Picking module

Abstract

The present invention relates to a picking module (3) reversibly coupled to an industrial vehicle (2), particularly an autonomous industrial vehicle, for automatic object picking. The picking module (3) includes: a travel mast (7) which can be arranged on and reversibly coupled to a load receiving device (4) of the industrial vehicle (2); a robotic arm (8) and a receiving tool (9) connected to the robotic arm (8) for receiving objects, wherein the robotic arm (8) is arranged on the travel mast (7) in a liftable manner; wherein the picking module (3) has an environmental sensor (11) configured to detect the environmental area of ​​the picking module (3) and generate a sensor signal; and the picking module (3) has a communication interface configured to communicate with the controller of the industrial vehicle (2) and transmit the generated sensor signal to the controller of the industrial vehicle (2).

Description

Technical Field

[0001] The present invention relates to a picking module reversibly coupled to an industrial vehicle for automated object picking, and a picking system comprising an industrial vehicle and a picking module reversibly coupled to the industrial vehicle. Background Technology

[0002] Picking refers to all methods of organizing specific objects (particularly goods in a warehouse or distribution center) from a provided general classification. Here, the organization should be based on orders, such as customer orders or production orders. Recently, automated systems have been increasingly used. For example, packages are received as picking objects from a source location (e.g., a source pallet) by an autonomously operated mobile picking robot and placed on a target location (e.g., a target pallet transported on a picking robot or a transport vehicle).

[0003] For this purpose, mobile picking robots are typically used. These mobile picking robots are designed to operate at least partially autonomously, and especially fully autonomously. They are capable of independently receiving packages at the corresponding source location with their respective robotic arms, independently transporting the received packages to the target location, and independently placing the received packages at the target location.

[0004] The corresponding mobile picking robots automatically obtain order data from a central computer, such as order number, warehouse location coordinates, quantity, and weight of goods. For example, they can purposefully move to specific shelf cells in a rack warehouse and retrieve the desired items from the cell using a gripping system equipped with receiving tools. The receiving tools can be designed as grippers, such as adhesive grippers or vacuum grippers.

[0005] Mobile picking robots used for picking are self-propelled and typically have travel masts or other travel mechanisms for vertically positioning and receiving tools on shelves and target containers. Corresponding mobile picking robots are used for different activities, and therefore various implementations are common. In particular, autonomous counterbalance forklifts, autonomous telescopic forklifts, autonomous vertical pickers, and autonomous narrow aisle equipment are known.

[0006] However, corresponding mobile picking robots are generally still very expensive, thus requiring high utilization rates to operate profitably. Furthermore, mobile picking robots are often specifically developed for particular activities. To autonomously map individual process steps with high reliability, mobile picking robots must be redundantly deployed for that process. In internal logistics processes, mobile picking robots frequently experience process-related downtime. Moreover, the development of mobile picking robots is complex, time-consuming, and expensive. Therefore, the number of mobile picking robots remains very small.

[0007] DE 10 2018 133 102 A1 discloses a mobile picking robot having a carrier vehicle and a self-contained picking module that can be coupled to the carrier vehicle, wherein the mobile picking robot can flexibly adapt to different requirements through the self-contained picking module.

[0008] However, the drawback of this prior art is that the corresponding self-contained picking module often protrudes beyond the external outline of the mobile picking robot, thereby increasing the external size of the mobile picking robot to the point where effective collision monitoring is required to prevent the picking module from colliding with obstacles in the mobile picking robot's environment. Summary of the Invention

[0009] The objective of this invention is to provide a picking module for industrial vehicles that can flexibly adapt to different requirements and achieve effective collision detection.

[0010] According to the first aspect, the task is accomplished by a picking module reversibly coupled to an industrial vehicle for automated object picking. The picking module includes: a travel mast reversibly mounted on and coupled to a load receiving device of the industrial vehicle; a robotic arm and a receiving tool connected to the robotic arm for receiving objects, wherein the robotic arm is mounted on the travel mast in a liftable manner; wherein the picking module has an environmental sensor designed to detect the environmental area of ​​the picking module and generate sensor signals; and wherein the picking module has a communication interface designed to connect the environmental sensor to a controller of the industrial vehicle via communication technology and transmit the generated sensor signals to the controller of the industrial vehicle.

[0011] Specifically, the sensor signals generated by the environmental sensors of the picking module include the location of obstacles in the picking module's environmental area, wherein the controller of the industrial vehicle is particularly designed to take into account the corresponding location of obstacles when controlling the picking module and / or the industrial vehicle.

[0012] Specifically, the environmental sensors of the picking module are designed to determine the external contours of the picking module and / or the industrial vehicle, wherein the environmental sensors of the picking module are particularly designed to distinguish the environmental area of ​​the picking module from the external contours of the picking module and / or the industrial vehicle in order to detect the environmental area of ​​the picking module.

[0013] The resulting technical advantages are: the environmental sensors of the picking module can effectively monitor whether there are obstacles in the picking module's environment, and can transmit the position of the corresponding obstacle to the controller of the industrial vehicle through the sensor signal. Thus, when a collision is about to occur, the controller of the industrial vehicle can initiate emergency braking or avoidance operation of the industrial vehicle, or cause the movement of the robot arm to stop.

[0014] According to one embodiment, a receiving device, particularly a receiving tube, is arranged on the travel mast, particularly on the lower side of the travel mast, with a load receiving device of an industrial vehicle reversibly coupled thereto, wherein the fork of the load receiving device of the industrial vehicle can be inserted into the receiving tube of the receiving device.

[0015] The resulting technical advantage is that a favorable reversible coupling is achieved between the load receiving device of the industrial vehicle and the travel mast of the picking module by simply inserting the fork into the receiving device or simply pulling it out again.

[0016] Specifically, the picking module features a locking element designed to lock the picking module to the load receiving device of the industrial vehicle (e.g., with the fork and / or fork teeth). Locking can be performed by clamping or snapping and can be engaged manually or actively. Furthermore, the locking mechanism can open or close automatically, allowing for fully autonomous replacement of the picking module.

[0017] According to one implementation, the picking module has its own power supply device, particularly a battery.

[0018] The resulting technical advantage is that the battery of the picking module ensures the self-sufficiency of energy supply for the picking module.

[0019] According to one embodiment, the picking module has an electrical interface that can be coupled to the energy supply device (especially a battery) of an industrial vehicle to supply electrical energy from the industrial vehicle to the picking module.

[0020] The resulting technical advantage is that it enables an electrical connection between the picking module and the industrial vehicle, allowing the typically much larger industrial vehicle battery to provide a greater amount of power to the picking module. This can eliminate the need for the picking module's own battery in certain situations, or reduce the size of the picking module's battery.

[0021] Specifically, the electrical interface is designed to automatically establish a connection with the industrial vehicle's energy supply unit (especially the battery) during the coupling process between the picking module and the industrial vehicle.

[0022] According to one embodiment, the picking module has a travel driver for raising and lowering the robot arm on the travel mast, and / or the picking module has at least one arm driver for moving the robot arm and receiving tools.

[0023] The resulting technical advantage is that the robotic arm can be moved solely by the picking module, via its own stroke driver and / or at least one arm driver.

[0024] According to one embodiment, the communication interface includes a wired communication interface designed to connect an environmental sensor to a controller of an industrial vehicle via wired communication technology, or the communication interface includes a wireless communication interface designed to connect an environmental sensor to a controller of an industrial vehicle via wireless communication technology.

[0025] The resulting technical advantage is that, depending on the application, it enables efficient communication technology exchange between the environmental sensors of the picking module and the controller of the industrial vehicle.

[0026] According to one embodiment, the robot arm is designed as a multi-arm robot arm, particularly a six-arm robot arm, or the robot arm is designed as a motion mechanism with a translation axis.

[0027] The resulting technical advantages are that the corresponding multi-arm robot arm and robot arm with translation axis provide a variety of advantageous degrees of freedom for moving objects.

[0028] According to one embodiment, the robot arm has a flat motion mechanism and is horizontally oriented in a coupled state, or the robot arm is designed as an articulated arm robot, which is particularly arranged on a base that can be height-displaced (e.g., telescopic).

[0029] The resulting technical advantage is that both the flat motion mechanism of the robot arm and the articulated arm robot can achieve advantageous object picking.

[0030] According to one embodiment, the picking module has a module load receiving device.

[0031] The technical advantage achieved by this is that the picking module itself can receive the pallet (e.g., the target pallet) and the object to be picked through the module load receiving device, thus eliminating the need for an accompanying vehicle.

[0032] According to the second aspect, the task is accomplished by a picking system for automatically picking objects, the picking system comprising an industrial vehicle and a picking module according to the first aspect, wherein the industrial vehicle has a load receiving device, and the travel mast of the mobile picking module is reversibly coupled to the load receiving device of the industrial vehicle.

[0033] The resulting technical advantages are: industrial vehicles with reversibly coupled picking modules achieve advantageous object picking and advantageous environmental monitoring.

[0034] According to one embodiment, the industrial vehicle has a controller designed to control a travel actuator for raising and lowering a robot arm on a travel mast and / or at least one arm actuator for moving the robot arm and receiving a tool, based on sensor signals generated by environmental sensors.

[0035] The resulting technical advantage is that, based on sensor signals provided by the environmental sensors of the picking module, the travel mast and / or robot arm can be driven or not driven.

[0036] According to one embodiment, the controller is designed to activate the stroke driver and / or the at least one arm driver to stop the movement of the robot arm when the environmental sensor detects an obstacle in the environmental area of ​​the picking module.

[0037] The technical advantage achieved by this is that stopping the movement of the robotic arm can prevent the picking module from colliding with obstacles.

[0038] According to one embodiment, the industrial vehicle has a drive drive for moving the industrial vehicle, wherein the controller is designed to activate the drive drive to stop the movement of the industrial vehicle when an environmental sensor detects an obstacle in the environmental area of ​​the picking module, or wherein the controller is designed to activate the drive drive to initiate an obstacle avoidance movement of the industrial vehicle when an environmental sensor detects an obstacle in the environmental area of ​​the picking module.

[0039] The resulting technical advantage is that the picking module can be prevented from colliding with obstacles by stopping the movement of the industrial vehicle or by performing an avoidance maneuver.

[0040] According to one embodiment, the picking system includes an external server with an external controller that is communicatively connected to an industrial vehicle via another communication interface, wherein the external controller is designed to assign model numbers of picking modules reversibly coupled to the industrial vehicle to the model number of the industrial vehicle.

[0041] The resulting technical advantages are: the external controller can register the picking module and the industrial vehicle with each other, thereby ensuring an efficient operating process and, in particular, preventing the same picking module from being assigned to different industrial vehicles at the same time.

[0042] According to one embodiment, the picking system includes an external server with an external controller that is communicatively connected to an industrial vehicle via another communication interface, wherein the external controller is designed to transmit picking orders to the industrial vehicle via the other communication interface.

[0043] The resulting technical advantage is that an efficient fleet of mobile picking systems can be operated through an external server.

[0044] According to one embodiment, the picking system includes an accompanying mobile transport robot having a load receiving device, wherein the robotic arm of an industrial vehicle is designed to place objects received by a receiving tool onto the load receiving device of the accompanying mobile transport robot.

[0045] The resulting technical advantage is that the accompanying mobile transport robot enables the effective reception of items to be picked.

[0046] According to one embodiment, the picking system includes a picking station that can be driven to by an accompanying mobile transport robot, wherein the picking station is designed to pick objects stored on a load receiving device of the accompanying mobile transport robot.

[0047] The resulting technical advantage is that, in the case of a large number of mobile picking systems, the picking station achieves a particularly efficient picking process.

[0048] According to one implementation, industrial vehicles can be designed as autonomous industrial vehicles or manually guided industrial vehicles. Industrial vehicles can be designed, for example, as forklifts (e.g., low-travel or high-travel vehicles), counterbalance forklifts, or telescopic forklifts. Attached Figure Description

[0049] Other advantages and details of the present invention will be described by way of example with reference to embodiments shown in the illustrative drawings. The drawings are as follows.

[0050] Figure 1 and Figure 2 A picking system for automatically picking objects according to an embodiment of the present invention is shown, comprising an industrial vehicle and a picking module reversibly coupled to the industrial vehicle.

[0051] Figure 3 A picking system according to an embodiment of the present invention is shown, comprising an industrial vehicle with a reversibly coupled picking module, an external server, and an accompanying mobile transport robot. Detailed Implementation

[0052] Figure 1 and Figure 2 A picking system 1 for automatically picking objects according to an embodiment of the present invention is shown, including an industrial vehicle 2 and a picking module 3 reversibly coupled to the industrial vehicle 2.

[0053] exist Figure 1 In the diagram, the industrial vehicle 2 and the picking module 3 of the picking system 1 are shown in a separate state, while... Figure 2 In the diagram, industrial vehicle 2 and picking module 3 are shown in a reversibly coupled state.

[0054] Figure 1 and Figure 2The picking system 1 shown is used for automated picking, that is, sorting specific objects from a provided general category, especially goods in warehouses or distribution centers.

[0055] In the illustrated embodiment, the industrial vehicle 2 is designed as a low-travel vehicle. The industrial vehicle 2 also includes a load receiving device 4, which specifically comprises fork teeth 5. Here, the load receiving device 4 can be connected to the industrial vehicle 2 via... Figure 1 and Figure 2 The travel drive, not shown, moves vertically within the initial travel.

[0056] Figure 1 and Figure 2 The industrial vehicle 2 shown is designed as an autonomous industrial vehicle, for example, and has a driving drive and a steering drive, and can navigate and locate autonomously in the environment.

[0057] from Figure 1 and Figure 2 It can be concluded that the picking module 3 can be reversibly coupled to the industrial vehicle 2 by inserting the load receiving device 4, in particular the fork 5 of the load receiving device 4, into the receiving device 6 of the picking module 3, in particular the receiving tube of the receiving device 6.

[0058] Specifically, the picking module 3 has a locking element designed to lock the picking module 3 to the load receiving device 4 (e.g., fork carriage and / or fork teeth 5) of the industrial vehicle 2. The locking can be performed by clamping or snapping and can be engaged manually or actively. Furthermore, the locking can be automatically opened or closed, allowing for fully autonomous attachment changes.

[0059] Therefore, as Figure 2 As shown, the picking module 3 can be advantageously coupled to the industrial vehicle 2, and as... Figure 1 As shown, the picking module 3 can also be advantageously decoupled from the industrial vehicle 2 again.

[0060] The key is that the picking module 3 can operate autonomously; that is, the picking module 3 has its own travel mast 7 and its own robotic arm 8, which can... Figure 1 and Figure 2 The travel actuator of the picking module 3 (not shown) moves up and down on the travel mast 7, or can be driven by the picking module 3. Figure 1 and Figure 2 The arm actuator (not shown) moves horizontally. Furthermore, a receiving tool 9, connected to the robot arm 8, is arranged on the robot arm 8 for receiving objects, thereby enabling advantageous autonomous picking of objects via the picking module 3.

[0061] Here, the robot arm 8 is designed as a Scara robot arm 8. The robot arm 8 specifically features a flattened motion mechanism and is horizontally oriented in a coupled state. Although not in... Figure 1 and Figure 2 As shown, the robot arm 8 can also be alternatively designed as an articulated arm robot, which is specifically arranged on a base that can be height-displaced (e.g., telescopic). However, the robot arm 8 can also be designed as a motion mechanism with a translation axis.

[0062] Therefore, the picking module 3 can perform a full picking process even without the industrial vehicle 2, except that the movement of the picking module 3 in the warehouse is achieved through the industrial vehicle 2.

[0063] Here, the industrial vehicle 2 can ensure effective reception or coupling with the picking module 3 by the corresponding initial stroke of the load receiving device 4 and by inserting the fork 5 into the receiving device 6 of the picking module 3. Due to the existence of this standardized fork 5 interface, the picking module 3 can therefore be received and operated by many different industrial vehicles 2. After the picking activity is completed, the corresponding industrial vehicle 2 can put down the picking module 3 again, and the corresponding industrial vehicle 2 can then be used for other activities.

[0064] In order to provide sufficient power for the operation of picking module 3, such as Figure 1 and Figure 2 As shown, the picking module 3 has its own battery 10. Alternatively or additionally, the picking module 3 may have an electrical interface that can be coupled to the energy supply device (particularly the battery) of the industrial vehicle 2. In particular, the coupling of the electrical interface can be automatically established when the picking module 3 is received onto the fork 5. Thus, the picking module 3 obtains the required electrical energy from the industrial vehicle 2, which typically has a significantly larger battery, thereby achieving weight savings for the picking module 3, as a smaller battery can be used for this purpose, and eliminating the need for a charging process for the picking module 3.

[0065] However, for the picking system 1 to operate without collisions in the warehouse, effective sensing and detection of the surrounding environment is crucial. However, a problem arises when using the picking module 3 on an industrial vehicle 2 designed as an autonomous industrial vehicle: the outer contour of the autonomous industrial vehicle 2 is enlarged due to the protruding portion of the picking module 3, thus limiting or preventing the use of common environmental sensors found on the autonomous industrial vehicle 2.

[0066] For this reason, according to the present invention, the picking module 3 has an environmental sensor 11, which is designed to detect the environmental area of ​​the picking module 3 and generate a sensor signal. The picking module 3's Figure 1 and Figure 2The communication interface (not shown) is designed to connect the environmental sensor 11 to the controller (not shown) of the autonomous industrial vehicle 2 and transmit the generated sensor signals to the controller of the autonomous industrial vehicle 2.

[0067] Therefore, obstacles in the environmental area of ​​the picking module 3 can be effectively detected by the environmental sensor 11, and the corresponding positions of the obstacles in the environmental area of ​​the picking module 3 can be effectively transmitted to the controller of the autonomous industrial vehicle 2 through the sensor signal.

[0068] Here, the controller of the industrial vehicle 2 is designed to control the travel drive for raising and lowering the robot arm 8 on the travel mast and / or at least one arm drive for moving the robot arm 8 and receiving the tool 9 based on sensor signals detected by the environmental sensor 11.

[0069] Specifically, the controller of the industrial vehicle 2 is designed to activate the stroke driver and / or the at least one arm driver to stop the movement of the robot arm 8 when the environmental sensor 11 detects an obstacle in the environmental area of ​​the picking module 3.

[0070] This prevents the robotic arm 8 from colliding with detected obstacles and allows the picking module 3 to operate safely on the industrial vehicle 2.

[0071] The controller of the industrial vehicle 2 is designed to activate the drive drive to stop the movement of the industrial vehicle 2 when the environmental sensor 11 detects an obstacle in the environmental area of ​​the picking module 3, or the controller is designed to activate the drive drive to initiate the obstacle avoidance movement of the industrial vehicle 2 when the environmental sensor 11 detects an obstacle in the environmental area of ​​the picking module 3.

[0072] This also prevents industrial vehicle 2 from colliding with detected obstacles.

[0073] The following advantages are achieved by using the picking module 3.

[0074] Picking module 3 can be constructed as a standalone module, lacking driving functionality and exhibiting reduced complexity. The complexity and development effort of picking module 3 are significantly reduced because driving functionality and associated navigation are not required. For this purpose, existing industrial vehicles 2 are utilized, and due to the omission of driving functionality, picking module 3 is inexpensive. Picking module 3 can be received, transported, and operated by many different industrial vehicles 2. Therefore, different telescopic forklifts and counterbalance forklifts can be used. Use on vertical picking machines is also possible. However, picking module 3 is preferably received by the simplest industrial vehicles 2, which only have free travel capability, such as low-travel vehicles. The aforementioned industrial vehicles can be designed as autonomous or non-autonomous (e.g., manually guided) industrial vehicles.

[0075] Different picking modules 3 can be selected for different orders. For picking processes at higher levels, a different picking module may be needed than for those at lower levels. Picking module 3 represents the most flexible system. Other autonomous picking modules 3 (with driving capabilities) may not be suitable for certain application scenarios in some cases because the driving capability is too slow to ensure cost-effective operation.

[0076] The interface designed as fork 5 is standardized and established throughout the industry. A large number of industrial vehicles 2 are available for use. The utilization rate of industrial vehicles 2 can be improved.

[0077] Frequent order peaks necessitate a significant investment of time and effort in replenishment, receiving, and picking processes. Typically, excess capacity is maintained for industrial vehicles 2 during these peaks. In an autonomous warehouse, excess capacity is maintained for these autonomous industrial vehicles during receiving, replenishment, and picking processes. However, all autonomous industrial vehicles used are dedicated vehicles. This invention allows for the application of more flexible autonomous industrial vehicles (e.g., low-lift vehicles). These vehicles can perform multiple activities occurring in the warehouse, such as replenishment using forks 5, receiving and picking from picking module 3. The utilization rate of autonomous industrial vehicles 2 is increased, and the same reliability can be ensured with fewer vehicles.

[0078] Figure 3 A picking system according to an embodiment of the present invention is shown, comprising an industrial vehicle 2 having a picking module 3 with reversible coupling, an external server 12, and an accompanying mobile transport robot 14.

[0079] For a description of the industrial vehicle 2 with reversibly coupled picking module 3, see [link to previous section]. Figure 1 and Figure 2 Explanation.

[0080] from Figure 3 As can be seen, the picking system 1 includes an external server 12 with an external controller (not shown), which is connected to the industrial vehicle 2 via another communication interface 13, schematically shown. The external controller is designed here to assign the model number of the picking module 3, which is reversibly coupled to the industrial vehicle 2, to the model number of the industrial vehicle 2.

[0081] In addition, the external controller of server 12 can be designed to transmit picking orders to industrial vehicle 2 via another communication interface 13.

[0082] from Figure 3It can also be seen that the picking system 1 includes an accompanying mobile transport robot 14 with a load receiving device 4, wherein the robotic arm 8 of the picking module 3 arranged on the industrial vehicle 2 is designed to place objects received by the receiving tool 9 onto the load receiving device 4 of the accompanying mobile transport robot 14.

[0083] The picking system 1 also includes a picking station 15 that can be driven to by an accompanying mobile transport robot 14, wherein the picking station 15 is designed to pick objects stored on the load receiving device 4 of the accompanying mobile transport robot 14.

[0084] List of reference numerals in the attached diagram: 1 Picking System 2. Industrial vehicles, especially domestically produced industrial vehicles 3 Picking Module 4. Load receiving device 5 fork teeth 6. Receiving device 7. Travel mast 8 robotic arms 9. Receiving tools 10 batteries 11 Environmental Sensors 12 External Servers 13 Another communication interface 14 Accompanying mobile transport robots 15. Picking station.

Claims

1. A picking module (3) reversibly coupled to an industrial vehicle (2) for automatic object picking, said picking module (3) comprising: The travel mast (7) can be arranged on the load receiving device (4) of the industrial vehicle (2) and can be reversibly coupled to the load receiving device (4) of the industrial vehicle (2); A robotic arm (8) and a receiving tool (9) connected to the robotic arm (8) for receiving objects, wherein the robotic arm (8) is vertically and vertically arranged on the travel mast (7). Its features are, The picking module (3) has an environmental sensor (11) configured to detect the environmental area of ​​the picking module (3) and generate a sensor signal; and The picking module (3) has a communication interface configured to connect the environmental sensor (11) to the controller of the industrial vehicle (2) via communication technology and transmit the generated sensor signals to the controller of the industrial vehicle (2).

2. The picking module (3) according to claim 1, characterized in that, A receiving device (6), particularly a receiving tube, is arranged on the travel mast (7), especially on the lower side of the travel mast (7), and the load receiving device (4) of the industrial vehicle (2) can be reversibly coupled to the receiving device, wherein the fork (5) of the load receiving device (4) of the industrial vehicle (2) can be inserted into the receiving tube of the receiving device (6).

3. The picking module (3) according to claim 1 or 2, characterized in that, The picking module (3) has its own energy supply device, in particular a battery (10).

4. The picking module (3) according to any one of the preceding claims, characterized in that, The picking module (3) has an electrical interface that can be coupled to the energy supply device of the industrial vehicle (2), particularly the battery, to provide electrical energy from the industrial vehicle (2) to the picking module (3).

5. The picking module (3) according to any one of the preceding claims, characterized in that, The picking module (3) has a stroke driver for raising and lowering the robot arm (8) on the stroke mast (7), and / or the picking module (3) has at least one arm driver for moving the robot arm (8) and the receiving tool (9).

6. The picking module (3) according to any one of the preceding claims, characterized in that, The communication interface includes a wired communication interface configured to wire-connect the environmental sensor (11) to the controller of the industrial vehicle (2) via communication technology, or the communication interface includes a wireless communication interface configured to wirelessly connect the environmental sensor (11) to the controller of the industrial vehicle (2) via communication technology.

7. The picking module (3) according to any one of the preceding claims, characterized in that, The robot arm (8) is constructed as a multi-axis robot arm, particularly a six-axis robot arm (8), or the robot arm (8) is constructed as a motion mechanism with a translation axis.

8. The picking module (3) according to claim 7, characterized in that, The robot arm (8) has a flat motion mechanism and is horizontally oriented in a coupled state, or the robot arm (8) is constructed as an articulated arm robot, which is particularly arranged on a height-displaceable base.

9. The picking module (3) according to any one of the preceding claims, characterized in that, The picking module (3) has a module load receiving device.

10. A picking system (1) for automatically picking objects, comprising an industrial vehicle (2) and a picking module (3) according to any of the preceding claims, wherein the industrial vehicle (2) has a load receiving device (4), wherein the travel mast (7) of the mobile picking module (3) is reversibly coupled to the load receiving device (4) of the industrial vehicle (2).

11. The picking system (1) according to claim 10, characterized in that, The industrial vehicle (2) has a controller configured to control a stroke drive for raising and lowering the robot arm (8) on the stroke mast (7) and / or at least one arm drive for moving the robot arm (8) and receiving tool (9) based on sensor signals generated by an environmental sensor (11).

12. The picking system (1) according to claim 11, characterized in that, The controller is configured to activate the travel driver and / or the at least one arm driver to stop the movement of the robot arm (8) when the environmental sensor (11) detects an obstacle in the environmental area of ​​the picking module (3), or the controller is configured to activate the travel driver to initiate the obstacle avoidance movement of the industrial vehicle (2) when the environmental sensor (11) detects an obstacle in the environmental area of ​​the picking module (3).

13. The picking system (1) according to any one of claims 10 to 12, characterized in that, The industrial vehicle (2) has a drive drive for moving the industrial vehicle (2), wherein the controller is configured to activate the drive drive to stop the movement of the industrial vehicle (2) when the environmental sensor (11) detects an obstacle in the environmental area of ​​the picking module (3), or the controller is configured to activate the drive drive to initiate an obstacle avoidance movement of the industrial vehicle (2) when the environmental sensor (11) detects an obstacle in the environmental area of ​​the picking module (3).

14. The picking system (1) according to any one of claims 10 to 13, characterized in that, The picking system (1) includes an external server (12) with an external controller that is connected to the industrial vehicle (2) via another communication interface (13) in a communication technology, wherein the external controller is configured to assign the model number of the picking module (3) reversibly coupled to the industrial vehicle (2) to the model number of the industrial vehicle (2).

15. The picking system (1) according to any one of claims 10 to 14, characterized in that, The picking system (1) includes an external server (12) with an external controller that is connected to the industrial vehicle (2) via another communication interface (13) in a communication technology, wherein the external controller is configured to transmit picking orders to the industrial vehicle (2) via the other communication interface (13).

16. The picking system (1) according to any one of claims 10 to 15, characterized in that, The picking system (1) includes an accompanying mobile transport robot (14) having a load receiving device (4), wherein the robot arm (8) of the industrial vehicle (2) is configured to place objects received by the receiving tool (9) onto the load receiving device (4) of the accompanying mobile transport robot (14).

17. The picking system (1) according to claim 16, characterized in that, The picking system (1) includes a picking station (15) that can be driven to by the accompanying mobile transport robot (14), wherein the picking station (15) is configured to pick objects stored on the load receiving device (4) of the accompanying mobile transport robot (14).

18. The picking system (1) according to any one of claims 10 to 17, characterized in that, The industrial vehicle (2) is constructed as an autonomous industrial vehicle or a manually guided industrial vehicle.

Images