Patent Publication Number: US-2007119123-A1

Title: Multi-modal package handling tool and system

Description:
CROSS REFERENCE TO RELATED APPLICATIONS  
      This application is a Continuation-in-Part of currently-pending U.S. patent application Ser. No. 10/905,241 filed Dec. 22, 2004, which is hereby incorporated by reference in its entirety. 
    
    
     FIELD OF THE INVENTION  
      The present invention relates to a tool which may be mounted upon a prime mover, such as an industrial articulating robot or gantry robot, for the purpose of handling a variety of different packages having different sizes and shapes, such as, for exemplary purposes only, those commonly used for consumer and pre-consumer packaging of various types of goods, to create “build to order” pallets, for example, comprising the goods packaged in the different sized and shaped packages.  
     BACKGROUND OF THE INVENTION  
      The distribution of various packages including, but not limited to food items, and particularly beverages, is rendered more difficult by the fact that beverage containers come in a variety of sizes and shapes. For example, beverages are marketed in 12 ounce cans, one liter bottles, smaller bottles, and larger containers having all sorts of sizes and shapes. Moreover, the packages used to hold such beverage containers, or any other packaged products for that matter, come in scarcely fewer number of sizes and shapes. It is often necessary for beverage distributors to break down pallets or subdivide pallets of beverages at a distribution point, because frequently the beverage retailer whose order is being filled does not desire to take delivery of a full pallet of one particular type of beverage. Thus, a full pallet having but one type of beverage packaged in a single type of package, will need to be broken down. Unfortunately, use of picker and packer employees to handle such packages results in considerable expense for labor.  
      The present invention uses an end of arm tool mounted on a robot, with the robot preferably mounted on a track, to pick a variety of different types of packages, for the purpose of loading the packages on a pallet for shipment to, for example, a retailer of packaged goods.  
     SUMMARY OF THE INVENTION  
      The present multi-modal package handling tool includes a tool platform with a plurality of package-carrying vacuum units arranged in a generally planar array, with tie vacuum units being attached to a first portion of the tool platform. A plurality of extensible package grippers is mounted to the tool platform, with extensible grippers having at least retracted position and an extended position. The tool platform may also have a slidingly deployable package platform mounted thereto, with the package platform having at least a retracted position and an extended position.  
      Each of the vacuum units mounted to the tool platform has a vacuum head powered by a dedicated vacuum generator. This offers the advantage that in the event that a vacuum leak occurs within any of the vacuum units, vacuum to will not be lost with respect to the remaining units because each of the vacuum heads has an independent source of vacuum. Moreover, minor air leads will not cause the vacuum power of any of the vacuum heads to be lost. Each of the vacuum heads extends through a port formed in a surface plate which is also attached to the tool platform, such that a package engaged by one or more of the vacuum heads will be drawn into contact with the surface plate. This advantageous result occurs because the vacuum units contract axially when the vacuum is applied and this causes the package being secured by the vacuum units to be pulled into contact with the surface plate, thereby stabilizing the package being carried.  
      Each of the previously mentioned extensible grippers comprises a package engaging tool mounted to the tool platform by means of a slidable carrier. The extensible grippers may include either hook-like members for engaging handholds formed in a tray of goods, or pincher members for engaging a tray of goods, whether the tray be of cardboard, plastics, metal, or other materials known to those skilled in the art and suggested by this disclosure.  
      Smooth-sided packages, such as closed cardboard cartons that contain, for example, food products, office supplies, apparel, and other similarly packaged goods, may be picked by the plurality of package-carrying vacuum units which are arranged in a generally planar array at one end of a space frame comprising the tool platform. Package grippers are mounted within space frame advanced to the generally planar array, with the package grippers having at lease a retracted position inboard of the planar array and extended position outboard of the planar array. Similarly, the package platform has at least a retracted position inboard of the planar array and an extended position outboard of the planar array.  
      According to another aspect of the present invention, a machine vision unit is operatively connected with a controller which operates not only the robot to which the end of arm tool is attached, but also the vacuum units, package grippers, and sliding package platform. Using techniques which are known to those skilled in the art and beyond the scope of this invention, the machine vision unit provides the controller with an image of a package being handled, so as to permit the controller to select the use of either the vacuum units or package grippers or a combination of the vacuum units and the package platform. In the event that both the package platform and the vacuum units are used, the end of arm tool will be oriented such that the surface plate through which the vacuum units erupt will be suited in a generally vertical orientation, with the sequence of attaching the package to the end of arm tool following the steps of using the vacuum units and the robot to lift the package while deploying the sliding package platform under the lifted package. In this manner, the sliding package platform may be positioned under the package without pushing the package from its position on a supply pallet.  
      According to another aspect of the present invention, a method for picking up a package includes the steps of determining at least one characteristic of a package being picked up, communicating the determined characteristic to a controller, and using the controller to select from a plurality of package attachment systems carried upon an end of arm tool, with the controller making the selection based upon the previously described characteristic. Then, at least one selected package attachment system is presented to a package by means of a robot (i.e., such as an industrial robot or a gantry robot) having the end of arm tool attached thereto, with the robot being operated by the controller. The ultimate step is attachment of the package to the end of arm tool by means of the selected package attachment system.  
      It is an advantage of the present invention that a single end of arm tool may accommodate a large number of packages having different sizes, shapes, construction and configuration, ranging from plastic trays having multiple packages of bottles contained therein, to smooth sided cardboard or plastic packages, to cardboard tray packages.  
      It is a further advantage of the present invention that this invention allows the breaking down of homogeneous package pallets into mixed pallets without the need for human operators.  
      Other advantages, as well as features and objects of the present invention will become apparent to the reader of this specification. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       FIG. 1  is a perspective view of a multi-modal package handling system according to the present invention.  
       FIG. 2  is an perspective view of a portion of the system in  FIG. 1 , showing the present handling system picking up a smooth-sided cardboard carton.  
       FIG. 3  is a segment of the illustration of  FIG. 2 , albeit from a different perspective, showing additional design elements of an end of arm tool according to the present invention.  
       FIG. 4  illustrates the present multi-modal package handling system picking up a tray of beverage bottles.  
       FIG. 5  is an enlarged portion of  FIG. 4 , showing additional details of construction of the present end of arm tool.  
       FIG. 6  is similar to  FIG. 5 , but depicts pincer type package grippers mounted to the end of arm tool.  
       FIG. 7  is similar to  FIG. 1 , but illustrates two end of arm tools mounted to a single robot arm.  
       FIG. 8  is a block diagram of a portion of a control system according to one aspect of the present invention.  
       FIG. 9  illustrates a multi-modal package pick up operation involving not only vacuum units, but also a sliding package platform.  
       FIG. 10  is a flow diagram illustrating an exemplary implementation of the multi-modal package handling tool and system shown in  FIGS. 1 and 7 , for example, in accordance with the present invention.  
       FIG. 11  is a perspective and diagrammatic view of an alternate preferred embodiment of the multi-modal package handling system illustrated in  FIG. 1 .  
       FIG. 12  is a flow diagram illustrating an exemplary implementation of the multi-modal package handling tool and system shown in  FIG. 11 , for example, in accordance with the present invention 
    
    
     DETAILED DESCRIPTION OF THE INVENTION  
      As shown in  FIG. 1 , in a preferred embodiment, the present multi-modal package handling system  10  is used in conjunction with an industrial articulating robot  32  mounted upon a guideway  14 , which is situated between adjacent rows of supply pallets  20 . It should be noted however, that, as will be described in greater detail below, the present invention is not limited to use with an industrial articulating robot. Rather, the inventive tool and system to be described below can be implemented in any number of applications and arrangements that remain within the spirit and scope of the present invention.  
      In the preferred embodiment wherein articulating robot  32  is employed, however, robot  32  has robot arm  34  that is operable along a plurality of axes, to which multi-modal package handling tool  36  is mounted by way of, for exemplary purposes only, bolts or other known fasteners. In turn, robot  32  is mounted using, for example, bolts or other known fasteners, upon carriage  38 , which is then mounted upon guideway  14  to provide a measure of movability to system  10 , and more particularly, robot  32 . System  10  generally, and robot  32  in particular, traverses guideway  14 , picking various items or packages  26  from supply pallets  20 , depositing them on a shipping pallet  24 . In the illustrated embodiment, shipping pallet  24  is disposed on carriage  38  so as to move along guideway  14  with robot  32 . In other alternate embodiments, however, pallet  24  may not be on carriage  38 , but rather may be disposed elsewhere proximate robot  32 . In the embodiment wherein shipping pallet  24  is disposed on carriage  38 , when shipping pallet  24  is full, or the predetermined composition for shipping pallet  24  is complete, pallet  24  is removed from carriage  38  by, for example, a fork lift, an automated guided vehicle or laser guided vehicle, and placed in line for transport from the storage facility. As will be described in greater detail below, the operation of robot  32  and arm  34 , and the movement of carriage  38  along guideway  14  is controlled by a controller included in the inventive multi-modal package handling system. It should be noted that system  10  is not limited to an application wherein the packages to be picked up are located on supply pallets. Rather, system  10  can be implemented in a number applications. For example, in one alternate embodiment, instead of picking up packages from supply pallets  20 , robot  32  picks up packages disposed on a conveyor, and then deposits the picked up package on the supply pallet, which may or may not be mounted or otherwise disposed on carriage  38 .  
       FIG. 2  shows certain details of a portion of a system according to present invention. Multi-modal package handling tool  36  includes end plates  46 , between which four columns  48  are mounted by way of, for exemplary purposes only, bolts or other known fasteners. End plates  46  and columns  48  define a space frame to which various other components are mounted. The space frame is mounted to robot arm  34  using, for example, bolts or other known fasteners.  FIG. 2  illustrates end of arm tool  36  picking up a smooth sided cardboard carton  26 . This carton is being picked by means of vacuum units  76 , which are described in greater detail later in this specification.  
       FIG. 2  additionally shows slidingly deployable package platform  54 , which is mounted upon sliding mount  62 . Columns  48  each have a plurality of mortises  56  which are engaged by mount  62 . Slidingly deployable package platform  54 , which in a preferred embodiment is controlled by a controller that will be described in greater detail below, is positioned by means of cylinder  60 , which has a fixed end mounted to the space frame defined by columns  48  and end plates  46  using bolts or other known fasteners, for example. Usage of sliding platform  54  is further described in connection with the discussion of  FIG. 9 .  FIG. 2  also shows gripper  70 , which is positioned by means of cylinder  72 . Gripper  70  is swung into deployment by means of a cylinder,  73  which is shown with greater specificity in  FIG. 4 . Those skilled in the art will appreciate in view of this disclosure that, as used herein, the term “cylinder” means either a conventional pneumatic cylinder, or a hydraulic cylinder, or an electrically driven device, or yet other types of linear actuators used within various types of machinery.  
       FIGS. 3 and 5  show the construction of surface plate  86 , which has a plurality of ports  84 , formed therein. As shown in  FIG. 3 , surface plate  86  is mounted to end plate  46  by way of an arrangement of bolts and standoffs  87 , for example. Standoffs  87  provide clearance between end plate  46  and surface plate  86  for vacuum generators  82  that are disposed therebetween. Each of vacuum units  76  includes a multi-ribbed cup which is fed vacuum by means of a dedicated vacuum generator  82 . In an exemplary embodiment, vacuum generators  82  are attached to endplate  46 . It this particular embodiment, end plate  46  includes a plurality of apertures for receiving threaded studs of the vacuum generators  82 . Once the studs are inserted through the apertures in end plate  46 , a nut is threaded onto the threaded stud so as to hold vacuum generator  82  in place. It should be noted, however, that those skilled in the art will appreciate that other attachment methods exist that are suitable for mounting vacuum generators  82 , which remain within the spirit and scope of the present invention. The present inventors have determined that a vacuum generator model VGS3010.AC.04.BH from the PIAB AB company of Täby, Sweden, is preferred for practicing the present invention. It should be noted, however, that other types and models of vacuum generators exist that could be used to practice the invention. Vacuum generators  82  are shown with greater specificity in  FIG. 5 .  
      When the multi-ribbed vacuum cups incorporated within vacuum devices  76  are activated by providing compressed air for an air source to vacuum generators  82 , the vacuum ribbed cups contract axially, causing the package being picked to be pulled up tightly to surface plate  86 . This is shown specifically in  FIG. 2 . As noted above, each of vacuum generators  82  shown in  FIG. 5  is independently powered. In other words, compressed air is supplied to each of the vacuum generators  82 , but there is no manifolding for interconnecting the vacuum output side of vacuum generators  82 . Each vacuum generator  82  provides vacuum to a single vacuum unit  76 , and this is important because in the event that a vacuum cannot be pulled on any one or more of vacuum units  76 , vacuum may still be pulled on the remaining units.  
      The drink bottles shown in  FIG. 5  are pulled up tightly against surface plate  86 , but this is due to the action of package grippers  70 , which pull upon tray  26  of  FIG. 5 . Vacuum units  76  are normally not employed to pick bottles such as those illustrated in  FIG. 5 .  FIG. 6  is similar to  FIG. 5 , but shows a pincer  90 , which is used in a plurality of locations similar to those locations used with respect to package grippers  70 . Pincers  90  are particularly useful for gripping cardboard shipping trays, either at the ends of such trays, or in certain cases, at the center of the tray. Pincers  90  may be actuated either by hydraulic or pneumatic cylinders, or by other types of linear force/motion devices known to those skilled in the art and suggested by this disclosure. The application of such devices is beyond the scope of this specification. It should be noted that one preferred application for the inventive tool and system is the beverage industry. However, the present invention is not limited to such as application. Rather, the inventive tool and method can be applied to any industry involving packages and/or palletizing.  
       FIG. 7  is similar to  FIG. 1 , but shows two end of arm tools  36  mounted on a single robot arm  34 . This configuration may be pursued in an effort to increase the throughput of a system according to the present invention  
       FIG. 8  is a block diagram according to the present invention, and shows controller  100  as receiving inputs from sensors  102 . A number of suitable controllers could be used, such as, for exemplary purposes only, a programmable computer or a programmable logic controller, that can receive inputs from the sensors  102 , for example, and then causes robot  32  to respond accordingly (i.e., movement of arm  34 , selection of one or more of the package attachment systems, etc.). A variety of different sensors such as regular, low light, or infrared cameras, radio frequency tagging, or other types of devices known to those skilled in the art and suggested by this disclosure may be employed for the purpose of locating and sensing the package, as well as determining a characteristic of the package being picked. This characteristic may, for example, be the amount of open area in the top surface of the package, which would indicate whether the package is a tray of bottles having a large amount of open area, or a smooth cardboard carton having little or no open areas.  
      In one preferred embodiment, sensors  102  take the form of a machine vision unit. The machine vision unit is operatively connected with controller  100  which, as described elsewhere herein, operates not only robot  32 , but also vacuum units  76 , package grippers  70 , and sliding package platform  54 . Using techniques which are known to those skilled in the art and beyond the scope of this invention, the machine vision unit provides controller  100  with an image of the package being handled, so as to permit controller  100  to select the use of either vacuum units  76  or package grippers  70  or a combination of vacuum units  76  and package platform  54 . In the event that both package platform  54  and vacuum units  76  are used, the end of arm tool will be oriented such that the surface plate through which the vacuum units erupt will be suited in a generally vertical orientation, with the sequence of attaching the package to end of arm tool  36  following the steps of using vacuum units  76  and robot  32  to lift the package while deploying sliding package platform  54  under the lifted package. In this manner, sliding package platform  54  may be positioned under the package without pushing the package from its position on its respective supply pallet  20 .  
      In any event, inputs from various sensors  102 , which are disposed on and/or proximate to surface plate  86 , are used by controller  100  to select which one or more package attachment systems are to used to lift the package, and to selectively operate vacuum units  76 , robot  32 , package grippers  70 , and sliding platform  54  to pick a package having a detected characteristic.  
       FIG. 9  illustrates another multi-modal function according to the present invention in which end of arm tool  36  picks a package from one side by first attaching to the side of package  26  with at least one vacuum unit  76 . Then, package  26  will be lifted by robot  32  so that cylinder  60  is able to extend slidingly deployable package platform  54  under package  26  without pushing package  26  from its immediately previous location.  
      One exemplary implementation of the inventive tool and system is illustrated, in part, in  FIG. 10 . It should be noted that this implementation is provided for exemplary purposes only and is not meant to be limiting in nature. Rather, the inventive tool and system can be implemented in other applications/arrangements while remaining within the spirit and scope of the present invention. In this implementation, the distributor of the goods being shipped enters a desired order into a warehouse management system  104 . WMS  104  includes a software program that manages the overall operation of the warehouse, and among other things, also stores all orders placed, keeps track of inventory and stores various product information. WMS  104  also determines, for example, the mix and quantity of products required to meet the entered order (i.e., the number and composition of the shipping pallets, for example). If necessary, the required products (i.e., the source pallets  20  described above) are then retrieved—either by an automated storage and retrieval system, or manually using forklifts or automated/laser guided vehicles, for example—and placed in appropriate predetermined product slot locations along guideway  14  (i.e., supply pallets). WMS  104  then sends the order data to a coordinator system  106 , which is essentially a software platform loaded on a personal computer, for example, that is capable of receiving information from WMS  104  relating to the desired order, and then communicating that information to multiple devices in the package handling system or systems in the warehouse, such as, for example, various conveyors, robots, and tools. WMS  104  communicates with coordinator system  106  using known communication methods and techniques, such as, for example, an Ethernet network, a PROFIBUS network (or other bus structure), a wireless network, or other similar methods and techniques that one of ordinary skill in the art will appreciate as being suitable for the desired purpose.  
      Coordinator system  106  is programmed with the corresponding coordinates of the individual product slots and the type of products in the respective slots. As will be described below, coordinator system  106  is therefore operative to take the information from WMS  104 , correlate the composition of the order with the location of the respective goods making up the order (i.e., the coordinates of the respective product slots within which the products are located), and providing a converted form of the WMS order information to controller  100  of robot  32  that will allow robot  32  to assemble the desired order. In one exemplary embodiment such as that illustrated in  FIG. 1 , coordinator system  106  and controller  100  are located in a single control panel or enclosure  108 . It should be noted, however, that the present invention is not so limited. Rather, those of ordinary skill in the art will appreciate that other arrangements exist in which coordinator system  106  and controller  100  are separate from each other, and these arrangements remain within the spirit and scope of the present invention. Additionally, coordinator system  106  and controller  100  may be located proximate to robot  32 , as shown in  FIG. 1 , or may be remote to robot  32  in, for example, a supervisory station. As with the communication from WMS  104  to coordinator system  106  described above, coordinator system  106  and controller  100  likewise communicate using known communication methods and techniques, such as, for exemplary purposes, an Ethernet network, a PROFIBUS network (or other similar bus structure), a wireless network, or other similar methods and techniques that one of ordinary skill in the art will appreciate as being suitable for the desired purpose.  
      Once the order information is provided by coordinator system  106  to controller  100 , controller  100  causes robot  32  to build the desired order in the correct quantity and order sequence. Accordingly, controller  100  is configured, in part, to move robot  32  along guideway  14  to the correct product slot where the next type of product in the order to be picked up is located, and to then pick up the correct quantity of the product and place it on shipping pallet  24 . As described in greater detail above, in a preferred embodiment, robot  32  includes sensors  102 , such as, for example, a vision unit, to determine and confirm the presence and type of product (including certain predetermined characteristics thereof), and the products location. Sensors  102  may be hardwired to controller  100  using known methods, or may also be connected to controller  100  over a wireless link. Using the information provided to controller  100  by sensors  102 , controller  100 , for example, positions tool  36  so as to be operative to pick up the desired product, and also selects one or more of the package attachments systems associated with tool  36  to be used to pick up the respective product. Accordingly, controller  100  moves robot  32  to the correct place along guideway  14  where the desired products is; manipulates the position of arm  34  such that tool  36  is situated over the respective product to allow for sensors  102  to verify the type and location of the product; and then causes robot  32 , and tool  36  in particular, to pick up the product and deposit it on the shipping pallet  24 . This operation is then repeated until the composition of shipping pallet  24  meets the desired order. The completed shipping pallet  24  is then removed from carriage  38 , and replaced with an empty shipping pallet  24  to continue the cycle.  
       FIG. 11  illustrates a second preferred embodiment of a multi-modal package handling system  110 . In this particular embodiment, system  110  includes a four-post gantry type robot system wherein a gantry robot  132  is employed in place of the industrial robot  32  described above and illustrated in  FIGS. 1 and 7 , and the overhead gantry  133  takes the place of guideway  14 . Gantry robots, which are known generally in art, are stationary robots that may allow for linear motion in three or more axes. In the present invention, this includes movement along the x and y axes of a horizontal plane depicted in  FIG. 11  (e.g., front and back, and left and right movement), which is parallel to the floor/platform on which the posts of the gantry system are mounted. In the inventive system, gantry robot  132  includes a telescoping arm  134  to the end of which a package handing tool  136  is mounted by way of bolts or other known fasteners. Arm  134  provides gantry robot  132 , and therefore tool  136 , with the ability to move not only along the x-y axes, but also along the z-axis, which is perpendicular to the aforementioned horizontal x-y plane. Accordingly, with the addition of arm  134 , tool  136  can be moved in the front/back, left/right and up/down directions.  
      Generally speaking, the structure and functionality of tool  136  is the same as that of tool  36 . As such, a full description of tool  136  will not be repeated here, but rather, the description of the function and structure of tool  36  set forth above applies with equal force to tool  136 . Similarly, the general function served by multi-modal package handling system  110  is the same as that of system  10 . Therefore, a full description of system  110  will not be repeated here, but rather, with the limited exceptions noted below, the description of system  10  set forth above applies with equal force to system  110 .  
      Accordingly, gantry robot  132  moves along the x, y, and/or z axes as needed to pick up various packages  126  from supply pallets  120  located within the operating area of gantry robot  132 , and deposits them on a shipping pallet  124  that is positioned at a predetermined location within the operating area of gantry robot  132 . It should be noted that as with the description of system  10  above, in alternate embodiments, the packages to be picked up may not be disposed on supply pallets  120  located within the operating area of gantry robot  132 . For example, in one exemplary embodiment, robot  132  picks up packages from a conveyor belt located within the operating area of the gantry and then deposits the package on supply pallet  124 . Accordingly, one of ordinary skill in the art will appreciate that the inventive system can be implemented in a number of applications and arrangements.  
      As with system  10 , system  110  includes one or more sensors  202  (not shown in  FIG. 11 ) positioned on or proximate to tool  136  that locate and/or sense the presence of a package, as well as, in a preferred embodiment, to determine a characteristic of the package being picked up. This characteristic may, for exemplary purposes only, be the amount of open area in the top surface of the package, which would indicate the type of package.  
      As discussed above with respect to sensors  102 , sensors  202  may take the form of one or more of any number of suitable sensors, such as, for example, regular, low light or infrared cameras, radio frequency tagging or machine vision units (which are described in greater detail above). Regardless of the sensors used, the information detected or sensed by sensors  202  is sent to a controller  200 , which controls, among other things, at least the operation of both gantry robot  132  and tool  136 . In one preferred embodiment, controller  200 , which, as set forth above, may take on any one of a number of types of controllers, including but not limited to, for example, programmable computers or programmable logic controllers, moves gantry robot  132  to supply pallet  120 , and then receives the information from sensors  202  relating to the presence and type of the package on supply pallet  120 . Controller  200  then selects the type or types of package attachment system(s) mounted to the tool platform to present to the package, and then operates robot  132  and tool  136  accordingly in order to pick up the package and place it on shipping pallet  124 .  
      An exemplary implementation of the embodiment of the inventive tool and system illustrated in  FIG. 11  is depicted, in part, in  FIG. 12 . It should be noted that this implementation is provided for exemplary purposes only and is not meant to be limiting in nature. Rather, the inventive tool and system can be implemented in other applications/arrangements while remaining within the spirit and scope of the present invention. In this implementation, the distributor of the goods being shipped enters a desired order into a warehouse management system  204 . WMS  204  includes a software program that manages the overall operation of the warehouse, and among other things, also stores all orders placed, keeps track of inventory and stores various product information. WMS  204  also determines, for example, the mix and quantity of products required to meet the entered order (i.e., the number and composition of the shipping pallets, for example). If necessary, the required products (i.e., the source pallets  120  described above) are then retrieved—either by an automated storage and retrieval system, or manually using forklifts or automated/laser guided vehicles, for example—and placed in appropriate predetermined product slot locations within the operating area of gantry robot  132 . WMS  204  then sends the order data to a coordinator system  206 , which is essentially a software platform loaded on a personal computer, for example, that is capable of receiving information from WMS  204  relating to the desired order, and then communicating that information to multiple devices in the package handling system or systems in the warehouse, such as, for example, various conveyors, robots, and tools. WMS  204  communicates with coordinator system  206  using known communication methods and techniques, such as, for example, an Ethernet network, a PROFIBUS network (or other bus structure), a wireless network, or other similar methods and techniques that one of ordinary skill in the art will appreciate as being suitable for the desired purpose.  
      Coordinator system  206  is programmed with the corresponding coordinates of the individual product slots and the type of products in the respective slots. As will be described below, coordinator system  206  is therefore operative to take the information from WMS  204 , correlate the composition of the order with the location of the respective goods making up the order (i.e., the coordinates of the respective product slots within which the products are located), and providing a converted form of the WMS order information to controller  200  of robot  132  that will allow robot  132  to assemble the desired order. In one exemplary embodiment such as that illustrated in  FIG. 11 , coordinator system  206  and controller  200  are located in a single control panel or enclosure  208 . It should be noted, however, that the present invention is not so limited. Rather, those of ordinary skill in the art will appreciate that other arrangements exist in which coordinator system  206  and controller  200  are separate from each other, and these arrangements remain within the spirit and scope of the present invention. Additionally, coordinator system  206  and controller  200  may be located proximate to robot  132 , as shown in  FIG. 11 , or may be remote to robot  132  in, for example, a supervisory station. As with the communication from WMS  204  to coordinator system  206  described above, coordinator system  206  and controller  200  likewise communicate using known communication methods and techniques, such as, for exemplary purposes, an Ethernet network, a PROFIBUS network (or other similar bus structure), a wireless network, or other similar methods and techniques that one of ordinary skill in the art will appreciate as being suitable for the desired purpose.  
      Once the order information is provided by coordinator system  206  to controller  200 , controller  200  causes gantry robot  132  to build the desired order in the correct quantity and order sequence. Accordingly, controller  200  is configured, in part, to move gantry robot  132  in one or more of the x, y and z axes, to the correct product slot where the next type of product in the order to be picked up is located, and to then pick up the correct quantity of the product and place it on shipping pallet  124 . As described in greater detail above, in a preferred embodiment, robot  132  includes one or more sensors  202 , such as, for example, a vision unit, to determine and confirm the presence and type of product (including certain predetermined characteristics thereof), and the products location. Sensors  202  may be hardwired to controller  200  using known methods, or may also be connected to controller  200  over a wireless link. Using the information provided to controller  200  by sensors  202 , controller  200 , for example, positions tool  136  so as to be operative to pick up the desired product, and also selects one or more of the package attachments systems associated with tool  136  to be used to pick up the respective product. Accordingly, controller  200  moves robot  132  to the correct place within the operating area of the gantry where the desired products is; manipulates the position of arm  134  such that tool  136  is situated over the respective product to allow for sensors  202  to verify the type and location of the product; and then causes robot  132 , and tool  136  in particular, to pick up the product and deposit it on the shipping pallet  124 . This operation is then repeated until the composition of shipping pallet  124  meets the desired order. The completed shipping pallet  124  is then removed from the operating area of the gantry, and replaced with an empty shipping pallet  124  to continue the cycle.  
      Although the present invention has been described in connection with particular embodiments thereof, it is to be understood that various modifications, alterations, and adaptations may be made by those skilled in the art without departing from the spirit and scope of the invention set forth in the following claims.