or dimensions, such as boxlike products, on the bottom of the pallet so as to ensure that the pallet will be stably stacked. Within this framework, it may also be considered to anticipate the further processing of a picking pallet at the customer's end and stack products on a picking pallet in the order that is desired by the customer. In another preferred embodiment, the stacking device comprises a sorting device for each picking pallet for stacking products supplied by the respective product conveyor on a picking pallet in a desired order. In principle it is not relevant in this case that the transfer means transfer products to the product conveyor in the desired order, since the products are sorted at the stacking device. Such a sorting device is for example a device as known from WO 2008/041838 or a device as known from EP-A1-0 860 382.

The present invention also relates to a rack operating device, preferably for use in a system according to the present invention as described in the foregoing, which rack operating device is characterised by moving means for moving the rack operating device along and parallel to a rack in the longitudinal direction and the vertical direction of said rack, and by at least one product picking unit comprising a product manipulator and a product buffer for collecting different products from a plurality of products forming part of a picking order from different trays present in a tray storage position on the product buffer by means of the product manipulator in use. The advantages of such a rack operating device according to the present invention are analogous to the above-described advantages of the system according to the present invention.

The present invention will now be explained in more detail with reference to a description of a preferred embodiment of a system according to the invention, in which:

Figure 1 schematically shows a preferred embodiment of a system according to the present invention for collecting different products on picking pallets;

Figure 2 is a schematic, isometric view of a part of the system of figure 1 ;

Figure 3a is a schematic top plan view of a part of the system of figure 1 ;

Figure 3b is a schematic sectional view along the line lllb-lllb in figure 3a; Figure 3c is a schematic sectional view along the line 11 Ic-I I Ic in figure 3a;

Figure 4 is a schematic top plan view of the part of the system that is shown in figure 3a in a different position thereof; and Figure 5, figure 6 and figure 7 are schematic, isometric views of a part of another preferred embodiment of a rack operating device according to the present invention for use in a system according to the present invention.

In figure 1 a system for collecting different products on a picking pallet is schematically shown. Said system comprises a pallet warehouse 2, in which product pallets carrying identical products 11 stacked in layers can be stored. At a depalletizer 3, individual layers of products from a product pallet are placed on trays 10, after which the trays are conveyed to a tray warehouse 5 via a tray conveyor 4. In the tray warehouse 5, the individual trays 10 are stored. From the tray warehouse 5, individual products 11 are conveyed to palletizers 7 by means of product conveyors 61 , 62, at which palletizers the products are stacked on picking pallets by stackers 71 , 72. The picking pallets must be stacked with different products forming part of a particular customer's order. Within the framework of the present invention, the designation "product pallet" or "picking pallet" is understood to include every other usual and suitable carrier for products, such as a roll-container, for example.

Within the framework of the present invention the word "product" is understood to mean a so-called case, which may be a box-like package containing one or more products or, for example, a package of six PET bottles or the like wrapped in plastic or, for example, a crate containing beer bottles or the like. The pallet warehouse 2 comprises a number of racks 22 extending parallel to each other. The racks 22 comprise storage positions disposed beside and above each other, in which product pallets can be placed. A respective product pallet can be conveyed from and to a particular storage position in a rack 22 by means of warehouse cranes in the form of pallet cranes 21. A pallet crane 21 is provided between two respective racks 22. A pallet crane 21 can place pallets in and remove pallets from racks 22 disposed on either side of the pallet crane. The pallet crane 21 is furthermore movable in longitudinal direction between the two adjacent racks 22, whilst it can also move in vertical direction and thus function as a pallet lift. A fork lift truck may be used as an alternative to a pallet crane 21. At the command of a central control system, a desired product pallet is rem.oved from a rack 22 by a pallet crane 21 and placed on a pallet transfer conveyor 31. The pallet transfer conveyor 31 is a chain conveyor which moves the pallet onto a roller conveyor 32 which conveys the pallet in question to a depalletizer 33. The depalletizer 33 is designed for transferring the upper layer of a pallet with identical products stacked in layers thereon, or at least a number of uppermost products on a pallet, to a waiting tray on a belt conveyor 34. It is conceivable within this framework for a single pallet layer to be divided over two trays, with any remaining products from the pallet layer in question being placed on a third tray, with or without the addition of products from a next pallet layer. This may take place if the product support surface of a tray is smaller than the product support surface of a product pallet or if the products of the layer on the product pallet are stacked closer together than on the tray, for example, although it is advantageous if a product support surface of the tray has the same surface area as a product support surface of a product pallet.

If a tray is filled with a single layer of products from a pallet, the tray is placed on the forward part 41 of a tray conveyor 4. More specifically, the part 41 of the tray conveyor 4 is a belt conveyor for conveying full trays carrying a single layer of identical products from the depalletizer 3 to the tray warehouse 5. A possible embodiment of a depalletizer is described in WO 2007/134841.

The tray warehouse 5 comprises a number of tray storage positions 57 arranged beside and above each other in racks extending parallel to each other. Buffer racks 521 function for temporary (buffer) storage of trays. Picking racks 522 are used for the pickable storage of trays, as will be explained in more detail yet hereinafter. Also refer to figure 2, which shows part of the tray warehouse 5. Provided between a buffer rack 521 and a picking rack 522 is a warehouse crane in the form of a tray crane 51. At a tray transfer position 53, a tray carrying a layer of products that has been conveyed to the tray warehouse 5 via the tray conveyor 4 of the depalletizer 3 is pushed from the forward part 41 of the tray conveyor 4 onto the tray transfer position 53. At a specific tray storage position 57, the tray crane 51 can subsequently place said tray either in the buffer rack 521 or in the picking rack 522. The tray crane 51 can move in longitudinal direction as well as in vertical direction between the buffer rack 521 and the picking rack 522. On the opposite side of the picking rack 522, three rack operating devices in the form of product robots 54 are provided. The product robots are provided between the picking rack 522 and the product conveyors 61 , 62. To fill a picking pallet at the location of a palletizer 7, the central control system will deliver a specific command to a product robot 54. The product robots 54 can remove one or more individual products 1 1 from the tray 10 present in a tray storage position 57 of a picking rack 522 and place said product(s) on a product conveyor 61 , 62. The buffer rack 521 is located beyond the reach of the product robots 54, as the product robot 54 is located behind the picking rack 522, seen from the position of a product robot 54. Each product conveyor 61 , 62 extends from the tray warehouse to a palletizer 7, where a stacker 71 , 72 stacks products from the product conveyor 61 , 62 on a picking pallet. All the products destined for a specific picking pallet are supplied to the stacker 71 , 72 via one single product conveyor 61 , 62. The product conveyors 61 , 62 extend one above the other between two racks 522, at least in the tray warehouse 5. The product robots 54 can thus supply several product conveyors 61 , 62 from one picking rack 522 (or, if several robots 54 are used for each rack 522, from a part thereof). Since three robots 54' are provided on the opposite side of the product conveyors 61 , 62 as well, which robots can place products from a picking rack 522' onto product conveyors 61 , 62, a single product conveyor 61 , 62 can eventually be supplied with products from the two picking racks 522, 522' disposed on either side of the conveyor 61 , 62 by means of robots 54, 54'.

In figures 3a-3c and figure 4 a product robot 54 is schematically shown in more detail. The product robot 54 comprises a base body 540 with a number of parallel rods 541 extending therethrough, which rods are capable of individual translating movement in a direction 5410 with respect to each other and with respect to the base body 540. To lift an individual product 1 1 from a tray 10, a number of the rods 541 are translated to a position under the product 11 (see in particular figure 3a). As is shown in figure 3c, the space required for the rods 541 under the product 1 1 in question is realised in that a tray 10 consists of a bottom plate 101 , on which a number of mutually parallel ribs 102 extending in vertical direction from the bottom plate 101 are present. The rods 541 are spaced the same distance apart as the ribs 102, so that a rod 541 of the product robot 54 can translate in the direction 5410 between two adjacent ribs 102 of the tray 10. . After the respective rods 541 have been moved under the product

1 1 to be lifted from the tray 10, the product robot 54 will move slightly upwards (in the direction 541 1 ) in order to thus lift the product 1 1 from the tray 10. The product robot 54 then moves to a position beyond the reach of the tray 10 and turns about a vertical axis, as a result of which the product 11 is moved to a position above the reach of the product conveyor 61 (see figure 4). The rods 541 are now retracted whilst at the same time the product 11 is held in a position above the product conveyor 61 by means of a pusher element (not shown). The rods 541 may also be provided with a drivable belt extending around the rod 541 in the longitudinal direction of the rod 541 in question. In this case the retraction of the rods 541 can take place in synchrony with the belts being driven in such a manner that the product is moved off the rods. The aforesaid belts extending around the rods can also be used for buffering several products thereon, so that several products from different trays can be collected by means of the rods 541. Within this framework also the buffering of products on an upper surface of the rods themselves may be considered, in which case products can be moved forward and backward over the aforesaid upper surface by suitable pusher means, so that products from different trays can be collected on the product robot 54 in this way as well. As a result of the action of the pusher element or as a result of the aforesaid belts being driven, the product 11 (or possibly several products collected on the product robot) will land on the product conveyor 61. Then the product robot 54 can remove next products from a tray 10.

It is further noted within this framework that it is also possible to lift several products 11 arranged beside each other on a tray 10 from said tray 10 by translating several rods 541 , or to lift several products 11 arranged behind each other from a tray 10 by translating the rods 541 over a large distance. The product robot 54 can furthermore be designed to have a symmetric configuration such that the robot need not be rotated through an angle of 180° after a product has been placed on a product conveyor in order to lift a next product from a tray, but that it is also possible to lift a product from a tray 10 by means of the other ends of the rods 541. This possibility is created in that the rods 541 extend through the base body 540 and can thus lift a product on both sides of the base body 540.

The number of three product robots 54 per picking rack 522 and also the number of one tray crane 51 mentioned herein is only given by way of example. Depending on the situation, more or fewer product robots 54 per picking rack 522 and one or more tray cranes 51 per picking rack 522 may be provided, of course. In figure 1 two product conveyors 61 , 62 positioned one above the other, at least in the tray warehouse, are furthermore schematically shown. It is possible, of course, to use a larger number than two. In practice, several product conveyors may furthermore terminate at one particular stacker. Said conveyors may likewise be positioned one above the other. In this case all product conveyors but one terminating at one stacker are stationary while a picking pallet is being stacked. Products present on said one active product conveyor can thus be transferred to a picking pallet by the stacker in question. During said stacking, the product robots 54 can place products on the stationary product conveyors. After the stacking of a picking pallet is complete, the pallet is discharged and an empty pallet is placed near the stacker. Now another one of the product conveyors terminating at the stacker in question is activated, so that products from that product conveyor can be stacked on the pallet.

After some time a tray present in a picking rack 522 will become empty. At that point the tray crane 51 will remove said empty tray from the respective picking rack 522 and place it either in the buffer rack 521 temporarily or directly in the tray return position 56. From there the tray is forced onto the return part 42 of the tray conveyor 4 and thus conveyed back to the depalletizer 3. The return part 42, incidentally, is also a belt conveyor. From said return part 42, an empty tray is placed on the belt conveyor 35 and conveyed to a depalletizer 33. At said depalletizer, the empty tray is filled with a layer of products from a pallet again by the depalletizer 33, as described above.

The tray storage position 57 in a picking rack 522 that has thus become empty can be filled on the one hand by a tray that is collected from the tray transfer position 53 and on the other hand by a tray that is already present in a buffer, rack 521. The latter is true in particular if, as a result of a temporarily large demand for a particular product in a picking rack 522, the tray comprising the product in question becomes empty and a full tray cannot be supplied (quickly enough) from the pallet warehouse 2 via the tray conveyor 4 at that moment. In practice the capacity of the buffer rack 521 is also used for the temporary storage of a number of trays filled with products from a single emptied pallet. On average, a product pallet comprises eight layers of products, which are thus transferred to, on average, eight trays by a depalletizer 33. To maintain a great diversity of trays with products in the picking rack 522, two of the eight trays, for example, are placed in the picking rack 522 and the other six trays are (temporarily) placed in the buffer rack 522.

Products which are conveyed to a palletizer 7 via a product conveyor 61 , 62 in the form of a belt conveyor, are placed on the picking pallet in question by a stacker 71 , 72. It is important in this regard that the products arrive at the stacker 71 , 72 in the correct order. If that is the case, and additional sorting system 710, 720 need not be provided at the location of the palletizer 7. The stacking of products in a desired order on a picking pallet contributes to the stability of the picking pallet thus stacked, for example, because heavy products are stacked at the bottom, or to the stability of the palletized products per se, for example, because products having a specific shape or dimension are stacked at the bottom, so that a stable stack of products is obtained. Within this framework, it may be considered to anticipate the further processing of a picking pallet at the customer's end and place products on a picking pallet in the order that is desired by the customer.

Causing products on a product conveyor 61 , 62 to arrive at a stacker 71 , 72 in a desired order is realised in that the central control system can gear the commands to the various product robots 54, 54' to said order. By having a product robot 54, 54' place a product on a product conveyor 61, 62 at the right moment it can thus be achieved that the products will arrive at the stacker 71 , 72 in the desired order.

As mentioned above, a sorting device 710, 720 provided between a product conveyor 61 , 62 and a stacker 71 , 72 can be used for presenting products to the stacker 71 , 72 in the correct order as an alternative to the placing of products on the product conveyor 61 , 62 in the correct order. In case several product conveyors terminate at one stacker, as described above, it is an option to use one sorting device for each product conveyor, or to use one sorting device for each respective stacker. In the case of the latter sorting device, several product conveyors terminate at the sorting device, therefore. With regard to the general layout of the system according to the invention it is further noted that, depending on the situation, it is an option within the framework of the invention to provide the depalletizer 3 in the direct vicinity of the tray warehouse 5. Thus it is possible to leave out the tray conveyor 4, or to use a significantly shorter tray conveyor 4, and, in place thereof, provide a conveyor for conveying pallets from the pallet warehouse 2 to the depalletizer 3 near the tray warehouse 5.

It is also noted that within the framework of the present invention the product conveyors 61 , 62 may also extend in longitudinal direction through a picking rack 522, 522' rather than between two picking racks 522, 522'. The advantage of this is that the product robots can be simpler in design in that case, since products in trays as well as product conveyors are present on the same side of the product robots. Figures 5-7 show another preferred embodiment of a product robot

154, which can be used as an alternative to the above-described product robot 54. In figure 5 a part of two opposite picking racks 522, 522' is shown, between which the product robot 154 is movable in longitudinal direction and in vertical direction. For easy reference, figure 6 shows only part of that which is shown in figure 5, whilst in figure 7 a few products are additionally shown in comparison with figure 6 so as to illustrate the use of the product robot 154 yet to be described below. It is also possible, however, to use the product robot 154 in the configuration as described above, in which a picking rack is present on one side of the robot and a conveyor is present on the other side. Although this is not shown in figure 5, product conveyors comparable to the above-described product conveyors 61 , 62 are provided at the respective bottom sides of the racks 522, 522', which product conveyors extend through the picking rack 522, 522', seen in the longitudinal direction of the rack. From the description below of the product robot 154 it will appear that, using the product robot 154, products from the rack 522 can be placed on a product conveyor extending through the rack 522 and also on a product conveyor extending through the rack 522', and also that products can be placed from the rack 522" on a product conveyor extending through the rack 522' and also on a product conveyor extending through the rack 522. The product robot 154 is built up of a frame (not shown in the figures) which can be moved between the racks 522, 522', in the longitudinal direction of said racks, by drive means. Mounted on the frame is a column 160, in which lifting means are arranged for moving a framework (shown at least schematically) provided with two product picking units 161 , 161' in the vertical direction of the racks. It is noted within this framework that in those cases where mention is made of moving a product robot in vertical direction, this in fact means that the product picking units provided on the product robot are movable in vertical direction with respect to the racks. Each individual product picking unit 161 , 161' comprises three U-shaped sections 162, in which a conveyor belt 163 is provided along the upright side walls of a respective section 162, seen in the longitudinal direction thereof. A guide is provided in the space between the two conveyor belts 163 for guiding a support arm 541 there along. Each product picking unit 161 , 161' is built up of three mutually parallel assemblies each comprising a U-section 162, two conveyor belts 163, a guide and a support arm 541. The product robot 154 as shown in figures 5 - 7 comprises two such product picking units 161 , 161' provided parallel to each other. It is also possible, of course, to provide a product robot with a single product picking unit, or to provide the product robot with more than two product picking units provided beside and/or above one another, or to provide a separate product picking unit with more or fewer than the three aforesaid support arms 541. Each product picking unit 161 , 161' has a drive unit 170 for driving the six (in all) conveyor belts 163 associated with the respective product picking unit, and a drive unit 171 , which can be controlled separately from the drive unit 170, for translating the three support arms 541 associated with the respective product picking unit 161 , 161' in synchrony with each other in the longitudinal direction of the respective product picking unit, i.e. in the longitudinal direction of the U-sections 162. It is also conceivable within this framework for each of the three support arms 541 associated with a product picking unit 161 to be movable separately from the other support arms, in which case also each pair of conveyor belts 163 provided in a U-section can be driven separately. The support arms 541 can be translated forward and backward in the direction of the two opposite picking racks 522, 522' by means of the drive unit 171 , so that it is possible to remove products from trays from both opposite racks using the same support arms. Now the manner in which products can be picked from trays in the racks 522, 522' by means of a product robot 154 as described above will be explained in more detail. Refer in particular to figure 7 in this regard.

Present on a separate tray in a tray storage position 57 in a picking rack, such as the tray 10 in the picking rack 522 shown in figure 7, are a number of identical products 11 , which are arranged on the tray 10 in question in matrix form, as indicated in figure 3a. Two products 11 remaining from two parallel rows of four products 11 each are still present on the tray 10. Of said two rows of identical products, five products were already removed from the tray 10 earlier in the product picking process, whilst a sixth product 11 has just been lifted from the tray 10 by means of the three support arms 541 of the product robot 154, as shown in figure 7, and is being moved back in the direction of the product robot 154. The product robot 154, i.e. the product picking unit 161 of the product robot 154, has to that end first been placed directly in front of the tray 10 and the three support arms 541 forming part of the product picking unit 161 have been moved between the upright edges of the tray 10, in the direction of the product 11 to be picked, by the drive unit 171. After the ends of the support arms 541 have been moved out to a position under the product 11 to be picked, the product picking unit 161 has been translated slightly upwards by the aforesaid lifting means, so that the product 11 to be picked is now supported on the respective support arms 541. The support arms have subsequently been retracted again so as to place the product 11 on the product picking unit 161. The moment an edge of the product 11 supported on the support arms 541 located closest to the product robot 154 comes within the reach of at least a number of the six conveyor belts 163, the conveyor belts 163 will be driven in synchrony with the support arms 541. The product picking unit further comprises sensors (not shown in the figures) for detecting the aforesaid moment when a product comes within the reach of a conveyor belt. Said sensors may be optical sensors or, for example, contact sensors. It is noted in this regard that the aforesaid conveyor belts 163 define a support surface for products, which support surface is located at a slightly higher level than upper surfaces of the respective support arms 541 , which likewise define a support surface for products. As a result, at least some of the conveyor belts 163 (the number depending on the width of the product) of the product picking unit 161 in question take over the product 11 from the support arms 541 during the synchronous movement of the support arms 541 and the conveyor belts 163. The moment the product 11 in question is entirely positioned on the conveyor belts 163, the drive of the conveyor belts 163 is stopped, as is the drive of the support arms 541 , since the latter are now entirely located within the reach of the product picking unit 166, i.e. are fully retracted. The above analogously applies, of course, when more than one individual product 11 at a time is removed from a tray 10.

The product robot 154 can now be moved with respect to the rack 522 to a tray 10 present at another tray storage position 57 for removing another, different product from the tray 10 in question. Analogously to the foregoing, the support arms 541 are to that end translated in the direction of the product to be picked and subsequently the product is lifted from the tray by moving the assembly of product picking units slightly upwards, using the lifting means. The support arms 541 are then retracted in the direction of the product robot 154, and the moment a front edge of the product comes into contact with the conveyor belts 163, said conveyor belts are driven synchronously with the support arms 541 , so that the product is placed directly adjacent to the products that have already been placed on the conveyor belts 163 (as described above). In this way the conveyor belts 163 of the respective product picking unit 161 can be provided with a number of different products picked from different strays along their entire length range.

It is noted in this regard that when products are to be picked from a picking rack 522' located opposite the picking rack 522 as well, products already present on the conveyor belts 163 need to be moved to the end of the conveyor belts located near the rack 522', so that when a product has been lifted from a tray in the rack 522' by means of the support arms in the above-describe manner and is being moved back to the product robot 154, said product can be placed on the conveyor belts 163, adjacent to the products already present on said conveyor belts, in the above describe manner, in order to thus fill the conveyor belts 163 with products from the two opposite racks 522, 522' along the entire length range of the conveyor belts 163.

Three products 11', 11", 11'" from different trays are already present on the product collecting unit 161'. The product picking unit 161' is not active while the product 11 is being picked from the tray 10 in the manner shown in figure 7 and described above. It is of course possible to pick several identical products present side-by-side on a particular tray at the same time by means of the two product picking units 161 , 161', or even to pick different products from two opposite trays 10 at the same time.

When the desired number of a plurality of products forming part of a picking order have been collected on the product robot 154, the product 154 will move in the direction of the conveyor, whereupon said products are transferred to the conveyor in question by driving the conveyor belts 163. It is possible in that case to realise a desired order of the products on the product conveyor by removing the products from the product robot 154 in direct or non-direct succession at the same location at the product conveyor. To that end, it is advantageous if the products collected on a respective product picking unit 161 , 161' are already present in the correct order on the conveyor belts 163. As an alternative to the placing of the products collected on the product robot 154 on the aforesaid product conveyor it is conceivable to handle the products in a different manner than via a product conveyor, for example by transferring the products to a picking pallet via a buffer position. Using the above-described product robot 154, and also the product robot 54, a very efficient manner of picking products can be realised, since, as described in the foregoing, a number of products forming part of a picking order are first collected from on the product robot 154 itself from different trays, whereupon the product robot 154 moves to a delivery location, for example a product conveyor as described above, so as to discharge said number of products from the product robot 154.