METHOD FOR TRANSFERRING PRODUCTS WITH IMPROVED EFFICIENCY BY MEANS OF A ROBOT, AND STORAGE AND ORDER-PICKING SYSTEM THEREFOR

In a method for transferring goods using a robot and a storage and picking system for carrying out the method, a gripper is coupled to or activated at a robot head of the robot depending on the grip type of the goods to be transferred. By doing so, a good can be picked up at a first position and deposited at a second position. The goods, separated into the groups of goods, are supplied to the robot so that the goods of a first group of goods are firstly provided at the first position and subsequently the goods of a second group of goods are provided at the first position. The first group of goods includes the goods of a first grip type, and the second group of goods includes the goods of a second grip type.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates to an operating method of a robot for transferring different goods in a storage and picking system, in whicha) grip types for the different goods are determined in an electronic control system, wherein the grip type indicates with which gripper corresponding to which gripper type gripping of the respective good is possibleb) the robot is provided with grippers of different gripper typesc) the electronic control system selects a gripper from the different gripper types depending on the grip type of the good to be transferredd) the selected gripper is coupled to a robot head of the robot or the selected gripper on a robot head of the robot is activatede) the goods are provided at a first position in the region of action of the robot andf) the good is gripped with the selected gripper on the robot at the first position and deposited at a second position in the region of action of the robot.

The invention further relates to a storage and picking system, whichcomprises a robot for transferring goods, having a robot head and at least two different grippers, which can be alternately coupled to the robot head, or at least two different grippers arranged on the robot head, which can be alternately activated, andcomprises an electronic control system, which is configured to determine the grip types for the different goods, wherein the grip type indicates with which gripper corresponding to which gripper type gripping of the respective good is possible, and which is further configured to select a provided gripper from the different grip types on the robot depending on the grip type of the good to be transferred and trigger coupling of the selected gripper to the robot head or activating the selected gripper on the robot head andcomprises a conveyor system, which is configured to transport goods to a first position in a region of action of the robotwherein the robot is configured to grip the good with the selected gripper at the first position in the region of action of the robot and to deposit the good at a second position in the region of action of the robot.

2. Description of the Related Art

This type of method and this type of storage and picking system are known in the prior art. These can be used, for example, for picking and/or sorting goods. The large variety of goods means that different grippers have to be used on the robot in order to be able to manipulate the goods safely and at high speed. However, changing the gripper leads to an undesired standstill in the flow of goods because it is not possible to manipulate goods during the change.

SUMMARY OF THE INVENTION

A problem to be solved by the invention is therefore to provide an improved method and an improved storage and picking system. In particular, interruptions in the flow of goods should be kept to a bare minimum.

The problem of the invention is solved by a method of the aforementioned type, further including the steps:sorting the different goods into groups of goods depending on grip type, of which a first group of goods comprises goods of a first grip type of the grip types and a second group of goods goods of a second grip type of the grip types andsupplying the goods to the robot separated into the groups of goods, so that the goods of the first groups of goods are firstly provided at the first position and subsequently the goods of the second group of goods at the first position.

Furthermore, the problem of the invention is solved by a storage and picking system of the aforementioned type, in which the conveyor system is further configured to supply the goods, separated into groups of goods, to the robot, wherein the goods of a first group of goods are firstly provided at the first position and subsequently the goods of a second group of goods at the first position, wherein the first group of goods comprises goods of a first grip type of the grip types and the second group of goods goods of a second grip type of the grip types.

By forming the groups of goods, the number of gripper changes can be reduced to a minimum, even if there is an extremely broad range of goods and a correspondingly high number of different goods. The higher the number of goods in a group of goods, the more seldom the need for a gripper change.

The term “gripper” should be understood broadly in the context of the invention and comprises not only gripping tools with gripping fingers or pincer-type gripping tools but also, in particular, suction grippers, which grip or pick up a good using negative pressure.

For example, a gripper can thereforebe a force-locking gripper such as a suction gripper, in particular a vacuum suction gripper with a suction cup or a vacuum suction gripper with a plurality of suction cups, for examplea form-locking gripper such as a finger gripper, in particular a finger gripper with two gripping fingers or a finger gripper with three gripping fingers or a combination gripper comprising a force-locking gripper and a form-locking gripper.

The different types of gripper are described by the respectively allocated “gripper type”. For example, a first gripper type can be allocated to a vacuum suction gripper with a suction cup and a second gripper type to a vacuum suction gripper with a plurality of suction cups etc. In the same way, a first gripper type can be allocated to a finger gripper with two gripping fingers and a second gripping type to a finger gripper with three gripping fingers etc. different combination grippers can be allocated to different gripper types in the same way.

In other words, a different interpretation of the grippers within the same operating principle or within the same gripping technology (for example a varying number of suction cups for suction grippers) can lead to different gripper types. Of course, it is also possible that different operating principles or gripping technologies (for example suction grippers vs. clamp grippers) lead to different gripper types.

The storage and picking system comprises at least two different grippers in the context of the invention. In other words, the storage and picking system thus comprises at least two grippers of different gripper types.

On the one hand, the different grippers can be located in a magazine in the region of action of the robot and are removed from there as required and connected to the robot head. On the other hand, however, the grippers can also be arranged permanently on the robot head and activated if necessary. For example, they can be arranged in a turret magazine on the robot head. In this context, it is noted that the term “activation” of a gripper must not be equated with the term “gripping” (with the gripper), but merely means transferring a gripper from a passive state, in which gripping is not possible, to a standby state, which enables gripping. Passive or non-active grippers are therefore unable to grip. The same applies to the term “coupling” of a gripper.

The “grip type” specifies those goods that can be gripped with a specific gripper corresponding to a specific gripper type. At the same time, the grip type is the sorting criterion for forming a group of goods. If a grip type is allocated to each good, one exact solution exists for forming a group of goods. If several grip types are allocated to some or all goods, several possibilities exist for forming a group of goods. It is conceivable, for example, that a grip type is selected in such a case, which offers the most overlap. If grip types A and B are, for example, allocated to a first good (good 1) and grip types B and C to a second good (good 2), grip type B is an advantageous selection for both goods (goods 1 and 2).

While the grip type characterizes the goods, the gripper type corresponding to the grip type characterizes the gripper of a robot. The grip type and gripper type can therefore be directly allocated to each other in terms of a 1:1 relationship. In a storage and picking system, there may be a plurality of grippers of the same gripper type, for example distributed across a plurality of robots. A plurality of grippers of a gripper type can also be assigned to a single robot, for example, in order to have a reserve in the event of a fault.

The grip type is influenced on the one hand by the properties of the gripper of the assigned gripper type, but on the other hand also by the “good properties” of the good to be gripped. It should be mentioned that a good fundamentally has good properties, which can influence grippability, and those that fundamentally have no influence on grippability. Examples of good properties that can influence grippability are the flexural strength of the good, the fragility of the good, the density of the good, the weight of the good, the surface shape of the good, the surface roughness of the good, the surface permeability of the good, etc. Examples of good properties that generally do not affect grippability are the color of the good, the degree of reflection of the good surface, etc.

One or more good properties define a “good type”. A first good type can comprise flexurally weak goods, a second good type can comprise flexurally rigid goods, etc. A flexurally weak good is, for example, a T-shirt in a plastic bag. A flexurally rigid good is, for example, a pair of shoes in a cardboard box. However, goods of different good types can be allocated to the same grip type. An example would be a shirt and a T-shirt, which are each packed in a plastic bag and can therefore be gripped in the same manner.

The grip type allocated to a good is stored, for example, in the master data for a good, in particular in addition to further data, which characterize a good type of the good. In principle, it is also possible for a plurality of grip types to be stored for a good or a good type if gripping the good is possible with a plurality of grippers or gripper types.

Determining the grip type of a good can be carried out by identifying the good after reading a data carrier. The data carrier can be read on a reader connected to the control system. The data carrier is, for example, a barcode, matrix code, in particular a QR code (quick-response code), data matrix code, RFID (radio frequency identification) tag and the like. The reader can be an optical or optoelectronic reader, with which the data can be machine read. The data carrier can contain data, in particular an identification number, on whose basis access to the master data can be gained, in which the grip type for the good is stored. However, the data carrier can also directly contain data about the grip type.

Yet determining the grip type of a good can also be carried out by recognizing the good by means of “object recognition”. Object recognition describes a method for identifying an object (which corresponds to a good) by means of optical, acoustic or other physical recognition methods. In particular, after the goods are identified by object recognition, the master data can be accessed, in which the grip type for the good is stored.

The term “provision” of the goods in the region of action of the robot includes, in particular, supplying the goods to the region of action of the robot.

The term “delivery” of goods includes both discarding goods and setting down goods.

The control system is, in particular, a higher-level control system and not necessarily a robot controller.

Further advantageous embodiments and advancements of the invention can be found in the subclaims as well as a combination of the description with the figures.

It is advantageous for the goods to be sorted within a group of goods according to a good type in an article-by-article manner. Accordingly, the good type forms a sorting criterion subordinate to the gripper type, leading to blocks of goods of the same good type resulting within a group of goods. For example, shirts and T-shirts can form blocks separate to one another within a group of goods. This embodiment is advantageous, for example, at incoming goods if goods are to be stored in an article-by-article manner. Furthermore, this embodiment is particularly advantageous for picking goods in the B2B sector, since many goods of a good type are often ordered in this sector, which are subsequently stored in a shop in an article-by-article manner.

However, it is also advantageous for the goods to be arranged chaotically within a group of goods with regard to a good type of the goods. In this embodiment, the good type does not form a sorting criterion within a group of goods. Shirts and T-shirts can, for example, be arranged in a mixed manner within a group of goods. This embodiment is advantageous, for example, at incoming goods if goods are to be stored in chaotically. Furthermore, this embodiment is particularly advantageous for picking goods in the e-commerce or B2C sector, since few goods of many different good types are often ordered in these sectors, which are packed as a block in a shipping box.

It is particularly advantageous for sequencing of the groups of goods to be carried out depending on the gripper type of a gripper currently activated or coupled in the robot, wherein goods of the first group of goods have a grip type, which corresponds to the gripper type of the gripper currently activated or coupled in the robot. In this case, when the goods are supplied to the robot, care is taken that those goods, which can be gripped by the gripper currently activated in the robot or by the gripper coupled to the robot, are served first to the robot. In this way, changing the gripper is advantageously avoided.

However, it is also advantageous for sequencing of the groups of goods to be carried out independently of the gripper type of the gripper currently activated or coupled in the robot. In this case, when the goods are supplied to the robot, care is not taken that those goods, which can be gripped by the gripper currently activated in the robot or by the gripper coupled to the robot, are served first to the robot. Because of this, changing the gripper may be necessary to grip goods of the first group of goods. This variant of the method is advantageous if the goods of the first group of goods are to be processed in a prioritized manner and a possible gripper change is accepted.

It is favorable for sorting the different goods into groups of goods to be carried out, depending on the grip type, by an automatic sorting device, which, in turn, is connected to the electronic control system in order to control the automatic sorting device. Accordingly, it is also advantageous for the storage and picking system to comprise an automatic sorting device connected to the conveyor system by conveying technology or an automatic sorting device comprising the conveyor system, wherein the sorting device is connected to the electronic control system by control technology and is controlled by the control system in such a way that the different goods are sorted into groups of goods depending on the grip type. Automatic sorting achieves particularly high sorting performance, thus enabling uninterrupted provision of the goods at the first position.

Furthermore, it is favorable for the automatic sorting device to comprise a suspended conveyor system and suspended bags, wherein the goods are stored in the suspended bags. Accordingly, it is also advantageous for the conveyor system to comprise a suspended conveyor system for transporting the suspended bags from the automatic sorting device to the first position or to be formed by such a suspended conveyor system. The sorting device can comprise one or more sorting stages. If there are several sorting stages, the sorting stages are connected by conveying technology. Each sorting stage comprises a feed line, a discharge line and one or more sorting lines between them. The feed line, discharge line and sorting line(s) are formed by a suspended conveyor system. The goods are selectively supplied from the feed line into the sorting lines and selectively discharged from the sorting lines into the discharge line. The sorting device is formed, for example, by a matrix sorter.

However, in addition to sorting in a dedicated sorting device, sorting can also be carried out in another way, for example by removing goods from a warehouse in a specific sequence or grouping, rendering subsequent sorting or grouping obsolete. Sorting or grouping can also be performed by controlling switches and mergers in the course of the conveyor system or conveyor device. In addition, buffer locations can be used, which are connected to the conveyor system or conveyor device. This enables, for example, removing individual objects from the conveying flow and later reinserting them at a suitable location. Accordingly, the term “conveyor system” comprises a device for providing goods separated into groups of goods in general form.

It is also advantageous for only a single good to be stored in each suspended bag. This measure facilitates removal of the good from the suspended bag.

It is also favorable for the automatic sorting device to comprise a container conveyor system and containers, wherein the goods are stored in the containers. Accordingly, it is also advantageous for the conveyor system to comprise a container conveyor system for transporting the containers from the automatic sorting device to the first position or to be formed by such a container conveyor system. The sorting device can comprise one or more sorting stages. If there are several sorting stages, the sorting stages are connected by conveying technology. Each sorting stage comprises a feed line, a discharge line and one or more sorting lines between them. The feed line, discharge line and sorting line(s) are formed by a container conveyor system. The goods are selectively supplied from the feed line into the sorting lines and selectively discharged from the sorting lines into the discharge line.

It is also particularly advantageous for only goods of a single grip type to be stored in each container. For containers “divided into compartments”, it can also be provided that goods of single grip type are stored in each compartment of the container. Containers “divided into compartments” therefore comprise at least one receiving compartment that receives goods of the same grip type, which are correspondingly allocated to a first or second group of goods. The proposed measures mean that the gripper need not be changed when goods are removed from a container or from a container compartment.

At this point, it is noted that, in accordance with the measures proposed for this variant, although only goods of a single grip type are stored in a container or container compartment, this does not necessarily mean that the goods are stored in the container or container compartment in an article-by-article manner with regard to the good types of the goods. However, it would of course also be possible to store the goods per container or container compartment in an article-by-article manner.

“Article by article” means that goods stored in a container are of the same group of goods. For example, a first container contains goods belonging to good type “A” and a second container contains goods belonging to good type ‘B’, etc. It is also possible for the containers to be divided into several container compartments by partition walls and to accommodate different good types, wherein goods belonging to good type “A” can be accommodated in the first container compartment and goods belonging to good type “B” can be accommodated in the second container compartment. However, according to the proposed embodiment, goods of a single grip type are stored in each container compartment.

It should be noted that a tray or box can also be regarded as a container. The containers generally form load carriers for the transporting goods.

Furthermore, it is favorable for the automatic sorting device to comprise a driverless transport system with one or more autonomously movable transport vehicles, wherein the transport vehicles each have a receiving platform or a suspension rod, upon which the goods are stored with or without containers or with or without a suspended bag. In this way, a particularly flexible sorting device can be constructed. An autonomously movable transport vehicle of the type used is also known by the term “autonomous guided vehicle” (abbreviated to “AGV”) or “autonomous mobile robot” (abbreviated to “AMR”). The transport vehicles can be understood not only as a (dedicated) sorting device, but also generally as part of the conveyor device.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

It is worth noting here that the same parts have been given the same reference numerals or same component configurations in the embodiments described differently, yet the disclosures contained throughout the entire description can be applied analogously to the same parts with the same reference numerals or the same component configurations. The indications of position selected in the description, such as above, below, on the side etc. also refer to the figure directly described and shown, and these indications of position can be applied in the same way to the new position should the position change.

FIG.1shows an oblique view of a section from a first example of a storage and picking system1a. The storage and picking system1acomprises a robot2, which, in this example, has a robot base3, a first movable arm segment4, a second movable arm segment5and a robot head6arranged on the second arm segment5. Different grippers7a. . .7ccan be coupled to the robot head6. The state specifically shown inFIG.1is a gripper7acoupled to the robot head6, whereas two further grippers7b,7care located in a gripper magazine8in the region of action of the robot2. The robot2can grasp or pick up different goods9a. . .9dwith the grippers7a. . .7c.

In the example shown inFIG.1, the goods9a. . .9dare transported by means of a container conveyor device10a, which has a plurality of conveying rollers12arranged between two frame profiles11, to a first position P1in a region of action of the robot2. Furthermore, the storage and commissioning system1ahas a further container conveyor device10b, which also has a plurality of conveying rollers12arranged between two frame profiles11. The goods9a. . .9dare transported on the container conveying devices10a,10busing containers13a. . .13e. Specifically, the conveyor device10aserves to transport the goods9a. . .9din containers13a,13c, for example from a storage area, and the conveyor device10bserves to transport empty containers13d,13dand transport filled containers13b, for example to outgoing goods. In the example shown, the containers13a,13cthus form source load carriers, the containers13b,13d,13etarget load carriers.

The storage and picking system1afurther comprises an electronic control system14, which is configured to determine grip types for the different goods9a. . .9d, wherein the grip type indicates with which gripper7a. . .7ccorresponding to which gripper type gripping of the respective goods9a. . .9dis possible. The control system14is connected to a first RFID reader15a, using which a container13a,13cand therefore the goods9a. . .9dlocated therein, can be identified.

The result of this identification can be used for the picking process and/or for triggering a gripper change. The grip type allocated to a good9a. . .9dcan, for example, be stored in a database and read from this by the control system14. For example, the grip type allocated to a good9a. . .9dcan be stored in the master data for a good9a. . .9d, in particular in addition to further data, which characterize a good type of the good. The control system14is, in particular, a higher-level control system and not necessarily the robot control of the robot2.

Instead of an RFID tag arranged on a container13a. . .13e, the container13a. . .13ecan also have a barcode, matrix code, in particular a QR code (quick-response code) or data matrix code for the same purpose.

The reader can also be an optical or optoelectronic reader, with which the data can be machine read. The data carrier can contain data, in particular an identification number, on whose basis access to the master data can be gained, in which the grip type of this good9a. . .9dis stored.

However, the data carrier can also directly contain data about the grip type. In particular, the data contain an identification number and the data regarding the grip type.

Yet determining the grip type of a good9a. . .9dcan also be carried out by recognizing the good9a. . .9dby means of “object recognition”. Object recognition describes a method for identifying an object by means of optical, acoustic or other physical recognition methods. In particular, after the goods9a. . .9dare identified by object recognition, the master data can be accessed, in which the grip types for the good are stored.

The control system14is further configured to select a gripper7a. . .7cprovided on the robot2from the different types of grippers depending on the grip type of the goods9a. . .9dto be transferred and to trigger coupling of the selected gripper7ato the robot head6or activation of the selected gripper7aon the robot head6.

With the robot2, the good9a. . .9dcan be gripped with the selected gripper7aat the first position P1in the region of action of the robot2and deposited at a second position P2in the region of action of the robot2. Specifically, goods9a. . .9dare removed from the containers13a,13cprovided at the first position P1and deposited into the containers13b,13d,13eprovided at the second position P2. In this way, for example, a picking method can be realized, wherein the containers13a,13cform source containers (for example storage containers) and the containers13b,13d,13edestination containers (for example shipping containers or shipping boxes). However, the arrangement depicted inFIG.1can also be located at incoming goods. In this case, the container conveyor device10ais connected to incoming goods and the container conveyor device10bto a storage area. By doing so, the goods to be stored can be sorted before storage. To identify the target containers13b,13d,13e, the control system14can be connected to a second RFID reader15b.

It is favorable for only goods9a. . .9dof a single grip type to be stored in each source container13a,13c. This means that gripper7a. . .7cneed not be changed when goods9a. . .9dare removed from a container13a,13c. For containers divided into compartments, it can also be provided that goods9a. . .9dof a single grip type are stored in each container compartment of the container13a,13c. This means that gripper7a. . .7cneed not be changed when goods9a. . .9dare removed from a container compartment.

According to the invention, an (automatically operated) conveyor system, in particular the above-described container conveyor device10a, is provided, which is configured to supply the goods9a. . .9d, separated into two groups of goods G1. . . . G3, to the robot2, wherein the goods9a,9cof a first group of goods G1are provided firstly at the first position P1and subsequently the goods9dof a second group of goods G2at the first position P1.

The first group of goods G1comprises (different) goods9a,9cof a first grip type of the grip types, which can be gripped with the gripper7aof a first gripper type at the first position P1and deposited at the second position P2. The second group of goods G2comprises (identical) goods9dof a second grip type of the grip types, which can be gripped with gripper7bof a second gripper type at the first position P1and deposited at the second position P2. In other words, according to this embodiment, the goods9a,9care allocated, on the one hand, to the first grip type and form the first group of goods G1(not shown inFIG.1) and the goods9d, on the other hand, are assigned to the second grip type and form the second group of goods G2(not shown inFIG.1). Accordingly, a gripper change is necessary after the goods9a,9chave been deposited at the second position P2.

However, if the (different) goods9a,9c,9dare all allocated to a first grip type of the grip types, the containers13a,13care provided successively at the first position P1and the goods9a,9c,9dare manipulated without changing the gripper. The goods9a,9c,9dare all then gripped with the gripper7aof a first gripper type at the first position P1and deposited at the second position P2. In other words, according to this embodiment, the goods9a,9c,9dare allocated to the first grip type and form the first group of goods G1(not shown inFIG.1).

FIG.2shows an embodiment of a further storage and picking system1b, which is very similar to the storage and picking system1adepicted inFIG.1. However, in contrast, instead of the second container conveyor device10b, there is a suspended conveyor device16with a carrier profile17and suspended bags18a. . .18dmovable along the latter, which can be transported to and away from the first position P1. WO 2020/150762 A1 describes a possible embodiment of a suspended conveyor device. In the embodiment shown, the suspended bags18a. . .18dform the source load carriers and the containers13a,13cthe target load carriers. It is favorable for only a single good9a. . .9d(not shown) to be stored in each suspended bag18a. . .18d. These measures facilitate the removal of the goods9a. . .9dfrom the suspended bag18a. . .18d.

It is visible inFIG.2that the suspended bag18ahas been transported to the first position P1and is provided there. The suspended bag18ais switched to an open position, in which the robot2moves with the gripper7ainto a storage space in the suspended bag18aand can grip/remove the good9a. In the state depicted inFIG.2, the good9ahas already been removed from the storage space and is deposited into the container13a, which is in the second position P2. The goods9balready deposited are additionally located in the container13a. The loaded suspended bags18b. . .18dare switched to a closed position in which the goods (not visible inFIG.2) are stored in a storage space and are transported in succession to the first position P1.

The arrangement depicted inFIG.2can in turn be arranged at a picking station or at incoming goods, for example.

FIG.3shows a schematized plan view of the arrangement disclosed inFIG.2, in which the suspended bags18are hatched differently depending on the grip type of the goods9contained in the suspended bags18and are sorted according to groups of goods G1. . . . G3.

According to the invention, an (automatically operated) conveyor system, in particular the above-described suspended conveyor device16, is provided, which is configured to supply the goods9, separated into two groups of goods G1. . . . G3, to the robot2, wherein the goods9of a first group of goods G1are firstly provided at the first position P1and subsequently the goods9of a second group of goods G2at the first position P1etc.

Changing from a group of goods G1to another group of goods G2necessitates a gripper change. However, the same or different goods9with one grip type can be present within one group of goods G1.

According to the embodiment shown, similar goods of a first grip type are present in the first group of goods G1, similar goods of a second grip type in the second group of goods G2and similar goods of a third grip type in the third group of goods G3.

The gripper7aof the first gripper type is used in order to grip the goods9of the first group of goods G1; this preferably grips the goods9successively at the first position P1and deposits them at the second position P2.

The gripper7bof the second gripper type is used in order to grip the goods9of the second group of goods G2; this preferably grips the goods9successively at the first position P1and deposits them at the second position P2.

The gripper7cof the third gripper type is used in order to grip the goods9of the third group of goods G3; this preferably grips the goods9successively at the first position P1and deposits them at the second position P2

An operating method of a robot2for transferring different goods9,9a, . . .9din a storage and picking system1a, having the following steps:a) determining grip types for the different goods9,9a. . .9din an electronic control system14, wherein the grip type indicates with which gripper7a. . .7ccorresponding to which gripper type gripping of the respective good9,9a. . .9dis possible.b) providing grippers7a. . .7cof different grip types at the robot2c) selecting a gripper7a. . .7cfrom the different gripper types depending on the grip type of the good9,9a. . .9dto be transferred7by way of an electronic control system14d) coupling the selected gripper7a. . .7cto the robot head6of the robot2or activating the selected gripper7a. . .7con the robot head6of the robot2e) providing the goods9,9a. . .9dat the first position P1in a region of action of the robot2andf) gripping the goods9,9a. . .9dat the first position P1, and depositing the goods9,9a. . .9dat the second position P2in the region of action of the robot2with the selected gripper7a. . .7cof the robot2.

In addition, the different goods9,9a. . .9dare sorted into goods groups G1. . . . G3depending on the grip type, of which, according to this embodiment, a first group of goods G1comprises goods9,9a. . .9dof a first grip type of the grip types and a second group of goods G2comprises goods9,9a. . .9dof a second grip type of the grip types and a third group of goods G3comprises goods9,9a. . .9dof a third grip type of the grip types, and the goods9,9a. . .9dare separately supplied to the robot2according to the groups of goods G1. . . . G3, so that the goods9,9a. . .9dof the first group of goods G1are firstly provided at the first position P1, and subsequently the goods9,9a. . .9dof the second group of goods G2at the first position P1and finally the goods9,9a. . .9dof the third group of goods G3at the first position P1.

It should be mentioned that sorting is also possible for more than three groups of goods G1. . . . G3but is carried out for at least for two groups of goods G1. . . . G2.

By forming the groups of goods G1. . . . G3, the number of gripper changes can be reduced to a minimum even if there is an extremely broad range of goods and a correspondingly high number of different goods9,9a. . .9d. The higher the number of goods9,9a. . .9din a group of goods G1. . . . G3, the less frequent the need for a gripper change.

The different types of gripper7a. . .7care described by the respectively allocated “gripper type”. Grippers7a. . .7ccan be, for example, force-fitting grippers, form-fitting grippers or can be configured as combination grippers. The “grip type” specifies those goods9,9a. . .9dthat can be gripped with a specific gripper7a. . .7ccorresponding to a specific gripper type. At the same time, the grip type is the sorting criterion for forming a group of goods G1. . . . G3.

On the one hand, the different grippers7a. . .7ccan be located in a gripper magazine8in the region of action of the robot2and are removed from there as required and connected to the robot head6as per the examples depicted in the figures. On the other hand, however, the grippers7a. . .7ccan also be arranged permanently on the robot head6and be activated if necessary. For example, they can be arranged in a turret magazine on the robot head6.

For the sake of completeness, it is noted at this point that the reader15acannot be used to form groups of goods G1. . . . G3since it is arranged too far downstream in the conveying flow. In order to form groups of goods G1. . . . G3, goods identification therefore takes place further upstream as is the case with readers15c,15dinFIGS.4and5, for example.

FIG.4shows a schematized plan view of a section from a storage and picking system1c, which is very similar to the storage and picking system1bshown inFIG.3. In contrast, the storage and picking system1ccomprises an automatic sorting device19abased on the suspended conveyor system. As the function of a sorting device19ais fundamentally known, it is not depicted in detail inFIG.4.FIG.4shows that the goods18are supplied to the sorting device19ain an unordered state, sorted by the sorting device19ainto groups of goods G1. . . . G3and then leave the sorting device19aseparated into the groups of goods G1. . . . G3(see also the illustration inFIG.3). For this purpose, the control system14is connected to the automatic sorting device19ain order to control the latter. The automatic sorting device19aalso further comprises an RFID reader15cfor identifying the goods9,9a. . .9d. Automatic sorting achieves particularly high sorting performance, thus enabling uninterrupted provision of the goods9,9a. . .9dat the first position P1. The sorting device19acan comprise one or more sorting stages, which are connected to one another by conveying technology. The sorting device19acan be formed by a matrix sorter, for example. The suspended conveyor system or the suspended conveyor device16can also be configured in particular for transporting the suspended bags18,18a. . .18dfrom the automatic sorting device19ainto the first position P1.

It is noted at this point that the automatic sorting device19acan also be operated on the basis of a container conveyor system. Such a storage and picking system would be particularly suitable in combination with the storage and picking system1ashown inFIG.1. The container conveyor system or the container conveyor device10acan then also be particularly configured to transport the containers13a,13cfrom the automatic sorting device19ato the first position P1.

In addition, sorting and grouping the goods9,9a. . .9dcan also be carried out, for example, by correspondingly removing the goods9,9a. . .9dfrom a warehouse of the storage and picking system1a. . .1cin the specific sequence or grouping by correspondingly controlling switches and mergers in the course of the conveyor device10a,16and/or by using buffer locations in the course of the conveyor device10a,16.

FIG.5shows a schematized plan view of a section from a further storage and picking system1d, which is very similar to the storage and picking system1cshown inFIG.4. According to this embodiment, an automatic sorting device19bis provided, which comprises a takeover point20, a transfer point21and a driverless transport system with one or more autonomously movable transport vehicles22a,22b. The transport vehicles22a,22beach have a receiving platform23a,23bor a suspension rod, upon which the goods9,9a. . .9dare stored with or without containers13,13a. . .13dor with or without a suspended bag18,18a. . .18d. The transport vehicles22a,22bpick up the goods9,9a . . . dwithout sorting at the takeover point20and deposit them back in sorted order at the transfer point21. The automatic sorting device19baccordingly comprises a driverless transport system. For this purpose, the control system14is connected to the automatic sorting device19bor to the transport vehicles22a,22bin order to control the latter. The automatic sorting device19balso further comprises an RFID reader15dat the takeover point20for identifying the goods9,9a. . .9d. These measures mean a particularly flexible sorting device19bcan be constructed. The transport vehicles22a,22bcan be understood not only as a (dedicated) sorting device19bbut also generally as part of the conveyor device16.

Finally,FIG.6shows a possible embodiment of an autonomously movable industrial truck22c(“automated guided vehicle”, abbreviated to “AGV” or “automated mobile robot”, abbreviated to “AMR”). The autonomous industrial truck22ccomprises a chassis24with a drive unit and incoming goods or a loading platform23barranged on the chassis23for picking up, depositing and transporting of a good9,9a. . .9d(not shown in this Fig.) or of a container13,13a. . .13e(not shown in this Fig.), in which the good9,9a. . .9dis stored. It would also be conceivable for the autonomous industrial truck22cto additionally or alternatively comprise a suspension rod, which acts as incoming goods and by means of which suspended bags18,18a. . .18dor suspended goods can be transported on goods transport carriers with clothes hangers or clothes hangers with the hanging goods.

The drive unit comprises wheels25,25rotatably mounted on the chassis24, at least one of the wheels25is coupled to a drive (not shown), and at least one of the wheels26is steerable. Both wheels25,26can also be coupled to the drive and driven by it. However, the autonomous industrial truck22ccan also comprise four wheels, of which two wheels can be steered. According to the embodiment shown, the incoming goods23bis adjustably stored on the chassis24between a starting position (shown in solid lines) and a transport position (shown in dashed lines).

In the starting position, a good9,9a. . .9dor a container13,13a. . .13ecan be moved downwards in order to receive the former. If the incoming goods23bis switched from the starting position to the direction of the transport position, the good9,9a. . .9dor the container13,13a. . .13ecan be lifted and then transported. If the incoming goods23bis switched from the transport position back to the direction of the starting position, the good9,9a. . .9dor the container13,13a. . .13ecan be set down again or deposited.

The autonomous industrial truck22cfurther comprises a control27shown schematically in dashed lines for controlling the movements of the autonomous industrial truck22c. The controller27can also include means for (wireless) data transmission to and from the autonomous industrial truck22c. In this way, the autonomous industrial truck22cor its controller27can communicate with the control system14i.e. receive commands from it and transmit data to it. Finally, the autonomous industrial truck22ccomprises sensors for detecting the surroundings of the autonomous industrial truck22cand for spatial orientation.

At this point, it is also noted that sorting the goods9,9a . . . dinto groups of goods G1. . . . G3can also be carried out without an automatic sorting device19a,19bby corresponding automatic removal of the goods9,9a. . .9d(with or without a container) from a storage area, for example.

In principle, the different goods9,9a . . . dcan also be manually sorted into groups of goods G1. . . . G3depending on the grip type. The first group of goods G1comprises the goods9,9a. . .9dof a first grip type of the grip types and a second group of goods G2comprises the goods9,9a. . .9dof a second grip type of the grip types. The goods9,9a. . .9d, separated into two groups of goods G1. . . . G3, are supplied to the robot2, in particular by the conveyor system, in particular the container conveyor device10aand/or the suspended conveyor device16, so that the goods9,9a. . .9dof a first group of goods G1are firstly provided at the first position P1and the goods9,9a. . .9dof a second group of goods G2are subsequently at the first position P1. In general, sequencing of the groups of goods G1. . . . G3can be carried out depending on the gripper type of a gripper7acurrently activated or coupled in the robot2, wherein goods9,9a. . .9dof the first group of goods G1. . . . G3have a grip type, which corresponds to the gripper type of the gripper7acurrently activated or coupled in the robot2. In this case, when the goods9,9a. . .9dare suppled to the robot2, care is taken that those goods9,9a. . .9d, which can be gripped by the gripper7acurrently activated in the robot2or by the gripper7acoupled to the robot2, are first served to the robot2. In this way, changing the gripper is advantageously avoided.

However, sequencing of the groups of goods G1. . . . G3can also be carried out independently of the gripper type of the gripper7acurrently activated or coupled in the robot2. In this case, when the goods9,99a. . .2dare supplied to the robot2, care is not taken that those goods9,99a. . .2d, which can be gripped by the gripper7acurrently activated in the robot2or by the gripper7acoupled to the robot2, are first served to the robot2. Because of this, changing the gripper may be necessary to grip goods9,9a. . .9dof the first group of goods G1. However, this variant of the method is advantageous if the goods9,9a. . .9dof the first group of goods G1are to be processed in a prioritized manner and a possible gripper change is therefore tolerated.

The goods9,9a. . .9dcan be sorted within a group of goods G1. . . . G3to a good type in an article-by-article or chaotic manner. Article-by-article sorting is particularly advantageous at an incoming goods, for example, when goods are to be stored article by article or when picking goods in the B2B sector, since many goods9,9a. . .9dof a good type are often ordered in this sector, which are subsequently stored in a shop in an article-by-article manner. A chaotic arrangement is advantageous at incoming goods if goods9,9a. . .9dare to be stored chaotically, for example. Furthermore, this embodiment is particularly advantageous for picking goods9,9a. . .9din the e-commerce or B2C sector, since few goods9,9a. . .9dof many different good types are often ordered in these sectors, which are packed as a block in a shipping box.

It is noted at this point that the construction of the robot2shown inFIG.1as a multi-axis robot or articulated-arm robot is purely exemplary. Instead, the robot2could also be designed as a portal robot or also as a mixed form of the two construction types.

Finally, it is further stated that the scope of protection is determined by the claims. However, the description and the drawings are to be referenced for the interpretation of the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions in themselves. The problem to be solved, upon which the independent, inventive solutions are based, can be derived from the description.

It is also particularly stated that the devices shown can, in reality, also comprise more or even fewer components than those shown. In some cases, the devices shown or their components have not been shown to scale and/or enlarged and/or shrunk.

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